CN113008258B - Path planning method, device, equipment and storage medium - Google Patents
Path planning method, device, equipment and storage medium Download PDFInfo
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Abstract
The disclosure provides a path planning method, a path planning device, path planning equipment and a path planning storage medium, and relates to the technical field of artificial intelligence. The method comprises the following steps: acquiring coordinates of the mobile body in a road coordinate system, wherein the road coordinate system takes a road center line as a longitudinal axis; sampling is carried out within a preset planning distance of a sampling reference point on a road center line, so that a sampling point on the road center line is obtained, and the sampling reference point is identical with the ordinate of the mobile body in a road coordinate system; obtaining the distance between the sampling point and the road edge; obtaining the feasible width of the moving body according to the distance between the sampling point and the road edge; acquiring a preset reference distance between a mobile body and the edge of a road; a reference line of the mobile body in the road coordinate system is obtained according to the feasible width of the mobile body and the preset reference distance, so that a path of the mobile body is planned according to the coordinates of the mobile body in the road coordinate system and the reference line. The method realizes the improvement of the flexibility and the adaptability of path planning.
Description
Technical Field
The present disclosure relates to the field of artificial intelligence technology, and in particular, to a path planning method, apparatus, device, and readable storage medium.
Background
At present, the technology of mobile robots is developed rapidly, and with the continuous expansion of the application scenes and modes of robots in recent years, various mobile robots are layered endlessly, for example, unmanned logistics distribution vehicles are one of the mobile robots widely applied. The path planning technology is an indispensable part of unmanned logistics distribution vehicle technology. In an environment with lane lines, a reference line for path planning is generally established, and speed and acceleration of the unmanned vehicle are planned based on the reference line.
The unmanned logistics distribution vehicle generally travels on a non-motorized lane or a rightmost motorized lane, and in some related art, the reference line for path planning is the center line of the lane on which the unmanned logistics distribution vehicle travels. However, some non-motor vehicle lanes or the rightmost motor vehicle lane have a large center distance from the right side, and the unmanned logistics distribution vehicle has a low speed, and if the vehicle runs along the center line of the lane according to the center line of the lane as a reference line of the planned path, traffic may be blocked.
As described above, how to provide more flexible reference lines to plan paths more suitable for practical situations is a problem to be solved.
The above information disclosed in the background section is only for enhancement of understanding of the background of the disclosure and therefore it may include information that does not form the prior art that is already known to a person of ordinary skill in the art.
Disclosure of Invention
The present disclosure aims to provide a path planning method, apparatus, device and readable storage medium, which overcome at least to some extent the problem of poor path planning flexibility caused by using a lane center line as a reference line in the related art.
Other features and advantages of the present disclosure will be apparent from the following detailed description, or may be learned in part by the practice of the disclosure.
According to an aspect of the present disclosure, there is provided a path planning method including: acquiring coordinates of a mobile body in a road coordinate system, wherein the road coordinate system acquires a longitudinal axis according to a road center line; sampling is carried out within a preset planning distance of a sampling reference point on the road center line, so that the sampling point on the road center line is obtained, and the sampling reference point is identical with the ordinate of the mobile body in the road coordinate system; obtaining the distance between the sampling point and the road edge; obtaining the feasible width of the moving body according to the distance between the sampling point and the road edge; acquiring a preset reference distance between the mobile body and the road edge; and obtaining a reference line of the mobile body in the road coordinate system according to the feasible width of the mobile body and the preset reference distance, so as to plan a path of the mobile body according to the coordinates of the mobile body in the road coordinate system and the reference line.
According to an embodiment of the present disclosure, the number of the sampling points is a plurality; the obtaining the distance between the sampling point and the road edge comprises: respectively obtaining the distance between each sampling point and the road edge; the obtaining the feasible width of the mobile body according to the distance between the sampling point and the road edge comprises: and selecting the shortest distance among the distances between the plurality of sampling points and the road edge as the feasible width of the moving body.
According to an embodiment of the disclosure, the sampling within a preset planned distance of the sampling reference point on the road center line includes: and taking the sampling reference point as a starting point, and sampling in a preset planning distance of the sampling reference point on the road center line along the positive direction of the longitudinal axis of the road coordinate system.
According to an embodiment of the present disclosure, the method further comprises: acquiring the width of the moving body; the obtaining the reference line of the moving body in the road coordinate system according to the feasible width of the moving body and the preset reference distance comprises: and obtaining a reference line of the moving body in the road coordinate system according to the feasible width of the moving body, the preset reference distance and the width of the moving body.
According to an embodiment of the present disclosure, the obtaining the reference line of the moving body in the road coordinate system according to the feasible width of the moving body, the preset reference distance, and the width of the moving body includes: and subtracting half of the preset reference distance and the width of the moving body from the feasible width of the moving body to obtain the abscissa of the reference line in the road coordinate system.
