CN115167406B - Method and equipment for generating dynamic automatic driving global path - Google Patents
Method and equipment for generating dynamic automatic driving global path Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention provides a method and equipment for generating a dynamic automatic driving global path, wherein the cloud server is used for generating a navigation global path based on a navigation start position coordinate and a navigation end position coordinate, and a preset navigation global path algorithm is used for generating the navigation global path and sending the navigation global path to an intelligent network connection device, and an automatic driving function control device is used for generating global path information of a high-precision map based on the navigation global path, so that the automatic driving global path can be generated in real time, and the problem of inconvenience in driving according to a fixed route each time in the prior art is avoided. The invention can generate the automatic driving global path without depending on the total navigation data given by the navigation map data provider and only by navigating the track point information in the global path to generate the track information of the global path of the high-precision map. Compared with a global path which only depends on a high-precision map, the method can be dynamically set in real time, and the problem that the global path cannot be changed once set is avoided.
Description
Technical Field
The invention relates to a method and equipment for generating a dynamic automatic driving global path.
Background
Path planning is one of the main study contents of motion planning. The motion planning consists of path planning and track planning, the sequence points or curves connecting the start position and the end position are called paths, and the strategy for forming the paths is called path planning. Path planning has wide application in many fields. The application in the high-tech field is as follows: autonomous non-touching action of the robot; obstacle avoidance burst prevention flight of unmanned aerial vehicle; cruise missiles avoid radar searching, prevent rebound attack, complete burst and explosion tasks, and the like. The application in the daily life field is as follows: GPS navigation; road planning based on a GIS system, urban road network planning navigation and the like.
Applications in the decision management field are: vehicle problems (VRPs) in logistics management and similar resource management resource allocation problems. Routing problems in the field of communication technology, etc. The planning problem of the topology point-line network can be basically solved by adopting a path planning method. The path planning is divided into global path planning and local path planning, and the local path planning generally carries out path planning in a known local range, for example, when a vehicle overtakes and changes a lane, a lane changing curve is calculated according to the condition of the vehicle around the vehicle, so that the vehicle runs according to the local route. Global path planning is typically accomplished in a continuous, known environment. The navigation route set by the traditional mobile phone navigation is the result generated by the global path planning.
The application focuses on the method of global path planning. The current global path for autopilot is often simply generated based on a high-precision map. Firstly, in the visualization tool of the upper computer, a high-precision map is displayed, then an automatic driving route is selected, global route data based on route indexes of the high-precision map are formed, the global route data are written into an automatic driving embedded system, and after automatic driving is started, the vehicle can run according to the route. However, this method is not flexible and must be run according to a fixed preset number of routes each time. Moreover, the current high-precision map is usually static information, the real-time road condition information is lacking, the generated global path does not consider traffic conditions, the possible generated path distance is shortest, the passing time is not necessarily shortest, the situation of limiting the traffic is not considered, and the actually planned route is difficult to apply to mass production vehicles.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides a method and equipment for generating a dynamic automatic driving global path.
In order to achieve the above purpose, the invention adopts the following technical scheme:
The invention provides a method for generating a dynamic automatic driving global path, which comprises the following steps:
the navigation device acquires the coordinates of the beginning place and the ending place of navigation and sends the coordinates to the intelligent network connection device;
The intelligent network connection device sends the coordinates of the beginning place and the ending place of navigation to the cloud server;
The cloud server generates a navigation global path through a preset navigation global path algorithm based on the start position coordinate and the end position coordinate of navigation, and sends the navigation global path to the intelligent networking device;
the intelligent network connection device sends the navigation global path to the navigation device;
the navigation device sends the navigation global path to an automatic driving function control device;
The automatic driving function control device generates global path information of the high-precision map based on the navigation global path.
Further, in the dynamic autopilot global path generation method, the autopilot function control device generates global path information of a high-precision map based on a navigation global path, including:
The automatic driving function control device generates track information of the global path of the high-precision map based on track point information in the navigation global path.
