Path planning method and device, equipment and storage medium
By updating the route using historical driving trajectories of the target area during route planning, the problem of static maps being unable to adapt to dynamic changes is solved, thereby improving the real-time performance and security of route planning.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- VOYAH AUTOMOBILE TECH CO LTD
- Filing Date
- 2026-02-02
- Publication Date
- 2026-05-12
AI Technical Summary
Existing route planning methods mainly rely on static maps, which cannot adapt to dynamic changes in parking areas caused by construction, road detours, temporary traffic restrictions, etc., leading to route planning failure and safety risks.
By acquiring regional map data of the target area, responding to vehicle parking location confirmation commands, combining historical driving trajectories of the target area, determining recommended driving trajectories, updating the planned driving path based on the recommended driving trajectories, and generating target driving paths to adapt to dynamically changing parking areas.
It improves the real-time performance and effectiveness of path planning, ensures the safety and efficiency of vehicle driving, and enhances the robustness of path planning methods.
Smart Images
Figure CN122009154A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle technology, and in particular to a path planning method, apparatus, device and storage medium. Background Technology
[0002] During vehicle operation, route planning can be provided based on the vehicle's starting and ending points, thereby ensuring safe and efficient vehicle operation.
[0003] Existing route planning methods mainly rely on pre-set static maps for route planning. For example, route planning can be generated based on environmental information collected by the vehicle, combined with the fixed roads and parking space layout of the parking area.
[0004] However, with urbanization and the increase in the number of vehicles, parking areas, such as parking lots, may experience changes in their roads due to construction, road rerouting, temporary traffic restrictions, or obstacles. This can not only cause the route planning determined by the preset static map to fail, but also pose certain safety risks. Summary of the Invention
[0005] This application provides a route planning method, apparatus, device, and storage medium that can adapt to dynamically changing parking areas, improving the reliability and effectiveness of the route planning method, thereby ensuring the safety and efficiency of vehicle driving.
[0006] In a first aspect, embodiments of this application provide a path planning method, including:
[0007] After determining that the vehicle has entered the target area, obtain the area map data of the target area;
[0008] In response to a confirmation command for the vehicle's parking location in the area map data, a planned driving route is determined based on the area map data and the vehicle's parking location.
[0009] Based on the historical driving trajectory within the latest time period of the target area, a recommended driving trajectory matching the planned driving route is determined;
[0010] Based on the recommended driving trajectory, the planned driving path is updated to obtain the target driving path; wherein, the target driving path is used to guide the vehicle to the vehicle parking position.
[0011] In one possible implementation, a recommended driving trajectory matching the planned driving path is determined based on historical driving trajectories within the latest time period of the target area, including:
[0012] Based on the historical driving trajectories within the latest time period of the target area, the optimal driving trajectory for each drivable route within the target area is determined; wherein, the historical driving trajectory indicates the trajectory of vehicles that have traveled within the target area during the latest time period;
[0013] The recommended driving trajectory is determined based on the degree of matching between the optimal driving trajectory and the planned driving path.
[0014] In one possible implementation, the optimal driving trajectory for each drivable route within the target area is determined based on historical driving trajectories within the latest time period of the target area, including:
[0015] For the target area, at least a portion of the historical driving trajectories under each drivable route within the latest time period are subjected to trajectory fusion processing to obtain the optimal driving trajectory under each drivable route within the target area.
[0016] In one possible implementation, the degree of matching includes at least the degree of route overlap and / or the distance to the destination; determining the recommended driving trajectory based on the degree of matching between the optimal driving trajectory and the planned driving route includes:
[0017] The degree of route overlap is determined based on the overlap ratio between each optimal driving trajectory and the planned driving path;
[0018] The distance to the destination is determined based on the distance between the destination corresponding to the planned driving path and each of the optimal driving trajectories;
[0019] The optimal driving trajectory that meets the overlap requirements of the routes and / or the distance requirements of the destination is determined as the recommended driving trajectory.
[0020] In one possible implementation, the planned driving path is updated based on the recommended driving trajectory to obtain the target driving path, including:
[0021] The recommended driving trajectory is used as a path reference marker line to update the planned driving path, thereby obtaining the target driving path; and / or,
[0022] The planned driving route is updated based on the point of interest information included in the recommended driving trajectory to obtain the target driving route; wherein, the point of interest information is used to generate route prompt information.
