Path planning method, control equipment, vehicle and storage medium

Abstract

The embodiment of the invention provides a path planning method, control equipment, a vehicle and a storage medium. The method comprises the steps that in the process that a vehicle runs based on an original planned path, a path change request is acquired, and the path change request comprises a current position and a target terminal point; determining a remaining planned path based on the original planned path and the current position; determining a target pose error based on the target end point and an original end point in the remaining planned path; and based on the target pose error, correcting the remaining planning path, and determining a target planning path. According to the method, the vehicle can be controlled to accurately drive to the target end point according to the target planning path, the purposes of reasonably planning the vehicle driving path and improving the path planning accuracy are achieved, the target planning path can be planned under the condition that the original planning path is slightly changed according to the original planning path and the target pose error, and the method is simple, efficient and high in practicability. And the stability of the vehicle in the driving process of changing the original planning path into the target planning path can be ensured.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of autonomous driving, in particular to a path planning method, a control device, a vehicle and a storage medium. BACKGROUND

[0002] In the process of controlling the vehicle to automatically drive according to the pre-planned path, as the vehicle is constantly approaching the end point of the path planning, the perception ability of the perception system of the vehicle is constantly improving, and the perception system of the vehicle may perceive that there is an error between the end point corresponding to the pre-planned path and the actual required end point. At this time, if the vehicle is still controlled to automatically drive according to the pre-planned path, the vehicle will not be able to drive to the actual required end point, and the accuracy of path planning is reduced. Therefore, how to reasonably plan the path when the end point of path planning changes in the process of controlling the vehicle to automatically drive, so as to improve the accuracy of path planning, is a technical problem to be solved at present. SUMMARY

[0003] Embodiments of the present application provide a path planning method, a control device, a vehicle and a storage medium, aiming at improving the technical problem of how to reasonably plan the path when the end point of path planning changes in the process of controlling the vehicle to automatically drive, so as to improve the accuracy of path planning.

[0004] A path planning method comprises: In the process of driving the vehicle based on the original planned path, a path change request is obtained, the path change request comprising a current position and a target end point; Based on the original planned path and the current position, a remaining planned path is determined; Based on the target end point and the original end point in the remaining planned path, a target pose error is determined; Based on the target pose error, the remaining planned path is corrected to determine a target planned path.

[0005] In this embodiment, when it is determined that the vehicle needs to be controlled to drive to the target end point, the remaining planned path in the original planned path is determined according to the original planned path and the current position of the vehicle, and the remaining planned path is corrected according to the target pose error between the target end point and the original end point to obtain the target planned path. This method can control the vehicle to accurately drive to the target end point according to the target planned path, achieve the purpose of reasonably planning the driving path of the vehicle, improve the accuracy of path planning, and also can plan the target planned path according to the original planned path and the target pose error under the condition of making small changes to the original planned path, which is simple and efficient, can effectively reduce the instability caused by the sudden steering of the steering wheel due to path re-planning, effectively guarantee the stability of the vehicle during the driving process from the original planned path to the target planned path, and improve the driving experience of the user.

[0006] Preferably, the target pose error comprises a first heading angle error; the first heading angle error is determined based on a heading angle of the target end point and a heading angle of the original end point; The correcting the remaining planning path based on the target pose error to determine a target planning path comprises: When an absolute value of the first heading angle error is not less than a heading angle error threshold, correcting an arc node in the remaining planning path, and / or correcting a helix node in the remaining planning path.

[0007] In the embodiment, when the absolute value of the first heading angle error is not less than the heading angle error threshold, the target planning path with smaller heading angle error is obtained by correcting the arc node in the remaining planning path and / or correcting the helix node in the remaining planning path, so as to effectively reduce the heading angle error of the vehicle and achieve accurate path planning.

[0008] Preferably, the correcting the arc node in the remaining planning path comprises: determining an arc correction length corresponding to a current arc node based on the first heading angle error and an arc curvature corresponding to the current arc node; the current arc node is an arc node in the remaining planning path that needs to be corrected currently; determining a target arc length corresponding to the current arc node based on an original arc length corresponding to the current arc node and the arc correction length; updating the remaining planning path based on the target arc length corresponding to the current arc node to determine a first updated path and a second heading angle error corresponding to the first updated path; When the second heading angle error is not less than the heading angle error threshold, repeating the determining the arc correction length corresponding to the current arc node based on the first heading angle error and the arc curvature corresponding to the current arc node; When the second heading angle error is less than the heading angle error threshold, determining the first updated path as the target planning path.

[0009] In this embodiment, according to the first heading angle error and the arc curvature corresponding to the current arc node, the arc correction length corresponding to the current arc node is reasonably determined, the target arc length corresponding to the current arc node is determined based on the original arc length corresponding to the current arc node and the arc correction length, the remaining planning path is updated based on the target arc length corresponding to the current arc node, the first updated path and the second heading angle error corresponding to the first updated path are determined, and when the second heading angle error is less than the heading angle error threshold, the correction of the heading angle corresponding to the original end point in the remaining planning path is completed, and a target planning path with high heading angle accuracy is obtained.

[0010] Preferably, the correction of the spiral node in the remaining planning path comprises: Based on the first heading angle error and the node length corresponding to the current spiral node, the curvature change rate corresponding to the current spiral node is determined; the current arc node is the spiral node currently required to be corrected in the remaining planning path; Based on the curvature change rate, the node pose corresponding to the current spiral node is updated, the second updated path and the third heading angle error corresponding to the second updated path are determined; When the third heading angle error is not less than the heading angle error threshold, the determination of the curvature change rate corresponding to the current spiral node based on the first heading angle error and the node length corresponding to the current spiral node is repeatedly executed; When the third heading angle error is less than the heading angle error threshold, the second updated path is determined as the target planning path.

[0011] In this embodiment, according to the first heading angle error and the node length corresponding to the current spiral node, the curvature change rate corresponding to the current spiral node is accurately determined, the node pose corresponding to the current spiral node is updated according to the curvature change rate, the second updated path and the third heading angle error corresponding to the second updated path are determined, and when the third heading angle error is less than the heading angle error threshold, the second updated path is determined as the target planning path, so that the target planning path capable of effectively reducing the first heading angle error is obtained, the heading angle of the end point position in the target planning path after the change of the end point of the path is consistent with the heading angle corresponding to the target end point, the vehicle is accurately controlled to travel to the target end point, and the accuracy of path planning is improved.

[0012] Preferably, the target pose error comprises a lateral distance error and / or a longitudinal distance error; The lateral distance error and the longitudinal distance error are both determined based on a position distance error and an angle difference value; The position distance error is determined based on the position coordinates of the original end point and the position coordinates of the target end point; The angle difference is determined based on a heading angle of the target end point and a target angle value, the target angle value being an azimuth angle of the target end point pointing to the original end point.

