CN113776550B - Route planning method and device - Google Patents
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000012544 monitoring process Methods 0.000 claims abstract description 18
- 238000013507 mapping Methods 0.000 claims description 9
- 238000005070 sampling Methods 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 8
- 238000004891 communication Methods 0.000 description 6
- 206010039203 Road traffic accident Diseases 0.000 description 5
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3476—Special cost functions, i.e. other than distance or default speed limit of road segments using point of interest [POI] information, e.g. a route passing visible POIs
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Abstract
The application provides a route planning method and a route planning device, which are applied to a scene that an unmanned delivery vehicle crosses an intersection, wherein the method comprises the following steps: monitoring a driving route of the unmanned delivery vehicle; when the unmanned delivery vehicle is monitored to cross the intersection, acquiring the coordinate of the center point of the rear axle of the unmanned delivery vehicle under a target coordinate system; generating a reference line based on the coordinates and the minimum distance from the unmanned distribution vehicle to the right boundary of the road during running; determining a driving route according to the coordinates and the reference line; and controlling the unmanned delivery vehicle to travel along the determined travel route. The method can reasonably plan the driving route in the scene that the unmanned delivery vehicle crosses the intersection.
Description
Technical Field
The invention relates to the technical field of logistics, in particular to a route planning method and device.
Background
At present, aiming at a crossing scene, an unmanned delivery vehicle usually takes a lane central line on a map as a forward reference and runs close to the lane central line of the map, once the unmanned delivery vehicle enters the crossing and bypasses an obstacle to cause the vehicle body to be far away from the lane central line, the unmanned delivery vehicle can turn to the lane central line in the crossing to return to the lane central line greatly.
The existing route planning scheme is unreasonable, so that traffic accidents can be caused, and the distribution efficiency is reduced.
Disclosure of Invention
In view of the above, the present application provides a route planning method and apparatus, which can reasonably plan a driving route in a scenario where an unmanned delivery vehicle crosses an intersection.
In order to solve the technical problems, the technical scheme of the application is realized as follows:
in one embodiment, a route planning method is provided, which is applied to a scene that an unmanned delivery vehicle crosses an intersection, and the method comprises the following steps:
monitoring a driving route of the unmanned delivery vehicle;
when the unmanned delivery vehicle is monitored to cross the intersection, acquiring the coordinate of the center point of the rear axle of the unmanned delivery vehicle under a target coordinate system; the target coordinate system takes the advancing direction of the lane center line as a transverse axis, takes the left direction of a vertical transverse axis as a vertical axis, and takes the starting point of a road as an origin;
generating a reference line based on the coordinates and the minimum distance from the unmanned distribution vehicle to the right boundary of the road during running;
determining a driving route according to the coordinates and the reference line;
and controlling the unmanned delivery vehicle to travel along the determined travel route.
In another embodiment, a route planning device is provided, which is applied to a scene that an unmanned delivery vehicle crosses an intersection, and the device comprises: the device comprises a monitoring unit, an acquisition unit, a generation unit, a determination unit and a control unit;
the monitoring unit is used for monitoring the driving route of the unmanned delivery vehicle;
the acquisition unit is used for acquiring the coordinates of the center point of the rear axle of the unmanned delivery vehicle under a target coordinate system when the monitoring unit monitors that the unmanned delivery vehicle traverses the intersection; the target coordinate system takes the advancing direction of the lane center line as a transverse axis, takes the left direction of a vertical transverse axis as a vertical axis, and takes the starting point of a road as an origin;
the generation unit is used for generating a reference line based on the coordinates acquired by the acquisition unit and the minimum distance from the unmanned delivery vehicle to the right boundary of the road during driving;
the determining unit is used for determining a driving route according to the coordinates acquired by the acquiring unit and the reference line generated by the generating unit;
the control unit is used for controlling the unmanned distribution vehicle to travel along the travel route determined by the determination unit.
In another embodiment, an electronic device is provided that includes a memory, a processor, and a computer program stored on the memory and executable on the processor that when executed implements the steps of the route planning method.
In another embodiment, a computer readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, implements the steps of the route planning method.
