CN110516880A - Path processing method and system and vehicle - Google Patents
Path processing method and system and vehicle Download PDFInfo
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Abstract
The embodiment of the invention relates to the technical field of automatic driving, and discloses a path processing method, a path processing system and a vehicle, wherein the method comprises the following steps: acquiring a preset number of original path points from an original path; determining the curvature of the original path point on the original path; screening out a first path point corresponding to the curvature smaller than a preset threshold value from the original path points; fitting according to the first path point to obtain a target curve; mapping the first path point to a target curve to obtain a target path point; and connecting the target path point with a second path point by using a first preset line to obtain the automatic driving path, wherein the second path point is other path points except the first path point in the original path points. By implementing the embodiment of the invention, the transverse fluctuation in the vehicle running process can be reduced, so that the running stability of the vehicle is improved.
Description
Technical field
The present invention relates to automatic Pilot technical field more particularly to a kind of path processing method and systems, vehicle.
Background technique
With the rapid development of automotive engineering, the auxiliary driving technology of automobile is more perfect, especially automatic Pilot technology,
So that the trip of people is improved.During automatic Pilot, automobile can by the user stored in database with
It navigates toward the path that automobile passes through is controlled by pilot steering as reference path, and according to the reference path.But In
It is found in practice, if directly navigated using reference path, there may be lateral waves during automatic Pilot for automobile
It is dynamic.For example, user by pilot steering control automobile on straight way when driving, can pass through sensor acquire automobile pass through road
Diameter, however, due to user driving habit may steering wheel rotation, while sensor acquisition path also have certain make an uproar
Sound, if directly using this paths during automatic Pilot, automobile will generate transversal wave movement, so as to cause vapour
Vehicle traveling is unstable.
Summary of the invention
The embodiment of the invention discloses a kind of path processing method and systems, vehicle, can reduce in vehicle travel process
Transversal wave movement, to improve the stationarity of vehicle driving.
First aspect of the embodiment of the present invention discloses a kind of path processing method, comprising:
Preset quantity original path point is obtained from original path;
Determine curvature of the original path point on the original path;
First path point corresponding less than the curvature of preset threshold is filtered out from the original path point;
It is fitted according to the first path point and obtains aim curve;
The first path point is mapped on the aim curve, to obtain destination path point;
The destination path point and the second path point are attached using the first default lines, to obtain automatic Pilot road
Diameter;Second path point is other path points in the original path point in addition to the first path point.
As an alternative embodiment, in first aspect of the embodiment of the present invention, it is described to be obtained from original path
Preset quantity original path point, comprising:
Current location and the destination locations of vehicle are obtained, and using the current location and the destination locations as pass
Key information;
The history driving path to match with the key message is searched from historical path database;
Determine preset quantity historical path point from the history driving path, and using the historical path point as
Original path point on original path.
As an alternative embodiment, in first aspect of the embodiment of the present invention, the determination original path
Curvature of the point on the original path, comprising:
The original path point is attached using the second default lines;
Calculate the corresponding curvature of the original path point on the described second default lines.
As an alternative embodiment, in first aspect of the embodiment of the present invention, it is described by the first path point
It is mapped on the aim curve, to obtain destination path point, comprising:
Target-based coordinate system is constructed, and the first path point and the aim curve are projected into the target-based coordinate system
On;
Obtain the abscissa of the first path point and the ordinate of first path point;
The abscissa for controlling the first path point remains unchanged, and the ordinate of the first path point is adjusted, so that institute
First path point is stated to be placed on the aim curve;
Path point on the aim curve is determined as destination path point.
As an alternative embodiment, utilizing the first default line described in first aspect of the embodiment of the present invention
The destination path point and the second path point are attached by item, after obtaining automatic driving path, the method also includes:
Construct virtual road scene;
Vehicle icon and the automatic Pilot path are added, in the virtual road scene to obtain virtual automatic driving
Scene;
The virtual automatic Driving Scene is sent to the intelligent glasses of user's wearing, so that the intelligent glasses will be described
Virtual automatic Driving Scene is shown on the eyeglass of the intelligent glasses and the control vehicle icon is driven automatically according to described
Path is sailed to be travelled.
Second aspect of the embodiment of the present invention discloses a kind of path processing system, comprising:
Acquiring unit, for obtaining preset quantity original path point from original path;
Determination unit, for determining curvature of the original path point on the original path;
Screening unit, for filtering out first path corresponding less than the curvature of preset threshold from the original path point
Point;
Fitting unit obtains aim curve for being fitted according to the first path point;
Map unit, for the first path point to be mapped to the aim curve, to obtain destination path point;
Connection unit, for the destination path point and the second path point to be attached using the first default lines, with
Obtain automatic driving path;Second path point is other paths in the original path point in addition to the first path point
Point.