[0013] In this embodiment, the lateral distance error and the longitudinal distance error are reasonably determined according to the target angle value between the target end point and the original end point and the position coordinates corresponding to the target end point and the original end point, so as to reasonably correct the remaining planning path according to the lateral distance error and the longitudinal distance error, effectively reduce the lateral distance error and the longitudinal distance error, and improve the accuracy of path planning.

[0014] Preferably, the correcting the remaining planning path based on the target pose error to determine a target planning path comprises: When the lateral distance error is not less than a lateral error threshold, the remaining planning path is translated in a direction perpendicular to the heading angle of the target end point based on the lateral distance error to determine a target planning path.

[0015] In this embodiment, when the lateral distance error is not less than a lateral error threshold, the remaining planning path is translated in a direction perpendicular to the heading angle of the target end point based on the lateral distance error, which effectively reduces the lateral distance error and improves the accuracy of path planning.

[0016] Preferably, the correcting the remaining planning path based on the target pose error to determine a target planning path comprises: When the absolute value of the longitudinal distance error is not less than a longitudinal error threshold and the longitudinal distance error is greater than 0, if the remaining planning path is a backward path, the remaining planning path is lengthened based on the longitudinal distance error to determine a target planning path. When the absolute value of the longitudinal distance error is not less than a longitudinal error threshold and the longitudinal distance error is greater than 0, if the remaining planning path is a forward path, when the last path node of the remaining planning path is a straight line node, the straight line node is shortened based on the longitudinal distance error to determine a target planning path. When the absolute value of the longitudinal distance error is not less than a longitudinal error threshold and the longitudinal distance error is less than 0, if the remaining planning path is a forward path, the remaining planning path is lengthened based on the longitudinal distance error to determine a target planning path. When the absolute value of the longitudinal distance error is not less than a longitudinal error threshold and the longitudinal distance error is less than 0, if the remaining planning path is a backward path, when the last path node of the remaining planning path is a straight line node, the straight line node is shortened based on the longitudinal distance error to determine a target planning path.

[0017] In this embodiment, when the absolute value of the longitudinal distance error is not less than the longitudinal error threshold, the longitudinal distance error corresponding to the remaining planning path is reasonably corrected based on the longitudinal distance error and the remaining planning path being the forward path or the backward path, which can effectively reduce the absolute value of the longitudinal distance error between the original end point of the remaining planning path and the target end point, and guarantee the accuracy of path planning.

[0018] A control device, comprising a processor and a memory, wherein, The memory is used to store a computer program. The processor is used to execute the program stored on the memory to realize the path planning method.

[0019] A vehicle comprising the control device.

[0020] A computer readable storage medium, the computer readable storage medium stores a computer program, the computer program is executed by a processor to realize the path planning method. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a flowchart of the path planning method provided by an embodiment of the present application; Figure 2 is another flowchart of the path planning method provided by an embodiment of the present application; Figure 3 is another flowchart of the path planning method provided by an embodiment of the present application; Figure 4 is another flowchart of the path planning method provided by an embodiment of the present application; Figure 5 is a structure diagram of the control device provided by an embodiment of the present application; Figure 6 is a schematic diagram of the original planning path between the vehicle and the predetermined original parking space provided by an embodiment of the present application; Figure 7 is a schematic diagram of the vehicle driving to the current position provided by an embodiment of the present application; Figure 8 is a schematic diagram of the remaining planning path corresponding to the vehicle provided by an embodiment of the present application; Figure 9 is a schematic diagram of the pose information corresponding to the target end point and the original end point provided by an embodiment of the present application; Figure 10 is a schematic diagram of the path after the first heading error is corrected provided by an embodiment of the present application; Figure 11 is a schematic diagram of the pose of the helix node provided by an embodiment of the present application; Figure 12 This is a schematic diagram illustrating the correction of lateral distance error provided in an embodiment of this application; Figure 13 This is a schematic diagram showing the positional relationship between the original endpoint and the target endpoint corresponding to different angle differences provided in an embodiment of this application; Figure 14 This is a schematic diagram showing the positional relationship between the original endpoint and the target endpoint corresponding to different gear paths provided in an embodiment of this application; Figure 15 This is a schematic diagram of a correction of longitudinal distance error provided in an embodiment of this application. Detailed Implementation

[0022] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0023] This application provides a path planning method, comprising: acquiring a path change request during vehicle travel along an original planned path, the path change request including the current position and the target destination; determining a remaining planned path based on the original planned path and the current position; determining a target pose error based on the target destination and the original destination in the remaining planned path; and correcting the remaining planned path based on the target pose error to determine the target planned path. This method can control the vehicle to accurately travel to the target destination according to the target planned path, achieving the goal of rationally planning the vehicle's driving path and improving the accuracy of path planning. Furthermore, it can plan a target planned path based on the original planned path and the target pose error with minor modifications to the original planned path. While simple and efficient, it also effectively ensures the stability of the vehicle during the transition from the original planned path to the target planned path, improving the user's driving experience.

[0024] In one embodiment, such as Figure 1 As shown, a path planning method is provided, which is applied to... Figure 5 Taking the control equipment in the example, the following steps are included: S101: During the process of the vehicle traveling based on the original planned route, a route change request is obtained. The route change request includes the current location and the target destination. S102: Based on the original planned path and the current position, determine the remaining planned path; S103: Determine the target pose error based on the target endpoint and the original endpoints in the remaining planned path; S104: Based on the target pose error, correct the remaining planned path and determine the target planned path.

[0025] The original planning path refers to a path planned in advance for controlling automatic driving of the vehicle. The path change request refers to a request for indicating a change of the original planning path. The current position refers to a position where the vehicle is currently located. The original end point refers to an end point in the original planning path. The target end point refers to an end point that needs to be controlled to be actually reached by the vehicle.

[0026] As an example, in step S101, the control device monitors whether a path change request transmitted from the vehicle perception system is received at a preset time interval during control of the vehicle driving based on the original planning path planned in advance. In this example, the vehicle perception system continuously monitors the target end point to be driven, and generates and transmits a path change request including the current position of the vehicle and the target end point to be driven by the vehicle to the control device when it is determined that there is a difference between the target end point to be driven and the original end point corresponding to the original planning path. For example, during parking of the vehicle in a garage, the vehicle perception system monitors the target end point to be parked, and generates a path change request including the current position of the vehicle and the target end point to be driven by the vehicle and transmits the path change request to the control device when it is determined that there is a difference between the target end point to be parked and the original end point in the original planning path, so as to subsequently plan a path for parking according to the current position of the vehicle and the target end point to be driven by the vehicle, and guarantee the accuracy of parking. For another example, during driving of the vehicle on a road, the vehicle perception system monitors the target end point to be driven by the vehicle in this path planning, and generates a path change request including the current position of the vehicle and the target end point to be driven by the vehicle and transmits the path change request to the control device when it is determined that there is a difference between the target end point to be driven and the end point in the original planning path, so as to subsequently plan a path according to the current position of the vehicle and the target end point to be driven by the vehicle, and guarantee the accuracy of automatic driving control of the vehicle.

