Driving path generation system and method

Abstract

The present disclosure relates to the field of intelligent mines, autonomous driving and unmanned vehicles, and provides a driving path generation system and method. The system comprises: a template storage module, which stores a plurality of turning path templates; a position pickup module, which is configured to obtain key point data in response to a first user operation instruction, wherein the key point data comprises at least two of a starting point, an ending point and a turning point; a template pickup unit in a path drawing module, configured to, in response to a second user operation instruction, pick up a target turning path template matching a driving scenario from the template storage module, and set the target turning path template to a user specified state; and a path drawing unit in the path drawing module, configured to draw a driving path on the basis of the target turning path template in the user specified state and the key point data. The present disclosure improves the efficiency and stability of path planning by combining manual operation and algorithmic assistance.

Description

Driving route generation system and method

[0001] Cross-reference

[0002] This disclosure claims priority to Chinese Patent Application No. 202410703928.X, filed on May 31, 2024, entitled “Driving Path Generation System and Method”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the fields of smart mining, autonomous driving, and unmanned vehicle technology, specifically to a driving path generation system and method. Background Technology

[0004] High-precision maps are essential for the normal operation of autonomous vehicles. In practical applications, high-precision maps are often used to plan the driving routes of autonomous vehicles.

[0005] In most driving scenarios, especially in those lacking road and lane markings (such as mining operations), the accuracy of the planned driving path is crucial. However, current driving path generation solutions are not only inaccurate but also inefficient, making it difficult to guarantee safety. Summary of the Invention

[0006] In view of this, the present disclosure provides a driving path generation system and method.

[0007] In a first aspect, one embodiment of this disclosure provides a driving path generation system, comprising: a template storage module storing multiple reversing path templates, each reversing path template including geometric shapes related to the reversing path, the reversing path being used to characterize a path related to a vehicle performing a reversal; a position picking module configured to obtain key point data in response to a first user operation command, the key point data including at least two of the following key points: a start point, an end point, and a reversing point; and a path drawing module including a template picking unit and a path drawing unit; wherein the template picking unit is configured to pick a target reversing path template matching the driving scenario from the template storage module in response to a second user operation command, and set the target reversing path template to a user-specified state; and the path drawing unit is configured to draw a driving path based on the target reversing path template in the user-specified state and the key point data.

[0008] In conjunction with the first aspect, some implementations of the first aspect further include: a map module, configured to acquire boundary data of the target work area; a prompt module, configured to acquire the relationship between the initial driving path and boundary data drawn based on the target reversal path template and start-end point data in a user-specified state, and output prompt information when the relationship meets preset conditions; a path adjustment module, configured to adjust at least one key point in the key point data and / or the target reversal path template in response to a user adjustment instruction to adjust the initial driving path based on the prompt information; and a path drawing unit, configured to generate a driving path based on the adjusted key points and / or the adjusted target reversal path template.

[0009] In conjunction with the first aspect, in some implementations of the first aspect, the preset condition indicates that there is data overlap between the initial driving path and the boundary data; the prompt module is set to display the collision frame on the initial driving path or at a relevant location on the initial driving path.

[0010] In conjunction with the first aspect, in some implementations of the first aspect, the user-specified state includes a user-specified position and / or a user-specified angle.

[0011] In conjunction with the first aspect, in some implementations of the first aspect, the target reversing path template includes an arc passing through the reversing point and / or a line segment passing through the reversing point, wherein the curvature of the arc is related to the turning radius of the vehicle.

[0012] In conjunction with the first aspect, in some implementations of the first aspect, at least one key point and / or target reversal path template in the key point data is adjusted, including: adjusting at least one of the following: the radii of the arc, the arc length of the arc, and the length of the line segment, with reference to the reversal point.

[0013] In conjunction with the first aspect, in some implementations of the first aspect, the location picking module is configured to obtain waypoints in response to a third user operation command, wherein the waypoints represent the points along the path required for at least two key points to form a path; wherein the path drawing unit is configured to draw the driving path based on the target reversal path template, key point data and waypoints in the user-specified state.

[0014] In conjunction with the first aspect, in some implementations of the first aspect, the waypoints include reversing waypoints and / or forward waypoints, where reversing waypoints are used to characterize points that need to be traversed on a reversing path, and forward waypoints are used to characterize points that need to be traversed on a forward path.

[0015] In conjunction with the first aspect, some implementations of the first aspect also include: a scene selection module, configured to determine the target scene in response to a fourth user operation command; and a location picking module, configured to determine key point data from recommended initial key points related to the target scene in response to a first user operation command.

[0016] The template picking unit is configured to pick the target reversing path template from the recommended initial reversing path templates related to the target scene in response to a second user operation command.

[0017] Secondly, one embodiment of this disclosure provides a driving path generation method, including: in response to a first user operation instruction, acquiring key point data, the key point data including at least two of the following points: a starting point, an ending point, and a reversal point; in response to a second user operation instruction, picking a target reversal path template matching the driving scenario from a plurality of reversal path templates, and setting the target reversal path template to a user-specified state; and drawing a driving path based on the target reversal path template in the user-specified state and the key point data.

[0018] Thirdly, one embodiment of this disclosure provides a computer-readable storage medium storing a computer program configured to perform the driving path generation method described in the second aspect.

[0019] Fourthly, one embodiment of this disclosure provides an electronic device comprising: a processor; a memory configured to store processor-executable instructions; the processor being configured to perform the driving path generation method described in the second aspect.