According to an embodiment of the present disclosure, the acquiring coordinates of the mobile body in the road coordinate system includes: acquiring coordinates of the mobile body in a Cartesian coordinate system; determining a conversion reference point of a preset distance from the moving body on the road center line; respectively acquiring the coordinates of the conversion reference point in the road coordinate system and the coordinates of the conversion reference point in the Cartesian coordinate system; and carrying out coordinate conversion according to the coordinates of the mobile body in the Cartesian coordinate system, the coordinates of the conversion reference point in the road coordinate system and the coordinates in the Cartesian coordinate system, and obtaining the coordinates of the mobile body in the road coordinate system.
According to an embodiment of the disclosure, the road edge is a right-hand edge of the road.
According to still another aspect of the present disclosure, there is provided a path planning apparatus including: the coordinate acquisition module is used for acquiring the coordinates of the mobile body in a road coordinate system, wherein the road coordinate system acquires a longitudinal axis according to a road center line; the distance sampling module is used for sampling within a preset planning distance of a sampling reference point on the road center line to obtain the sampling point on the road center line, and the sampling reference point is the same as the ordinate of the moving body in the road coordinate system; the sampling point distance obtaining module is used for obtaining the distance between the sampling point and the road edge; a feasible width obtaining module, configured to obtain a feasible width of the mobile body according to a distance between the sampling point and the road edge; the reference distance acquisition module is used for acquiring a preset reference distance between the mobile body and the road edge; and the reference line obtaining module is used for obtaining a reference line of the mobile body in the road coordinate system according to the feasible width of the mobile body and the preset reference distance so as to plan a path of the mobile body according to the coordinates of the mobile body in the road coordinate system and the reference line.
According to an embodiment of the present disclosure, the number of the sampling points is a plurality; the sampling point distance obtaining module is further used for obtaining distances between each sampling point and the road edge respectively; the feasible width obtaining module is further configured to select a shortest distance among distances between the plurality of sampling points and the road edge as a feasible width of the mobile body.
According to an embodiment of the disclosure, the sampling point distance obtaining module is further configured to sample, with the sampling reference point as a starting point, within a preset planned distance of the sampling reference point on the road center line along a positive direction of a longitudinal axis of the road coordinate system.
According to an embodiment of the present disclosure, the apparatus further comprises: a moving body width acquisition module for acquiring the width of the moving body; the reference line obtaining module is further used for obtaining a reference line of the moving body in the road coordinate system according to the feasible width of the moving body, the preset reference distance and the width of the moving body.
According to an embodiment of the present disclosure, the reference line obtaining module is further configured to subtract half of the width of the moving body and the preset reference distance from a feasible width of the moving body to obtain an abscissa of the reference line in the road coordinate system.
According to an embodiment of the present disclosure, the coordinate acquisition module includes: the initial coordinate acquisition module is used for acquiring the coordinates of the mobile body in a Cartesian coordinate system; the conversion reference point determining module is used for determining a conversion reference point which is at a preset distance from the moving body on the road center line; the reference point coordinate acquisition module is used for respectively acquiring the coordinates of the conversion reference point in the road coordinate system and the coordinates of the conversion reference point in the Cartesian coordinate system; and the coordinate conversion module is used for carrying out coordinate conversion according to the coordinates of the mobile body in a Cartesian coordinate system, the coordinates of the conversion reference point in the road coordinate system and the coordinates in the Cartesian coordinate system, so as to obtain the coordinates of the mobile body in the road coordinate system.
According to an embodiment of the disclosure, the road edge is a right-hand edge of the road.
According to yet another aspect of the present disclosure, there is provided an apparatus comprising: a memory, a processor, and executable instructions stored in the memory and executable in the processor, the processor implementing any of the methods described above when executing the executable instructions.
According to yet another aspect of the present disclosure, there is provided a computer-readable storage medium having stored thereon computer-executable instructions which, when executed by a processor, implement any of the methods described above.
According to the path planning method provided by the embodiment of the disclosure, sampling points on the road center line are obtained by sampling within the preset planning distance of sampling reference points which are the same as the longitudinal coordinates of the mobile body in the road coordinate system on the longitudinal axis road center line of the road coordinate system, then the feasible width of the mobile body is obtained according to the distance between the sampling points and the road edge, and then the reference line of the mobile body in the road coordinate system is obtained according to the feasible width of the mobile body and the preset reference distance, so that the path of the mobile body is planned according to the coordinates of the mobile body in the road coordinate system and the reference line, a more flexible reference line is provided, and therefore the driving strategy close to the road edge can be automatically adjusted according to the lane width in real time, and the applicability of the path planning to an actual scene is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
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The above and other objects, features and advantages of the present disclosure will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.