As an alternative embodiment, in second aspect of the embodiment of the present invention, the acquiring unit includes:
First obtains subelement, for obtaining current location and the destination locations of vehicle, and by the current location and
The destination locations are as key message;
Subelement is searched, travels road for searching the history to match with the key message from historical path database
Diameter;
First determines subelement, for determining preset quantity historical path point from the history driving path, and
Using the historical path point as the original path point on original path.
The third aspect of the embodiment of the present invention discloses a kind of vehicle, including a kind of road disclosed in second aspect of the embodiment of the present invention
Diameter processing system.
Fourth aspect of the embodiment of the present invention discloses a kind of path processing system, comprising:
It is stored with the memory of executable program code;
The processor coupled with the memory;
The processor calls the executable program code stored in the memory, executes the embodiment of the present invention the
A kind of path processing method disclosed in one side.
The 5th aspect of the embodiment of the present invention discloses a kind of computer readable storage medium, stores computer program, wherein
The computer program makes computer execute a kind of path processing method disclosed in first aspect of the embodiment of the present invention.
The 6th aspect of the embodiment of the present invention discloses a kind of computer program product, when the computer program product is calculating
When being run on machine, so that the computer executes some or all of any one method of first aspect step.
The aspect of the embodiment of the present invention the 7th disclose a kind of using distribution platform, and the application distribution platform is for publication calculating
Machine program product, wherein when the computer program product is run on computers, so that the computer executes first party
Some or all of any one method in face step.
Compared with prior art, the embodiment of the present invention has the advantages that
In the embodiment of the present invention, path processing system obtains preset quantity original path point from original path, and really
Determine curvature of the original path point on original path, is then filtered out from original path point corresponding less than the curvature of preset threshold
First path point, be fitted then according to first path point and obtain aim curve, and first path point is mapped to aim curve
On to obtain destination path point, finally using the first pre- lines by destination path point and the second path point be attached with obtained from
Dynamic driving path, wherein the second path point is other path points in original path point in addition to first path point.Implement the present invention
Embodiment, by filtering out first path point corresponding less than the curvature of preset threshold from original path point, and according to
The fitting of one path point obtains aim curve, then first path point is mapped on aim curve and obtains destination path point, last benefit
Other path points in destination path point and original path point in addition to first path point are connected with the first default lines, both
Complete routing information can be characterized, and the original path for having transversal wave movement can be treated as to extensive continuous path,
To reduce the transversal wave movement in vehicle travel process, the stationarity of vehicle driving is improved.In addition, original path can derive from
The historical path database of user is capable of the driving habit of significantly analog subscriber, improves the comfort of automatic Pilot.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is a kind of flow diagram of path processing method disclosed by the embodiments of the present invention;
Fig. 2 is the flow diagram of another path processing method disclosed by the embodiments of the present invention;
Fig. 3 is a kind of structural schematic diagram of path processing system disclosed by the embodiments of the present invention;
Fig. 4 is the structural schematic diagram of another path processing system disclosed by the embodiments of the present invention;
Fig. 5 is the structural schematic diagram of another path processing system disclosed by the embodiments of the present invention;
Fig. 6 is a kind of exemplary diagram of the mapping process of path point disclosed by the embodiments of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
It should be noted that term " first ", " second ", " third " in description and claims of this specification and
" 4th " etc. is not use to describe a particular order for distinguishing different objects.The term " includes " of the embodiment of the present invention
" having " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing series of steps or list
The process, method, system, product or equipment of member those of are not necessarily limited to be clearly listed step or unit, but may include not having
There are other step or units being clearly listed or intrinsic for these process, methods, product or equipment.
In the present invention, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside",
" in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or
Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the present invention and embodiment
Set, element or component must have particular orientation, or constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term " on " also are likely used for indicating certain relations of dependence or connection relationship in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in the present invention can be understood as the case may be.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected " shall be understood in a broad sense.For example, it may be solid
Fixed connection, is detachably connected or monolithic construction;It can be mechanical connection, or electrical connection;It can be directly connected, either
It indirectly connected through an intermediary, or is two connections internal between device, element or component.For this field
For those of ordinary skill, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
The embodiment of the invention discloses a kind of path processing method and systems, vehicle, can reduce in vehicle travel process
Transversal wave movement, to improve the stationarity of vehicle driving.It is described in detail below in conjunction with attached drawing.