[0027] The remaining planning path refers to a planning path remaining in the original planning path after a planning path that has been driven is deleted.

[0028] As an example, in step S102, the control device deletes the planning path that has been driven before the current position of the vehicle in the original planning path, and retains the planning path that has not been driven after the current position of the vehicle in the original planning path. In this example, taking control of parking of the vehicle in a parking space as an example. As shown in FIG. 1, Figure 6 As shown in FIG. 2, a schematic diagram of the original planning path between the vehicle and the original parking space is shown, and the original planning path is between the starting position of the original path planning and the original parking space. As shown in FIG. 3, Figure 7 As shown in FIG. 4, a schematic diagram of driving of the vehicle to the current position is shown, Figure 8 The remaining planning path during parking of the parking space is shown. As shown in FIG. 5, Figure 7 and Figure 8It can be seen that when the vehicle reaches the current position, the destination position is determined to have changed. Specifically, the original destination pos0 of the original parking space is changed to the target destination pos1 of the new parking space. The path before the current position in the original planned path is deleted, and the remaining planned path after the current position is obtained. This allows for subsequent correction and updates of the remaining planned path, resulting in a more accurate target planned path.

[0029] Among them, the target pose error refers to the error between the pose of the vehicle at the target endpoint and the pose information of the vehicle at the original endpoint.

[0030] As an example, in step S103, the control device acquires the pose information corresponding to the target endpoint and the pose information corresponding to the original endpoint in the remaining planned path, and determines the difference between the pose information corresponding to the target endpoint and the pose information corresponding to the original endpoint in the remaining planned path as the target pose error, so as to correct the original planned path based on the target pose error. For example, Figure 8 As shown, the pose information includes the heading angle. The heading angle of the original endpoint pos0 is not the same as the heading angle of the target endpoint pos1, indicating a target pose error.

[0031] The target planning path refers to the planning path corresponding to the target endpoint.

[0032] As an example, in step S104, the control device corrects the remaining planned path based on the target pose error, and acquires the target pose error in real time during the path correction process. When the target pose error is less than a preset error threshold, the corrected planned path is obtained, so that the vehicle can be accurately controlled to automatically drive to the target destination based on the corrected planned path. The corrected planned path is then determined as the target planned path. For example, during the process of controlling the vehicle to park in a parking space, the control device... Figure 8 The target pose error, corresponding to the heading angle between the original endpoint pos0 and the target endpoint pos1, is used to correct the remaining planned path, resulting in the target planned path. Understandably, in controlling autonomous driving (driving on roads or automatically parking in garages), the difference between the target endpoint and the original endpoint is usually not significant. Correcting the original planned path based on the target pose error not only efficiently completes path planning but also ensures precise control of the vehicle to reach the target endpoint while maintaining path similarity between the target and original planned paths. This allows the vehicle to achieve the target planned path with minimal changes, ensuring stability and improving the user's driving experience.

[0033] In this embodiment, when it is determined that the vehicle needs to be controlled to travel to the target endpoint, a remaining planning path in the original planning path is determined according to the original planning path and the current position of the vehicle, the remaining planning path is corrected according to a target pose error between the target endpoint and the original endpoint, and a target planning path is obtained. This method can control the vehicle to accurately travel to the target endpoint according to the target planning path, achieve the purpose of reasonably planning the vehicle travel path, improve the accuracy of path planning, and also can plan the target planning path according to the original planning path and the target pose error, with small changes to the original planning path, which is simple and efficient, can effectively reduce the instability caused by the steering wheel being hit hard due to path re-planning, effectively ensure the stability of the vehicle during the driving process from the original planning path to the target planning path, and improve the user's driving experience.

[0034] In an embodiment, the target pose error includes a first heading angle error; the first heading angle error is determined based on a heading angle of the target endpoint and a heading angle of the original endpoint.

[0035] The first heading angle error refers to an error between the heading angle of the original endpoint and the heading angle of the target endpoint.

[0036] As an example, as shown in FIG. 1, the original endpoint is pos0, and the target endpoint is pos1. The difference between the heading angle of the target endpoint pos1 and the heading angle of the original endpoint pos0 is the first heading angle error. In this example, if the heading angle of the target endpoint pos1 is Figure 9 , and the heading angle of the original endpoint pos0 is , then the first heading angle error is . .

[0037] In an embodiment, step S104, i.e., correcting the remaining planning path based on the target pose error to determine the target planning path, includes: when the absolute value of the first heading angle error is not less than a heading angle error threshold, correcting a circular arc node in the remaining planning path, and / or correcting a spiral line node in the remaining planning path.

[0038] The heading angle error threshold refers to a threshold value for judging the size of the first heading angle error. The circular arc node refers to a path node for forming a circular arc type path. The spiral line node refers to a path node for forming a spiral line type path.

[0039] As an example, when the control device determines that the absolute value abs( ) of the first heading angle error is less than the heading angle error threshold, it is determined that the heading angle of the original endpoint pos0 in the remaining planning path is ​Heading angle relative to the target endpoint pos1 If the error between the two is small, the remaining planned path is determined as the target planned path. The control equipment determines the first heading angle error. The absolute value of abs ( If the heading angle error is not less than the heading angle error threshold, determine the heading angle of the original endpoint pos0 in the remaining planned path. Heading angle relative to the target endpoint pos1 If the error between the two is large, the control equipment corrects the arc nodes in the remaining planned path to obtain a corrected path and its endpoint. This process continues until the absolute value of the heading angle error between the target endpoint pos1 and the endpoint of the corrected path is less than the heading angle error threshold. The corrected path is then determined as the target planned path. Alternatively, the control equipment corrects the spiral nodes in the remaining planned path to obtain a corrected path and its endpoint. This process continues until the absolute value of the heading angle error between the target endpoint pos1 and the endpoint of the corrected path is less than the heading angle error threshold. The corrected path is then determined as the target planned path. Alternatively, the control equipment may adjust the heading angle error... Assign the arc nodes and spiral nodes in the remaining planned path to obtain the correction value corresponding to each arc node and each spiral node. Correct the arc nodes and spiral nodes in the remaining planned path according to the correction value to obtain the corrected path and the endpoint of the path. Continue until the absolute value of the heading angle error between the target endpoint pos1 and the endpoint of the corrected path is less than the heading angle error threshold, and then determine the corrected path as the target planned path.

[0040] In this embodiment, when the absolute value of the first heading angle error is not less than the heading angle error threshold, the target planning path with a smaller heading angle error is obtained by correcting the arc nodes in the remaining planned path and / or correcting the spiral nodes in the remaining planned path, so as to effectively reduce the heading angle error of the vehicle and achieve accurate path planning.