[0020] This disclosure presents a semi-automated path drawing method that combines manual and algorithmic assistance. This method not only improves the efficiency and stability of path planning but also reduces path conflicts during multi-vehicle collaborative operations and optimizes reversing operations in confined working environments. This, in turn, enhances the driving performance of unmanned vehicles and the operational efficiency of large-scale unmanned vehicle fleets, thereby improving the safety and reliability of unmanned operations in open-pit mines. Specifically, this solution introduces a template storage module to pre-store multiple geometric templates related to reversing paths. This allows for the rapid selection of suitable paths for specific driving scenarios without having to calculate from scratch each time, significantly improving the efficiency of path planning. Furthermore, considering various possible operating conditions and limitations, the system allows users to select key point data and target reversing path templates that match the driving scenario. This enables more reasonable decisions based on actual conditions and experience, resulting in more stable and reliable driving paths. It also makes it easier to plan conflict-avoiding driving paths during multi-vehicle collaborative operations. Attached Figure Description

[0021] The above and other objects, features, and advantages of this disclosure will become more apparent from the more detailed description of the embodiments thereof in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this disclosure and form part of the specification. They are used together with the embodiments of this disclosure to explain the disclosure and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0022] Figure 1 shows a schematic diagram of the driving route of a vehicle in a mining scenario in related technologies.

[0023] Figure 2 shows a schematic diagram of the execution of each module in a driving path generation system provided in an embodiment of this disclosure.

[0024] Figure 3 is a schematic diagram of a target work area provided in an embodiment of this disclosure.

[0025] Figure 4 shows a schematic diagram of the execution of each module in a driving path generation system provided in another embodiment of this disclosure.

[0026] Figure 5 is a schematic diagram of a target reversal path template provided in an embodiment of this disclosure.

[0027] Figure 6 shows a schematic diagram of the target reversal path template provided in an embodiment of this disclosure before and after rotation.

[0028] Figure 7 is a schematic diagram of adjusting a multi-target reversing path template provided in an embodiment of this disclosure.

[0029] Figure 8a shows a schematic diagram of a display collision vehicle frame provided in an embodiment of the present disclosure.

[0030] Figure 8b shows a schematic diagram of a display of a collision vehicle frame provided in another embodiment of this disclosure.

[0031] Figure 8c shows a schematic diagram of a display of a collision vehicle frame provided in another embodiment of this disclosure.

[0032] Figure 9 shows a schematic diagram of the forward path drawing provided in an embodiment of this disclosure.

[0033] Figure 10 is a schematic diagram of drawing a reversing path provided in an embodiment of this disclosure.

[0034] Figure 11 is a schematic diagram of a complete driving path provided in an embodiment of this disclosure.

[0035] Figure 12 is a flowchart illustrating a method for generating a driving path according to an embodiment of this disclosure.

[0036] Figure 13 shows a schematic diagram of the structure of an electronic device provided in an exemplary embodiment of the present disclosure. Detailed Implementation

[0037] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0038] High-precision maps of open-pit mines serve as a critical infrastructure for the operation of unmanned mining vehicles (UGVs), ensuring the safety and efficiency of material loading and unloading operations in loading and unloading areas. These work areas are the core scenarios for UGV operations, but due to the lack of readily available road and lane markings, UGVs must rely on complex path planning algorithms to navigate in open spaces. This reliance leads to inefficiency and inconsistent results, especially when multiple vehicles are working collaboratively, where the complexity of path planning further increases, making path conflicts more likely.

[0039] Figure 1 shows a schematic diagram of the vehicle's travel route in a mining scenario in related technologies. In the figure, a, b, and c represent schematic diagrams of the vehicle's travel route under different operating scenarios. Correspondingly, A1, A2, and A3 refer to the mining locations under different operating scenarios. The arrows indicate the direction of vehicle travel, and the dashed lines represent the vehicle's travel route. As can be seen from the figure, the working space in a and b is the same, but the mining locations are different. The working space in b and c is different (the working space in c is larger than the working space in b), but the mining locations are the same in these two operating scenarios.

[0040] In scenario a, the unmanned vehicle first travels straight and then reverses until it reaches mining position A1. In scenario b, the unmanned vehicle also travels straight and then reverses, but due to the difference between mining positions A1 and A2, the curvature of the reversing path in scenario b differs from that in scenario a. In scenario c, because the working space is large enough, although mining position A3 is the same as mining position A2, their travel routes are completely different. More specifically, in scenario c, the forward path of the unmanned vehicle differs from that in scenario b. In scenario c, after reaching the end of the forward path, the unmanned vehicle reverses in a straight line to reach mining position A3 for operation, while in scenario b, the reversing path of the unmanned vehicle is curved.

[0041] As shown in the figures above, in operational scenarios, especially in confined spaces, autonomous vehicles (RVs) need to change direction, such as switching from direct driving to reversing. In these situations, path planning algorithms are more prone to backtracking or failure, which not only affects the performance of individual RVs but can also significantly reduce the overall operational efficiency of large-scale RV fleets. Therefore, to improve the performance of RVs in these critical operational scenarios, it is necessary to develop more efficient and stable path planning methods to reduce the complexity of path planning and improve operational efficiency.

[0042] The driving path generation system of this disclosure will be described in detail below with reference to Figures 2 to 11.

[0043] First, the driving path generation system in this disclosure includes a template storage module, a location picking module, and a path drawing module, wherein the path drawing module further includes a template picking unit and a path drawing unit.

[0044] Specifically, the template storage module stores multiple reversing path modules. These templates are suitable for the paths when a vehicle performs a reversing operation under specific conditions. They contain the geometry related to the vehicle's reversing operation, such as turning radius and angle, and can be optimized according to different operating environments and vehicle characteristics.

[0045] It should be noted that the reversing path template in this disclosure is a pre-designed path, formed by observing and analyzing the actual driving trajectories of manned vehicles performing reversing operations in the work area, and then summarizing and abstracting these trajectories. This design aims to capture the key geometric features and motion patterns in reversing operations and transform this information into a set of guiding path templates to guide unmanned vehicles to perform reversing operations safely and effectively in similar work environments.

[0046] Furthermore, since the reversing path templates are generated based on actual conditions in specific scenarios, they take into account various possible operating conditions and limitations. Therefore, using these templates helps generate more stable and reliable driving paths. In this way, autonomous vehicles can mimic the driving behavior of human drivers under complex operating conditions, thereby improving the efficiency and safety of automated operations.