As can be seen from the above technical solution, in the above embodiment, when the unmanned delivery vehicle traverses the intersection, the target coordinate system is introduced based on the road trend, and the coordinates of the center point of the rear axle of the unmanned delivery vehicle under the target coordinate system are obtained; generating a reference line based on the coordinates and the minimum distance from the unmanned distribution vehicle to the right boundary of the road during running; determining a driving route according to the coordinates and the reference line; and controlling the unmanned delivery vehicle to travel along the determined travel route. According to the scheme, when the unmanned distribution vehicle traverses the intersection, a reasonable route is planned for the unmanned distribution vehicle to run, so that traffic accidents are avoided, and distribution efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1 is a relationship between Frenet and Cartesian coordinate systems;
FIG. 2 is a schematic diagram of a route planning process according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a route planning process in a second embodiment of the present application;
fig. 4 is a schematic structural diagram of a route planning device according to an embodiment of the present application;
fig. 5 is a schematic diagram of an entity structure of an electronic device according to an embodiment of the present invention.
Detailed Description
The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented, for example, in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those elements but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The technical scheme of the invention is described in detail below by specific examples. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.
The embodiment of the application provides a route planning method, which is applied to a scene that an unmanned delivery vehicle crosses an intersection, and when the unmanned delivery vehicle crosses the intersection, a target coordinate system is introduced to better describe the road trend, and the coordinates of the center point of a rear axle of the unmanned delivery vehicle under the target coordinate system are obtained; generating a reference line based on the coordinates and the minimum distance from the unmanned distribution vehicle to the right boundary of the road during running; determining a driving route according to the coordinates and the reference line; and controlling the unmanned delivery vehicle to travel along the determined travel route. According to the scheme, when the unmanned distribution vehicle traverses the intersection, a reasonable route is planned for the unmanned distribution vehicle to run, so that traffic accidents are avoided, and distribution efficiency is improved.
In the embodiment of the application, in order to better describe the road trend, a target coordinate system is introduced, wherein the target coordinate system takes the advancing direction of the lane center line as a horizontal axis, takes the left direction of a vertical horizontal axis as a vertical axis, and takes the starting point of the road as an origin.
Since the related coordinates of the unmanned delivery vehicle are usually acquired in a map coordinate system corresponding to the map used, that is, an original coordinate system, it is necessary to acquire a mapping relationship between the coordinates in the target coordinate system and the coordinates in the original coordinate system.
The map coordinate system corresponding to the map used is taken as a Cartesian coordinate system, the target coordinate system is taken as a Frenet coordinate system, and the mapping relation of coordinate points in the two coordinate systems is given as an example:
referring to fig. 1, fig. 1 is a correspondence relationship between a Frenet coordinate system and a cartesian coordinate system. The Cartesian coordinate system in FIG. 1 is yMx. The Frenet coordinate system is lOs, and is introduced to better describe the lane trend, and the Frenet coordinate system takes the advancing direction of the lane center line as an s axis, takes the left direction perpendicular to the s axis as an l axis, takes O as a coordinate origin, and is the starting point of the unmanned distribution vehicle on the lane center line. The lane center line is composed of a series of discrete points located midway between the left and right boundaries of the road.
In FIG. 1 there is a point p (x p ,y p ) Two discrete points s (x) s ,y s ) And e (x) e ,y e ) Assume that the point s has a coordinate (s s 0), point e has a coordinate(s) in Frenet coordinate system e 0), cartesian coordinates p (x) p ,y p ) And flena coordinates(s) p ,l p ) The mapping relation of (2) is:
s p ＝s s +λ(s e -s s )；
wherein the coordinates (x s ,y s ) And coordinates (x) e ,y e ) To the coordinates of two points nearest to the point p on the road center line,
a vector representing points s to p; />A vector representing points s to e; delta represents->Vector is->Projection values on the vector; lambda represents the projection value and->Is a ratio of the lengths of (a) to (b).
The following describes the route planning process in the embodiment of the present application in detail with reference to the accompanying drawings.
In the process of describing and realizing early warning, taking an original coordinate system as a Cartesian coordinate system and a target coordinate system as a Flunar coordinate system as an example, carrying out related description.
Example 1
Referring to fig. 2, fig. 2 is a schematic diagram of a route planning procedure in an embodiment of the present application. The method comprises the following specific steps:
step 201, monitoring a driving route of the unmanned delivery vehicle.
And acquiring pose information of the unmanned delivery vehicle, and determining the current driving route and the position of the unmanned delivery vehicle by combining with a map.
And 202, when the unmanned delivery vehicle is monitored to cross the intersection, acquiring the coordinates of the center point of the rear axle of the unmanned delivery vehicle under a Flunar coordinate system.
