Method and apparatus for constructing vehicle passage road, vehicle and readable storage medium

Abstract

The present application relates to a method and apparatus for constructing a vehicle passage road, a vehicle and a readable storage medium. The method comprises: on the basis of a travel route of a vehicle, acquiring a vehicle movement track and road boundaries on two sides of the vehicle movement track; on the basis of a plurality of track points sampled on the vehicle movement track, acquiring a plurality of corresponding left road boundary points and right road boundary points, respectively; and forming a left passable road boundary on the basis of the plurality of left road boundary points, and forming a right passable road boundary on the basis of the plurality of right road boundary points, so that the vehicle travels on a target passable road composed of the left passable road boundary and the right passable road boundary. In the solution provided by the application, prior information can be provided when a subsequent vehicle enters a fixed-route autonomous driving application scenario, and autonomous driving is performed on the self-built target passable road, such as when the vehicle is autonomously driving along a commuting route having a fixed departure and destination, thereby improving the reliability and safety of the autonomous driving of the vehicle.

Description

Method, device, vehicle and readable storage medium for constructing road for vehicle to pass through

[0001] The present application claims priority from the Chinese patent application No. 2024107414209 filed on June 7, 2024, and entitled "Method, device, vehicle and readable storage medium for constructing road for vehicle to pass through", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of autonomous driving, and in particular to a method, device, vehicle and readable storage medium for constructing road for vehicle to pass through. BACKGROUND

[0003] In autonomous driving, a vehicle generally plans an autonomous driving path based on lane-level navigation of a high-definition map.

[0004] However, the autonomous driving technology based on a high-definition map is difficult to popularize. On the one hand, some areas lack support of a high-definition map, and thus cannot realize autonomous driving. On the other hand, when a communication signal is poor, a vehicle interrupts transmission of positioning information, and thus cannot obtain accurate positioning on a high-definition map, which poses a safety risk. SUMMARY

[0005] To solve or partially solve the problems in the related art, the present application provides a method, device, vehicle and readable storage medium for constructing road for vehicle to pass through, which can use a self-built target passable road for autonomous driving, and is reliable and safe.

[0006] The first aspect of the present application provides a method for constructing road for vehicle to pass through, comprising:

[0007] obtaining a vehicle moving track and road boundaries distributed on both sides of the vehicle moving track according to a driving route of the vehicle;

[0008] obtaining a plurality of left-side road boundary points and a plurality of right-side road boundary points respectively according to a plurality of track points sampled on the vehicle moving track;

[0009] forming a left boundary of a passable road according to the plurality of left-side road boundary points, and forming a right boundary of the passable road according to the plurality of right-side road boundary points, so that the vehicle drives in a target passable road composed of the left boundary of the passable road and the right boundary of the passable road.

[0010] In some embodiments, the obtaining a plurality of left-side road boundary points and a plurality of right-side road boundary points respectively according to a plurality of track points sampled on the vehicle moving track comprises:

[0011] sampling on the vehicle moving track according to a preset interval, a plurality of track points are obtained;

[0012] a road width of each track point and the road boundary is obtained respectively, wherein the road width comprises a left road width and a right road width respectively;

[0013] the track point is moved along a first preset direction according to the corresponding left road width, a corresponding left road boundary point is obtained, and the track point is moved along a second preset direction according to the corresponding right road width, a corresponding right road boundary point is obtained.

[0014] In some embodiments, the plurality of left road boundary points and the plurality of right road boundary points are obtained respectively according to the plurality of track points sampled on the vehicle moving track, comprising:

[0015] sampling on the vehicle moving track according to a preset interval, a plurality of track points are obtained;

[0016] a road width of each track point and the road boundary is obtained respectively, wherein the road width comprises a left road width and a right road width respectively;

[0017] each road width is smoothed to obtain an optimized target width, wherein the target width comprises a left target width and a right target width respectively;

[0018] the track point is moved along a first preset direction according to the corresponding left target width, a corresponding left road boundary point is obtained, and the track point is moved along a second preset direction according to the corresponding right target width, a corresponding right road boundary point is obtained.

[0019] In some embodiments, the road width of each track point and the road boundary is obtained respectively, comprising:

[0020] a first ray is drawn along the first preset direction and a second ray is drawn along the second preset direction respectively with the track point as an end point;

[0021] an intersection point of the first ray and the road boundary is obtained to obtain a left road interval, and an intersection point of the second ray and the road boundary is obtained to obtain a right road interval;

[0022] the left road interval and the right road interval are compared with a preset distance threshold respectively to obtain a corresponding left road width and a right road width.

[0023] In some embodiments, each road width is smoothed to obtain an optimized target width, comprising:

[0024] respectively, to cluster the multiple road widths on the same side that meet the preset clustering rule, and obtain at least one corresponding width sequence group;

[0025] If all road widths in the current width sequence are greater than the last road width in the adjacent preceding width sequence and greater than the first road width in the adjacent following width sequence, all road widths in the current width sequence are updated to the last road width or the first road width, and a target width is obtained.

[0026] In some embodiments, the forming of the left boundary of the passable road according to the multiple left road boundary points and the right boundary of the passable road according to the multiple right road boundary points comprises:

[0027] The left road boundary points are sequentially connected to generate the left boundary of the passable road, and the right road boundary points are sequentially connected to generate the right boundary of the passable road.

[0028] In some embodiments, before the calculating of the difference between any two adjacent road widths on the same side, the method further comprises:

[0029] The preset distance between each trajectory point and the starting point of the vehicle movement trajectory is obtained.

[0030] According to the numerical value of the corresponding preset distance, each road width on the same side is sorted in ascending order, and sequentially arranged road widths on the same side are obtained.

[0031] In some embodiments, the obtaining of the vehicle movement trajectory and the road boundaries distributed on both sides of the vehicle movement trajectory according to the driving route of the vehicle comprises:

[0032] According to the driving route of the vehicle, a regional map is generated, and the regional map comprises the vehicle movement trajectory and the road boundaries distributed on both sides of the vehicle movement trajectory.