[0047] Figure 2 shows a schematic diagram of the execution of various modules in a driving path generation system provided in an embodiment of this disclosure. In Figure 2, each module includes a location picking module 210 and a path drawing module, wherein the path drawing module further includes a template picking unit 220 and a path drawing unit 230. Specifically, the execution steps between them are as follows.

[0048] The position acquisition module 210 receives key point data in response to the first user operation command.

[0049] For example, the operating instructions in this disclosure come from a user interface of the driving path generation system, through which users interact with the system, select specific functions they need, or input specific parameters.

[0050] In this step, once the system receives the first user operation command through the user interface, it will acquire key point data. Key point data is the foundation of path planning, and it includes at least two of the three key points: the start point, the end point, and the reversal point.

[0051] Figure 3 shows a schematic diagram of a target work area provided in an embodiment of this disclosure. As shown in Figure 3, B1 is the starting point and B2 is the ending point. Exemplarily, B1 is a location point selected by the user within the boundary of the target work area according to the vehicle operation requirements, containing point spatial coordinates (x, y, z). These coordinates determine the exact position of B1 in the three-dimensional space of the target work area. Furthermore, B1 also includes an orientation, which indicates the direction the vehicle should face when starting from B1, ensuring it can begin traveling along a predetermined path. B2 is the final position where the vehicle completes its work journey, also selected by the user. Similar to B1, B2 is also defined by a point containing spatial coordinates (x, y, z), which determine the exact position of B2 in the three-dimensional space of the target work area. B2 also includes an orientation, indicating the direction the vehicle should face when arriving at B2, in preparation for unloading, parking, or other operations at the end of the work. A reversal point is a specific location where the unmanned vehicle needs to change its direction of travel during operation; the reversal point is included in the reversal path template. These key points define the vehicle's starting position, target position, and specific locations where it needs to change direction during the journey, providing necessary information for subsequent route planning.

[0052] The template picking unit 220, in response to the second user operation command, picks up the target reversing path template that matches the driving scenario from the template storage module, and sets the target reversing path template to the user-specified state.

[0053] It should be noted that the driving scenario in this embodiment is identified by the user; that is, the user identifies the current driving scenario based on their observation and understanding of the target work area. Then, the user selects a reversing path template through the system's user interface. After receiving the relevant operation command, the template picking unit accesses the template storage module and retrieves the target reversing path template selected by the user. In other words, the template picking operation is triggered by the user, resulting in the user-selected target reversing path template. This template contains path information that the vehicle should follow when performing a reversing operation in a specific scenario, guiding the vehicle on how to safely and effectively perform a reversing operation in that specific scenario.

[0054] Furthermore, the template picking unit sets the template to a user-specified state. That is, based on the user's operation, the system sets the template to a specified state to ensure that it can be correctly used by the path drawing unit. For example, the user-specified state includes configuring parameters for the target reversing path template. For example, the user-specified state includes dragging, rotating, or performing other operations on the target reversing path template to position it at a specified location or angle.

[0055] The path drawing unit 230 draws the driving path based on the target reversal path template and key point data in the user-specified state.

[0056] Specifically, the path drawing unit combines the path parameters in the template with the spatial coordinates and orientation of key points, and uses a path planning algorithm to generate a detailed driving path. This path will guide the autonomous vehicle to start from the starting point, drive along the predetermined trajectory, pass through the necessary turning points, and finally safely reach the destination.

[0057] Furthermore, when drawing paths, the path drawing unit can further consider actual working conditions, such as the boundaries of the target working area, the location of obstacles, and the size and performance limitations of vehicles, to ensure that the generated path conforms to the predefined template and adapts to the actual working environment. Preferably, in this disclosure, the path drawing unit only performs curve fitting based on the path parameters in the template and the spatial coordinates and orientation of key points (e.g., using curves to connect key points and the template, and smoothing the generated curves). Other operations that require adjustments to the position and shape of the curves are all performed by the user or triggered by the user. This method can generate paths more efficiently and accurately.

[0058] In this embodiment, a semi-automated path drawing method combining manual and algorithmic assistance not only improves the efficiency and stability of path planning but also reduces path conflicts during multi-vehicle collaborative operations and optimizes reversing operations in narrow working scenarios. This enhances the driving performance of unmanned vehicles and the operational efficiency of large-scale unmanned vehicle fleets, thereby improving the safety and reliability of unmanned operations in the entire open-pit mine. Specifically, this solution introduces a template storage module to pre-store multiple geometric shape templates related to reversing paths, enabling the rapid selection of suitable paths for specific driving scenarios without having to calculate from scratch each time, significantly improving path planning efficiency. Furthermore, considering various possible operating conditions and limitations, the system allows users to select key point data and target reversing path templates that match the driving scenario. This allows for more reasonable decisions based on actual conditions and experience, resulting in more stable and reliable driving paths. It also makes it easier to plan conflict-avoiding driving paths during multi-vehicle collaborative operations.

[0059] Figure 4 shows an execution diagram of various modules in a driving route generation system provided in another embodiment of this disclosure. As shown in Figure 4, each module includes a map module 410, a prompting module 420, a route adjustment module 430, and a route drawing unit 440 in the route drawing module, as detailed below:

[0060] Map module 410 acquires the boundary data of the target work area.

[0061] Boundary data can be obtained from map features corresponding to the target work area stored in the map module's high-precision map, defining the physical extent of the target work area. For example, boundary data includes geometric shapes such as coordinate points, lines, and polygons, which clearly mark the boundaries of the target work area on the map. For example, as shown in Figure 3, the outer border belongs to the boundary data of the target work area.

[0062] The prompt module 420 obtains the relationship between the initial driving path and boundary data drawn based on the target reversal path template and start and end point data in the user-specified state, and outputs prompt information when the relationship meets preset conditions.