[0023] In one possible implementation, the method further includes:
[0024] If it is detected that the vehicle is not traveling along the target route, the vehicle's actual travel trajectory is recorded.
[0025] In one possible implementation, the method further includes:
[0026] After determining the actual driving trajectories of vehicles recorded multiple times, the regional map data is updated based on the recorded actual driving trajectories.
[0027] Secondly, embodiments of this application provide a path planning device, comprising:
[0028] The acquisition unit is used to acquire the area map data of the target area after determining that the vehicle has entered the target area;
[0029] A response unit is configured to respond to a confirmation command for the vehicle parking location in the regional map data, and determine a planned driving route based on the regional map data and the vehicle parking location;
[0030] The determining unit is used to determine a recommended driving trajectory that matches the planned driving path based on the historical driving trajectory within the latest time period of the target area;
[0031] An update unit is used to update the planned driving path according to the recommended driving trajectory to obtain a target driving path; wherein the target driving path is used to guide the vehicle to the vehicle parking position.
[0032] In one possible implementation, the determining unit is used for:
[0033] Based on the historical driving trajectories within the latest time period of the target area, the optimal driving trajectory for each drivable route within the target area is determined; wherein, the historical driving trajectory indicates the trajectory of vehicles that have traveled within the target area during the latest time period;
[0034] The recommended driving trajectory is determined based on the degree of matching between the optimal driving trajectory and the planned driving path.
[0035] In one possible implementation, the determining unit is used for:
[0036] For the target area, at least a portion of the historical driving trajectories under each drivable route within the latest time period are subjected to trajectory fusion processing to obtain the optimal driving trajectory under each drivable route within the target area.
[0037] In one possible implementation, the matching degree includes at least the degree of route overlap, and / or the distance to the destination; in this case, the determining unit is configured to:
[0038] The degree of route overlap is determined based on the overlap ratio between each optimal driving trajectory and the planned driving path;
[0039] The distance to the destination is determined based on the distance between the destination corresponding to the planned driving path and each of the optimal driving trajectories;
[0040] The optimal driving trajectory that meets the overlap requirements of the routes and / or the distance requirements of the destination is determined as the recommended driving trajectory.
[0041] In one possible implementation, the updating unit is used for:
[0042] The recommended driving trajectory is used as a path reference marker line to update the planned driving path, thereby obtaining the target driving path; and / or,
[0043] The planned driving route is updated based on the point of interest information included in the recommended driving trajectory to obtain the target driving route; wherein, the point of interest information is used to generate route prompt information.
[0044] In one possible implementation, the device is also used for:
[0045] If it is detected that the vehicle is not traveling along the target route, the vehicle's actual travel trajectory is recorded.
[0046] In one possible implementation, the device is also used for:
[0047] After determining the actual driving trajectories of vehicles recorded multiple times, the regional map data is updated based on the recorded actual driving trajectories.
[0048] Thirdly, embodiments of this application provide a computer device, including: a memory and a processor;
[0049] The memory stores computer-executed instructions;
[0050] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.
[0051] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.
[0052] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.
[0053] The path planning method, apparatus, device, and storage medium provided in this application embodiment, after determining that a vehicle has entered a target area, can acquire regional map data of the target area and, in response to a confirmation command for the vehicle's parking position in the regional map data, determine a planned driving path based on the regional map data and the vehicle's parking position. This implementation allows for path planning based on existing static regional map data to obtain a planned driving path, provided the vehicle meets the path planning requirements of the parking area. Furthermore, to ensure the real-time performance and effectiveness of the planned driving path, this application embodiment can also determine a recommended driving trajectory matching the planned driving path based on historical driving trajectories within the latest time period of the target area. In this case, the recommended driving trajectory can be used to characterize the dynamic changes in the regional map data within the latest time period. Subsequently, the planned driving path can be updated based on the recommended driving trajectory to obtain the target driving path; wherein, the target driving path is used to guide the vehicle to its parking position. This implementation method can update the planned driving path determined based on static regional map data according to the recommended driving trajectory, so that the obtained target driving path corresponds to the actual driving conditions in the target area. This not only improves the real-time performance and effectiveness of the path planning method, thereby improving the efficiency and safety of vehicle driving, but also enables the path planning method to adapt to dynamically changing scenarios, thereby improving the robustness of the path planning method. Attached Figure Description
[0054] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.