[0033] In some embodiments, the sampling of the multiple trajectory points on the vehicle movement trajectory at a preset interval comprises:

[0034] The trajectory points are sampled on the vehicle movement trajectory at a preset interval in time sequence starting from the starting point of the vehicle movement trajectory, and a plurality of trajectory points are obtained.

[0035] In some embodiments, the first preset direction and the second preset direction are determined according to the orientation angle of the trajectory point.

[0036] The second aspect of the present application provides an application of a target passable road constructed according to the construction method of the vehicle passable road of the first aspect of the present application.

[0037] The third aspect of the present application provides a construction device of a passable road for a vehicle, comprising:

[0038] a data acquisition module configured to acquire a vehicle moving track and road boundaries distributed on both sides of the vehicle moving track according to a driving route of the vehicle;

[0039] a boundary point generation module configured to acquire a plurality of left road boundary points and a plurality of right road boundary points respectively according to a plurality of track points sampled on the vehicle moving track;

[0040] a road generation module configured to form a left boundary of a passable road according to the plurality of left road boundary points and form a right boundary of the passable road according to the plurality of right road boundary points, so that the vehicle drives in a target passable road formed by the left boundary of the passable road and the right boundary of the passable road.

[0041] The fourth aspect of the present application provides a vehicle, comprising:

[0042] a processor; and

[0043] a memory having executable code stored thereon, when the executable code is executed by the processor, the processor executes the method as described above.

[0044] The fifth aspect of the present application provides a computer readable storage medium having executable code stored thereon, when the executable code is executed by a processor of an electronic device, the processor executes the method as described above.

[0045] The technical solution provided by the present application can include the following beneficial effects:

[0046] The technical solution of the present application acquires corresponding vehicle moving track and corresponding road boundaries according to the driving route of the vehicle, constructs a target passable road corresponding to the driving route by using the vehicle moving track and the road boundaries, and provides prior information for the subsequent automatic driving application scenario of the vehicle entering the fixed route, such as automatic driving of the vehicle along the fixed commuting route from the departure place to the destination without the support of high-precision map, improves the reliability of vehicle automatic driving, reduces the safety risk caused by the inability to use high-precision map in the automatic driving process, and according to the uniqueness of the target passable road, avoids the vehicle from taking a wrong road in the automatic driving process.

[0047] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0048] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which like reference characters refer to like parts throughout the figures, and in which:

[0049] FIG. 1 is a flowchart illustrating a method of constructing a road for a vehicle to travel according to an embodiment of the present application;

[0050] FIG. 2 is a diagram illustrating a region map according to an embodiment of the present application;

[0051] FIG. 3 is a flowchart illustrating another method of constructing a road for a vehicle to travel according to an embodiment of the present application;

[0052] FIG. 4 is a flowchart illustrating another method of constructing a road for a vehicle to travel according to an embodiment of the present application;

[0053] FIG. 5 is a block diagram illustrating a construction device of a road for a vehicle to travel according to an embodiment of the present application;

[0054] FIG. 6 is a block diagram illustrating another construction device of a road for a vehicle to travel according to an embodiment of the present application;

[0055] FIG. 7 is a block diagram illustrating an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0056] Embodiments of the present application will now be described in detail with reference to the accompanying drawings. Although specific embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided as examples of implementing the present application and to convey the scope of the present application to those skilled in the art.

[0057] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0058] It should be understood that, although the terms "first", "second", "third", etc. can be used in this application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information without departing from the scope of the application. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0059] In the related art, the automatic driving technology based on high-precision maps is difficult to popularize. On the one hand, some areas lack the support of high-precision maps, and automatic driving cannot be realized. On the other hand, when the communication signal is poor, the vehicle interrupts the transmission of positioning information, and cannot obtain accurate positioning on the high-precision map, which has a safety risk.

[0060] To solve the above problems, the embodiments of the present application provide a method for constructing a vehicle passable road, which can use a self-built target passable road for automatic driving, and can effectively improve the reliability of automatic driving of the vehicle without the support of high-precision map data, and reduce the safety risk caused by the inability to use high-precision maps in the process of automatic driving.

[0061] The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0062] FIG. 1 is a flowchart of a method for constructing a vehicle passable road according to an embodiment of the present application.

[0063] Referring to FIGS. 1 and 2, the method for constructing a vehicle passable road according to the present application comprises:

[0064] S110, according to the driving route of the vehicle, obtaining the moving track of the vehicle and the road boundary distributed on both sides of the moving track of the vehicle.

[0065] In the process of driving the vehicle, the path passed by the vehicle from a starting place to a destination can form a physically meaningful driving route. For example, a driving route of the vehicle is from A place to C place via a certain route. That is, the driving route is a fixed route with direction.

[0066] In some embodiments, the vehicle moving trajectory can be composed of a continuous curve, or discontinuous multi-segment curve. For example, the trajectory coordinates can be smoothly connected in time sequence, thereby forming a corresponding curve or multi-segment curve. Alternatively, the vehicle moving trajectory can be composed of a plurality of discrete points. Alternatively, the vehicle moving trajectory can be composed of a plurality of continuous or discontinuous line segments. That is, the vehicle moving trajectory is a collection of position coordinates that the vehicle passes through in time sequence during the driving process, and the form thereof is not limited. In some embodiments, the road boundary can be represented by point cloud data, or represented by a continuous or discontinuous curve.

[0067] In some embodiments, the vehicle moving trajectory can be composed of a continuous curve, or discontinuous multi-segment curve. For example, the trajectory coordinates can be smoothly connected in time sequence, thereby forming a corresponding curve or multi-segment curve. Alternatively, the vehicle moving trajectory can be composed of a plurality of discrete points. Alternatively, the vehicle moving trajectory can be composed of a plurality of continuous or discontinuous line segments. That is, the vehicle moving trajectory is a collection of position coordinates that the vehicle passes through in time sequence during the driving process, and the form thereof is not limited. In some embodiments, the road boundary can be represented by point cloud data, or represented by a continuous or discontinuous curve.