[0063] Specifically, based on key point data and the target reversal path template, the system generates an initial driving path and analyzes the relationship between the initial driving path and the boundary data of the target work area. For example, this relationship means that the system checks whether the initial driving path is completely within the boundary of the target work area, assesses whether the initial driving path avoids prohibited areas or obstacles, and ensures that the vehicle does not exceed the preset safety range. Then, the prompting module obtains this relationship and preset conditions, which, for example, include the path's safe distance, obstacle avoidance requirements, and path integrity. The prompting module determines whether the driving path is suitable based on these conditions. If the analysis results show that the relationship between the driving path and the boundary data meets all preset conditions, the prompting module outputs a prompt message. For example, this message can be a suggestion or a warning to guide the operator or automatic control system to take the next step.

[0064] As can be seen, the prompting module in this embodiment provides real-time feedback and guidance in the driving path generation system, ensuring that the autonomous vehicle follows the predetermined driving path and complies with the boundary restrictions of the operating area. This function is not only crucial in the path planning stage but also equally important during the actual vehicle operation. It can monitor the vehicle's driving status in real time and provide timely feedback when potential risks are detected.

[0065] The route adjustment module 430, in response to a user adjustment command to adjust the initial driving route based on prompt information, adjusts at least one key point and / or the target reversing route template in the key point data.

[0066] For example, the prompt message indicates that the path conflicts with the boundary of the target work area, has obstacles, or does not comply with safety regulations. Based on the prompt message, the user can manually select the area or key point that needs adjustment through the user interface to generate user adjustment instructions. The path adjustment module will modify the key point data according to the user's adjustment instructions. For example, it may adjust the position or orientation of these points to optimize the driving path.

[0067] In addition to adjusting key points, users can also adjust the target reversing path template as needed. For example, users can manually change the geometry, turning radius, angle or other relevant parameters of the target reversing path template to ensure that the vehicle can perform reversing operations more safely and efficiently.

[0068] The path drawing unit 440 generates a driving path based on the adjusted key points and / or the adjusted target reversal path template.

[0069] The path drawing unit 440 uses algorithms to calculate a detailed driving path based on the adjusted key points and the target reversal path template. This process involves complex mathematical calculations and optimization algorithms to ensure that the generated path conforms to both the geometric template and the specific requirements of the key points. Optionally, during the calculation process, the path drawing unit can also ensure that the driving path complies with the boundary data and safety rules of the target work area, preventing the autonomous vehicle from leaving the designated area or entering a dangerous zone. Optionally, the consideration of the boundary data and safety rules of the target work area can also be operated or triggered by the user. Finally, the path drawing unit generates an optimized driving path, which serves as the vehicle's navigation basis, guiding it from the starting point, through necessary reversal points, and ultimately safely to the destination.

[0070] In this embodiment, by acquiring boundary data of the target work area through the map module, the system can accurately plan the driving path within the restricted space, avoiding the risk of the unmanned vehicle driving out of the work area or entering a dangerous zone. The introduction of the prompt module allows the system to monitor the relationship between the initial driving path and the boundary data in real time and provide feedback when potential problems are detected, so that the user can make timely adjustments and optimize the driving path. Through preset conditions and prompt information, the system can ensure that the driving path always complies with safety regulations, reduce the possibility of accidents, and ensure vehicle driving safety. In addition, after the user adjusts the key points or target reversal path template according to the prompt information, the path adjustment module will respond to the adjustment operation in a timely manner, making the system in this disclosure more customizable and allowing users to respond flexibly according to the actual situation. At the same time, since the system can respond to the user's adjustment instructions and regenerate the driving path, it can adapt to the dynamic changes of the work site.

[0071] In conjunction with the foregoing embodiments, in some other embodiments of this disclosure, the target reversing path template includes an arc passing through the reversing point and / or a line segment passing through the reversing point, wherein the curvature of the arc is related to the turning radius of the vehicle.

[0072] Figure 5 is a schematic diagram of a target reversal path template provided in an embodiment of this disclosure. Exemplarily, the target reversal path template includes a herringbone template (as shown in Figure 5a) and a non-herringbone template (as shown in Figure 5b), and the parameters of the target reversal path template can be expanded according to business needs.

[0073] Referring to Figure 5, in line a, the reversal point is C1, and in line b, the reversal point is C2. The herringbone-shaped target reversal path template includes two side arcs, with parameters including the turning radius r1 and arc length of the left and right side arcs. The non-herringbone-shaped target reversal path template includes side arcs and line segments, with parameters including the turning radius r2, arc length, and line segment length. It can be seen that, regardless of whether it's a herringbone-shaped or non-herringbone-shaped target reversal path template, the two side arcs, or a single side arc and the other side line segment, all pass through the reversal point.

[0074] Radius is a measure of the curvature of an arc; it is the ratio of the arc length to the radius. The turning radius refers to the radius of the circle around which a vehicle turns. This radius determines the tightness of the turn; a larger radius results in a more relaxed turn, while a smaller radius results in a sharper turn. In this embodiment, the radii of the arc are directly related to the vehicle's turning radius. For example, considering the narrowness of the target work area and the complexity of traffic, a larger turning radius and a smaller radii are designed to ensure the vehicle can turn safely within the work area. In open areas, a smaller turning radius and a larger radii are designed to accommodate the larger turning requirements at high speeds. In Figures 5a and 5b, the radii of the arcs in both types of target reversing path templates are 90°.

[0075] In this embodiment, by ensuring that the curvature of the arc matches the turning radius of the vehicle, the stability and safety of the vehicle during turns can be guaranteed, avoiding vehicle rollover or loss of control due to sharp turns. The template contains precisely designed arcs and line segments, which can ensure that the vehicle travels accurately along the predetermined path, reducing the possibility of deviating from the predetermined route. Furthermore, smooth arc turns can also reduce the driving hazards caused by sharp turns.

[0076] In conjunction with the foregoing embodiments, in some other embodiments of this disclosure, the user-specified state includes a user-specified position and / or a user-specified angle.