[0041] In one embodiment, such as Figure 2 As shown, the arc nodes in the remaining planned path are corrected, including: S201: Based on the first heading angle error and the arc curvature corresponding to the current arc node, determine the arc correction length corresponding to the current arc node; the current arc node is the arc node that needs to be corrected in the remaining planned path; S202: Based on the original arc length and arc correction length corresponding to the current arc node, determine the target arc length corresponding to the current arc node; S203: Based on the target arc length corresponding to the current arc node, update the remaining planned path and determine the first updated path and the second heading angle error corresponding to the first updated path; S204: When the second heading angle error is not less than the heading angle error threshold, repeatedly execute the determination of the arc correction length corresponding to the current arc node based on the heading angle error and the arc curvature corresponding to the current arc node. S205: When the second heading angle error is less than the heading angle error threshold, the first updated path is determined as the target planning path.

[0042] Here, the current arc node refers to the arc node in the remaining planned path that needs to be corrected, and can be one or more arc nodes in the remaining planned path. Arc curvature refers to the curvature corresponding to the current arc node. Arc correction length refers to the correction length applied to the current arc node.

[0043] As an example, in step S201, when the control device determines that there are arc nodes in the remaining planned path, it determines the arc nodes that need to be corrected in the remaining planned path, and determines the arc nodes that need to be corrected as the current arc nodes. It obtains the arc curvature corresponding to the current arc nodes, processes the first heading angle error and the arc curvature, and determines the arc correction length that needs to be corrected for the current arc nodes.

[0044] In this example, when the control device determines that only one arc node in the remaining planned path needs correction, it designates that arc node as the current arc node and sets the first heading angle error accordingly. The curvature of the arc corresponding to the current arc node The absolute value corresponding to the ratio between them is abs ( The corresponding arc correction length is determined.

[0045] In this example, when the control device determines that multiple arc nodes in the remaining planned path need to be corrected, it identifies each arc node requiring correction as the current arc node. The control device uses the first heading angle error... The error is assigned to each current arc node to obtain the heading angle error that needs to be corrected for each current arc node. The heading angle error corresponding to the same current arc node that needs to be corrected With the curvature of the arc The absolute value corresponding to the ratio between them is abs ( This determines the corresponding arc correction length, thus obtaining the arc correction length corresponding to each current arc node. In this example, the control device can obtain the sum of the arc curvatures corresponding to all arc nodes in the remaining planned path. And the curvature of the arc corresponding to each current arc node. With this sum ratio The error weights are determined for each current arc node, and the first heading angle error is assigned accordingly. Weighting with error The product of these factors determines the arc correction length that needs to be corrected for each current arc node.

[0046] As an example, in step S202, when the control device determines that the first heading angle error is greater than 0, it determines the sum of the original arc length and the arc correction length corresponding to the current arc node as the target arc length corresponding to the current arc node; when it determines that the first heading angle error is less than 0, it determines the difference between the original arc length and the arc correction length corresponding to the current arc node as the target arc length corresponding to the current arc node. Figure 8 The diagram shows the heading angles corresponding to the original endpoint pos0 and the target endpoint pos1 in the remaining planned path. Figure 8 It is known that the heading angle corresponding to the original endpoint pos0 in the remaining planned path is greater than the heading angle corresponding to the target endpoint pos1, and the first heading angle error is less than 0. Therefore, the length of the current arc node needs to be reduced to decrease the heading angle corresponding to the original endpoint pos0, thus obtaining the heading angle corresponding to the target endpoint pos1. Therefore, when the control equipment determines that the first heading angle error is less than 0, it performs difference processing on the original arc length and the arc correction length corresponding to the current arc node to shorten the original arc length, reduce the heading angle of the path endpoint, and obtain the target arc length corresponding to the current arc node.

[0047] The first updated path refers to the path after updating the remaining planned paths. The second heading angle error refers to the heading angle error between the endpoint position and the target endpoint position in the first updated path.

[0048] As an example, in step S203, the control device corrects and updates the current arc nodes in the remaining path according to the determined target arc length, so that the current arc nodes reach the target arc length, obtaining the first updated path and the heading angle corresponding to the corrected endpoint position in the first updated path. The difference between the heading angle corresponding to the target endpoint and the heading angle corresponding to the corrected endpoint position in the first updated path is determined as the second heading angle error. In this example, when it is determined that the original arc length corresponding to the current arc node needs to be reduced, the control device deletes the arc correction length from the current arc node, obtaining the current arc node corresponding to the target arc length, and thus obtaining the first updated path. Figure 10 As shown, in the scenario of controlling a vehicle to park in a garage, the first update path is obtained by reducing the original arc length corresponding to the current arc node. In this example, when it is determined that the original arc length corresponding to the current arc node needs to be increased, the arc correction length of the current arc node is increased to obtain the current arc node with the corresponding target arc length, and thus the first update path is obtained.

[0049] As an example, in step S204, the control device judges the second heading angle error, and when it is determined that the second heading angle error is not less than the heading angle error threshold value, it is determined that there is a large error between the heading angle corresponding to the modified end point position in the first updated path and the heading angle of the target end point. Therefore, the control device repeatedly executes steps S201 to S203 until the second heading angle error is less than the heading angle error threshold value. In the present example, when the current circular arc node is deleted and steps S201 to S203 need to be repeated, the modification of the current circular arc node is stopped when the target circular arc length is 0.

[0050] As an example, in step S205, the control device judges the second heading angle error, and when it is determined that the second heading angle error is less than the heading angle error threshold value, it is determined that the error between the heading angle corresponding to the end point position of the first updated path after modification and the heading angle of the target end point is small. Therefore, the control device determines the first updated path after modification as the target planning path.

[0051] In the present embodiment, the circular arc modification length corresponding to the current circular arc node is reasonably determined according to the first heading angle error and the circular arc curvature corresponding to the current circular arc node, and the target circular arc length corresponding to the current circular arc node is determined based on the original circular arc length corresponding to the current circular arc node and the circular arc modification length. The remaining planning path is updated based on the target circular arc length corresponding to the current circular arc node, the first updated path and the second heading angle error corresponding to the first updated path are determined, and when the second heading angle error is less than the heading angle error threshold value, the modification of the heading angle corresponding to the original end point in the remaining planning path is completed, and the target planning path with high heading angle accuracy is obtained.

[0052] In an embodiment, as shown in Figure 3 the modification of the spiral node in the remaining planning path includes: S301: determining the curvature change rate corresponding to the current spiral node based on the first heading angle error and the node length corresponding to the current spiral node; the current circular arc node is the spiral node in the remaining planning path that needs to be modified at present; S302: updating the node pose corresponding to the current spiral node based on the curvature change rate, determining the second updated path and the third heading angle error corresponding to the second updated path; S303: when the third heading angle error is not less than the heading angle error threshold value, repeatedly executing the determination of the curvature change rate corresponding to the current spiral node based on the first heading angle error and the node length corresponding to the current spiral node; S304: when the third heading angle error is less than the heading angle error threshold value, determining the second updated path as the target planning path.