[0068] Further, the vehicle moving trajectory can correspond to the driving route of the entire route section of the vehicle or the driving route of a partial route section. That is, the starting point and the ending point of the vehicle moving trajectory are respectively equivalent to the starting point and the ending point of the driving route. Alternatively, the starting point of the vehicle moving trajectory is located at one of the locations on the driving route, and the ending point of the vehicle moving trajectory can be located at another location on the driving route.

[0069] Further, the road boundary can be acquired by using relevant environment perception technology during the driving process of the vehicle, and is used to represent the physical partition limit of the road in the real scene. For example, the road boundary can be acquired by a vehicle-mounted sensor, wherein the vehicle-mounted sensor can include one or more of the following: a vehicle-mounted camera, a vehicle-mounted laser radar, a vehicle-mounted ultrasonic radar, a vehicle-mounted millimeter wave radar, a vehicle-mounted infrared sensor, and the like, without limitation. In some embodiments, the road boundary can include at least one of a ground marking, a physical partition facility, or a boundary contour of a building. The ground marking can be, for example, a traffic marking such as a guide line, a double-yellow solid line, and the like, representing the road boundary. The physical partition facility can be, for example, a fence, a water barrier, and the like, which are road barrier facilities. The boundary contour of the building can be the boundary contour of a building located on both sides of the road.

[0070] S120, respectively acquire a plurality of left side road boundary points and a plurality of right side road boundary points according to the plurality of trajectory points sampled on the vehicle moving trajectory.

[0071] In this step, a plurality of trajectory points are acquired by sampling the vehicle moving trajectory. Based on each trajectory point, a corresponding left side road boundary point and a right side road boundary point can be respectively acquired.

[0072] It should be noted that based on the objective factors of the scene and the sensing ability of the vehicle-mounted sensor, the road boundary may be interrupted. Therefore, each left side road boundary point is not located on the left side road boundary, and each right side road boundary point is not located on the right side road boundary.

[0073] S130, form a passable road left boundary according to the plurality of left side road boundary points, and form a passable road right boundary according to the plurality of right side road boundary points, so that the vehicle travels in a target passable road formed by the passable road left boundary and the passable road right boundary.

[0074] In this step, the passable road left boundary is formed according to the plurality of left side road boundary points in time sequence, and the passable road right boundary is formed according to the plurality of right side road boundary points in time sequence. According to the passable road left boundary and the passable road right boundary, the target passable road can be formed, and the vehicle can safely travel in the target passable road during automatic driving.

[0075] It can be understood that the target passable road can be a road used to define a road allowed to be passed by the vehicle during automatic driving. According to the passable road allowed to be traveled, the passable area of the vehicle is limited, so as to avoid the vehicle from entering an incorrect path. At the same time, the vehicle can reduce the collection of environmental information outside the passable area during automatic driving, reduce the error of the environmental information collected by the vehicle sensor, and improve the stability of the vehicle during automatic driving.

[0076] Further, the target passable road acquired by the present application can be used for automatic driving of the ego vehicle or other vehicles when the same driving route is adopted, for example, the vehicle automatically drives along a fixed commuting route from a departure place to a destination. That is, when the ego vehicle or other vehicles automatically drive along the same driving route again, the target passable road constructed by the present application is used, and since the target passable road is unique, the influence of other factors outside the passable area on automatic driving is effectively reduced, such as excluding road structures not in the field of view, reducing some perception errors beyond the line of sight and the uncertainty of the blind area of the field of view, so that the vehicle automatically drives along the unique passable area, avoids the vehicle from taking a wrong road during automatic driving, and further improves the stability of the vehicle during automatic driving.

[0077] In this embodiment, the technical solution of the present application obtains the corresponding vehicle movement trajectory and the corresponding road boundary according to the driving route of the vehicle, constructs the corresponding target passable road by using the vehicle movement trajectory and the road boundary, and provides prior information when the subsequent vehicle enters the automatic driving application scenario of the fixed route, such as when the vehicle performs automatic driving along the fixed commuting route from the departure place to the destination (for example, the vehicle enters the commuting mode), and applies the corresponding target passable road to the automatic driving process of the vehicle, thereby effectively improving the reliability of the automatic driving of the vehicle without the support of high-precision map data, reducing the safety risk caused by the inability to use high-precision maps in the automatic driving process, and avoiding the vehicle from taking a wrong road in the automatic driving process due to the uniqueness of the target passable road.

[0078] FIG. 3 is a flow diagram of a method for constructing a vehicle passable road according to an embodiment of the present application.

[0079] Referring to FIG. 3, the method for constructing a vehicle passable road according to the present application comprises the following steps:

[0080] S210, generating a regional map according to the driving route of the vehicle, the regional map comprising a vehicle movement trajectory and road boundaries distributed on both sides of the vehicle movement trajectory.

[0081] In this step, the vehicle movement trajectory corresponding to the driving route of the vehicle and the road boundaries distributed on both sides of the vehicle movement trajectory are obtained according to the driving route of the vehicle. In the same coordinate system, the vehicle movement trajectory and the road boundaries distributed on both sides of the vehicle movement trajectory form a regional map.

[0082] S220, sampling on the vehicle movement trajectory at a preset interval to obtain a plurality of trajectory points.

[0083] In this step, the trajectory points are sampled on the vehicle movement trajectory in time sequence at a preset interval starting from the starting point of the vehicle movement trajectory, and a plurality of trajectory points are obtained. It should be understood that the trajectory composed of the above-mentioned plurality of trajectory points is used to obtain road boundary points.

[0084] The preset interval can be set according to actual application requirements. It should be understood that the smaller the preset interval, the higher the calculation accuracy, the more the number of trajectory points collected, and then a more accurate and reliable passable road boundary is obtained, which also produces a larger data calculation amount. In some embodiments, the preset interval threshold can be selected from 0.5 meters to 2 meters, so as to ensure the calculation accuracy and ensure the appropriate calculation amount and data storage space of the system.