[0077] Specifically, the user-specified position refers to the location of the reversing point of the target reversing path template within the boundary of the target work area. The user-specified angle refers to the angle by which the target reversing path template is rotated relative to its initial position, using the reversing point as a reference. Optionally, the target reversing path template in the user-specified state may not change its geometry; instead, the position of the reversing point and the angle of the entire target reversing path template may be adjusted. Alternatively, the shape of the reversing path template may be adjusted before adjusting the position of the reversing point and the angle of the entire target reversing path template.

[0078] Figure 6 shows a schematic diagram of the target reversing path template before and after rotation according to an embodiment of this disclosure. As shown in Figure 6, rotating the target reversing path template in a counterclockwise direction by 15° yields the target reversing path template shown in b. It should be noted that the arc length and curvature of the arc of the target reversing path template do not change before and after rotation.

[0079] In this embodiment, by specifying the angle or position in the user-specified state, the user can make the path planning result more adaptable to the current driving conditions based on their specific needs and understanding of the target work area, thereby improving driving efficiency, increasing driving safety, avoiding errors caused by automatic planning, and enabling the system to cope with complex and ever-changing driving scenarios.

[0080] In conjunction with the foregoing embodiments, in some other embodiments of this disclosure, at least one key point and / or target reversal path template in the key point data is adjusted, including: adjusting at least one of the following: the curvature of the arc, the arc length of the arc, and the length of the line segment, with reference to the reversal point.

[0081] In high-precision map editing scenarios, the selected target reversal path template can be displayed visually. This visualization allows users to intuitively see the application effect of the template on the map and adjust the template parameters to suit specific operational needs.

[0082] Figure 7 illustrates an embodiment of this disclosure showing the adjustment of a multi-target reversing path template. For example, when the selected target reversing path template is a herringbone shape (as shown in Figure 5a), the user can make specific adjustments to the template. Specifically, the curvature of the two arcs can be adjusted; for example, the curvature of 90° in Figure 5a can be adjusted to 60° in Figure 7a, or adjusted to 270° in Figure 7c. Continuing to refer to Figure 7a, the arc length can also be adjusted (this adjustment result is not shown in the figure). It is understood that the curvature directly affects the turning radius, which determines the inner radius of the vehicle when turning, while the arc length affects the length of the turning portion. By adjusting these two parameters, the vehicle's driving characteristics in a herringbone target reversing path can be optimized, ensuring that the vehicle can complete the reversing operation safely and smoothly.

[0083] For example, for a non-herringbone target reversal path template (as shown in Figure 5b), users can adjust the curvature of the arc, the arc length of the arc, and the length of the line segments. The adjustment results are shown in Figure 7b. These adjustments provide greater flexibility, allowing users to customize the driving path according to the actual working environment and vehicle characteristics. Adjusting the turning radius and arc length ensures the vehicle's performance when turning, while adjusting the line segment length optimizes the straight sections of the path, improving driving efficiency.

[0084] In conjunction with the foregoing embodiments, in some other embodiments of this disclosure, a preset condition indicates that the initial driving path and boundary data overlap; the prompting module is configured to display a collision frame on the initial driving path or at a relevant location on the initial driving path.

[0085] A collision frame is a virtual boundary that is set based on the vehicle's actual dimensions and the additional space required to ensure safety. In this way, the system can simulate the boundary conditions as the vehicle travels along the path.

[0086] For example, FIG8a is a schematic diagram of a display of a collision vehicle frame provided in one embodiment of the present disclosure, FIG8b is a schematic diagram of a display of a collision vehicle frame provided in another embodiment of the present disclosure, and FIG8c is a schematic diagram of a display of a collision vehicle frame provided in yet another embodiment of the present disclosure.

[0087] The position and geometry of the target reversing path template are shown in Figure 8a. In Figure 8a, when a vehicle travels along the initial driving path under the target reversing path template, it overlaps with the boundary data, resulting in a collision vehicle. At this point, within the boundary of the work area, the target reversing path template is translated and rotated around the reversing point, as shown in Figure 8b. Specifically, translation involves moving the path along a certain direction, while rotation involves changing the orientation of the target reversing path template around the reversing point. The purpose of these operations is to bring the driving path under the target reversing path template to the expected state during manual driving. After each translation or rotation operation, the system checks whether the adjusted path meets the requirements for vehicle driving, i.e., whether there is still data overlap between the driving path and the boundary data. If there is overlap, a collision vehicle frame is displayed. These collision vehicle frames serve as a reference for further manual operation of the target reversing path template, guiding the user to further adjust the path.

[0088] Understandably, the above process continues until there is no data overlap between the initial driving path and the boundary data, that is, the driving state shown in Figure 8c is reached. At this point, it indicates that the initial driving path has fully met the vehicle's driving requirements.

[0089] This solution combines the intuitiveness of manual operation with the precision of automated detection, providing an efficient and safe method to adjust the reversing paths of autonomous vehicles, ensuring their adaptability to complex operating environments and compliance with stringent safety standards. This approach not only improves path planning efficiency but also enhances the system's adaptability and reliability, providing strong support for the safe operation of autonomous vehicles in real-world scenarios.

[0090] In conjunction with the foregoing embodiments, in some other embodiments of this disclosure, the location picking module is configured to obtain waypoints in response to a third user operation command; the path drawing unit is configured to draw a driving path based on a target reversal path template, key point data, and waypoints in a user-specified state.

[0091] Specifically, waypoints represent points along the path required to form a route from at least two key points. In some scenarios, waypoints may also be important nodes on the driving path, such as specific navigation markers, avoidance points around obstacles, or other locations that influence the driving route. By acquiring these waypoints, the system's path planning can be more refined and better adapted to the needs of the actual operating environment.

[0092] After acquiring the user-drawn waypoints, the path drawing unit uses this input data to draw the driving path. Among them, the target reversal path template provides the basic path shape and parameters for the vehicle to perform a reversal operation in a specific scenario, the key point data defines the starting position, target position, and reversal position of the driving, and the waypoints provide intermediate navigation details for the path.