[0053] The current spiral node is a spiral node in the remaining planning path that needs to be corrected, and can be one or more spiral nodes in the remaining planning path. The node length refers to the length corresponding to the current spiral node. The curvature change rate refers to the curvature value that needs to be changed for the current spiral node.

[0054] As an example, in step S301, when the control device determines that there is a spiral node in the remaining planning path, it determines the spiral node that needs to be corrected in the remaining planning path, and determines the spiral node that needs to be corrected as the current spiral node. The node length corresponding to the current spiral node is obtained, and the first heading angle error and the node length are processed to determine the curvature change rate that needs to be changed for the current spiral node when the current spiral node is corrected.

[0055] In this example, when the control device determines that only one spiral node in the remaining planning path needs to be corrected, it determines the spiral node as the current spiral node, obtains the node length s of the spiral node corresponding to the current spiral node and the node start curvature based on the first heading angle error , the node length s and the node start curvature , determines the curvature change rate dk corresponding to the current spiral node. In this example, *s*s / 2+dk*s*s*s / 3, that is, the control device substitutes the first heading angle error , the node length s and the node start curvature into *s*s / 2+dk*s*s*s / 3 to determine the curvature change rate dk corresponding to the current spiral node.

[0056] In this example, when the control device determines that multiple spiral nodes in the remaining planning path need to be corrected, each spiral node that needs to be corrected is determined as the current spiral node. The control device assigns the first heading angle error to each current spiral node to obtain the heading angle error that needs to be corrected for each current spiral node, and substitutes the heading angle error that needs to be corrected for the same current spiral node, the node length s and the node start curvature into *s*s / 2+dk*s*s*s / 3 to determine the curvature change rate dk corresponding to the current spiral node. In this example, the control device can obtain the sum of the node lengths s corresponding to all spiral nodes in the remaining planning path ​​​And the node length s corresponding to each current spiral node is combined with the sum value. ratio The error weights are determined for each current spiral node, and the first heading angle error is assigned accordingly. Weighting with error The product of these factors determines the heading angle error that needs to be corrected for each current spiral node. .

[0057] The node pose is used to characterize the vehicle's angle at the helical node. For example... Figure 11 The diagram shown is a schematic of a helical node. Figure 11 It can be seen that each position of the helical node includes a pose, with the starting point of the helical node corresponding to the starting pose of the helical line and the ending point of the helical node corresponding to the ending pose of the helical line, used to characterize the vehicle's heading angle at the corresponding node. The second updated path refers to the path obtained after updating the helical nodes in the remaining planned path. The third heading angle error refers to the heading angle error between the target endpoint and the endpoint position in the second updated path.

[0058] As an example, in step S302, the control device updates the node pose corresponding to the current helical node according to the calculated rate of curvature change dk, so that the rate of curvature change dk corresponding to the current helical node is updated, thus obtaining the second update path including the updated current helical node. The control device obtains the heading angle corresponding to the endpoint position in the second update path, and determines the difference between the heading angle of the target endpoint and the heading angle corresponding to the endpoint position in the second update path as the third heading angle error. Understandably, as Figure 11 As shown, different node positions of the helical node correspond to different node poses, and different node poses correspond to different heading angles. After updating the node pose corresponding to the current helical node according to the curvature change rate dk, the heading angles corresponding to each node in the new current helical node also change.

[0059] As an example, in step S303, when the control device determines that the third heading angle error is not less than the heading angle error threshold, it determines that the heading angle error between the endpoint position in the second updated path and the target endpoint is large, and it is necessary to further correct the current spiral node in the second updated path, update the second updated path to the remaining planned path, and repeat steps S301 to S302, that is, repeatedly execute the following steps: based on the first heading angle error and the node length corresponding to the current spiral node, determine the curvature change rate corresponding to the current spiral node, update the node pose corresponding to the current spiral node based on the curvature change rate, determine the second updated path and the third heading angle error corresponding to the second updated path, until it is determined that the third heading angle error is less than the heading angle error threshold.

[0060] As an example, in step S304, when the third heading angle error is less than the heading angle error threshold, the control device determines that the heading angle error between the endpoint position in the second updated path and the target endpoint is small, and determines the second updated path as the target planned path.

[0061] In this embodiment, based on the first heading angle error and the node length corresponding to the current helical node, the curvature change rate corresponding to the current helical node is accurately determined. Based on the curvature change rate, the node pose corresponding to the current helical node is updated, and the second updated path and the third heading angle error corresponding to the second updated path are determined. When the third heading angle error is less than the heading angle error threshold, the second updated path is determined as the target planning path, thus obtaining a target planning path that can effectively reduce the first heading angle error. This ensures that the heading angle of the endpoint position in the target planning path after the path endpoint is changed is consistent with the heading angle corresponding to the target endpoint, controlling the vehicle to accurately drive to the target endpoint and improving the accuracy of path planning.

[0062] In one embodiment, the target pose error includes lateral distance error and / or longitudinal distance error; Both the lateral distance error and the longitudinal distance error are determined based on the positional distance error and the angle difference; The positional distance error is determined based on the position coordinates of the original endpoint and the position coordinates of the target endpoint; The angle difference is determined based on the heading angle of the target endpoint and the target angle value, where the target angle value is the direction angle from the target endpoint to the original endpoint.

[0063] Among them, lateral distance error refers to the error between the original endpoint and the target endpoint in the horizontal axis direction. Longitudinal distance error refers to the error between the original endpoint and the target endpoint in the vertical axis direction. Positional distance error refers to the error caused by the positional distance between the original endpoint and the target endpoint. Angular difference refers to the error caused by the difference in angle between the original endpoint and the target endpoint.

[0064] As an example, the control device determines the directional angle between the target endpoint and the original endpoint as the target angle value between the target endpoint and the original endpoint. The heading angle of the target destination. and target angle value The difference between them is defined as the angle difference, that is, the angle difference is β= — .like Figure 9 As shown, the angle between the target endpoint and the original endpoint is... The angle difference is β. The control device determines the position distance error errdist based on the distance (e.g., Euclidean distance) between the original endpoint's position coordinates and the target endpoint's position coordinates. The control device obtains the sine value of the angle difference, sin. And cosine value cos The position distance error errdist is compared with the sine value of the angle difference sin The product of these factors is determined as the lateral distance error errlat, and the positional distance error errdist is multiplied by the cosine of the angle difference cos The product of these factors is determined as the longitudinal distance error errlon. That is, errlat = errdist * sin errlon=errdist*cos .