[0085] The starting point of the vehicle movement trajectory is the first trajectory point, and the end point is the last trajectory point.

[0086] S230, respectively acquiring road widths of each trajectory point and road boundaries; wherein the road widths respectively include left road widths and right road widths.

[0087] In this step, taking the first trajectory point as the starting point, the road widths of each trajectory point to the road boundaries located on both sides of the vehicle moving trajectory are acquired. The road widths include the left road widths of the trajectory points to the left road boundaries, and the right road widths of the trajectory points to the right road boundaries. It can be understood that the left road width and the right road width corresponding to the same trajectory point are independent of each other, and can be the same or different.

[0088] Referring to FIG. 2, in some specific embodiments, respectively acquiring the road widths of each trajectory point and the road boundaries can include the following steps:

[0089] S231, respectively drawing a first ray along a first preset direction and a second ray along a second preset direction, taking the trajectory point as the end point.

[0090] It can be understood that each trajectory point has corresponding road boundary points on both sides, and further, each trajectory point and the corresponding two road boundary points can be located on the same straight line. The first preset direction is towards the road boundary located on the left side of the driving direction of the driving route, and the second preset direction is towards the road boundary located on the right side of the driving direction of the driving route.

[0091] For example, in some embodiments, the corresponding first preset direction and second preset direction can be determined according to the orientation angle of the trajectory point. The orientation angle of each trajectory point can be obtained by a unified preset rule. In some specific embodiments, in the same angle coordinate system, the preset reference direction is set as the initial side of the orientation angle corresponding to each trajectory point, the tangent line direction of the current trajectory point on the vehicle moving trajectory and pointing to the next trajectory point is set as the terminal side of the orientation angle, and the included angle between the initial side and the terminal side is the orientation angle corresponding to the current trajectory point. In addition, the preset reference direction can be defined arbitrarily in the same angle coordinate system, and the same preset reference direction is used as the initial side of the orientation angle for all trajectory points.

[0092] As an example, as shown in FIG. 3, let the orientation angle of the trajectory point be θ, then the first preset direction of the trajectory point can be the terminal side of the (θ+π / 2) angle. According to the rule that the two road boundary points are located on the same straight line, the second preset direction of the trajectory point can be the terminal side corresponding to the (θ-π / 2) angle.

[0093] After the first preset direction and the second preset direction are determined, the first ray can be drawn along the first preset direction, and the second ray can be drawn along the second preset direction. As shown in FIG. 3, assuming that the trajectory point is P, the first ray can be drawn along the first preset direction in which the terminal side of (θ+π / 2) is located. The second ray can be drawn along the second preset direction in which the terminal side of (θ-π / 2) is located.

[0094] In S232, the intersection of the first ray and the road boundary is obtained to obtain the left road interval, and the intersection of the second ray and the road boundary is obtained to obtain the right road interval.

[0095] As shown in FIG. 3, in this step, after the corresponding first ray is drawn along the first preset direction, the left intersection point L corresponding to the left road boundary of the first ray can be obtained. The straight-line distance between the left intersection point and the trajectory point is the left road interval D L . Similarly, after the corresponding second ray is drawn along the second preset direction, the right intersection point R corresponding to the right road boundary of the second ray can be obtained. The straight-line distance between the right intersection point and the trajectory point is the right road interval D R .

[0096] In S233, the left road interval and the right road interval are compared with the preset distance threshold value respectively to obtain the corresponding left road width and right road width.

[0097] The preset distance threshold value is the maximum extension length of the first ray and the second ray. The length of the corresponding ray is calculated with the trajectory point as the end point. The preset distance threshold value can be used to limit the maximum value of the left road width and the right road width, thereby ensuring that the road boundary width conforms to the real scene. The preset distance threshold value can be set according to actual application requirements. For example, the preset distance threshold value can be 20-25 meters. When the left road interval is less than or equal to the preset distance threshold value, the current left road interval is the left road width. Conversely, when the left road interval is greater than the preset distance threshold value, the preset distance threshold value is the corresponding left road width. Similarly, when the right road interval is less than or equal to the preset distance threshold value, the current right road interval is the right road width. Conversely, when the right road interval is greater than the preset distance threshold value, the preset distance threshold value is the corresponding right road width.

[0098] By comparing the left road interval and the right road interval with the preset distance threshold value respectively, the values of the left road width and the right road width are determined, which can effectively ensure the consistency and stability of the value determination process of the road boundary point and avoid the loss or failure of the value determination of the road boundary point.

[0099] It should be understood that the vehicle cannot detect every road boundary in the actual sensing process, and there are cases of missing or interrupted road boundaries. Based on this, not every first ray or second ray emitted by each trajectory point can find an intersecting road boundary, and then a corresponding left intersection point or right intersection point cannot be formed. When the intersection point is missing, the preset distance threshold is the left road width or the right road width corresponding to the current trajectory point.

[0100] After obtaining the left road width and the right road width corresponding to each trajectory point, different methods can be selected to generate the target passable road, respectively. For example, as shown in FIG. 3, S240, S2501 and S260 can be sequentially executed. For example, as shown in FIG. 4, S240 can not be executed, and steps S2502 and S260 can be directly executed.

[0101] S240, respectively, the road width is smoothed to obtain an optimized target width; the target width includes a left target width and a right target width.

[0102] In order to make the boundary of the target passable road obtained subsequently more smooth, and avoid the situation that a local section of the target passable road is too wide or too narrow, the application can also smooth the road width of part of the trajectory points. In this step, according to the actual value of each road width obtained, the road width with large value fluctuation is smoothed to obtain an optimized target width. It can be understood that the left road width and the right road width are independently smoothed. For example, for the same trajectory point, its left road width is optimized to a left target width, and the value of its right road width can remain unchanged; or the left road width remains unchanged, and the value of the right road width is optimized to a right target width.