[0093] By combining this information, the path drawing unit can generate a driving path that conforms to a predefined reversal path template and adapts to the specific requirements of key points and waypoints. This path not only guides the autonomous vehicle from its origin to its destination but also ensures that the vehicle follows predetermined reversal operations during its journey, taking into account all necessary passage points. This not only meets the needs of complex and ever-changing operating environments and specific user requirements but also improves the operational efficiency and safety of autonomous vehicles.

[0094] In conjunction with the foregoing embodiments, in some other embodiments of this disclosure, waypoints include reversing waypoints and / or forward waypoints. Reversing waypoints are used to characterize points that need to be traversed on a reversing path, and forward waypoints are used to characterize points that need to be traversed on a forward path.

[0095] In this embodiment, the reversing waypoint is used to define the specific locations that the vehicle needs to pass through when performing a reversing operation. In some operating environments, vehicles need to reverse into specific loading or unloading positions, or perform precise maneuvers in confined spaces. The reversing waypoint ensures that the vehicle can travel along a predetermined, safe path even when reversing.

[0096] In contrast to reversing waypoints, forward waypoints define the points a vehicle needs to pass through during normal forward travel. These points may include turning points on the path, entrances to specific work areas, or other important navigational markers.

[0097] By clearly distinguishing between reversing and forward path points in the system, the path drawing unit can more accurately draw the complete driving path of the vehicle in different driving states. This includes not only navigation when the vehicle is driving forward, but also precise control when reversing, thus enabling the unmanned vehicle to complete complex tasks safely and efficiently.

[0098] In some embodiments of this disclosure, the system further includes a scene selection module configured to determine a target scene in response to a fourth user operation instruction; a location picking module configured to determine key point data from recommended initial key points related to the target scene in response to a first user operation instruction; and a template picking unit configured to pick a target reversing path template from recommended initial reversing path templates related to the target scene in response to a second user operation instruction.

[0099] Specifically, in this embodiment, the scene selection module allows the user to determine or select a specific target scene through relevant operations. This scene may involve a specific work area, a specific work task, or specific environmental conditions. The selection of the target scene provides the system with contextual information, enabling subsequent operations to more accurately adapt to the user's needs.

[0100] After the user selects a target scene, the functionality of the location acquisition module is expanded. It can respond to the first user operation command to acquire keypoint data, and it can also determine keypoint data from the initial keypoints recommended by the system that are relevant to the target scene. In other words, the location acquisition module can recommend a suitable set of initial keypoints for the user to determine based on the characteristics of the target scene, thereby improving the relevance and accuracy of path planning. For example, the location acquisition module can recommend initial keypoint data according to relevance.

[0101] Similarly, in this embodiment, the functionality of the template picking unit has been expanded. It can recommend a set of suitable initial reversing path templates based on the specific conditions of the target scenario, allowing the user to choose the appropriate template and ensuring that the generated driving path template is best suited to the current work scenario.

[0102] By combining these functions, the system provides users with a more intelligent and personalized route planning experience. Users can select the appropriate scenario based on their specific task requirements, and the system will also recommend key points and reversal route templates that match that scenario. This approach reduces the need for users to have specialized knowledge and not only improves the efficiency of route planning.

[0103] The process of generating a driving path in a specific area will be described in detail below, in conjunction with the foregoing embodiments and specific examples.

[0104] First, a high-precision map of the specific area (e.g., a mining area) is acquired. This map provides the boundary of the target work area, which is a geometric polygon defined by multiple vertices. Next, based on the driving experience of previous drivers in similar mining areas, several possible reversal path templates are manually designed. For example, a zigzag template containing two curved turns, each with its specific turning radius and arc length. Then, the boundary of the target area and the reversal path templates are imported into the driving path generation system, and the start and end point data of the target work area are specified through the system's user interface.

[0105] Suppose that in a loading area of ​​a mine, a vehicle needs to travel from its starting point to a narrow unloading area, requiring a reversal operation during this process. The user will select a suitable reversal path template based on relevant data of the target work area. This template can be visualized in a high-precision map editing scenario, and the user can also adjust template parameters within the high-precision map editing scenario. For example, the turning radius can be set to a value suitable for the narrow space of the mine, while the arc length can be adjusted to accommodate the distance between the loading and unloading areas.

[0106] Next, the user will set the adjusted reversing path template to a specified state within the work area boundary. Specifically, centered on the reversing point, the reversing path template will be translated, rotated, and the path fine-tuned to adapt to the actual terrain. After each adjustment, a collision frame is constructed to check whether the initial driving path under the current reversing path template meets the requirements for safe driving. If a collision risk is detected, the system will display the collision frame and prompt the user to continue adjustments until a safe and efficient reversing path is found.

[0107] Next, the forward path from the starting point to the reversal point is drawn. Specifically, the user predicts the vehicle's route based on the vehicle's driving requirements and the specific terrain of the target work area, and adds waypoints to the path as necessary. For example, if the vehicle needs to bypass a large obstacle while traveling straight, the operator may add a waypoint to the path to guide the vehicle to bypass the obstacle smoothly.

[0108] Figure 9 shows a schematic diagram of the forward path drawing provided in an embodiment of this disclosure. In Figure 9, 'a' represents the drawing details of the forward path when a reversal path exists, and it can be seen that waypoints e1 and e2 are added in 'a'. Figure 9 represents the drawing details of the execution path when no reversal path exists. In Figure 9, B3 is the endpoint, and waypoints e3 and e4 are added between B1 and B3.

[0109] Furthermore, based on Figure 9, the system uses waypoints as control points and calls a planning algorithm to generate a smooth path from the starting point to the reversing path, or generates a smooth path from the starting point to the ending point (i.e., a forward path), to meet the vehicle's driving requirements.

[0110] Similar to the detection method for reversing paths, a collision vehicle is constructed during the generation of the forward path to check whether the forward path meets the vehicle's driving requirements. If a collision risk is detected, the system displays a collision vehicle frame based on the position and orientation of each point on the forward path. Users can adjust the reversing path accordingly until no collision vehicle frame is displayed, indicating that the reversing path meets the vehicle's driving requirements.