[0055] Figure 1 A flowchart illustrating a path planning method provided in an embodiment of this application;
[0056] Figure 2 A flowchart illustrating another path planning method provided in an embodiment of this application;
[0057] Figure 3 A schematic diagram illustrating a route planning process based on vehicle-side and cloud-side data, provided for an embodiment of this application;
[0058] Figure 4 This is a schematic diagram of the structure of a path planning device provided in an embodiment of this application;
[0059] Figure 5This is a schematic diagram of the structure of a computer device provided in an embodiment of this application.
[0060] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation
[0061] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.
[0062] The term "and / or" in this article merely describes a relationship, indicating that three relationships can exist. For example, A and / or B can represent three cases: A exists alone, A and B exist simultaneously, and B exists alone.
[0063] In addition, the term "at least one" in this document means any combination of at least two of any one or more of a plurality of elements, such as including at least one of A, B, and C, and may mean including any one or more elements selected from the set consisting of A, B, and C.
[0064] During vehicle operation, route planning can be provided based on the vehicle's starting and ending points, thereby ensuring safe and efficient vehicle operation.
[0065] Existing path planning methods mainly rely on pre-set static maps for path planning. For example, path planning can be generated based on environmental information collected by vehicle sensors, combined with the fixed road structure and parking space layout of the parking lot.
[0066] However, with the development of urbanization and the increase in the number of vehicles, parking areas, such as parking lots, may experience changes in their roads due to construction, road rerouting, temporary traffic restrictions, or obstacles. This not only renders the route planning determined by the preset static map ineffective but also poses certain safety risks.
[0067] Therefore, there is an urgent need for a path planning method that can be applied to dynamically changing parking areas.
[0068] The path planning method provided in this application can use the historical driving trajectory of the parking area (i.e., the target area) as a real-time dynamic data source to determine a recommended driving trajectory that matches the current vehicle (or the planned driving path of the current vehicle determined according to a preset static map). The method then updates the planned driving path based on the recommended driving path to obtain the target driving path. This improves the real-time performance and accuracy of the target driving path, enabling the path planning method to adapt to dynamically changing scenarios and thus ensuring the safety and effectiveness of path planning.
[0069] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.
[0070] Figure 1 This is a flowchart illustrating a path planning method provided in an embodiment of this application, as shown below. Figure 1 As shown, the method includes:
[0071] S101. After determining that the vehicle has entered the target area, obtain the area map data of the target area.
[0072] In one possible implementation, the path planning method provided in this application embodiment can be applied to the vehicle or the cloud to provide path planning for vehicle driving.
[0073] In one example, the target area can be understood as the parking lot area, or it can be understood as an area close to the parking lot (for example, an area 100 meters away from the parking lot). There is no limitation on the distance between the target area and the parking lot.
[0074] In one example, it can be determined whether a vehicle has entered the target area based on whether the vehicle navigation has ended; or it can be determined based on the vehicle's location; or it can be determined based on the visual perception of the entrance gate of the parking area, etc.
[0075] In one example, regional map data can be understood as static map data of the target area.
[0076] Optionally, regional map data can be generated based on vehicle driving data uploaded by vehicles that have traveled through the target area, and / or based on actual measurement data of the target area. The method for determining the regional map data is not limited here.
[0077] S102. In response to the confirmation command for the vehicle parking location in the regional map data, determine the planned driving route based on the regional map data and the vehicle parking location.
[0078] In one example, the confirmation command for the vehicle parking location can instruct the command to automatically determine the vehicle parking location. For example, the vehicle parking location can be automatically determined based on the parking location closest to the vehicle; or it can be automatically determined based on the parking location closest to the sidewalk, etc. There is no limitation on the method of automatically determining the vehicle parking location.
[0079] In another example, the confirmation command for the vehicle parking location can also indicate a parking location selection command. For example, the vehicle parking location can be determined in response to the user's parking location selection command.
[0080] In one example, planned driving can be understood as the planned route that the vehicle will travel. For example, the planned driving route could be: Road 1 - Road 2 - Road 3, or it could be Road 4 - Road 5, etc.