[0065] In this embodiment, the lateral distance error and longitudinal distance error are reasonably determined based on the target angle value between the target endpoint and the original endpoint, as well as the position coordinates corresponding to the target endpoint and the original endpoint. This allows for the reasonable correction of the remaining planned path based on the lateral distance error and longitudinal distance error, thereby effectively reducing the lateral distance error and longitudinal distance error and improving the accuracy of path planning.

[0066] In one embodiment, step S104, which is to correct the remaining planned path based on the target pose error and determine the target planned path, includes: when the lateral distance error is not less than the lateral error threshold, translating the remaining planned path along the heading angle perpendicular to the target endpoint based on the lateral distance error to determine the target planned path.

[0067] Among them, the lateral error threshold refers to the preset threshold used to determine the magnitude of the lateral distance error.

[0068] As an example, when the control device determines that the lateral distance error is less than the lateral distance error threshold, it determines that the lateral distance error between the target endpoint and the original endpoint is small, and therefore no correction is needed for the remaining planned path. When the control device determines that the lateral distance error is not less than the lateral distance error threshold, it determines that the lateral distance error between the target endpoint and the original endpoint is large, and therefore requires correction of the remaining planned path to reduce the lateral distance error. After determining the lateral distance error errlat, the control device will... The path translation length is determined, and each path node in the remaining planned path is adjusted according to the lateral distance error errlat. The target path is then translated along a direction perpendicular to the heading angle of the target endpoint pos1 to obtain the path after lateral distance error correction. In this example, the lateral distance error is evenly distributed between the original endpoint and the target endpoint to reduce the lateral distance error. Figure 12 As shown in Figure ①, the lateral distance error is defined as errlat. In Figure ②, according to the lateral distance error errlat... , each path node in the remaining planning path is translated along a direction perpendicular to the heading angle of the target end point pos1, effectively reducing the lateral distance error.

[0069] In this embodiment, when the lateral distance error is not less than the lateral error threshold, the remaining planning path is translated along a direction perpendicular to the heading angle of the target end point based on the lateral distance error, effectively reducing the lateral distance error and improving the accuracy of path planning.

[0070] In an embodiment, as shown in Figure 4 Step S104, i.e., correcting the remaining planning path based on the target pose error to determine the target planning path, includes: S401: When the absolute value of the longitudinal distance error is not less than the longitudinal error threshold and the longitudinal distance error is greater than 0, if the remaining planning path is a backward path, the remaining planning path is extended based on the longitudinal distance error to determine the target planning path; S402: When the absolute value of the longitudinal distance error is not less than the longitudinal error threshold and the longitudinal distance error is greater than 0, if the remaining planning path is a forward path, when the last path node of the remaining planning path is a straight line node, the straight line node is shortened based on the longitudinal distance error to determine the target planning path; S403: When the absolute value of the longitudinal distance error is not less than the longitudinal error threshold and the longitudinal distance error is less than 0, if the remaining planning path is a forward path, the remaining planning path is extended based on the longitudinal distance error to determine the target planning path; S404: When the absolute value of the longitudinal distance error is not less than the longitudinal error threshold and the longitudinal distance error is less than 0, if the remaining planning path is a backward path, when the last path node of the remaining planning path is a straight line node, the straight line node is shortened based on the longitudinal distance error to determine the target planning path.

[0071] The longitudinal error threshold refers to a threshold preset for judging the size of the longitudinal distance error. In this embodiment, when the longitudinal distance error is less than the longitudinal error threshold, it indicates that the longitudinal distance error between the original end point in the remaining planning path and the target end point is small, and the remaining planning path does not need to be corrected based on the longitudinal distance error. Only when the longitudinal distance error is large, the remaining planning path needs to be corrected.

[0072] As an example, in step S401, the control device obtains the sign of the longitudinal distance error errlon when determining that the longitudinal distance error is not less than the longitudinal error threshold, and further determines whether the gear of the vehicle is the forward gear or the reverse gear when determining that the longitudinal distance error errlon is greater than 0, and determines that the remaining planning path is the reverse path when determining that the gear of the vehicle is the reverse gear, and at this time, it is determined that the remaining planning path needs to be extended, and the original end point of the remaining planning path is extended by a straight line node corresponding to a length of the absolute value |errlon| of the longitudinal distance error, so as to greatly reduce the error value of the longitudinal distance error between the original end point of the remaining planning path and the target end point. As shown in FIG. 3, |errlon| corresponding to the longitudinal distance error between the target end point of the new parking space and the original end point of the original parking space is shown in FIG. 3. FIG. 4 shows that the original end point of the remaining planning path is extended by a straight line node corresponding to a length of the absolute value |errlon| of the longitudinal distance error, and the target planning path is obtained, which can effectively reduce the error value of the longitudinal distance error between the original end point of the original parking space and the target end point of the new parking space. Figure 15

[0073] As an example, in step S402, the control device obtains the sign of the longitudinal distance error errlon when determining that the longitudinal distance error is not less than the longitudinal error threshold, and further determines whether the gear of the vehicle is the forward gear or the reverse gear when determining that the longitudinal distance error errlon is greater than 0, and determines that the remaining planning path is the forward path when determining that the gear of the vehicle is the forward gear, and at this time, it is determined that the remaining planning path needs to be shortened, and the control device further determines whether the last path node of the remaining planning path is a straight line node, and when the last path node of the remaining planning path is a straight line node, the straight line node is shortened by the absolute value |errlon| of the longitudinal distance error, so as to greatly reduce the error value corresponding to the longitudinal distance error between the original end point of the remaining planning path and the target end point. It can be understood that when it is determined that the remaining planning path needs to be shortened, the straight line node needs to be shortened, and must be a straight line node containing the original end point in the original planning path, so as to avoid the situation that the heading angle of the end point position in the path obtained after shortening the straight line node at other positions in the original planning path is greatly different from the heading angle of the target end point position, and improve the accuracy of path planning.

[0074] ​As an example, in step S403, the control device obtains the sign of the longitudinal distance error errlon when determining that the longitudinal distance error is not less than the longitudinal error threshold, and further determines whether the gear of the vehicle is the forward gear or the reverse gear when determining that the longitudinal distance error errlon is less than 0, and determines that the remaining planning path is the forward path when determining that the gear of the vehicle is the forward gear, at this time, it is determined that the remaining planning path needs to be extended, and a straight line node corresponding to the length of the absolute value |errlon| of the longitudinal distance error is extended to the original terminal point of the remaining planning path, so as to greatly reduce the error value of the longitudinal distance error between the original terminal point and the target terminal point of the remaining planning path.