Further, in the dynamic autopilot global path generation method, the autopilot function control apparatus generates track information of a global path of a high-precision map based on track point information in a navigation global path, including:
Traversing the longitude and latitude of the track point information in the navigation global path in sequence, and finding out the road section of the high-precision map based on the longitude and latitude of the track point information of each road section;
If the current road section of the high-precision map is the unique topological path, the current road section of the high-precision map is used as one road section of the track information of the global path of the high-precision map.
Further, in the dynamic automatic driving global path generating method, the steps of traversing the longitude and latitude of the track point information in the navigation global path in sequence, and finding out the road section of the high-precision map based on the longitude and latitude of the track point information of each road section further comprise:
if the current road section of the high-precision map is a plurality of topological paths, the road section of the next unique topological path of the current road section is obtained, and one of the topological paths of the current road section connected with the road section of the next unique topological path is selected from the current road sections of the plurality of topological paths to be used as one road section of the track information of the global path of the high-precision map.
Further, in the dynamic automatic driving global path generating method, the longitude and latitude of the track point information in the navigation global path are traversed in sequence, and the road section of the high-precision map is found out based on the longitude and latitude of the track point information of each road section, which comprises the following steps:
and traversing the longitude and latitude of the track point information in the navigation global path in sequence, and finding out the road section of the high-precision map within the preset range of the longitude and latitude of the track point information of each road section.
According to another aspect of the present invention, there is also provided a dynamic autopilot global path generation apparatus including:
the navigation device is used for acquiring the coordinates of the beginning place and the ending place of navigation and sending the coordinates to the intelligent network connection device; transmitting the navigation global path to an automatic driving function control device;
The intelligent network connection device is used for sending the coordinates of the beginning place and the ending place of navigation to the cloud server and sending the navigation global path to the navigation device;
The cloud server is used for generating a navigation global path through a preset navigation global path algorithm based on the beginning place coordinate and the ending place coordinate of navigation and sending the navigation global path to the intelligent networking device;
The automatic driving function control device generates global path information of the high-precision map based on the navigation global path.
Further, in the dynamic autopilot global path generating apparatus, the autopilot function control device is configured to generate track information of a global path of the high-precision map based on track point information in the navigation global path.
Further, in the dynamic automatic driving global path generating device, the automatic driving function control device is configured to sequentially traverse the longitude and latitude of the track point information in the navigation global path, and find out the road section of the high-precision map based on the longitude and latitude of the track point information of each road section; if the current road section of the high-precision map is the unique topological path, the current road section of the high-precision map is used as one road section of the track information of the global path of the high-precision map.
Further, in the dynamic autopilot global path generating apparatus, the autopilot function control device is configured to acquire a road segment of a next unique topology path of a current road segment if the current road segment of the high-precision map found is a plurality of topology paths, and select, from the current road segments of the plurality of topology paths, one topology path of the current road segment connected to the road segment of the next unique topology path as one road segment of the trajectory information of the global path of the high-precision map.
Further, in the dynamic automatic driving global path generating device, the automatic driving function control device is configured to sequentially traverse the longitude and latitude of the track point information in the navigation global path, and find out the road section of the high-precision map within the preset range of the longitude and latitude of the track point information of each road section.
According to another aspect of the present invention there is also provided a computer readable medium having stored thereon computer readable instructions executable by a processor to implement the method of any one of the above.
According to another aspect of the present invention there is also provided an apparatus for information processing at a network device, the apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform the method of any of the preceding claims.
According to the invention, the cloud server generates the navigation global path based on the navigation start position coordinates and the navigation end position coordinates, and a preset navigation global path algorithm is used for generating the navigation global path and sending the navigation global path to the intelligent network connection device, and the automatic driving function control device generates global path information of the high-precision map based on the navigation global path, so that the automatic driving global path can be generated in real time, and the problem of inconvenience in driving according to a fixed route each time in the prior art is avoided.
According to the method, the cloud server generates the navigation global path based on the beginning location coordinates and the ending location coordinates of navigation and a preset navigation global path algorithm, so that the automatic driving global path can be generated without depending on the total navigation data given by a navigation map data provider and only by generating the track information of the global path of the high-precision map through the track point information in the navigation global path. Compared with a global path which only depends on a high-precision map, the method can be dynamically set in real time. Avoiding the problem that the setting cannot be changed once.