Fig. 1 is a schematic diagram showing a system configuration in an embodiment of the present disclosure.
Fig. 2 shows a flow chart of a path planning method in an embodiment of the present disclosure.
Fig. 3 shows a schematic diagram of the processing procedure of step S202 shown in fig. 2 in an embodiment.
Fig. 4 shows a coordinate system conversion schematic in an embodiment of the present disclosure.
Fig. 5 shows a reference line coordinate calculation flow diagram in an embodiment of the disclosure.
Fig. 6 shows a block diagram of a path planning apparatus in an embodiment of the present disclosure.
Fig. 7 shows a block diagram of another path planning apparatus in an embodiment of the present disclosure.
Fig. 8 shows a schematic structural diagram of an electronic device in an embodiment of the disclosure.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus a repetitive description thereof will be omitted.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the aspects of the disclosure may be practiced without one or more of the specific details, or with other methods, apparatus, steps, etc. In other instances, well-known structures, methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the disclosure.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present disclosure, the meaning of "a plurality" is at least two, such as two, three, etc., unless explicitly specified otherwise. The symbol "/" generally indicates that the context-dependent object is an "or" relationship.
In the present disclosure, unless explicitly specified and limited otherwise, terms such as "connected" and the like are to be construed broadly and, for example, may be electrically connected or may communicate with each other; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the terms in this disclosure will be understood by those of ordinary skill in the art as the case may be.
As described above, since the reference line for the path planning of the unmanned logistics distribution vehicle in the related art is constituted by the lane center line, the unmanned logistics distribution vehicle may be caused to obstruct traffic. Therefore, the present disclosure provides a path planning method, which obtains a sampling point on a road center line by sampling within a preset planning distance of a sampling reference point on the road center line of a longitudinal axis of a road coordinate system, which is the same as a longitudinal coordinate of a mobile body in the road coordinate system, then obtains a feasible width of the mobile body according to a distance between the sampling point and a road edge, and obtains a reference line of the mobile body in the road coordinate system according to the feasible width of the mobile body and the preset reference distance, so as to plan a path of the mobile body according to the coordinates of the mobile body in the road coordinate system and the reference line, thereby providing a more flexible reference line, realizing automatic adjustment of a driving strategy close to the road edge according to the lane width in real time, and improving the applicability of the path planning to an actual scene.
Fig. 1 illustrates an exemplary system architecture 10 to which the path planning method or path planning apparatus of the present disclosure may be applied.
As shown in fig. 1, system architecture 10 may include a terminal device 102, a network 104, a server 106, and a database 108. The terminal device 102 may be a variety of electronic devices having a display screen and supporting inputs, outputs, including but not limited to smartphones, tablets, laptop portable computers, desktop computers, wearable devices, virtual reality devices, smart homes, mobile robots, and the like. The network 104 is the medium used to provide communication links between the terminal devices 102 and the server 106. The network 104 may include various connection types, such as wired, wireless communication links, or fiber optic cables, among others. The server 106 may be a server or a cluster of servers, etc. that provide various services. Database 108 may be large database software located on a server or small database software installed on a computer for storing data.
Terminal device 102 can interact with server 106 and database 108 via network 104 to receive or transmit data, etc. For example, the user may operate on the terminal device 102 and send configuration parameters for generating the path plan to the server 106 via the network 104, so that the server 106 performs the path planning for the connected mobile robot according to the configuration parameters. For example, the server 106 transmits the speed and acceleration of the mobile robot planned in real time to the terminal device 102 through the network 104, so that the terminal device 102 performs mobile control on the mobile robot. For another example, real-time movement data of the terminal device 102 may be uploaded to the database 108 via the network 104 for storage for use in path planning at a next point in time.
Data may also be received from database 108 or sent to database 108 at server 106 via network 104, etc. For example, the server 106 may be a background processing server configured to perform real-time path planning for the mobile robot after obtaining mobile data of the mobile robot from the database 108 via the network 104. For another example, the server 106 may be configured to send data of the planned mobile robot's speed, acceleration, etc. to the database 108 via the network 104 for storage for use in path planning at a next point in time.
It should be understood that the number of terminal devices, networks, servers and databases in fig. 1 are merely illustrative. There may be any number of terminal devices, networks, servers, and databases, as desired for implementation.
Fig. 2 is a flow chart illustrating a path planning method according to an example embodiment. The method shown in fig. 2 can be applied to a server side of the above system, or to a terminal device of the above system, for example.
Referring to fig. 2, a method 20 provided by an embodiment of the present disclosure may include the following steps.