[0075] As an example, in step S404, the control device obtains the sign of the longitudinal distance error errlon when determining that the longitudinal distance error is not less than the longitudinal error threshold, and further determines whether the gear of the vehicle is the forward gear or the reverse gear when determining that the longitudinal distance error errlon is greater than 0, and determines that the remaining planning path is the reverse path when determining that the gear of the vehicle is the reverse gear, at this time, it is determined that the remaining planning path needs to be shortened, and the control device further determines whether the last path node of the remaining planning path is a straight line node, and when the last path node of the remaining planning path is a straight line node, the straight line node is shortened according to the absolute value |errlon| of the longitudinal distance error, so as to greatly reduce the error value corresponding to the longitudinal distance error between the original terminal point and the target terminal point of the remaining planning path.

[0076] As can be understood, Figure 13 when the angle difference β is in the range of 0° to 90°, cosβ>0, the longitudinal distance error errlon is greater than 0, at this time, if the gear of the vehicle is the forward gear, as shown in Figure 14 , the distance of the remaining planning path in the longitudinal direction is too large, and the remaining planning path needs to be shortened to obtain the target planning path capable of controlling the vehicle to reach the target terminal point. If the gear of the vehicle is the reverse gear, as shown in Figure 14 , the distance of the remaining planning path in the longitudinal direction is too small, and the remaining planning path needs to be extended to obtain the target planning path capable of controlling the vehicle to reach the target terminal point.

[0077] As can be understood, Figure 13 when the angle difference β is in the range of 90° to 180°, cosβ<0, the longitudinal distance error errlon is less than 0, at this time, if the gear of the vehicle is the forward gear, the distance of the remaining planning path in the longitudinal direction is too small, and the remaining planning path needs to be extended to obtain the target planning path capable of controlling the vehicle to reach the target terminal point. If the gear of the vehicle is the reverse gear, the distance of the remaining planning path in the longitudinal direction is too large, and the remaining planning path needs to be shortened to obtain the target planning path capable of controlling the vehicle to reach the target terminal point.

[0078] In the embodiment, when the absolute value of the longitudinal distance error is not less than the longitudinal error threshold, the longitudinal distance error corresponding to the remaining planning path is reasonably corrected based on the longitudinal distance error and the remaining planning path being the forward path or the backward path, so as to effectively reduce the absolute value of the longitudinal distance error between the original end point of the remaining planning path and the target end point, and guarantee the accuracy of the path planning.

[0079] In the embodiment, different combinations of the above embodiments can be made according to specific errors contained in the target pose error, so as to effectively reduce the target pose error and improve the accuracy of the path planning. The specific conditions are as follows: When the control device determines that only the first heading angle error exists between the original end point and the target end point of the original planning path, the control device only corrects the circular arc node in the remaining planning path and / or corrects the spiral line node in the remaining planning path when the absolute value of the first heading angle error is not less than the heading angle error threshold, specifically, steps S201 to S205 are executed and / or steps S301 to S304 are executed, so as to effectively reduce the first heading angle error between the original end point and the target end point and improve the accuracy of the path planning.

[0080] When the control device determines that only the lateral distance error exists between the original end point and the target end point of the original planning path, the control device only performs the translation of the remaining planning path along the direction perpendicular to the heading angle of the target end point based on the lateral distance error when the lateral distance error is not less than the lateral error threshold, to determine the target planning path, so as to effectively reduce the lateral distance error and improve the accuracy of the path planning.

[0081] When the control device determines that only the longitudinal distance error exists between the original end point and the target end point of the original planning path, the control device only executes steps S401 to S404, so as to effectively reduce the longitudinal distance error and improve the accuracy of the path planning.

[0082] When the control device determines that the longitudinal distance error and the lateral distance error exist between the original end point and the target end point of the original planning path, the control device further executes steps S401 to S404 after performing the translation of the remaining planning path along the direction perpendicular to the heading angle of the target end point based on the lateral distance error when the lateral distance error is not less than the lateral error threshold. Alternatively, when the control device determines that the longitudinal distance error and the lateral distance error exist between the original end point and the target end point of the original planning path, the control device further executes the translation of the remaining planning path along the direction perpendicular to the heading angle of the target end point based on the lateral distance error when the lateral distance error is not less than the lateral error threshold after executing steps S401 to S404, to determine the target planning path and obtain the target planning path.

[0083] When the control device determines that the first heading angle error and the lateral distance error exist between the original endpoint of the original planning path and the target endpoint, the control device performs, after performing the correction of the circular arc node in the remaining planning path when the absolute value of the first heading angle error is not less than the heading angle error threshold value, and / or the correction of the spiral node in the remaining planning path, specifically, after performing steps S201 to S205, and / or steps S301 to S304, further performing, when the lateral distance error is not less than the lateral error threshold value, the translation of the remaining planning path in the direction perpendicular to the heading angle of the target endpoint based on the lateral distance error, to determine the target planning path.

[0084] When the control device determines that the first heading angle error and the longitudinal distance error exist between the original endpoint of the original planning path and the target endpoint, the control device performs, after performing the correction of the circular arc node in the remaining planning path when the absolute value of the first heading angle error is not less than the heading angle error threshold value, and / or the correction of the spiral node in the remaining planning path, specifically, after performing steps S201 to S205, and / or steps S301 to S304, further performing steps S401 to S404.

[0085] When the control device determines that the first heading angle error, the lateral distance error and the longitudinal distance error exist between the original endpoint of the original planning path and the target endpoint, the control device performs, after performing the correction of the circular arc node in the remaining planning path when the absolute value of the first heading angle error is not less than the heading angle error threshold value, and / or the correction of the spiral node in the remaining planning path, specifically, after performing steps S201 to S205, and / or steps S301 to S304, further performing, when the lateral distance error is not less than the lateral error threshold value, the translation of the remaining planning path in the direction perpendicular to the heading angle of the target endpoint based on the lateral distance error, and steps S401 to S404, to obtain the target planning path. As shown in Figure 6 to Figure 8 , Figure 10 , Figure 12 and Figure 15 It is shown that the process of path planning when the control device controls the vehicle to automatically park into the parking space. As shown in Figure 6 The control device controls the vehicle to park into the original parking space according to the original planning path. As shown in Figure 7 and Figure 8 It is shown that, during the process of the vehicle parking into the original parking space, it is determined that the new parking space is actually needed to be parked into, and the first heading angle error, the lateral distance error and the longitudinal distance error exist between the original endpoint pos0 corresponding to the original parking space and the target endpoint pos1 corresponding to the new parking space, and the control device deletes the path before the current position in the original planning path to obtain the remaining planning path. As shown in Figure 10It can be known that the control device first performs the correction on the circular arc node in the remaining planning path and / or the correction on the spiral node in the remaining planning path when the absolute value of the first heading angle error is not less than the heading angle error threshold, specifically, steps S201 to S205 are performed, and the correction on the first heading angle error is completed by correcting the circular arc node in the original planning path. Figure 12 It can be known that the control device further performs the translation of the remaining planning path along the direction perpendicular to the heading angle of the target endpoint based on the lateral distance error to correct the lateral distance error when the lateral distance error is not less than the lateral error threshold. Figure 15 It can be known that the control device finally performs steps S401 to S404 to correct the longitudinal distance error, and finally obtains the target planning path, in which the heading angle error, the lateral distance error and the longitudinal distance error between the endpoint position and the target endpoint are all less than the corresponding threshold, thereby achieving the high-precision path planning after the endpoint is changed during the driving of the vehicle.