Drawings
FIG. 1 is a schematic diagram of a method and apparatus for dynamic autopilot global path generation in accordance with one embodiment of the present invention;
FIG. 2 is a schematic diagram of an autopilot control apparatus of one embodiment of the present invention;
FIG. 3 is a schematic diagram of matching a navigation path with a high-precision map according to an embodiment of the present invention;
FIG. 4 is a flow chart of a method of dynamic autopilot global path generation in accordance with one embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
In one exemplary configuration of the application, the terminal, the device of the service network, and the trusted party each include one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer readable media, as defined herein, does not include non-transitory computer readable media (transmission media), such as modulated data signals and carrier waves.
As shown in fig. 1 and 4, the present invention relates to a dynamic autopilot global path generation method, including:
step S1, a navigation device acquires coordinates of a beginning place and coordinates of an ending place of navigation and sends the coordinates to an intelligent network connection device;
the navigation device is a device for storing navigation software and data, and provides an operation interface for a user, so that the user can set a starting place coordinate and an ending place coordinate of navigation, acquire a navigation global path generated based on the starting place coordinate and the ending place coordinate of navigation from a cloud server, and send the navigation global path to the automatic driving function control device;
step S2, the intelligent network connection device sends the coordinates of the beginning place and the ending place of navigation to the cloud server;
The intelligent networking device can be connected to the cloud server, so that the coordinates of the beginning place and the ending place of the navigation can be set up in an uploading mode, and the global navigation path calculated by the cloud server is obtained;
step S3, the cloud server generates a navigation global path through a preset navigation global path algorithm based on the navigation start position coordinates and the navigation end position coordinates, and sends the navigation global path to the intelligent networking device;
Step S4, the intelligent network connection device sends the navigation global path to the navigation device;
step S5, the navigation device sends the navigation global path to an automatic driving function control device;
Step S6, the automatic driving function control device generates global path information of the high-precision map based on the navigation global path.
Here, the autopilot function control device stores high-precision map software, data, a route matching algorithm, and an autopilot function. The automatic driving function control device receives the navigation global path sent by the navigation device and generates a global path of the high-precision map.
As shown in fig. 1, the apparatus related to this scheme mainly includes: the remote cloud server is connected with the intelligent network device of the navigation device at the vehicle end and the automatic driving function control device. Step S1, the starting point and the ending point set by the navigation device are given to the intelligent networking device; step S2, the set starting point and the set ending point are given to a cloud server, and the cloud server calculates and then obtains a navigation global path; step S3, firstly, the track points are given to an intelligent networking device; s4, the intelligent network connection device gives the navigation global path to the navigation device; step S5 the navigation device gives the navigation track points to the automatic driving control device.
As shown in fig. 2, after receiving the navigation global path in S5, the autopilot control device gives the navigation path to the internal navigation path and high-precision data matching module. Step S7, the matching module reads high-precision map data; step S6 is that the automatic driving function control device generates global path information of the high-precision map based on the navigation global path.
According to the invention, the cloud server generates the navigation global path based on the navigation start position coordinates and the navigation end position coordinates, and a preset navigation global path algorithm is used for generating the navigation global path and sending the navigation global path to the intelligent network connection device, and the automatic driving function control device generates global path information of the high-precision map based on the navigation global path, so that the automatic driving global path can be generated in real time, and the problem of inconvenience in driving according to a fixed route each time in the prior art is avoided.
In an embodiment of the method for generating a global path for dynamic autopilot according to the present invention, step S6, the autopilot function control device generates global path information of a high-precision map based on a navigation global path, including:
In step S61, the autopilot function control apparatus generates track information of the global path of the high-precision map based on track point information in the navigation global path.
Here, the map module in the automatic driving function device generates the track information of the global path of the high-precision map based on the track point information in the navigation global path.
In order to make the matching success rate high, the navigation global path may include track point information (including longitude and latitude) and road type information of the navigation path.
According to the method, the cloud server generates the navigation global path based on the beginning location coordinates and the ending location coordinates of navigation and a preset navigation global path algorithm, so that the automatic driving global path can be generated without depending on the total navigation data given by a navigation map data provider and only by generating the track information of the global path of the high-precision map through the track point information in the navigation global path. Compared with a global path which only depends on a high-precision map, the method can be dynamically set in real time, and the problem that the global path cannot be changed once set is avoided.