In this step, the obtaining the coordinates of the center point of the rear axle of the unmanned delivery vehicle in the flena coordinate system includes:
acquiring the coordinate (x) of the center point of the rear axle of the current unmanned distribution vehicle in a Cartesian coordinate system 0 ，y 0 )；
Acquiring a Cartesian coordinate based on a mapping relation of the Cartesian coordinate and the Flunar coordinateCoordinates in the coordinate system (x 0 ，y 0 ) Coordinate point(s) in flena coordinate system 0 ，l 0 )。
And 203, generating a reference line based on the coordinates and the minimum distance from the unmanned distribution vehicle to the right boundary of the road during running.
And 204, determining a driving route according to the coordinates and the reference line.
In this step, determining a driving route according to the coordinates and the reference line includes:
determining l 0 Whether or not it is greater than l r If yes, determine l b And l r The route corresponding to the maximum value in (2) is used as a driving route; otherwise, determine l b And l 0 The route corresponding to the maximum value in (2) is used as a driving route;
wherein l 0 A vertical (l-axis) coordinate that is the coordinate; l (L) r A longitudinal axis (l axis) coordinate reference value of the unmanned distribution vehicle deviating from the center line of the lane under the flener coordinate system is set; l (L) b The vertical axis (l-axis) coordinates corresponding to the determined reference line.
In step 205, the unmanned delivery vehicle is controlled to travel along the determined travel route.
In the embodiment of the application, when the unmanned delivery vehicle traverses the intersection, a Fluna coordinate system is introduced, and the coordinates of the center point of the rear axle of the unmanned delivery vehicle under the Fluna coordinate system are obtained; generating a reference line based on the coordinates and the minimum distance from the unmanned distribution vehicle to the right boundary of the road during running; determining a driving route according to the coordinates and the reference line; and controlling the unmanned delivery vehicle to travel along the determined travel route. According to the scheme, when the unmanned distribution vehicle traverses the intersection, a reasonable route is planned for the unmanned distribution vehicle to run, so that traffic accidents are avoided, and distribution efficiency is improved.
Example two
Referring to fig. 3, fig. 3 is a schematic diagram of a route planning flow in a second embodiment of the present application. The method comprises the following specific steps:
step 301, monitoring a driving route of the unmanned delivery vehicle.
And 302, acquiring the coordinates of the center point of the rear axle of the unmanned delivery vehicle in a Flunar coordinate system when the unmanned delivery vehicle is monitored to cross the intersection.
In this step, the obtaining the coordinates of the center point of the rear axle of the unmanned delivery vehicle in the flena coordinate system includes:
acquiring the coordinate (x) of the center point of the rear axle of the current unmanned distribution vehicle in a Cartesian coordinate system 0 ，y 0 )；
Acquiring coordinates (x) in a Cartesian coordinate system based on a mapping relationship of the Cartesian coordinates and the Flunar coordinates 0 ，y 0 ) Coordinate point(s) in flena coordinate system 0 ，l 0 )。
And 303, determining the minimum value of the right maximum feasible width corresponding to the point on the lane central line according to the s-axis coordinate of the coordinate and L0.
Wherein L0 is the length of the crossing direction;
in this step, determining, according to the s-axis coordinates of the coordinates and L0, the minimum value of the right maximum feasible widths corresponding to the points on the lane center line, includes:
in section [ s ] 0 ，s 0 +L0]Sampling points on the central line of the lane in the lane; wherein s is 0 A transverse axis (s-axis) coordinate that is the coordinate;
the sampling step length is set according to actual needs, and the embodiment of the application does not limit the sampling step length.
Obtaining the right maximum feasible width corresponding to each sampling point;
the minimum of all right-hand maximum feasible widths is obtained.
And 304, determining a reference line based on the minimum value, the width of the vehicle body and the minimum distance from the right boundary of the road when the unmanned delivery vehicle runs.
In this step, determining a reference line based on the minimum value, the width of the vehicle body, and the minimum distance from the right boundary of the road when the unmanned delivery vehicle is driving, includes:
calculating the sum of half of the width of the vehicle body and the minimum distance from the unmanned distribution vehicle to the right boundary of the road during running;
calculating a difference between the sum and the minimum value;
and determining a line corresponding to the corresponding value of the difference value on the axis I as a reference line.