[0086] It can be understood that when the first heading angle error and the distance error exist at the same time, the first heading angle error needs to be reduced first, and then the distance error is reduced, so as to avoid the generation of the distance error again after the first heading angle error is eliminated. The distance error can be uniformly adjusted after the first heading angle error is reduced, which not only can achieve the accurate path planning, but also is efficient and convenient.

[0087] The application further provides a control device 50, please refer to Figure 5 , comprising a memory 510 and a processor 520, wherein the memory 510 is used for storing computer programs; the processor 520 is used for executing the programs stored in the memory 510, and realizing the path planning method introduced in any embodiment of the application.

[0088] The application further provides a vehicle comprising the control device in the above embodiment, so as to realize the path planning method introduced in any embodiment of the application by the control device.

[0089] The application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the path planning method introduced in any embodiment of the application.

[0090] In the application, a plurality of refers to two or more than two.

[0091] In this application, unless otherwise clearly specified, the terms "mounting", "connecting", "connection" should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integrally connected; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through intermediate medium, can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0092] The terms "first", "second", "third", "fourth" and the like (if any) in this application are used to distinguish similar objects, and do not necessarily describe a specific order or sequence.

[0093] The term "and / or" in this application is only a description of the association relationship between the associated objects, which means that there can be three kinds of relationships, for example, A and / or B can represent: A exists alone, A and B exist together, and B exists alone. In addition, the character " / " in this application generally represents an "or" relationship between the associated objects before and after it.

[0094] If there is no special description, all the steps of this application can be performed in sequence or randomly. For example, the method comprises steps A and B, which means that the method can comprise steps A and B performed in sequence, or steps B and A performed in sequence. For example, the method can also comprise step C, which means that step C can be added to the method in any order, for example, the method can comprise steps A, B and C, or steps A, C and B, or steps C, A and B, etc.

[0095] The above is only the preferred embodiment of the present application, and is not used to limit the present application, any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A path planning method, characterized in that, include: During the process of the vehicle traveling along the original planned route, a route change request is obtained, the route change request including the current location and the target destination; Based on the original planned path and the current position, determine the remaining planned path; Based on the target endpoint and the original endpoints in the remaining planned paths, the target pose error is determined; Based on the target pose error, the remaining planned path is corrected to determine the target planned path.

2. The path planning method according to claim 1, characterized in that, The target pose error includes a first heading angle error; the first heading angle error is determined based on the heading angle of the target endpoint and the heading angle of the original endpoint; The step of correcting the remaining planned path based on the target pose error to determine the target planned path includes: When the absolute value of the first heading angle error is not less than the heading angle error threshold, the arc nodes in the remaining planned path are corrected, and / or the spiral nodes in the remaining planned path are corrected.

3. The path planning method according to claim 2, characterized in that, The remaining planned path is modified by correcting the arc nodes, including: Based on the first heading angle error and the arc curvature corresponding to the current arc node, the arc correction length corresponding to the current arc node is determined; the current arc node is the arc node that needs to be corrected in the remaining planned path. Based on the original arc length corresponding to the current arc node and the arc correction length, determine the target arc length corresponding to the current arc node; Based on the target arc length corresponding to the current arc node, the remaining planned path is updated to determine the first updated path and the second heading angle error corresponding to the first updated path; When the second heading angle error is not less than the heading angle error threshold, the process of determining the arc correction length corresponding to the current arc node based on the heading angle error and the arc curvature corresponding to the current arc node is repeated. When the second heading angle error is less than the heading angle error threshold, the first updated path is determined as the target planning path.

4. The path planning method according to claim 3, characterized in that, The correction of the spiral nodes in the remaining planned path includes: Based on the first heading angle error and the node length corresponding to the current helical node, the curvature change rate corresponding to the current helical node is determined; the current circular arc node is the helical node that needs to be corrected in the remaining planned path. Based on the curvature change rate, update the node pose corresponding to the current helical node, and determine the second update path and the third heading angle error corresponding to the second update path; When the third heading angle error is not less than the heading angle error threshold, the process of determining the curvature change rate corresponding to the current helical node based on the first heading angle error and the node length corresponding to the current helical node is repeated. When the third heading angle error is less than the heading angle error threshold, the second updated path is determined as the target planning path.

5. The path planning method according to claim 4, characterized in that, The target pose error includes lateral distance error and / or longitudinal distance error; Both the lateral distance error and the longitudinal distance error are determined based on the positional distance error and the angle difference; The location distance error is determined based on the location coordinates of the original endpoint and the location coordinates of the target endpoint; The angle difference is determined based on the heading angle of the target endpoint and the target angle value, where the target angle value is the direction angle from the target endpoint to the original endpoint.

6. The path planning method according to claim 5, characterized in that, The step of correcting the remaining planned path based on the target pose error to determine the target planned path includes: When the lateral distance error is not less than the lateral error threshold, the remaining planned path is translated along the heading angle perpendicular to the target endpoint based on the lateral distance error to determine the target planned path.

7. The path planning method according to claim 6, characterized in that, The step of correcting the remaining planned path based on the target pose error to determine the target planned path includes: When the absolute value of the longitudinal distance error is not less than the longitudinal error threshold and the longitudinal distance error is greater than 0, if the remaining planned path is a backward path, then based on the longitudinal distance error, the remaining planned path is extended to determine the target planned path. When the absolute value of the longitudinal distance error is not less than the longitudinal error threshold and the longitudinal distance error is greater than 0, if the remaining planned path is a forward path, then when the last path node of the remaining planned path is a straight node, the straight node is shortened based on the longitudinal distance error to determine the target planned path. When the absolute value of the longitudinal distance error is not less than the longitudinal error threshold and the longitudinal distance error is less than 0, if the remaining planned path is a forward path, then based on the longitudinal distance error, the remaining planned path is extended to determine the target planned path. When the absolute value of the longitudinal distance error is not less than the longitudinal error threshold and the longitudinal distance error is less than 0, if the remaining planned path is a backward path, then when the last path node of the remaining planned path is a straight node, the straight node is shortened based on the longitudinal distance error to determine the target planned path.

8. A control device, characterized in that, Including processor and memory, among which, Memory, used to store computer programs; A processor for executing a program stored in memory to implement the path planning method according to any one of claims 1-7.

9. A vehicle, characterized in that, It includes the control device as described in claim 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the path planning method according to any one of claims 1-7.

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