[0081] S103. Based on the historical driving trajectory of the target area within the latest time period, determine the recommended driving trajectory that matches the planned driving route.
[0082] In one example, the latest time period can be the most recent week or the most recent month, etc. There is no limit to the duration of the latest time period, which can be determined according to actual needs.
[0083] Based on this, the recommended driving trajectory can be understood as the latest driving trajectory that matches the planned driving path. At this time, the recommended driving trajectory can be used as real-time dynamic data for path planning, so that the path planning method can adapt to the dynamically changing target area.
[0084] In one example, the recommended driving trajectory may include the trajectory points of the vehicle's journey as well as the trajectory information of POI (Point of Interest).
[0085] S104. Update the planned driving route based on the recommended driving trajectory to obtain the target driving route; wherein, the target driving route is used to guide the vehicle to the vehicle parking position.
[0086] In one example, the target driving path obtained by updating the planned driving path based on the recommended driving trajectory can be a new driving path compared to the planned driving path, and / or a path that includes new POI information.
[0087] As described above, in this embodiment, after determining that a vehicle has entered a target area, regional map data of the target area can be obtained. In response to a confirmation command regarding the vehicle's parking position in the regional map data, a planned driving route is determined based on the regional map data and the vehicle's parking position. This implementation allows for route planning based on existing static regional map data, yielding a planned driving route, once the vehicle meets the route planning requirements of the parking area. Furthermore, to ensure the real-time performance and effectiveness of the planned driving route, this embodiment can also determine a recommended driving trajectory matching the planned driving route based on historical driving trajectories within the latest time period of the target area. In this case, the recommended driving trajectory can be used to characterize the dynamic changes in the regional map data within the latest time period. Subsequently, the planned driving route can be updated based on the recommended driving trajectory to obtain the target driving route; wherein, the target driving route guides the vehicle to its parking position. This implementation method can update the planned driving path determined based on static regional map data according to the recommended driving trajectory, so that the obtained target driving path corresponds to the actual driving conditions in the target area. This not only improves the real-time performance and effectiveness of the path planning method, thereby improving the efficiency and safety of vehicle driving, but also enables the path planning method to adapt to dynamically changing scenarios, thereby improving the robustness of the path planning method.
[0088] Figure 2 A flowchart illustrating another path planning method provided in this application embodiment is shown below. Figure 2 As shown, in this embodiment... Figure 1 Based on the examples, the path planning method is described in detail, which includes:
[0089] S201. After determining that the vehicle has entered the target area, obtain the area map data of the target area.
[0090] In one example, this step can be referred to the content described in S101 above, and will not be repeated in detail here.
[0091] S202. In response to the confirmation command for the vehicle parking location in the regional map data, determine the planned driving route based on the regional map data and the vehicle parking location.
[0092] In one example, this step can be referred to the content described in S102 above, and will not be repeated in detail here.
[0093] S203. Based on the historical driving trajectory within the latest time period of the target area, determine the optimal driving trajectory for each drivable route within the target area.
[0094] Among them, the historical driving trajectory indicates the trajectory of vehicles that have traveled within the target area in the latest time period.
[0095] In one example, the historical driving trajectory within the latest time period can be obtained based on a preset time sliding window.
[0096] In one example, different drivable routes can be determined based on historical driving trajectories with non-overlapping parts. In this case, the optimal driving trajectory for each drivable route can be determined based on at least one historical driving trajectory under the same driving route.
[0097] In practice, at least a portion of the historical driving trajectories for each drivable route within the latest time period of the target area can be fused to obtain the optimal driving trajectory for each drivable route within the target area.
[0098] In one example, trajectory fusion processing can indicate clustering processing, fitting processing, weighted fusion processing, etc. The trajectory fusion processing method is not specifically limited here, as long as it can be implemented.
[0099] For example, if the trajectory fusion processing indicates a clustering processing method, then the trajectory fusion processing of at least some historical driving trajectories can be achieved based on density clustering; if the trajectory fusion processing indicates a fitting processing method, then the trajectory fusion processing of at least some historical driving trajectories can be achieved based on least squares fitting; if the trajectory fusion processing indicates a weighted fusion processing method, then the trajectory fusion processing of at least some historical driving trajectories can be achieved based on the reliability of the historical driving trajectories, etc.