In step S202, coordinates of the mobile body in a road coordinate system, which obtains a vertical axis from a road center line, are acquired. The mobile body may be an unmanned robot, such as a cleaning robot, a logistics robot, or the like. In practice, the road on which the robot travels is not generally straight, but is curved, and thus the travel route of the robot is also generally curved. In a Cartesian coordinate system, the representation and calculation of curves are complicated; and even if the position of the moving body in the cartesian coordinate system is given, it is not known at what position the road is, it is difficult to know how much distance the moving body has moved, and it is difficult to determine whether the moving body deviates from the reference line. Therefore, a road coordinate system is generally used for planning a path of a moving object such as a robot. The road coordinate system is a rectangular coordinate system in which the positions of points are described using two variables, i.e., a distance change along the road (longitudinal displacement) and a left-right position on the road (lateral displacement), and may be represented by, for example, a vertical axis about the road center line and a horizontal axis about the normal vector of the road center line.
In some embodiments, for example, the road coordinate system may be a Frenet (Frenet) coordinate system with a tangent vector to the road centerline as the vertical axis and a normal vector to the road centerline as the horizontal axis. The cartesian coordinates of the mobile body may be acquired first, and then subjected to coordinate transformation to obtain the coordinates of the mobile body in the Frenet coordinate system. The specific embodiments can be seen with reference to fig. 3 and 4.
In step S204, sampling is performed within a preset planned distance of a sampling reference point on the road center line, so as to obtain a sampling point on the road center line, where the sampling reference point is the same as the ordinate of the mobile body in the road coordinate system. Firstly, a sampling reference point can be obtained on a road center line, the sampling reference point is a projection point of a moving body on a longitudinal axis (a road center line) of a road coordinate system, taking fig. 4 as an example, a coordinate of a point p where the moving body is located in an LOS (s p,lp) in the road coordinate system, then the coordinate of the sampling reference point in the LOS (s p, 0) in the road coordinate system, a sampling step ds can be preset to sample within a preset planning distance Q on an OS axis (s p, 0), and a plurality of sampling points on the OS axis are obtained.
In some embodiments, for example, the sampling may be performed within a preset planned distance of the sampling reference point on the road centerline along the positive direction of the longitudinal axis of the road coordinate system, taking the sampling reference point as a starting point. Taking fig. 4 as an example, the sampling interval may be (s p,sp +q) on the OS axis.
In other embodiments, taking fig. 4 as an example, the sampling interval may be (s p-Q,sp +q) on the OS axis.
In step S206, the distance between the sampling point and the road edge is obtained. The number of the sampling points is multiple, and the distance between each sampling point and the road edge can be obtained respectively; since the sampling points are on the road center line, the distance between each sampling point and the road edge is the feasible width of the moving body at different positions within the preset planning distance along the OS direction, and since the road width may be changed, the distances between different sampling points and the road edge may be different.
In some embodiments, for example, when the traffic rule is right-to-travel, the road edge is the right-hand edge of the road.
In some embodiments, for example, when the traffic rule is left-side travel, the road edge is the left-side edge of the road.
In step S208, a feasible width of the moving body is obtained according to the distance between the sampling point and the road edge. The distance between the sampling point and the road edge characterizes the change in the feasible distance of each passing point in the moving direction of the moving body (the direction of the road center line) due to the change in the road width. The feasible width of the moving body for calculating the coordinates of the reference line in the road coordinate system of the planned path can be obtained from the distance between the sampling point and the road edge, and the adaptive road width reference line can be obtained.
In some embodiments, for example, the shortest distance among the distances between the plurality of sampling points and the road edge may be selected as the feasible width of the mobile body. The preset planning distance is a distance range of a period for planning a path of the mobile body, namely, the projection of the moving distance of the mobile body on the road center line in the direction passes through the preset planning distance, the coordinates of the reference line are updated, the path planning is updated, and the shortest feasible width is selected to ensure that the coordinates of the planned reference line do not exceed the feasible range of the road.
In other embodiments, for example, a preset safety distance may be subtracted from the shortest distance among the distances between the plurality of sampling points and the road edge, so as to prevent the coordinates of the planned reference line from exceeding the feasible range of the road when the road width becomes suddenly changed at the time point of updating the path plan.
In step S210, a preset reference distance between the mobile body and the road edge is acquired. The preset reference distance presets a certain distance from the edge of the road (such as the boundary of the road teeth) in the running process of the mobile body (such as the unmanned vehicle), so that the mobile body can run by the edge of the road without influencing traffic in the middle of the road when running on the lane.