[0103] It should be understood that there are factors such as shaking or left-right deviation of the vehicle during driving, so that the smoothness of the sensed vehicle moving trajectory and the road boundary is poor, and then the road width on both sides of the trajectory point is unstable. By smoothing part of the road width in this step, the optimized target width is used to calculate the road boundary point in the subsequent step, effectively avoiding the adverse chain effect of the fluctuation of the front-end data on the subsequent calculation data, thereby improving the smoothness of the target passable road obtained subsequently.

[0104] It can be understood that for road widths in different directions, left road width smoothing and right road width smoothing can be performed respectively to obtain the smoothing effect of the road boundary on the same side.

[0105] In some specific embodiments, respectively smoothing each road width to obtain an optimized target width can include the following steps:

[0106] S241, respectively calculate the difference of each adjacent two same-side road widths, to cluster the same-side multiple road widths meeting the preset clustering rule, and obtain at least one corresponding width sequence group.

[0107] In this step, first, the sorting result of all road widths on the same side is obtained, forming a sequence with order. Taking the left-side road width as an example, the left-side road width corresponding to each trajectory point can be sorted in order from beginning to end according to the index of the corresponding trajectory point. For example, the sequence formed by the left-side road width can be expressed as wherein w represents the road width, the superscript l represents the left side, and the subscript N is the index corresponding to each road width, and the value of N corresponds to the number of trajectory points. It can be understood that when the road width on the right side is represented, the superscript can be represented by r to distinguish from the left side. The sorting method can also be other ways, which are only illustrated herein.

[0108] Then, the difference of each adjacent two same-side road widths is calculated respectively. Then, according to the actual calculated difference, the same-side multiple road widths meeting the preset clustering rule are clustered, and a corresponding width sequence group is obtained. A width sequence group can be expressed as wherein M is the index corresponding to each road width in the current width sequence. It can be understood that clustering means that multiple adjacent road widths on the same side meeting the preset clustering rule are collected in the same width sequence group. Wherein, all road widths on the same side can be clustered to form multiple width sequence groups. All width sequence groups on the same side can be expressed as X={C1,C2,…,C k}, and k represents the number of width sequence groups.

[0109] In some specific embodiments, the preset clustering rule can be that when the difference of adjacent two same-side road widths is less than or equal to the clustering width threshold, the adjacent two same-side road widths are collected and clustered. In some embodiments, the clustering width threshold can be 1-5 meters.

[0110] For ease of understanding, taking the clustering of the left-side road width as an example. The left-side road widths corresponding to 9 trajectory points distributed in time sequence are selected w1-w9 are arranged in order respectively. The values of w1-w9 are w1=1, w2=3, w3=4, w4=8, w5=9, w6=11, w7=2, w8=3, w9=4, and the unit of each left-side road width is meter. It is assumed that the clustering width threshold is set to 3 meters.

[0111] The absolute values of the differences of the left side road widths of each two adjacent arrangements are calculated respectively. For example, the difference of w1 and w2 is 2 meters; the difference of w2 and w3 is 1 meter; the difference of w3 and w4 is 4 meters; the difference of w4 and w5 is 1 meter; the difference of w5 and w6 is 2 meters; the difference of w6 and w7 is 9 meters; the difference of w7 and w8 is 1 meter; and the difference of w8 and w9 is 1 meter.

[0112] According to the comparison of the above differences and the clustering width threshold, three groups of width sequences C1 = {w1, w2, w3}, C2 = {w4, w5, w6}, and C3 = {w7, w8, w9} can be obtained by clustering. The full width sequence of the left side road width can be denoted as X = {C1, C2, C3}.

[0113] Of course, other preset clustering rules can also be used to cluster the same side road widths in the present application, which is not limited here.

[0114] In some embodiments, when obtaining the sorting results of all road widths on the same side, the following method can also be used to obtain:

[0115] S2411, a preset distance between each trajectory point and the starting point of the vehicle movement trajectory is obtained respectively.

[0116] The preset distance can be the sum of the distances between the current trajectory point and the starting point of the vehicle movement trajectory and all adjacent trajectory points.

[0117] For example, the preset distance S can be defined as:

[0118] Wherein, n is the index of the corresponding trajectory point; d i is the Euclidean distance between the i-th point and the i-1-th point. It can be understood that the first trajectory point is the starting point of the vehicle movement trajectory, and the corresponding preset distance does not need to be calculated.

[0119] S2412, according to the numerical value of the corresponding preset distance, the same side road widths are sorted in ascending order to obtain the sequentially arranged same side road widths.

[0120] According to the preset distance corresponding to each road width, the sequentially arranged same side road widths are obtained.

[0121] After sorting each same side road width by the above method, the correspondence of the driving route of the target passable road vehicle obtained subsequently is further ensured, and the generation of data errors is effectively reduced. Of course, other related technologies can also be used to sort each same side road width.

[0122] After obtaining the multiple groups of width sequences on the same side, the following will take the road width in the whole group of width sequences as the unit to be adjusted to adjust the width value.

[0123] In S242, if all the road widths in the current width sequence are greater than the last road width in the adjacent preceding width sequence and greater than the first road width in the adjacent following width sequence, all the road widths in the current width sequence are updated to the last road width or the first road width to obtain the corresponding target width.

[0124] In this step, the adjacent two groups of width sequences after clustering are compared. If all the road widths in the current width sequence are greater than the last road width in the adjacent preceding width sequence and greater than the first road width in the adjacent following width sequence, it is considered that the smoothness of the current width sequence does not meet the requirements, the current width sequence is wider than the preceding and following road widths, and a "narrow-wide-narrow" unsmooth boundary is formed. By updating all the road widths in the current width sequence to the last road width or the first road width, all the road widths in the current width sequence obtain the corresponding target width. For example, all the road widths in the current width sequence can be updated to the last road width, or all the road widths in the current width sequence can be updated to the first road width, or all the road widths in the current width sequence can be updated to the larger one of the last road width or the first road width.