Embodiment one
Referring to Fig. 1, Fig. 1 is a kind of flow diagram of path processing method disclosed by the embodiments of the present invention.Such as Fig. 1 institute
Show, this method may comprise steps of.
101, vehicle determines preset quantity original path point from original path.
In the embodiment of the present invention, optionally, original path point can be from the path planning module of vehicle according to current location
And destination locations, navigation map perhaps cooked up using A* or the cost-effective method of Grid Method isotactic by the information such as SLAM map
Whole path on path point in determine.
Alternatively, optional, the user that original path point can also be stored from historical path database passed through manually in the past
It drives in the path point on passed through history driving path and determines.
In the embodiment of the present invention, it is to be understood that original path (such as the entirety that path planning module is cooked up
The history driving path stored in path or database) it is made of multiple path points.Wherein it is determined that the mode of original path point can
Think and chooses a path point from original path at interval of pre-determined distance as original path point, it is possible thereby to from original path
On determine preset quantity original path point;Alternatively, determining that the mode of original path point may be to choose on original path
More important path point is as the intermediate point on original path point, such as turn point, straight way, it is possible thereby to from original path
Determine preset quantity original path point.For the method for determination of original path point, the embodiment of the present invention is not especially limited.
In embodiments of the present invention, the quantity that preset quantity can set for tester by a large amount of experimental result, the present invention
Embodiment is not construed as limiting.
102, vehicle determines curvature of the original path point on original path.
In the embodiment of the present invention, curvature of some original path point on original path indicates original path on the original road
The bending degree of diameter point, curvature is bigger, and bending degree is bigger, indicates that vehicle amplitude of turning on the original path point is bigger.
In the embodiment of the present invention, vehicle can first connect original path point to obtain a curve, according to the curve
It can determine that the corresponding curvature of original path point, and the curvature using the curvature as original path point on original path.It lifts
For example, it is described by taking B-spline Curve as an example, original path point is attached by vehicle using B-spline Curve,
Obtained B-spline Curve parametric equation, it is possible to be calculated in B-spline Curve using parametric equation method of derivation
The corresponding curvature of original path point.
103, vehicle filters out first path point corresponding less than the curvature of preset threshold from original path point.
In the embodiment of the present invention, user in driving procedure can unconsciously steering wheel rotation by a small margin, therefore, as one
The optional embodiment of kind, preset threshold can be set according to the driving habit of user.
In the embodiment of the present invention, the acquisition of original path can be from the history row in the historical path database of user
Sail path, wherein the related data of history driving path can acquire (such as visual sensor, supersonic sensing by sensor
Device etc.).Since the measurement error of sensor can cause the fluctuation of original path point, as another optional embodiment party
Formula, preset threshold can be set according to the noise profile situation of sensor.
In the embodiment of the present invention, preset threshold is for screening original path point, i.e., selection curvature is less than default threshold
The original path point of value is as first path point.As an example it is assumed that preset threshold is 0.05, then vehicle is according to preset threshold
The corresponding curvature of original path point is screened, the first path point of acquisition is original path point of the curvature less than 0.05.
It is understood that due to that can not be fitted when step 104 vehicle is fitted according to first path point and obtains aim curve
The biggish original path point of curvature, therefore, the biggish original path point of curvature can be screened away by executing step 103, to protect
Demonstrate,prove the smooth fitting of step 104 aim curve.
104, vehicle is fitted according to first path point and obtains aim curve.
In the embodiment of the present invention, aim curve can be polynomial curve, and vehicle can use least square method according to the
The fitting of one path point obtains polynomial curve.Wherein, least square method (also known as least squares method) is a kind of mathematical optimization techniques,
It finds the optimal function matching of data by minimizing the quadratic sum of error, can easily be acquired not using least square method
The data known, and the quadratic sum of error is minimum between the data and real data that these are acquired.
In the embodiment of the present invention, for example, first path point is fitted to polynomial curve using least square method
For be described, it is assumed that first path point be pi(xi,yi), wherein i=1,2 ..., n, n are the quantity of first path point.It is quasi-
The polynomial curve of synthesis is as follows:
P (x)=a0+a1x+a2x2+…+amxm∈Πm(m+1 < n)
And the polynomial curve meets
For convenience of understanding, can be set in the embodiment of the present invention
That is:
Arranging above-mentioned equation can obtain:
By solving above-mentioned equation group, a can be acquired0, a1, a2..., am, then according to a0, a1, a2..., amIt can obtain
To polynomial curve p (x).
In the embodiment of the present invention, implement aforesaid way, minimizing the error for the aim curve for enabling to fitting to obtain mentions
The smoothness of high aim curve.