[0100] In the above implementation, the optimal driving trajectory for each drivable route can be selected by fusion of historical driving trajectories, so as to facilitate trajectory recommendation. This can reduce the number of recommended driving trajectories and improve the accuracy and efficiency of the recommended driving trajectories.
[0101] Optionally, in addition to determining the optimal driving trajectory for each drivable route based on at least a portion of the historical driving trajectories for each drivable route, the optimal driving trajectory can also be determined by combining vehicle attribute information.
[0102] The vehicle attribute information may include, but is not limited to, vehicle length, vehicle width, and turning radius.
[0103] For example, based on vehicle attribute information, at least a portion of the historical driving trajectories for each drivable route can be further grouped to obtain the historical driving trajectory for each vehicle attribute and each drivable route. Then, after trajectory fusion processing, the optimal driving trajectory for each vehicle attribute and each drivable route can be obtained.
[0104] At this point, based on the vehicle's current attribute information, a more suitable optimal driving trajectory can be recommended for the vehicle.
[0105] S204. Determine the recommended driving trajectory based on the degree of matching between the optimal driving trajectory and the planned driving path.
[0106] In one possible implementation, the degree of matching may include at least the degree of route overlap and / or the distance to the destination. In this case, step S204 can be described as the following process.
[0107] First, the degree of route overlap is determined based on the overlap ratio between each optimal driving trajectory and the planned driving path.
[0108] In one example, the roads along the optimal driving trajectory can be determined based on the trajectory points included in the optimal driving trajectory. Then, the roads along the optimal driving trajectory can be compared with the roads planned for the planned driving path to determine the overlap ratio between the optimal driving trajectory and the planned driving path.
[0109] For example, if the overlap ratio is 50%, then the degree of route overlap can be determined to be 50%.
[0110] Then, the distance to the destination is determined based on the distance between the destination corresponding to the planned driving route and each optimal driving trajectory.
[0111] In one example, the distance between the destination of the planned driving path and each optimal driving path can be determined based on the point in the optimal driving trajectory that is closest to the planned driving path.
[0112] Optionally, the distance to the destination can be determined by whether it is far or near. In this case, if the distance between the destination of the planned driving path and each optimal driving trajectory is greater than a preset distance threshold, the distance to the destination is determined to be "far"; otherwise, the distance to the destination is determined to be "near".
[0113] Finally, the optimal driving trajectory that meets the overlap requirement and / or the distance requirement of the destination is determined as the recommended driving trajectory.
[0114] In one example, the overlap requirement can indicate the degree of overlap requirement; for example, the overlap requirement can be an overlap requirement of greater than 50%.
[0115] In one example, the distance requirement could indicate how close or far from the destination is required; for instance, the distance requirement could be "close" or "near" for the destination.
[0116] Optionally, if there are multiple optimal driving trajectories that meet the overlap requirements in terms of route overlap and / or the distance requirements in terms of destination proximity, a recommended driving trajectory can be determined based on the ranking of route overlap from high to low.
[0117] In the above implementation, recommended driving routes that match the planned driving route can be determined from two aspects: the degree of route overlap and the distance to the destination, thereby improving the comprehensiveness of the determined recommended driving routes.
[0118] Optionally, if the optimal driving trajectory includes vehicle attribute information, the optimal driving trajectory that matches the current vehicle's vehicle attribute information from among the optimal driving trajectories that meet the overlap requirements and / or the distance requirements to the destination can be determined as the recommended driving trajectory. In this case, the determined recommended driving trajectory can be more suitable for the current vehicle, thereby providing more accurate path planning for the vehicle.
[0119] S205. Use the recommended driving trajectory as a path reference marker line to update the planned driving path and obtain the target driving path; and / or, update the planned driving path based on the point of interest information included in the recommended driving trajectory to obtain the target driving path.
[0120] The target driving route is used to guide the vehicle to its parking position.
[0121] In one example, the path reference markers can be understood as guide lines. In this case, the recommended driving trajectory can be used as a guide line for path planning, thereby updating the planned driving path.