[0125] In order to facilitate the understanding of the technical solutions of the present application, taking the width sequence X={C1, C2, C3} summarized in the above example as an example, it is assumed that C2 is the current width sequence, w4=8, w5=9, and w6=11, which are all greater than w3=4 and w7=2. Obviously, the values of each road width in C2 are all greater than the value of the last road width w3 in the preceding C1, and are also all greater than the value of the first road width w7 in the following C3, which indicates that all the road widths in C2 need to be optimized. Correspondingly, w4, w5, and w6 can be updated to the values of w3 or w7. In order to avoid too large changes, w4, w5, and w6 can be updated to the larger one of w3 and w7, for example, all of w4, w5, and w6 are updated to the value of w3.

[0126] Through the above smoothing processing mode, the smoothness between the road widths is improved, and then the smoothness of the target passable road in the subsequent step is improved. Of course, the present application can also use other smoothing processing modes in related technologies to improve the smoothness between the road widths, and this place is not limited.

[0127] It can be understood that if all the road widths in the current width sequence are greater than the last road width in the adjacent preceding width sequence, but less than the first road width in the adjacent following width sequence, the current width sequence does not need to be optimized. Similarly, if all the road widths in the current width sequence are less than the last road width in the adjacent preceding width sequence, but greater than the first road width in the adjacent following width sequence, the current width sequence also does not need to be optimized.

[0128] According to the steps S241 and S242, the left side road width is smoothed respectively to obtain the left side target width, and the right side road width is smoothed respectively to obtain the right side target width. It can be understood that for the road width that does not need to be optimized and remains unchanged, the original value is used as the corresponding target width.

[0129] S2501, moving the trajectory point according to the corresponding left side target width along the first preset direction to obtain the corresponding left side road boundary point; and moving the trajectory point according to the corresponding right side target width along the second preset direction to obtain the corresponding right side road boundary point.

[0130] In this step, according to the left side target width obtained in the foregoing step and the first preset direction, the corresponding trajectory point is translated along the first preset direction according to the left side road width to obtain the corresponding left side road boundary point. According to the right side target width obtained in the foregoing step and the second preset direction, the corresponding trajectory point is translated along the second preset direction according to the right side road width to obtain the corresponding right side road boundary point.

[0131] Similarly, in the above manner, all the trajectory points are translated to both sides in the same manner to obtain a plurality of left side road boundary points and a plurality of right side road boundary points respectively.

[0132] As an example, assuming that the first preset direction of the trajectory point is an angle of (θ+π / 2) and the second preset direction is an angle of (θ-π / 2), then the left side road boundary point is obtained by translating the corresponding left side road width along the angle of (θ+π / 2) with the trajectory point as the starting point, and the right side road boundary point is obtained by translating the corresponding right side road width along the angle of (θ-π / 2) with the trajectory point as the starting point.

[0133] S2502, moving the trajectory point according to the corresponding left side road width along the first preset direction to obtain the corresponding left side road boundary point; and moving the trajectory point according to the corresponding right side road width along the second preset direction to obtain the corresponding right side road boundary point.

[0134] Referring to FIG. 4, the difference between the step S2502 and the step S2501 is that the respective road widths are not smoothed. The trajectory points can be directly translated along the corresponding direction by using the left road width and the right road width generated in the step S230 respectively to obtain the left road boundary points and the right road boundary points.

[0135] In the step S260, the left road boundary points are sequentially connected to generate a left boundary of the passable road, and the right road boundary points are sequentially connected to generate a right boundary of the passable road, so that the vehicle travels in a target passable road formed by the left boundary of the passable road and the right boundary of the passable road.

[0136] In this step, the related art can be used for fitting to make the connection between the respective left road boundary points smoother to form the left boundary of the passable road. Similarly, the connection between the respective right road boundary points is made smoother to form the right boundary of the passable road. The target passable road is formed between the left boundary of the passable road and the right boundary of the passable road. When the vehicle is automatically driven, the passable area is the target passable road.

[0137] In this embodiment, the technical solution of the present application samples a plurality of trajectory points from the vehicle moving trajectory, acquires the corresponding left road width and the right road width by using the plurality of trajectory points, finds the road width that needs to be smoothed by using the clustering method for optimization, acquires the corresponding target width, makes each trajectory point be translated based on the left target width and the right target width to obtain a plurality of left road boundary points and a plurality of right road boundary points, and then quickly connects to form the left boundary of the passable road and the right boundary of the passable road of the target passable road, so as to form the smooth and reliable target passable road for the vehicle to be automatically driven more safely and stably. Meanwhile, when the automatic driving is based on the regional map, the road structure that is not in the field of view of the vehicle can be determined in advance based on the prior information such as the road boundary and the road width, the perception error of the over-the-horizon and the uncertainty of the visual field blind area can be reduced, and the stable and reliable map basis can be provided for the automatic driving.

[0138] The present application also provides an application of a vehicle driving road constructed according to the vehicle driving road construction method in any of the above embodiments. The vehicle driving road constructed by the present application can be applied to the automatic driving of the vehicle. The application scenarios of the automatic driving of the present application can include a commuting scenario. The commuting scenario can be regarded as a scenario in which the user travels frequently.

[0139] It can be understood that when the vehicle is automatically driven in a commuting scenario, the starting point (e.g., home) and the destination (e.g., company) of the vehicle are fixed. The vehicle can pre-construct a target passable road from the home to the company, and can also pre-construct a target passable road from the company to the home. It can be understood that according to the different starting points, destinations and travel routes, a corresponding target passable road is constructed respectively, the uniqueness and reliability of each passable road are maintained, so that the vehicle will not go astray when driving along any target passable road, and a stable and reliable map basis is provided for automatic driving.

[0140] The following example illustrates an automatic driving method based on a vehicle travel road.

[0141] In some embodiments, the automatic driving method of the present application can include the following steps:

[0142] S310, obtaining current position information of the vehicle, preset end point position information and a target passable road.