In step S212, a reference line of the mobile body in the road coordinate system is obtained according to the feasible width of the mobile body and the preset reference distance to plan a path of the mobile body according to the coordinates of the mobile body in the road coordinate system and the reference line. The reference line is a line having a fixed preset reference distance from the road edge, along which the moving body is expected to move, and the coordinates of the reference line can be obtained from the feasible width of the moving body and the preset reference distance based on the position of the coordinate axis specified by the road coordinate system. After the coordinate calculation of the reference line is completed, the expected coordinate of the mobile body can be obtained according to the coordinate of the reference line, and when the relation between the speed and the acceleration of the mobile body and the time is obtained according to the real-time coordinate, the real-time speed and the acceleration and the expected speed and the acceleration of the mobile body in the road coordinate system, the path planning is performed on the mobile body.
In some embodiments, when the width of the moving body is not negligible compared to the road width, the width of the moving body may be acquired, and then a reference line of the moving body in the road coordinate system may be obtained according to the feasible width of the moving body, the preset reference distance, and the width of the moving body. The specific embodiment can refer to fig. 5.
According to the path planning method provided by the embodiment of the disclosure, sampling points on the road center line are obtained by sampling within the preset planning distance of the sampling reference points which are the same as the longitudinal coordinates of the mobile body in the road coordinate system on the longitudinal axis road center line of the road coordinate system, then the feasible width of the mobile body is obtained according to the distance between the sampling points and the road edge, and then the reference line of the mobile body in the road coordinate system is obtained according to the feasible width of the mobile body and the preset reference distance, so that the path of the mobile body is planned according to the coordinates of the mobile body in the road coordinate system and the reference line, a more flexible reference line is provided, and therefore the self-adaptive running according to the lane width and the road edge can be realized, and the applicability of the path planning to an actual scene is improved.
Fig. 3 shows a schematic diagram of the processing procedure of step S202 shown in fig. 2 in an embodiment. As shown in fig. 3, in the embodiment of the present disclosure, the above step S202 may further include the following steps.
In step S2022, the coordinates of the mobile body in the cartesian coordinate system are acquired.
In step S2024, a transition reference point at a preset distance from the moving body is determined on the road center line.
In step S2026, the coordinates of the conversion reference point in the road coordinate system and the coordinates in the cartesian coordinate system are acquired, respectively.
In step S2028, coordinate conversion is performed according to the coordinates of the mobile body in the cartesian coordinate system, the coordinates of the conversion reference point in the road coordinate system, and the coordinates in the cartesian coordinate system, so as to obtain the coordinates of the mobile body in the road coordinate system.
The embodiment of fig. 3 is described below in connection with fig. 4. As shown in fig. 4, XMY is a cartesian coordinate system, SOL is a Frenet coordinate system, OS is a vertical axis of the Frenet coordinate system, a vertical axis positive direction is a direction in which an angle between the straight line OS and a direction in which the moving body advances is small (rightward in fig. 4), OL is a horizontal axis of the Frenet coordinate system, and a horizontal axis positive direction is leftward. In fig. 4, the road is ideally straight, and the center line of the road is a straight line, so the center line of the road is the vertical axis OS. When the center line of the road is a curve, the tangential vector of the center line of the road is the vertical axis OS. The road centerline is made up of a series of discrete points. If the position of the moving body in the cartesian coordinate system is p (x p,yp), two discrete points r (x r,yr) and e (x e,ye) closest to the point p can be found on the road centerline, and the two discrete points are the conversion reference points in fig. 3, and the closest distance between the road centerline and the point p is the preset distance in fig. 3. If the point r is (s r, 0) in the Frenet coordinate system and the point e is (s e, 0) in the Frenet coordinate system, the relationship between the coordinate of the point p in the Frenet coordinate system (s p,lp) and the coordinate of the point p in the Cartesian coordinate system (x p,yp) can be deduced:
In the method, in the process of the invention, Is a vector taking a point p as a starting point and a point r as an end point,/>Is a vector with point e as the starting point and point r as the ending point, and delta is the length of line segment pr and vector/>Vector/>The product of cosine values of the included angles, lambda is the ratio of the length of line segment pr to the length of line segment re and the vector/>Vector/>The product of cosine values of the angles therebetween. Since the sum of the line segment corresponding to δ and the line segment Or (whose length is s e) is the projection of the point ray Op on the OS axis (whose length is s p), the expression of s p in the expression (1) can be deduced; since l p is expressed as a vector/>Vector/>The expression of l p in the expression (1) can be deduced from the parallelogram area formula because of the height of the parallelogram of the adjacent sides.
According to the coordinate conversion method of the road coordinate system and the Cartesian coordinate system, which is provided by the embodiment of the invention, the coordinates of the moving body in the road coordinate system can be obtained by selecting two discrete conversion reference points on the coordinate axis of the road coordinate system, namely the road center line and carrying out coordinate conversion according to the geometric relationship.
Fig. 5 illustrates a reference line coordinate calculation flow diagram according to an exemplary embodiment. As shown in fig. 5, the method may include the following steps.