[0122] In one example, the points of interest (POIs) included in the recommended driving trajectory can include obstacle information. The POIs are used to generate path hints. When the planned driving path is updated based on the POIs included in the recommended driving trajectory, the target driving path can generate obstacle hints, making it easier for the user to avoid obstacles and thus improving the safety of vehicle driving.
[0123] In one possible implementation, after determining the target driving path, if the vehicle is in autonomous driving mode, the target driving path can be used as a reference line input to control the vehicle to drive automatically; if the vehicle is in manual driving mode, the path prompts generated based on the points of interest information can be used to remind the driver of obstacles that may be encountered during the driving process.
[0124] In one possible implementation, if the overlap between the recommended driving trajectory and the planned driving route is not 100%, it indicates that there may be construction or detours in the target area, resulting in a detour and thus the overlap between the recommended and planned driving trajectories not being 100%. In this case, the construction or detour information can be determined based on the number of times the optimal driving trajectory is used and the update time, and a notification can be provided.
[0125] In the above embodiments, on the one hand, the recommended driving trajectory can be used as a path reference marker line to update the target driving path, thereby ensuring the feasibility of the target driving path and improving the effectiveness of the path planning method; on the other hand, the target driving path can be updated based on the point of interest information included in the recommended driving trajectory, thereby enabling the correction of detailed information in the planned driving path, further improving the accuracy of the target driving path, and thus enhancing the real-time performance and reliability of the path planning method.
[0126] In one possible implementation, if it is determined that the vehicle has driven to the parking location according to the guidance of the target driving path, and the target driving path includes updated point of interest information, then the vehicle's actual driving trajectory can be recorded.
[0127] Optionally, after recording the vehicle's actual driving trajectory, matching tags can be added to the recorded vehicle driving trajectory, thereby distinguishing driving trajectories that are inconsistent with the point of interest information included in the planned driving route.
[0128] In one possible implementation, if no recommended driving route matching the planned driving route is determined, the vehicle is guided to the parking position according to the planned driving route.
[0129] In one example, if the vehicle is detected to have traveled to the parking position according to the planned driving path, the process ends; otherwise, the process described in S206 below is executed.
[0130] S206. If it is detected that the vehicle is not traveling along the target route, the vehicle's actual driving trajectory is recorded.
[0131] In one example, the recorded actual driving trajectory of the vehicle can be used as the historical driving trajectory for subsequent path planning according to the path planning method provided in the embodiments of this application.
[0132] For example, the recorded actual driving trajectory of a vehicle can be used to determine a recommended driving trajectory.
[0133] Optionally, after recording the vehicle's actual driving trajectory, a difference label can be added to the recorded vehicle driving trajectory to distinguish driving trajectories that are inconsistent with the planned driving path.
[0134] This implementation method can collect the dynamic changes in the target area by collecting the actual driving trajectories of vehicles that do not follow the target driving path, thereby providing real data support for subsequent route planning.
[0135] S207. After determining the actual driving trajectory of the vehicle recorded multiple times, update the regional map data based on the recorded actual driving trajectory.
[0136] In this implementation, the regional map data can be automatically updated if the vehicle does not follow the planned route, thereby ensuring the real-time, accuracy and effectiveness of the regional map data, which helps to ensure the reliability of subsequent route planning.
[0137] In one optional implementation, the path planning method provided in this application embodiment can be applied to both the vehicle and the cloud, and provides path planning for vehicle driving through the interaction between the vehicle and the cloud.
[0138] For details, see Figure 3 , Figure 3 This application provides a schematic diagram of a route planning process based on both the vehicle and cloud platforms, as illustrated in the embodiments of this application. Figure 3 As shown, the method includes the following steps:
[0139] Step 1: Within a set time sliding window (e.g., the latest time period), the cloud performs trajectory fusion processing on the historical driving trajectories recorded for each parking lot (e.g., the target area) after the number of historical driving trajectories reaches a set threshold, to obtain the optimal driving trajectory for each drivable route within the parking lot.
[0140] Step 2: After the cloud identifies that the vehicle has entered the parking area, it sends the area map data to the vehicle.
[0141] Step 3: After receiving the regional map data, the vehicle can display available parking locations within the map and respond to confirmation commands regarding the vehicle's parking position. Based on the regional map data and the vehicle's parking location, it determines the planned driving route. Simultaneously, it requests the optimal driving trajectory from the cloud.