In an embodiment of the method for generating a global path for dynamic autopilot according to the present invention, step S61, the autopilot function control device generates track information of a global path of a high-precision map based on track point information in a navigation global path, including:
step S611, traversing the longitude and latitude of the track point information in the navigation global path in sequence, and finding out the road section of the high-precision map based on the longitude and latitude of the track point information of each road section;
In step S612, if the found current link of the high-precision map is the unique topology path, the current link of the high-precision map is used as one link of the track information of the global path of the high-precision map.
Here, if the current link of the found high-precision map is the only topology path, the current link may be one link of the track information of the global path of the high-precision map.
In an embodiment of the method for generating a dynamic autopilot global path of the present invention, step S611 traverses the longitude and latitude of the track point information in the navigation global path in sequence, and finds out the road section of the high-precision map based on the longitude and latitude of the track point information of each road section, and then further includes:
in step S613, if the current link of the high-precision map is a plurality of topology links, the link of the next unique topology link of the current link is acquired, and one of the topology links of the current link connected to the link of the next unique topology link is selected from the current links of the plurality of topology links as one link of the track information of the global path from the high-precision map.
Here, it is assumed that when a plurality of road segments are found in step S612, the next road segment is continuously found according to the navigation path track point and the topology of the high-precision map road network until the road segment of the unique topology path of the high-precision map is found, and the topology path is recorded as the global navigation path of the high-precision map.
Although the navigation map data has a certain error with the longitude of the high-precision map data, the error matching can exist when parallel roads and overhead roads are encountered, but the topological shape of road sections is similar, and the high-precision map always needs to turn when the navigation encounters a turning road, so that the dynamic matching from the navigation path to the high-precision map can be realized by the method.
For example, as shown in FIG. 3, a schematic diagram of a navigation path to high-precision map global path matching scheme is shown. S8 is a navigation map, S9 is a high-precision map schematic diagram, and S10 is a navigation path track point (line and point) generated based on the navigation map. The navigation path of the S10 is sequentially matched into the S9 according to the advancing direction, the matching is mainly divided into A, B, C stages as shown in the figure, and at the point A, link 1 for finding a high-precision map can be found because of only one road section; at the point B, link2, link3 and Link4 can be found, link2 is necessary because the topology is associated with Link3 and Link4, link3 and Link4 are candidates for high-precision roads; at point C, only candidate Link3 that matches Link4, B can be deleted. The Link 1, link2, link4 illustrated are trajectory information of the global path of the high-precision map. The trajectory information of the global path of the high-precision map can be calculated by the procedure shown in fig. 3.
In an embodiment of the method for generating a dynamic autopilot global path of the present invention, step S611 traverses the longitude and latitude of the track point information in the navigation global path in sequence, and finds out the road section of the high-precision map based on the longitude and latitude of the track point information of each road section, including:
and traversing the longitude and latitude of the track point information in the navigation global path in sequence, and finding out the road section of the high-precision map within the preset range of the longitude and latitude of the track point information of each road section.
Here, a link of the high-precision map in a range of 10 meters around the point (a navigation map and a high-precision map error have about 10 meters) can be found. Thus, each alternative road section can be accurately found.
According to another aspect of the present invention, there is also provided a dynamic autopilot global path generation apparatus including:
the navigation device is used for acquiring the coordinates of the beginning place and the ending place of navigation and sending the coordinates to the intelligent network connection device; transmitting the navigation global path to an automatic driving function control device;
The intelligent network connection device is used for sending the coordinates of the beginning place and the ending place of navigation to the cloud server and sending the navigation global path to the navigation device;
The cloud server is used for generating a navigation global path through a preset navigation global path algorithm based on the beginning place coordinate and the ending place coordinate of navigation and sending the navigation global path to the intelligent networking device;
The automatic driving function control device generates global path information of the high-precision map based on the navigation global path.
Further, in the dynamic autopilot global path generating apparatus, the autopilot function control device is configured to generate track information of a global path of the high-precision map based on track point information in the navigation global path.