In step S502, the coordinates of the mobile object in the cartesian coordinate system are converted into coordinates in the Frenet coordinate system. The coordinates (x p,yp) of the mobile body in the cartesian coordinate system can be converted into the coordinates (s p,lp) in the Frenet coordinate system by the methods of fig. 3 and 4.
Step S504, in the Frenet coordinate system, obtaining a preset sampling step length and a feasible width corresponding to the sampling points in a preset interval on the vertical axis, and storing the feasible widths of all the sampling points into a set. The number of sampling points is recorded as n (n is a positive integer greater than 0), the distance between the ith sampling point and the road edge is D i (i is a positive integer greater than 0 and less than or equal to n), and the distance between the n sampling points and the road edge can be stored in the set D in the (s p,sp +Q) interval on the OS axis by taking ds as the sampling step length.
Step S506, traversing the set to obtain the minimum feasible width. Traversing set D results in D min＝minidi, where D min is the minimum feasible width.
In step S508, the feasible width of the moving object is subtracted by half of the preset reference distance and the width of the moving object to obtain the abscissa of the reference line in the road coordinate system. If the width of the moving body is W, and the distance from the road edge and the curb boundary (i.e. the preset reference distance) during the running process of the moving body is d, the reference line coordinate 1 can be calculated as follows:
l＝-dmin+0.5×W+d (2)
according to the reference line coordinate calculation method provided by the embodiment of the disclosure, the edge reference line is adaptively generated under the Frenet coordinate system based on the maximum passable width of the road, and the left or right-right driving strategy can be automatically adjusted in real time according to the width of the lane.
Fig. 6 is a block diagram illustrating a path planning apparatus according to an example embodiment. The apparatus shown in fig. 6 may be applied to, for example, a server side of the above system or a terminal device of the above system.
Referring to fig. 6, an apparatus 60 provided by an embodiment of the present disclosure may include a coordinate acquisition module 602, a distance sampling module 604, a sampling point distance acquisition module 606, a feasible width acquisition module 608, a reference distance acquisition module 610, and a reference line acquisition module 612.
The coordinate acquisition module 602 may be configured to acquire coordinates of the mobile body in a road coordinate system, where the road coordinate system obtains a longitudinal axis according to a road centerline.
The distance sampling module 604 may be configured to sample within a preset planned distance of a sampling reference point on a road center line, so as to obtain a sampling point on the road center line, where the sampling reference point is the same as an ordinate of the mobile body in a road coordinate system.
The sample point distance acquisition module 606 may be used to obtain the distance between the sample point and the road edge.
The feasible width obtaining module 608 may be configured to obtain a feasible width of the mobile body according to a distance between the sampling point and the road edge.
The reference distance acquisition module 610 may be configured to acquire a preset reference distance between the mobile body and the road edge.
The reference line obtaining module 612 may be configured to obtain a reference line of the mobile body in the road coordinate system according to the feasible width of the mobile body and the preset reference distance, so as to plan a path of the mobile body according to the coordinates of the mobile body in the road coordinate system and the reference line.
Fig. 7 is a block diagram illustrating a path planning apparatus according to an example embodiment. The apparatus shown in fig. 7 may be applied to, for example, a server side of the above system or a terminal device of the above system.
Referring to fig. 7, an apparatus 70 provided by an embodiment of the present disclosure may include a coordinate acquisition module 702, a distance sampling module 704, a sampling point distance acquisition module 706, a feasible width acquisition module 708, a reference distance acquisition module 710, a moving body width acquisition module 711, and a reference line acquisition module 712, wherein the coordinate acquisition module 702 may include an initial coordinate acquisition module 7022, a converted reference point determination module 7024, a reference point coordinate acquisition module 7026, and a coordinate conversion module 7028.
The coordinate acquisition module 702 may be configured to acquire coordinates of a mobile object in a road coordinate system, where the road coordinate system obtains a longitudinal axis according to a road centerline.
The initial coordinate acquisition module 7022 may be used to acquire coordinates of a mobile body in a cartesian coordinate system.
The transition reference point determination module 7024 may be configured to determine a transition reference point at a predetermined distance from the mobile body on the road centerline.
The reference point coordinate acquisition module 7026 may be used to acquire the coordinates of the conversion reference point in the road coordinate system and the coordinates in the cartesian coordinate system, respectively.
The coordinate conversion module 7028 may be configured to perform coordinate conversion according to the coordinates of the mobile body in the cartesian coordinate system, the coordinates of the conversion reference point in the road coordinate system, and the coordinates in the cartesian coordinate system, so as to obtain the coordinates of the mobile body in the road coordinate system.