I.e. l b ＝-d min +W/2+d；
Wherein l b For the difference d min D is the minimum distance from the unmanned delivery vehicle to the right boundary of the road when the unmanned delivery vehicle is driven, and in particular implementation, d is set according to the shape of the unmanned delivery vehicle, the road environment and the like; w is the width of the vehicle body.
And step 305, determining a driving route according to the coordinates and the reference line.
In this step, determining a driving route according to the coordinates and the reference line includes:
determining l 0 Whether or not it is greater than l r If yes, determine l b And l r The route corresponding to the maximum value in (2) is used as a driving route; otherwise, determine l b And l 0 The route corresponding to the maximum value in (2) is used as a driving route;
wherein l 0 A vertical (l-axis) coordinate that is the coordinate; l (L) r A longitudinal axis (l axis) coordinate reference value of the unmanned distribution vehicle deviating from the lane central line under the flener coordinate system is set; l (L) b The vertical axis (l-axis) coordinates corresponding to the determined reference line.
Step 306, controlling the unmanned delivery vehicle to travel along the determined travel route.
In the embodiment of the application, when the unmanned delivery vehicle traverses the intersection, a Fluna coordinate system is introduced, and the coordinates of the center point of the rear axle of the unmanned delivery vehicle under the Fluna coordinate system are obtained; generating a reference line based on the coordinates and the minimum distance from the unmanned distribution vehicle to the right boundary of the road during running; determining a driving route according to the coordinates and the reference line; and controlling the unmanned delivery vehicle to travel along the determined travel route. According to the scheme, when the unmanned distribution vehicle traverses the intersection, a reasonable route is planned for the unmanned distribution vehicle to run, so that traffic accidents are avoided, and distribution efficiency is improved.
Based on the same inventive concept, the embodiment of the application also provides a route planning device which is applied to a scene that the unmanned delivery vehicle crosses the intersection. Referring to fig. 4, fig. 4 is a schematic structural diagram of a route planning device in an embodiment of the present application. The device comprises: a monitoring unit 401, an acquisition unit 402, a generation unit 403, a determination unit 404, and a control unit 405;
a monitoring unit 401 for monitoring a travel route of the unmanned delivery vehicle;
an acquiring unit 402, configured to acquire coordinates of a rear axle center point of the unmanned delivery vehicle in a target coordinate system when the monitoring unit 401 monitors that the unmanned delivery vehicle crosses an intersection; the target coordinate system takes the advancing direction of the lane center line as a transverse axis, takes the left direction of a vertical transverse axis as a vertical axis, and takes the starting point of a road as an origin;
a generating unit 403 configured to generate a reference line based on the coordinates acquired by the acquiring unit 402 and a minimum distance from the right boundary of the road when the unmanned delivery vehicle is traveling;
a determination unit 404 for determining a travel route from the coordinates acquired by the acquisition unit 402 and the reference line generated by the generation unit 403;
and a control unit 405 for controlling the unmanned delivery vehicle to travel along the travel route determined by the determination unit 404.
In a further embodiment of the present invention,
the generating unit 403 is specifically configured to, when generating a reference line based on the coordinates and a minimum distance from a right boundary of a road when the unmanned delivery vehicle is driving, include:
determining the minimum value of the right maximum feasible width corresponding to the point on the lane central line according to the horizontal axis coordinate of the coordinate and L0; wherein L0 is the length of the crossing direction;
and determining a reference line based on the minimum value, the width of the vehicle body and the minimum distance from the right boundary of the road when the unmanned distribution vehicle runs.
In a further embodiment of the present invention,
the generating unit 403 is specifically configured to determine, according to the horizontal axis coordinate of the coordinates and L0, a minimum value of right maximum feasible widths corresponding to points on the lane center line, where the minimum value includes:
in section [ s ] 0 ，s 0 +L0]Sampling points on the central line of the lane in the lane; wherein s is 0 Is the horizontal axis coordinate;
obtaining the right maximum feasible width corresponding to each sampling point;
the minimum of all right-hand maximum feasible widths is obtained.
In a further embodiment of the present invention,
the generating unit 403 is specifically configured to determine, when determining the reference line based on the minimum value, the vehicle body width, and the minimum distance from the right boundary of the road when the unmanned delivery vehicle is driving, include:
calculating the sum of half of the width of the vehicle body and the minimum distance from the unmanned distribution vehicle to the right boundary of the road during running;
calculating a difference between the sum and the minimum value;
and determining a line corresponding to the corresponding value of the difference value on the vertical axis as a reference line.