Further, in the dynamic automatic driving global path generating device, the automatic driving function control device is configured to sequentially traverse the longitude and latitude of the track point information in the navigation global path, and find out the road section of the high-precision map based on the longitude and latitude of the track point information of each road section; if the current road section of the high-precision map is the unique topological path, the current road section of the high-precision map is used as one road section of the track information of the global path of the high-precision map.
Further, in the dynamic autopilot global path generating apparatus, the autopilot function control device is configured to acquire a road segment of a next unique topology path of a current road segment if the current road segment of the high-precision map found is a plurality of topology paths, and select, from the current road segments of the plurality of topology paths, one topology path of the current road segment connected to the road segment of the next unique topology path as one road segment of the trajectory information of the global path of the high-precision map.
Further, in the dynamic automatic driving global path generating device, the automatic driving function control device is configured to sequentially traverse the longitude and latitude of the track point information in the navigation global path, and find out the road section of the high-precision map within the preset range of the longitude and latitude of the track point information of each road section.
According to another aspect of the present invention, there is also provided a computer readable medium having stored thereon computer readable instructions executable by a processor to implement the method according to any of the above embodiments.
According to another aspect of the present invention there is also provided an apparatus for information processing at a network device, the apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform the method of any of the embodiments described above.
Details of each device embodiment of the present invention may be specifically referred to corresponding portions of each method embodiment, and will not be described herein.
The steps performed by the method of the present invention have been described in the above-mentioned adaptive lower limb restraint system, and will not be described in detail herein. However, the method of the invention may be integrated in a specific control device.
The control device of the present invention may be a computer program product, wherein the computer program product, when run on a computer, causes the computer to perform some or all of the steps of the method as in the method embodiments above.
The control device of the present invention may be an application publishing platform for publishing a computer program product, wherein the computer program product when run on a computer causes the computer to perform some or all of the steps of the method as in the method embodiments above.
In various embodiments of the present invention, it should be understood that the sequence numbers of the foregoing processes do not imply that the execution sequences of the processes should be determined by the functions and internal logic of the processes, and should not be construed as limiting the implementation of the embodiments of the present invention.
The various systems, units of the invention, if implemented in the form of software functional units, may be stored in a computer-accessible memory. With such understanding, some or all of the aspects of the present invention may be embodied in the form of a software product stored in a memory, comprising a number of requests to cause one or more computer devices (e.g., personal computers, servers or network devices, etc., which may be processors in the computer devices in particular) to perform some or all of the steps of the methods described above for various embodiments of the present invention.
Those skilled in the art will appreciate that all or part of the steps of the various embodiments of the invention recited herein can be implemented by computer programs, which can be stored centrally or in a distributed fashion in one or more computer devices, such as in a readable storage medium. The computer device includes Read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disk Memory, magnetic disk Memory, tape Memory, or any other medium capable of being used for carrying or storing data.
It will be appreciated by persons skilled in the art that the above embodiments are provided for illustration only and not for limitation of the invention, and that variations and modifications of the above described embodiments are intended to fall within the scope of the claims of the invention as long as they fall within the true spirit of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
It should be noted that the present invention may be implemented in software and/or a combination of software and hardware, e.g., using Application Specific Integrated Circuits (ASIC), a general purpose computer or any other similar hardware device. In one embodiment, the software program of the present invention may be executed by a processor to perform the steps or functions described above. Likewise, the software programs of the present invention (including associated data structures) may be stored on a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. In addition, some steps or functions of the present invention may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.
Furthermore, portions of the present invention may be implemented as a computer program product, such as computer program instructions, which when executed by a computer, may invoke or provide methods and/or techniques in accordance with the present invention by way of operation of the computer. Program instructions for invoking the inventive methods may be stored in fixed or removable recording media and/or transmitted via a data stream in a broadcast or other signal bearing medium and/or stored within a working memory of a computer device operating according to the program instructions. An embodiment according to the invention comprises an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to operate a method and/or a solution according to the embodiments of the invention as described above.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is evident that the word "comprising" does not exclude other elements or steps, and that the singular does not exclude a plurality. A plurality of units or means recited in the apparatus claims can also be implemented by means of one unit or means in software or hardware. The terms first, second, etc. are used to denote a name, but not any particular order.