[0142] Step 4: After receiving the request from the vehicle, the cloud sends the optimal driving trajectory for each drivable route within the parking area to the vehicle.
[0143] Step 5: The vehicle receives the optimal driving trajectory for each drivable route from the cloud, and determines the recommended driving trajectory that matches the planned driving path based on the current vehicle attribute information and the optimal driving trajectory for each drivable route.
[0144] Step 6: The vehicle updates the planned driving route based on the recommended driving trajectory to obtain the target driving route.
[0145] If the vehicle is determined to be in autonomous driving mode, the target driving path can be used as a reference line for vehicle control to control the vehicle to drive automatically. If the vehicle is determined to be in manual driving mode, path prompts can be generated based on the points of interest information included in the recommended driving trajectory, and the driver can be reminded of obstacles that may be encountered during the driving process based on the path prompts.
[0146] If the overlap between the recommended driving trajectory and the planned driving route is not 100%, it indicates that there may be construction or detours in the target area, resulting in a detour and causing the overlap between the recommended and planned driving trajectories to be less than 100%. In this case, construction or detour information can be determined based on the usage frequency and update time of the optimal driving trajectory, and a notification can be provided.
[0147] Step 7: If the vehicle determines that it is not traveling along the target route, it records the vehicle's actual travel trajectory, adds a difference tag, and uploads it to the cloud. If the vehicle determines that it is traveling along the target route and the target planned route has been updated, it records the vehicle's actual travel trajectory, adds a matching tag, and uploads it to the cloud.
[0148] Step 8: After the vehicle terminal determines the actual driving trajectory of the vehicle recorded multiple times, it issues a map update command based on the recorded actual driving trajectory and uploads it to the cloud.
[0149] Step 9: The cloud platform updates the regional map data of the parking area based on the map update command sent by the vehicle and the actual driving trajectory of the vehicle uploaded by the vehicle.
[0150] Figure 4 This is a schematic diagram of the structure of a path planning device provided in an embodiment of this application, as shown below. Figure 4 As shown, the path planning device 40 provided in this embodiment includes:
[0151] The acquisition unit 401 is used to acquire the area map data of the target area after determining that the vehicle has entered the target area;
[0152] The response unit 402 is used to respond to the confirmation command of the vehicle parking position in the regional map data, and determine the planned driving route based on the regional map data and the vehicle parking position;
[0153] The determining unit 403 is used to determine a recommended driving trajectory that matches the planned driving route based on the historical driving trajectory within the latest time period of the target area.
[0154] The update unit 404 is used to update the planned driving path according to the recommended driving trajectory to obtain the target driving path; wherein, the target driving path is used to guide the vehicle to the vehicle parking position.
[0155] In one possible implementation, the determining unit 403 is configured to:
[0156] Based on the historical driving trajectories of the target area within the latest time period, determine the optimal driving trajectory for each drivable route within the target area; where the historical driving trajectory indicates the trajectory of vehicles that have traveled within the target area within the latest time period.
[0157] The recommended driving trajectory is determined based on the degree of matching between the optimal driving trajectory and the planned driving path.
[0158] In one possible implementation, the determining unit 403 is configured to:
[0159] For the target area, at least a portion of the historical driving trajectories under each drivable route within the latest time period are fused to obtain the optimal driving trajectory under each drivable route within the target area.
[0160] In one possible implementation, the degree of matching includes at least the degree of route overlap, and / or the distance to the destination; in this case, the determining unit 403 is used to:
[0161] The degree of route overlap is determined based on the overlap ratio between each optimal driving trajectory and the planned driving path;
[0162] The distance to the destination is determined based on the distance between the destination corresponding to the planned driving route and each optimal driving trajectory;
[0163] The optimal driving trajectory that meets the overlap requirements and / or the distance requirements of the destination is determined as the recommended driving trajectory.
[0164] In one possible implementation, the update unit 404 is used for:
[0165] The recommended driving trajectory is used as a path reference marker line to update the planned driving path, thus obtaining the target driving path; and / or,
[0166] The planned driving route is updated based on the points of interest information included in the recommended driving trajectory to obtain the target driving route; among them, the points of interest information is used to generate route prompt information.
[0167] In one possible implementation, the device is also used for:
[0168] If a vehicle is detected to be not following the target driving path, the vehicle's actual driving trajectory is recorded.