The distance sampling module 704 may be configured to sample within a preset planned distance of a sampling reference point on a road center line, so as to obtain a sampling point on the road center line, where the sampling reference point is the same as an ordinate of the mobile body in a road coordinate system. The number of sampling points is a plurality.
The sample point distance obtaining module 706 may be configured to obtain a distance between the sample point and the road edge.
The sample point distance obtaining module 706 may also be configured to obtain distances between respective sample points and the road edge, respectively.
The sampling point distance obtaining module 706 may be further configured to sample, with the sampling reference point as a starting point, in a positive direction along a longitudinal axis of the road coordinate system, within a preset planned distance of the sampling reference point on the road center line.
The sample point distance obtaining module 706 may also be configured to obtain distances between respective sample points and the road edge, respectively.
The viable width obtaining module 708 may be configured to obtain a viable width of the mobile body based on a distance between the sampling point and the road edge. The road edge is the right edge of the road.
The feasible width obtaining module 708 may be further configured to select a shortest distance among distances between the plurality of sampling points and the road edge as a feasible width of the mobile body.
The reference distance acquisition module 710 may be used to acquire a preset reference distance between the mobile body and the road edge.
The moving body width acquisition module 711 may be used to acquire the width of the moving body.
The reference line obtaining module 712 may be configured to obtain a reference line of the mobile body in the road coordinate system according to the feasible width of the mobile body and the preset reference distance, so as to plan a path of the mobile body according to the coordinates of the mobile body in the road coordinate system and the reference line.
The reference line obtaining module 712 may also be configured to obtain a reference line of the mobile body in the road coordinate system according to the feasible width of the mobile body, the preset reference distance, and the width of the mobile body.
The reference line obtaining module 712 may also be configured to subtract half of the preset reference distance and the width of the moving object from the feasible width of the moving object to obtain an abscissa of the reference line in the road coordinate system.
Specific implementation of each module in the apparatus provided in the embodiments of the present disclosure may refer to the content in the foregoing method, which is not described herein again.
Fig. 8 shows a schematic structural diagram of an electronic device in an embodiment of the disclosure. It should be noted that the apparatus shown in fig. 8 is only an example of a computer system, and should not impose any limitation on the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 8, the apparatus 800 includes a Central Processing Unit (CPU) 801 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 802 or a program loaded from a storage section 808 into a Random Access Memory (RAM) 803. In the RAM803, various programs and data required for the operation of the device 800 are also stored. The CPU801, ROM 802, and RAM803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to the bus 804.
The following components are connected to the I/O interface 805: an input portion 806 including a keyboard, mouse, etc.; an output portion 807 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and a speaker; a storage section 808 including a hard disk or the like; and a communication section 809 including a network interface card such as a LAN card, a modem, or the like. The communication section 809 performs communication processing via a network such as the internet. The drive 810 is also connected to the I/O interface 805 as needed. A removable medium 811 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 810 as needed so that a computer program read out therefrom is mounted into the storage section 808 as needed.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via the communication section 809, and/or installed from the removable media 811. The above-described functions defined in the system of the present disclosure are performed when the computer program is executed by a Central Processing Unit (CPU) 801.
It should be noted that the computer readable medium shown in the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this disclosure, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present disclosure, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present disclosure may be implemented in software or hardware. The described modules may also be provided in a processor, for example, as: a processor includes a coordinate acquisition module, a distance sampling module, a sampling point distance acquisition module, a feasible width acquisition module, a reference distance acquisition module, and a reference line acquisition module. The names of these modules do not constitute limitations on the module itself in some cases, and for example, the coordinate acquisition module may also be described as "a module that acquires coordinates of a mobile body from a connected database".
As another aspect, the present disclosure also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be present alone without being fitted into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to include:
Acquiring coordinates of the mobile body in a road coordinate system, wherein the road coordinate system acquires a longitudinal axis according to a road center line; sampling is carried out within a preset planning distance of a sampling reference point on a road center line, so that a sampling point on the road center line is obtained, and the sampling reference point is identical with the ordinate of the mobile body in a road coordinate system; obtaining the distance between the sampling point and the road edge; obtaining the feasible width of the moving body according to the distance between the sampling point and the road edge; acquiring a preset reference distance between a mobile body and the edge of a road; a reference line of the mobile body in the road coordinate system is obtained according to the feasible width of the mobile body and the preset reference distance, so that a path of the mobile body is planned according to the coordinates of the mobile body in the road coordinate system and the reference line.