[0111] If a reversing path is drawn, a reversing path needs to be determined accordingly. Figure 10 shows a schematic diagram of drawing a reversing path according to an embodiment of this disclosure. In Figure 10, a represents the case where the reversing path needs to be redrawn, and b represents the case where a portion of the reversing path is used as the reversing path. As shown in Figure 10(a), when the reversing path cannot meet the vehicle's reversing requirements, the system predicts the path the vehicle will take to reverse to the destination based on the reversing points of the reversing path. If necessary, the user can add waypoints e5 and e6 to the reversing path to control its geometry. Of course, if the reversing path can meet the vehicle's reversing requirements, the endpoint of the reversing path is directly adjusted to the end position of the reversing path, as shown in Figure 10(b). After drawing the reversing path, the system calls a planning algorithm to generate a smooth reversing path based on these waypoints.

[0112] After generating the reversing path, forward path, and reverse path respectively, they are combined into a complete driving path according to the point sequence. Figure 11 shows a schematic diagram of a complete driving path provided in an embodiment of this disclosure. Taking a herringbone reversing path as an example, a is the forward path when there is no reversing path, and this forward path is recorded as the complete driving path; b includes the reversing path, forward path, and reverse path; and c is the complete driving path when the reversing path meets the reversing requirements.

[0113] It is understood that the forward path described in this disclosure is not a straight path in an absolutely physical sense. After being smoothed by the path planning algorithm in the system, the forward path may have a certain curvature.

[0114] The above methods enable the design of a safe and efficient driving path for vehicles in open-pit mines. This approach combines the advantages of human experience and automated algorithms, making it particularly suitable for solving path planning problems in narrow and complex environments.

[0115] Figure 12 is a flowchart illustrating a driving path generation method according to an embodiment of this disclosure. Specifically, this method is applied to the driving path generation system of this disclosure. Specifically, as shown in Figure 12, the method includes the following steps.

[0116] Step S1210: In response to the first user operation command, acquire key point data.

[0117] Key point data includes at least two of the following points: start point, end point, and reversal point.

[0118] For example, the operation instructions in this disclosure come from a user interface of the driving path generation system. Users interact with the system through this user interface, selecting specific functions or inputting specific parameters. In this step, once the system receives the first user operation instruction through the user interface, it acquires key point data. Key point data is the foundation of path planning and includes at least two of the three key points: the start point, the end point, and the reversal point.

[0119] In step S1220, in response to the second user operation command, a target reversing path template matching the driving scenario is picked from multiple reversing path templates, and the target reversing path template is set to the user-specified state.

[0120] It should be noted that the driving scenario in this embodiment is identified by the user; that is, the user identifies the current driving scenario based on their observation and understanding of the target work area. Then, the user selects a reversing path template through the system's user interface. After receiving the relevant operation command, the template picking unit accesses the template storage module and retrieves the target reversing path template selected by the user. In other words, the template picking operation is triggered by the user, resulting in the user-selected target reversing path template. This template contains path information that the vehicle should follow when performing a reversing operation in a specific scenario, and is designed to guide the vehicle on how to safely and effectively perform a reversing operation in that specific scenario.

[0121] Furthermore, the template picking unit sets the template to a user-specified state; that is, based on the user's operation, the system sets the template to a specified state to ensure that it can be correctly used by the path drawing unit. For example, the user-specified state includes configuring parameters for the target reversal path template.

[0122] Step S1230: Draw the driving path based on the target reversal path template and key point data in the user-specified state.

[0123] Specifically, the path drawing unit combines the path parameters in the template with the spatial coordinates and orientation of key points, and uses a path planning algorithm to generate a detailed driving path. This path will guide the autonomous vehicle to start from the starting point, drive along the predetermined trajectory, pass through the necessary turning points, and finally safely reach the destination.

[0124] In addition, when drawing paths, the path drawing unit also considers the actual working conditions, such as the boundaries of the target working area, the location of obstacles, the size and performance limitations of vehicles, to ensure that the generated paths conform to the predefined template and are adapted to the actual working environment.

[0125] In this embodiment, a semi-automated path drawing method combining manual and algorithmic assistance not only improves the efficiency and stability of path planning but also reduces path conflicts during multi-vehicle collaborative operations and optimizes reversing operations in narrow working scenarios. This enhances the driving performance of unmanned vehicles and the operational efficiency of large-scale unmanned vehicle fleets, thereby improving the safety and reliability of unmanned operations in the entire open-pit mine. Specifically, this solution introduces a template storage module to pre-store multiple geometric shape templates related to reversing paths, enabling the rapid selection of suitable paths for specific driving scenarios without having to calculate from scratch each time, significantly improving path planning efficiency. Furthermore, considering various possible operating conditions and limitations, the system allows users to select key point data and target reversing path templates that match the driving scenario. This allows for more reasonable decisions based on actual conditions and experience, resulting in more stable and reliable driving paths. It also makes it easier to plan conflict-avoiding driving paths during multi-vehicle collaborative operations.

[0126] Where an instruction manual is required, the embodiments of the driving path generation method in this disclosure correspond to the embodiments of the driving path generation system. Therefore, for any parts not described in detail, please refer to the description of the embodiments of the driving path generation system, which will not be repeated here.

[0127] Hereinafter, an electronic device according to an embodiment of the present disclosure will be described with reference to FIG13. FIG13 is a schematic diagram of the structure of an electronic device provided in an exemplary embodiment of the present disclosure.

[0128] As shown in Figure 13, the electronic device 130 includes one or more processors 1301 and memory 1302.

[0129] The processor 1301 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 130 to perform desired functions.

[0130] The memory 1302 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 1301 may execute the program instructions to implement the driving path generation methods of the various embodiments of this disclosure described above and / or other desired functions. The computer-readable storage medium may also store various contents such as user operation instructions, key point data, target reversal path templates, driving paths, etc.