[0143] The target passable road is pre-constructed according to the vehicle travel road construction method described above.

[0144] The end point position information can be a position coordinate pre-selected by the user. Generally, the current position information is not equal to the end point position information. The current position information can be the same as or different from the starting point position of the target passable road. The preset end point position information can be the same as or different from the end point position of the target passable road.

[0145] S320, matching the current position information and the end point position information with the target passable road respectively to obtain a corresponding position matching result.

[0146] If the current position information and the end point position information of the vehicle are both within the range of the target passable road, it indicates that the position matching with the target passable road is successful, and the vehicle can be automatically driven to the preset end point position based on the target passable road. Otherwise, if the current position information and the end point position information of the vehicle are not within the range of the target passable road, it indicates that the position matching with the target passable road is unsuccessful, and the vehicle cannot be automatically driven to the preset end point position based on the target passable road.

[0147] S330, if the current position information and the end point position information are located in the target passable road respectively, the vehicle is automatically driven according to the target passable road.

[0148] The vehicle driving road constructed by the foregoing method is applied to an automatic driving process, so that the vehicle can complete automatic driving without being based on a high-precision map, and the reliability of the automatic driving process is ensured, the influence of other factors outside the target passable road on the automatic driving is reduced, such as excluding road structures not in the field of view, reducing some over-the-horizon perception errors and uncertainty of the blind area of the field of view, thereby improving the stability of the vehicle automatic driving process, and according to the uniqueness of the target passable road, the vehicle can be prevented from taking a wrong road in the automatic driving process.

[0149] Corresponding to the foregoing application function implementation method embodiment, the application further provides a vehicle driving road construction device, an electronic device, and corresponding embodiments.

[0150] FIG. 5 is a structural schematic diagram of a vehicle driving road construction device according to an embodiment of the application.

[0151] Referring to FIG. 5, the vehicle driving road construction device 400 according to the application includes a data acquisition module 410, a boundary point generation module 420, and a road generation module 430.

[0152] The data acquisition module 410 is configured to acquire a vehicle movement trajectory and road boundaries distributed on both sides of the vehicle movement trajectory according to a driving route of the vehicle.

[0153] The boundary point generation module 420 is configured to acquire a plurality of left road boundary points and a plurality of right road boundary points corresponding to a plurality of trajectory points sampled on the vehicle movement trajectory, respectively.

[0154] The road generation module 430 is configured to form a left boundary of a passable road according to the plurality of left road boundary points, and form a right boundary of the passable road according to the plurality of right road boundary points, so that the vehicle drives in a target passable road composed of the left boundary of the passable road and the right boundary of the passable road.

[0155] Referring to FIG. 6, in a specific embodiment, the boundary point generation module 420 includes a trajectory point sampling module 421, a width calculation module 422, and a boundary point determination module 423.

[0156] In some embodiments, the trajectory point sampling module 421 is configured to sample a plurality of trajectory points on the vehicle movement trajectory according to a preset interval.

[0157] In some embodiments, the width calculation module 422 is configured to acquire a road width of each trajectory point and the road boundary, respectively; wherein the road width includes a left road width and a right road width, respectively.

[0158] In some embodiments, the width calculation module 422 is configured to obtain the road width of each trajectory point and the road boundary respectively by drawing a first ray along a first preset direction and a second ray along a second preset direction from the trajectory point, obtaining the intersection of the first ray and the road boundary to obtain a left road interval, and obtaining the intersection of the second ray and the road boundary to obtain a right road interval, and comparing the left road interval and the right road interval with a preset distance threshold to obtain a corresponding left road width and a corresponding right road width.

[0159] In some embodiments, the boundary point determination module 423 is configured to move the trajectory point along the first preset direction according to the corresponding left road width to obtain a corresponding left road boundary point, and move the trajectory point along the second preset direction according to the corresponding right road width to obtain a corresponding right road boundary point.

[0160] In some embodiments, the road generation module 430 is configured to sequentially connect the left road boundary points to generate a left boundary of the passable road, and sequentially connect the right road boundary points to generate a right boundary of the passable road, so that the left boundary of the passable road and the right boundary of the passable road form the target passable road.

[0161] The device of the present application further comprises a smoothing processing module 440 configured to perform smoothing processing on each road width to obtain an optimized target width, wherein the target width comprises a left target width and a right target width.

[0162] In some embodiments, the smoothing processing module 440 comprises a width clustering module 441 and a width optimization module 442. The width clustering module 441 is configured to calculate the difference between two adjacent same-side road widths, and cluster a plurality of same-side road widths that meet a preset clustering rule to obtain a corresponding width sequence. The width optimization module 442 is configured to update all road widths in a current width sequence to the last road width in a preceding width sequence or the first road width in a subsequent width sequence if all road widths in the current width sequence are greater than the last road width in the preceding width sequence and greater than the first road width in the subsequent width sequence, to obtain a corresponding target width. The target width comprises a left target width and a right target width.

[0163] In some embodiments, the boundary point determination module 423 is configured to move the trajectory point along the first preset direction according to the corresponding left target width to obtain a corresponding left road boundary point, and move the trajectory point along the second preset direction according to the corresponding right target width to obtain a corresponding right road boundary point.

[0164] In the embodiment, the technical scheme of the present application obtains the corresponding vehicle moving track and the corresponding road boundary according to the driving route of the vehicle, obtains the driving in the target passable road corresponding to the driving route by using the vehicle moving track and the road boundary, provides prior information for the automatic driving process of the subsequent vehicle for the same driving route, effectively improves the reliability of the automatic driving of the vehicle without the support of high-precision map data, and reduces the safety risk caused by the inability to use the high-precision map in the automatic driving process.

[0165] As to the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be described in detail here.

[0166] FIG. 7 is a structural schematic diagram of a vehicle according to an embodiment of the present application.

[0167] Referring to FIG. 7, the vehicle 1000 includes a memory 1010 and a processor 1020.