Exemplary embodiments of the present disclosure are specifically illustrated and described above. It is to be understood that this disclosure is not limited to the particular arrangements, instrumentalities and methods of implementation described herein; on the contrary, the disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (8)
1. A method of path planning, comprising:
Acquiring coordinates of a mobile body in a road coordinate system, wherein the road coordinate system acquires a longitudinal axis according to a road center line;
Sampling is carried out within a preset planning distance of a sampling reference point on the road center line, so that the sampling point on the road center line is obtained, and the sampling reference point is identical with the ordinate of the mobile body in the road coordinate system;
obtaining the distance between the sampling point and the road edge;
obtaining the feasible width of the moving body according to the distance between the sampling point and the road edge;
acquiring a preset reference distance between the mobile body and the road edge;
Obtaining a reference line of the mobile body in the road coordinate system according to the feasible width of the mobile body and the preset reference distance, so as to plan a path of the mobile body according to the coordinates of the mobile body in the road coordinate system and the reference line;
acquiring the width of the moving body;
The obtaining the reference line of the moving body in the road coordinate system according to the feasible width of the moving body and the preset reference distance comprises:
obtaining a reference line of the moving body in the road coordinate system according to the feasible width of the moving body, the preset reference distance and the width of the moving body;
The obtaining a reference line of the moving body in the road coordinate system according to the feasible width of the moving body, the preset reference distance and the width of the moving body comprises:
And subtracting half of the preset reference distance and the width of the moving body from the feasible width of the moving body to obtain the abscissa of the reference line in the road coordinate system.
2. The method of claim 1, wherein the number of sampling points is a plurality;
the obtaining the distance between the sampling point and the road edge comprises:
respectively obtaining the distance between each sampling point and the road edge;
the obtaining the feasible width of the mobile body according to the distance between the sampling point and the road edge comprises:
And selecting the shortest distance among the distances between the plurality of sampling points and the road edge as the feasible width of the moving body.
3. The method of claim 1, wherein sampling within a preset planned distance of a sampling reference point on the road centerline comprises:
and taking the sampling reference point as a starting point, and sampling in a preset planning distance of the sampling reference point on the road center line along the positive direction of the longitudinal axis of the road coordinate system.
4. A method according to any one of claims 1 to 3, wherein the acquiring coordinates of the mobile body in the road coordinate system comprises:
Acquiring coordinates of the mobile body in a Cartesian coordinate system;
determining a conversion reference point of a preset distance from the moving body on the road center line;
Respectively acquiring the coordinates of the conversion reference point in the road coordinate system and the coordinates of the conversion reference point in the Cartesian coordinate system;
and carrying out coordinate conversion according to the coordinates of the mobile body in the Cartesian coordinate system, the coordinates of the conversion reference point in the road coordinate system and the coordinates in the Cartesian coordinate system, and obtaining the coordinates of the mobile body in the road coordinate system.
5. A method according to any one of claims 1 to 3, wherein the road edge is a right-hand edge of the road.
6. A path planning apparatus, comprising:
The coordinate acquisition module is used for acquiring the coordinates of the mobile body in a road coordinate system, wherein the road coordinate system acquires a longitudinal axis according to a road center line;
The distance sampling module is used for sampling within a preset planning distance of a sampling reference point on the road center line to obtain the sampling point on the road center line, and the sampling reference point is the same as the ordinate of the moving body in the road coordinate system;
the sampling point distance obtaining module is used for obtaining the distance between the sampling point and the road edge;
A feasible width obtaining module, configured to obtain a feasible width of the mobile body according to a distance between the sampling point and the road edge;
The reference distance acquisition module is used for acquiring a preset reference distance between the mobile body and the road edge;
A moving body width acquisition module for acquiring the width of the moving body;
a reference line obtaining module, configured to obtain a reference line of the mobile body in the road coordinate system according to a feasible width of the mobile body and the preset reference distance, so as to plan a path of the mobile body according to coordinates of the mobile body in the road coordinate system and the reference line;
The reference line obtaining module is further configured to obtain a reference line of the mobile body in the road coordinate system according to the feasible width of the mobile body, the preset reference distance and the width of the mobile body;
the reference line obtaining module is further configured to subtract half of the preset reference distance and the width of the mobile body from the feasible width of the mobile body to obtain an abscissa of the reference line in the road coordinate system.
7. An apparatus, comprising: memory, a processor and executable instructions stored in the memory and executable in the processor, wherein the processor implements the method of any of claims 1-5 when executing the executable instructions.
8. A computer readable storage medium having stored thereon computer executable instructions which when executed by a processor implement the method of any of claims 1-5.
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| CN113744566B (en) * | 2021-09-08 | 2023-12-05 | 京东鲲鹏(江苏)科技有限公司 | Early warning method and device |
| CN114152264B (en) * | 2021-12-03 | 2023-12-05 | 京东鲲鹏(江苏)科技有限公司 | Unmanned vehicle path planning method and device, electronic equipment and storage medium |
| CN114625131A (en) * | 2022-02-28 | 2022-06-14 | 深圳市普渡科技有限公司 | Road width determination method and device and robot |
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