[0131] In one example, the electronic device 130 may also include an input device 1303 and an output device 1304, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0132] The input device 1303 may include, for example, a keyboard, a mouse, etc.

[0133] The output device 1304 can output various information to the outside, including user operation commands, key point data, target reversal path templates, driving paths, etc. The output device 1304 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0134] Of course, for simplicity, Figure 13 shows some of the components of the electronic device 130 that are relevant to this disclosure, omitting components such as buses, input / output interfaces, etc. In addition, the electronic device 130 may include any other suitable components depending on the specific application.

[0135] In addition to the methods and apparatus described above, embodiments of this disclosure may also be computer program products, including computer program instructions that, when executed by a processor, cause the processor to perform the steps in the driving path generation methods according to various embodiments of this disclosure described above.

[0136] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this disclosure. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on a user's computing device, partially on a user's computing device, as a standalone software package, partially on a user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0137] Furthermore, embodiments of this disclosure may also be computer-readable storage media storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform the steps in the driving path generation method according to various embodiments of this disclosure described above.

[0138] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0139] The basic principles of this disclosure have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this disclosure are illustrative and not limiting, and should not be considered as essential features of each embodiment of this disclosure. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes, and are not intended to limit the scope of this disclosure.

[0140] The block diagrams of devices, apparatuses, devices, and systems disclosed herein are illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise.

[0141] It should also be noted that in the apparatus, devices, and methods disclosed herein, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions.

[0142] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of this disclosure. Therefore, this disclosure is not intended to be limited to the aspects shown herein, but rather to be carried out within the widest scope consistent with the principles and novel features disclosed herein.

[0143] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this disclosure to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations therein. Industrial applicability

[0144] This disclosure provides a driving path generation system and method. Through a semi-automated path drawing method combining manual and algorithmic assistance, it not only improves the efficiency and stability of path planning but also reduces path conflicts during multi-vehicle collaborative operations and optimizes reversing operations in narrow working scenarios. This enhances the driving performance of unmanned vehicles and the operational efficiency of large-scale unmanned vehicle fleets, thereby strengthening the safety and reliability of unmanned driving operations in open-pit mines. Specifically, this solution introduces a template storage module to pre-store multiple geometric shape templates related to reversing paths. This allows for the rapid selection of suitable paths for specific driving scenarios without having to calculate from scratch each time, significantly improving path planning efficiency. Furthermore, considering various possible operating conditions and limitations, the system allows users to select key point data and target reversing path templates that match the driving scenario. This enables more reasonable decisions based on actual conditions and experience, resulting in more stable and reliable driving paths. It also makes it easier to plan conflict-avoiding driving paths during multi-vehicle collaborative operations.

Claims

1. A driving route generation system, comprising: A template storage module stores multiple reversing path templates, each reversing path template including geometry related to a reversing path, the reversing path being used to characterize a path related to a vehicle performing a reversing; The location acquisition module is configured to obtain key point data in response to a first user operation command. The key point data includes at least two of the following key points: start point, end point, and reversal point. The path drawing module includes a template picking unit and a path drawing unit; The template picking unit is configured to, in response to a second user operation command, pick up a target reversing path template that matches the driving scenario from the template storage module and set the target reversing path template to a user-specified state; the path drawing unit is configured to draw a driving path based on the target reversing path template in the user-specified state and the key point data.

2. The driving path generation system according to claim 1, wherein, Also includes: The map module is configured to acquire boundary data of the target work area; The prompt module is configured to obtain the relationship between the initial driving path and boundary data drawn based on the target reversal path template in the user-specified state and the start and end point data, and output prompt information when the relationship meets preset conditions; The route adjustment module is configured to adjust at least one key point in the key point data and / or the target reversal path template in response to a user adjustment instruction to adjust the initial driving path based on the prompt information; The path drawing unit is configured to generate the driving path based on the adjusted key points and / or the adjusted target reversal path template.

3. The driving path generation system according to claim 2, wherein, The preset condition indicates that there is data overlap between the initial driving path and the boundary data; The prompt module is configured to display a collision frame on the initial driving path or at a relevant location on the initial driving path.

4. The driving path generation system according to claim 2, wherein, The user-specified state includes user-specified position and / or user-specified angle.

5. The driving path generation system according to claim 2, wherein, The target reversing path template includes an arc passing through the reversing point and / or a line segment passing through the reversing point, wherein the curvature of the arc is related to the turning radius of the vehicle.

6. The driving path generation system according to claim 5, wherein, The adjustment of at least one key point in the key point data and / or the target reversal path template includes: The curvature of the arc, the arc length of the arc, and the length of the line segment are adjusted with reference to the reversal point.

7. The driving path generation system according to any one of claims 1 to 3, wherein, The location picking module is configured to obtain waypoints in response to a third user operation command, wherein the waypoints represent points along the path required for at least two of the key points to form a path. The path drawing unit is configured to draw the driving path based on the target reversal path template in the user-specified state, the key point data, and the waypoints.

8. The driving path generation system according to claim 7, wherein, The waypoints include reversing waypoints and / or forward waypoints. The reversing waypoints are used to characterize points that need to be traversed on the reversing path, and the forward waypoints are used to characterize points that need to be traversed on the forward path.

9. The driving path generation system according to any one of claims 1 to 7, wherein, Also includes: The scene selection module is configured to respond to a fourth user operation command and determine the target scene. The location acquisition module is configured to determine the key point data from recommended initial key points related to the target scene in response to the first user operation command; The template picking unit is configured to pick the target reversing path template from the recommended initial reversing path templates related to the target scene in response to the second user operation command.

10. A method for generating a driving path, comprising: In response to a first user operation command, key point data is acquired, wherein the key point data includes at least two of the following points: start point, end point, and reversal point; In response to a second user operation command, a target reversing path template matching the driving scenario is picked from the plurality of reversing path templates, and the target reversing path template is set to a user-specified state; The driving path is drawn based on the target reversal path template in the user-specified state and the key point data.

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