Claims (10)
1. A method for generating a dynamic autopilot global path, comprising:
the navigation device acquires the coordinates of the beginning place and the ending place of navigation and sends the coordinates to the intelligent network connection device;
The intelligent network connection device sends the coordinates of the beginning place and the ending place of navigation to the cloud server;
The cloud server generates a navigation global path through a preset navigation global path algorithm based on the start position coordinate and the end position coordinate of navigation, and sends the navigation global path to the intelligent networking device;
the intelligent network connection device sends the navigation global path to the navigation device;
the navigation device sends the navigation global path to an automatic driving function control device;
The automatic driving function control device generates global path information of a high-precision map based on a navigation global path, and comprises:
Traversing the longitude and latitude of the track point information in the navigation global path in sequence, and finding out the road section of the high-precision map based on the longitude and latitude of the track point information of each road section;
If the current road section of the high-precision map is the unique topological path, the current road section of the high-precision map is used as one road section of the track information of the global path of the high-precision map.
2. The dynamic autopilot global path generation method of claim 1 wherein the autopilot function control means generates global path information for a high-precision map based on the navigation global path, comprising:
The automatic driving function control device generates track information of the global path of the high-precision map based on track point information in the navigation global path.
3. The method for generating a dynamic autopilot global path according to claim 1, wherein after traversing the longitude and latitude of the track point information in the navigation global path in sequence and finding out the road section of the high-precision map based on the longitude and latitude of the track point information of each road section, further comprising:
if the current road section of the high-precision map is a plurality of topological paths, the road section of the next unique topological path of the current road section is obtained, and one of the topological paths of the current road section connected with the road section of the next unique topological path is selected from the current road sections of the plurality of topological paths to be used as one road section of the track information of the global path of the high-precision map.
4. The dynamic autopilot global path generation method of claim 1 wherein traversing sequentially the longitude and latitude of the track point information in the navigation global path, finding a road segment of the high-precision map based on the longitude and latitude of the track point information of each road segment comprises:
and traversing the longitude and latitude of the track point information in the navigation global path in sequence, and finding out the road section of the high-precision map within the preset range of the longitude and latitude of the track point information of each road section.
5. A dynamic autopilot global path generation apparatus comprising:
the navigation device is used for acquiring the coordinates of the beginning place and the ending place of navigation and sending the coordinates to the intelligent network connection device; transmitting the navigation global path to an automatic driving function control device;
The intelligent network connection device is used for sending the coordinates of the beginning place and the ending place of navigation to the cloud server and sending the navigation global path to the navigation device;
The cloud server is used for generating a navigation global path through a preset navigation global path algorithm based on the beginning place coordinate and the ending place coordinate of navigation and sending the navigation global path to the intelligent networking device;
The automatic driving function control device is used for traversing the longitude and latitude of the track point information in the navigation global path in sequence and finding out the road section of the high-precision map based on the longitude and latitude of the track point information of each road section; if the current road section of the high-precision map is the unique topological path, the current road section of the high-precision map is used as one road section of the track information of the global path of the high-precision map.
6. The dynamic autopilot global path generation apparatus of claim 5 wherein the autopilot function control means generates track information for a global path of the high-precision map based on track point information in the navigation global path.
7. The dynamic autopilot global path generation apparatus of claim 6 wherein the autopilot function control means is configured to acquire a section of a next unique topology path of the current section if the current section of the high-precision map found is a plurality of topology paths, select, from among the current sections of the plurality of topology paths, a topology path of one of the current sections connected to the section of the next unique topology path as one section of track information of the global path of the high-precision map.
8. The dynamic autopilot global path generation apparatus of claim 7 wherein the autopilot function control means is operable to sequentially traverse the longitude and latitude of the track point information in the navigation global path to find out the road sections of the high-precision map within a preset range of the longitude and latitude of the track point information of each road section.
9. A computer readable medium having stored thereon computer readable instructions executable by a processor to implement the method of any one of claims 1 to 4.
10. An apparatus for information processing at a network device, the apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform the method of any one of claims 1 to 4.
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