[0168] The processor 1020 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, discrete gates or transistor logic, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0169] The memory 1010 can include various types of storage units such as a system memory, a read-only memory (ROM), and a permanent storage device. Among them, the ROM can store static data or instructions required by the processor 1020 or other modules of the computer. The permanent storage device can be a rewritable storage device. The permanent storage device can be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device employs a mass storage device (e.g., a magnetic or optical disk, a flash memory) as a permanent storage device. In some other embodiments, the permanent storage device can be a removable storage device (e.g., a floppy disk, an optical drive). The system memory can be a readable and writable storage device or a volatile readable and writable storage device such as a dynamic random access memory. The system memory can store some or all of the instructions and data required by the processor during runtime. In addition, the memory 1010 can include a combination of any computer readable storage media, including various types of semiconductor storage chips (e.g., DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic disks and / or optical disks. In some embodiments, the memory 1010 can include a readable and / or writable removable storage device such as a compact disc (CD), a read-only digital versatile disc (e.g., DVD-ROM, double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (e.g., an SD card, a min SD card, a Micro-SD card, etc.), a magnetic floppy disk, etc. The computer readable storage medium does not include a carrier wave and an instantaneous electronic signal transmitted by wireless or wired transmission.

[0170] The memory 1010 stores executable code, which, when processed by the processor 1020, can cause the processor 1020 to perform part or all of the above-mentioned methods.

[0171] In addition, the method according to the present application can also be implemented as a computer program or a computer program product, which includes computer program code instructions for performing part or all of the steps of the above-mentioned methods of the present application.

[0172] Alternatively, the present application can also be implemented as a computer readable storage medium (or non-transitory machine readable storage medium or machine readable storage medium) having executable code (or computer program or computer instruction code) stored thereon, which, when executed by a processor of an electronic device (or a server, etc.), causes the processor to perform part or all of the steps of the above-mentioned methods according to the present application.

[0173] Having described various embodiments of the application, it is to be understood that the above description is meant not to limit and not to encompass all of the possible embodiments. Many modifications and variations of this application can be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. It is intended that the scope of the application be defined by the scope of the patent and by the claims as allowed by the patent office, which can include adaptations based on the description, equivalents, and / or substitutions of elements individually or collectively to the entire disclosure.

Claims

1. A method of constructing a vehicle access road, characterized by, The method comprises the following steps: According to the driving route of the vehicle, the moving track of the vehicle and the road boundaries distributed on both sides of the moving track of the vehicle are obtained; According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; According to the plurality of left road boundary points, a left boundary of the passable road is formed, and according to the plurality of right road boundary points, a right boundary of the passable road is formed, so that the vehicle drives in the target passable road formed by the left boundary and the right boundary of the passable road.

2. The method of claim 1, wherein, The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps:

3. The method of claim 1, wherein, According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; 4. The method according to claim 2 or 3, characterized in that, The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; 5. The method of claim 3, wherein, The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the vehicle, a plurality of left road boundary points and a plurality of right road boundary points are respectively obtained; The method comprises the following steps: According to the plurality of track points sampled on the moving track of the If all the road widths in the current width sequence are greater than the last road width in the adjacent preceding width sequence and greater than the first road width in the adjacent following width sequence, all the road widths in the current width sequence are updated to the last road width or the first road width, and a corresponding target width is obtained.

6. The method of claim 1, wherein, The left boundary of the passable road is formed according to the plurality of left road boundary points, and the right boundary of the passable road is formed according to the plurality of right road boundary points, including: The left boundary of the passable road is generated by sequentially connecting the left road boundary points, and the right boundary of the passable road is generated by sequentially connecting the right road boundary points.

7. The method of claim 5, wherein, Before the difference between any two adjacent road widths on the same side is calculated respectively, it further includes: The preset distance of each trajectory point and the starting point of the vehicle movement trajectory is obtained respectively. According to the numerical value of the corresponding preset distance, the road widths on the same side are sorted in ascending order, and the sequentially arranged road widths on the same side are obtained.

8. The method of claim 1, wherein: The road boundary includes at least one of a ground marking line, a physical partition facility, or a boundary profile of a building.

9. The method of claim 1, wherein, The vehicle movement trajectory and the road boundaries distributed on both sides of the vehicle movement trajectory are obtained according to the driving route of the vehicle, including: According to the driving route of the vehicle, a regional map is generated, and the regional map includes the vehicle movement trajectory and the road boundaries distributed on both sides of the vehicle movement trajectory.

10. The method of claim 2 or 3, wherein, The plurality of trajectory points are obtained by sampling the vehicle movement trajectory at a preset interval, including: A plurality of trajectory points are obtained by sampling the trajectory points on the vehicle movement trajectory at a preset interval in time sequence starting from the starting point of the vehicle movement trajectory.

11. The method of claim 4, wherein: The first preset direction and the second preset direction are determined according to the orientation angle of the trajectory point.

12. An application of a target passable road constructed by the method of any one of claims 1 to 11.

13. A construction device for a vehicle to pass a road, characterized by Including: A data acquisition module is configured to obtain a vehicle movement trajectory and road boundaries distributed on both sides of the vehicle movement trajectory according to a driving route of the vehicle; A boundary point generation module is configured to obtain a plurality of left road boundary points and a plurality of right road boundary points respectively according to a plurality of trajectory points sampled on the vehicle movement trajectory; A road generation module is configured to form a left boundary of a passable road according to the plurality of left road boundary points, and to form a right boundary of the passable road according to the plurality of right road boundary points, so that the vehicle travels in a target passable road formed by the left boundary of the passable road and the right boundary of the passable road.

14. A vehicle characterized by comprising: Including: A processor; And A memory having executable code stored thereon, when the executable code is executed by the processor, the processor executes the method of any one of claims 1-11.

15. A computer readable storage medium having executable code stored thereon, characterized in that: When the executable code is executed by a processor of an electronic device, the processor is caused to perform the method of any of claims 1-11.

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