[0169] In one possible implementation, the device is also used for:
[0170] After determining the actual driving trajectories of vehicles recorded multiple times, the regional map data is updated based on the recorded actual driving trajectories.
[0171] The path planning device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.
[0172] Figure 5 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Figure 5 As shown, the computer device 50 provided in this embodiment includes at least one processor 501 and a memory 502. Optionally, the computer device 50 further includes a communication component 503. The processor 501, memory 502, and communication component 503 are connected via a bus 504.
[0173] In a specific implementation, at least one processor 501 executes computer execution instructions stored in memory 502, causing at least one processor 501 to perform the above-described method.
[0174] The specific implementation process of processor 501 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.
[0175] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.
[0176] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.
[0177] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.
[0178] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.
[0179] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.
[0180] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.
[0181] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.
[0182] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.
[0183] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.
[0184] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.
[0185] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0186] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.
[0187] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.
Claims
1. A path planning method, characterized in that, include: After determining that the vehicle has entered the target area, obtain the area map data of the target area; In response to a confirmation command for the vehicle's parking location in the area map data, a planned driving route is determined based on the area map data and the vehicle's parking location. Based on the historical driving trajectory within the latest time period of the target area, a recommended driving trajectory matching the planned driving route is determined; Based on the recommended driving trajectory, the planned driving path is updated to obtain the target driving path; wherein, the target driving path is used to guide the vehicle to the vehicle parking position.
2. The method according to claim 1, characterized in that, Based on the historical driving trajectories within the latest time period of the target area, a recommended driving trajectory matching the planned driving path is determined, including: Based on the historical driving trajectories within the latest time period of the target area, the optimal driving trajectory for each drivable route within the target area is determined; wherein, the historical driving trajectory indicates the trajectory of vehicles that have traveled within the target area during the latest time period; The recommended driving trajectory is determined based on the degree of matching between the optimal driving trajectory and the planned driving path.
3. The method according to claim 2, characterized in that, Based on the historical driving trajectories within the latest time period of the target area, determine the optimal driving trajectory for each drivable route within the target area, including: For the target area, at least a portion of the historical driving trajectories under each drivable route within the latest time period are subjected to trajectory fusion processing to obtain the optimal driving trajectory under each drivable route within the target area.
4. The method according to claim 2, characterized in that, The matching degree includes at least the degree of route overlap and / or the distance to the destination; the recommended driving trajectory is determined based on the matching degree between the optimal driving trajectory and the planned driving route, including: The degree of route overlap is determined based on the overlap ratio between each optimal driving trajectory and the planned driving path; The distance to the destination is determined based on the distance between the destination corresponding to the planned driving path and each of the optimal driving trajectories; The optimal driving trajectory that meets the overlap requirements of the routes and / or the distance requirements of the destination is determined as the recommended driving trajectory.
5. The method according to claim 1, characterized in that, Based on the recommended driving trajectory, the planned driving path is updated to obtain the target driving path, including: The recommended driving trajectory is used as a path reference marker line to update the planned driving path, thereby obtaining the target driving path; and / or, The planned driving route is updated based on the point of interest information included in the recommended driving trajectory to obtain the target driving route; wherein, the point of interest information is used to generate route prompt information.
6. The method according to any one of claims 1-5, characterized in that, The method further includes: If it is detected that the vehicle is not traveling along the target route, the vehicle's actual travel trajectory is recorded.
7. The method according to claim 6, characterized in that, The method further includes: After determining the actual driving trajectories of vehicles recorded multiple times, the regional map data is updated based on the recorded actual driving trajectories.
8. A path planning device, characterized in that, include: The acquisition unit is used to acquire the area map data of the target area after determining that the vehicle has entered the target area; A response unit is configured to respond to a confirmation command for the vehicle parking location in the regional map data, and determine a planned driving route based on the regional map data and the vehicle parking location; The determining unit is used to determine a recommended driving trajectory that matches the planned driving path based on the historical driving trajectory within the latest time period of the target area; An update unit is used to update the planned driving path according to the recommended driving trajectory to obtain a target driving path; wherein the target driving path is used to guide the vehicle to the vehicle parking position.
9. A computer device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-7.
10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-7.