In a further embodiment of the present invention,
the determining unit 404, specifically configured to determine the driving route according to the coordinates and the reference line, includes:
determining l 0 Whether or not it is greater than l r If yes, determine l b And l r The route corresponding to the maximum value in (2) is used as a driving route; otherwise, determine l b And l 0 The route corresponding to the maximum value in (2) is used as a driving route;
wherein l 0 A vertical axis coordinate which is the coordinate; l (L) r A longitudinal axis coordinate reference value of the unmanned distribution vehicle deviating from the center line of the lane under a target coordinate system is set; l (L) b And the vertical axis coordinates corresponding to the determined reference line.
In a further embodiment of the present invention,
the acquiring unit 402 is specifically configured to, when acquiring coordinates of a center point of a rear axle of the unmanned delivery vehicle in a target coordinate system, include:
acquiring a coordinate (x) of a rear axle center point of a current unmanned distribution vehicle in an original coordinate system 0 ，y 0 )；
Acquiring a coordinate (x) under the original coordinate system based on a mapping relation between the original coordinate and the target coordinate 0 ，y 0 ) Coordinate point(s) in target coordinate system 0 ，l 0 )；
The original coordinate system is a map coordinate system corresponding to the used map.
In a further embodiment of the present invention,
coordinates p (x) in the original coordinate system p ,y p ) And coordinates(s) in the target coordinate system p ,l p ) The mapping relation of (2) is:
s p ＝s s +λ(s e -s s )；
wherein the coordinates (x s ,y s ) And coordinates (x) e ,y e ) To the coordinates of two points nearest to the point p on the road center line,
the units of the above embodiments may be integrated or may be separately deployed; can be combined into one unit or further split into a plurality of sub-units.
In another embodiment, there is also provided an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the route planning method when executing the program.
In another embodiment, a computer readable storage medium having stored thereon computer instructions which when executed by a processor may implement steps in the route planning method is also provided.
Fig. 5 is a schematic diagram of an entity structure of an electronic device according to an embodiment of the present invention. As shown in fig. 5, the electronic device may include: processor (Processor) 510, communication interface (Communications Interface) 520, memory (Memory) 530, and communication bus 540, wherein Processor 510, communication interface 520, memory 530 complete communication with each other through communication bus 540. Processor 510 may invoke logic instructions in memory 530 to perform the following method:
monitoring a driving route of the unmanned delivery vehicle;
when the unmanned delivery vehicle is monitored to cross the intersection, acquiring the coordinate of the center point of the rear axle of the unmanned delivery vehicle under a target coordinate system; the target coordinate system takes the advancing direction of the lane center line as a transverse axis, takes the left direction of a vertical transverse axis as a vertical axis, and takes the starting point of a road as an origin;
generating a reference line based on the coordinates and the minimum distance from the unmanned distribution vehicle to the right boundary of the road during running;
determining a driving route according to the coordinates and the reference line;
and controlling the unmanned delivery vehicle to travel along the determined travel route.
Further, the logic instructions in the memory 530 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the objective of the embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the invention.
Claims (7)
1. A route planning method applied to a scene that an unmanned delivery vehicle crosses an intersection, the method comprising:
monitoring a driving route of the unmanned delivery vehicle;
when the unmanned delivery vehicle is monitored to cross the intersection, acquiring the coordinate of the center point of the rear axle of the unmanned delivery vehicle under a target coordinate system; the target coordinate system takes the advancing direction of the lane center line as a transverse axis, takes the left direction of a vertical transverse axis as a vertical axis, and takes the starting point of a road as an origin;
generating a reference line based on the coordinates and the minimum distance from the unmanned distribution vehicle to the right boundary of the road during running;
determining a driving route according to the coordinates and the reference line;
controlling the unmanned delivery vehicle to run along the determined running route;
wherein the determining a travel route according to the coordinates and the reference line includes:
determining l 0 Whether or not it is greater than l r If yes, determine l b And l r The route corresponding to the maximum value in (2) is used as a driving route; otherwise, determine l b And l 0 The route corresponding to the maximum value in (2) is used as a driving route;
wherein l 0 A vertical axis coordinate which is the coordinate; l (L) r A longitudinal axis coordinate reference value of the unmanned distribution vehicle deviating from the center line of the lane under a target coordinate system is set; l (L) b A vertical axis coordinate corresponding to the determined reference line;
the generating a reference line based on the coordinates and the minimum distance between the unmanned delivery vehicle and the right boundary of the road during driving comprises the following steps:
determining the minimum value of the right maximum feasible width corresponding to the point on the lane central line according to the horizontal axis coordinate of the coordinate and L0; wherein L0 is the length of the crossing direction;
calculating the sum of half of the width of the vehicle body and the minimum distance from the unmanned distribution vehicle to the right boundary of the road during running;
calculating a difference between the sum and the minimum value;
and determining a line corresponding to the corresponding value of the difference value on the vertical axis as a reference line.
2. The method of claim 1, wherein determining the minimum of the right-hand maximum feasible widths corresponding to points on the lane centerline from the lateral axis coordinates of the coordinates and L0 comprises:
in section [ s ] 0 ，s 0 +L0]Sampling points on the central line of the lane in the lane; wherein s is 0 A horizontal axis coordinate which is the coordinate;
obtaining the right maximum feasible width corresponding to each sampling point;
the minimum of all right-hand maximum feasible widths is obtained.
3. The method according to claim 1 or 2, wherein the acquiring coordinates of the rear axle center point of the unmanned delivery vehicle in a target coordinate system includes:
acquiring a coordinate (x) of a rear axle center point of a current unmanned distribution vehicle in an original coordinate system 0 ,y 0 )；
Acquiring a coordinate (x) under the original coordinate system based on a mapping relation between the original coordinate and the target coordinate 0 ,y 0 ) Coordinate point(s) in target coordinate system 0 ,l 0 )；
The original coordinate system is a map coordinate system corresponding to the used map.
4. A method according to claim 3, characterized in that the coordinates p (x p ,y p ) And coordinates(s) in the target coordinate system p ,l p ) The mapping relation of (2) is:
s p ＝s s +λ(s e -s s )；
wherein the coordinates (x s ,y s ) And coordinates (x) e ,y e ) To the coordinates of two points nearest to the point p on the road center line,
5. a route planning device for use in a scenario where an unmanned delivery vehicle traverses an intersection, the device comprising: the device comprises a monitoring unit, an acquisition unit, a generation unit, a determination unit and a control unit;
the monitoring unit is used for monitoring the driving route of the unmanned delivery vehicle;
the acquisition unit is used for acquiring the coordinates of the center point of the rear axle of the unmanned delivery vehicle under a target coordinate system when the monitoring unit monitors that the unmanned delivery vehicle traverses the intersection; the target coordinate system takes the advancing direction of the lane center line as a transverse axis, takes the left direction of a vertical transverse axis as a vertical axis, and takes the starting point of a road as an origin;
the generation unit is used for generating a reference line based on the coordinates acquired by the acquisition unit and the minimum distance from the unmanned delivery vehicle to the right boundary of the road during driving;
the determining unit is used for determining a driving route according to the coordinates acquired by the acquiring unit and the reference line generated by the generating unit;
the control unit is used for controlling the unmanned distribution vehicle to travel along the travel route determined by the determination unit;
wherein the determining unit is specifically configured to determine l 0 Whether or not it is greater than l r If yes, determine l b And l r The route corresponding to the maximum value in (2) is used as a driving route; otherwise, determine l b And l 0 The route corresponding to the maximum value in (2) is used as a driving route; wherein l 0 A vertical axis coordinate which is the coordinate; l (L) r A longitudinal axis coordinate reference value of the unmanned distribution vehicle deviating from the center line of the lane under a target coordinate system is set; l (L) b A vertical axis coordinate corresponding to the determined reference line;
the generating unit is specifically configured to generate a reference line based on the coordinates and a minimum distance from the unmanned delivery vehicle to a right boundary of the road during driving, where the generating unit includes: determining the minimum value of the right maximum feasible width corresponding to the point on the lane central line according to the horizontal axis coordinate of the coordinate and L0; wherein L0 is the length of the crossing direction; calculating the sum of half of the width of the vehicle body and the minimum distance from the unmanned distribution vehicle to the right boundary of the road during running; calculating a difference between the sum and the minimum value; and determining a line corresponding to the corresponding value of the difference value on the vertical axis as a reference line.
6. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any of claims 1-4 when the program is executed by the processor.
7. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method of any of claims 1-4.
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