Optionally, in embodiments of the present invention, it can according to need the routing information of expression to select suitable target bent
The polynomial form of line, such as primary (straight line), secondary, three times or four is inferior, the embodiment of the present invention is not construed as limiting.
Optionally, in embodiments of the present invention, in addition to least square method, gradient descent method, Gauss-Newton can also be used
Method etc., is fitted according to first path point and obtains aim curve, and the embodiment of the present invention is not construed as limiting.
105, first path point is mapped on aim curve by vehicle, to obtain destination path point.
In the embodiment of the present invention, the expression formula of the available aim curve of vehicle, then by the abscissa of first path point
The expression formula for substituting into the aim curve, obtained ordinate are the ordinate of destination path point.As an example it is assumed that target is bent
Line is quadratic polynomial curve, i.e. p (x)=a0+a1x+a2x2, first path point is pi(xi, yi), wherein i=1,2 ..., n, n
For the quantity of first path point.By the abscissa x of first path pointiIt substitutes into quadratic polynomial curve p (x) and obtains p (xi)
Complete the mapping of first path point.
Referring to Figure 6 together, Fig. 6 is a kind of exemplary diagram of the mapping process of path point disclosed by the embodiments of the present invention.Such as
Shown in Fig. 6, curvature is greater than or equal to default by the original path point that curvature is less than preset threshold by vehicle as first path point
Then the original path o'clock of threshold value is fitted according to first path point as the second path point and obtains aim curve, then by first
Path point is mapped on aim curve, and to obtain destination path point, i.e. destination path point is mapped to target song by first path point
It is obtained on line.
106, destination path point and the second path point are attached by vehicle using the first default lines, are driven automatically with obtaining
Sail path.
In the embodiment of the present invention, the second path point is other path points in original path point in addition to first path point.
In the embodiment of the present invention, the first default lines can be spline curve (such as B-spline Curve), or shellfish
Sai Er curve, can also be helix, and the embodiment of the present invention is not construed as limiting.
For convenience of understanding, the embodiment of the present invention is described by taking B-spline Curve as an example, due to bent with cubic B-spline
Line can characterize complete routing information, so indicating that the limitation of automatic Pilot path is smaller with cubic B-spline, in vehicle axis system
Under, regardless of the movement in which section can be indicated with B-spline Curve.And polynomial curve is then difficult to indicate to be closed
Routing information under path, so indicating that the limitation of automatic Pilot path is larger with polynomial curve.Therefore, in the embodiment of the present invention
In, first path point is first mapped on aim curve by vehicle, to obtain destination path point, then recycles the first default lines
(such as B-spline Curve) connects other path points in destination path point and original path point in addition to first path point
It connects, to obtain automatic driving path.
As an alternative embodiment, in step 106 vehicle using the first default lines by destination path point and the
Two path points are attached, and after obtaining automatic driving path, following steps can also be performed:
Construct virtual road scene;
Vehicle icon and automatic Pilot path are added, in virtual road scene to obtain virtual automatic Driving Scene;Its
In, vehicle icon is the auto model of vehicle;
Virtual automatic Driving Scene is sent to the intelligent glasses of user's wearing, so that the intelligent glasses are driven virtual automatic
Scene display is sailed on the eyeglass of intelligent glasses and control vehicle icon is travelled according to automatic Pilot path.
In the embodiment of the present invention, the intelligent glasses that user wears have virtual reality (Virtual Reality, VR) skill
Art, the phenomenon that vehicle icon being travelled according to automatic Pilot path, show user.Wherein, VR technology is that one kind can
To create the computer simulation system with the experiencing virtual world, it generates a kind of simulated environment using computer, immerses user
Into the environment.That is, VR technology can use real-life data, the e-mail generated by computer technology
Number, so that it is converted into the phenomenon that people capable of being allowed to experience in conjunction with various output equipments it, these phenomenons can be reality
In object really earnestly, be also possible to the substance that our naked eyes can't see, showed by threedimensional model.
Implement the optional embodiment, simulates virtual automatic Driving Scene, and the intelligent glasses worn by user
The phenomenon that vehicle icon is travelled according to automatic Pilot path shows user, has not only improved the driving experience of user, but also
It is able to use driving status of the family perception vehicle according to automatic Pilot route when, further to examine vehicle according to driving automatically
Sail transversal wave movement situation when route.
As another optional embodiment, in step 106 vehicle using the first default lines by destination path point and
Second path point is attached, and after obtaining automatic driving path, following steps can also be performed:
Virtual road scene is constructed on the vehicle-carrying display screen of vehicle;
Vehicle icon is placed in virtual road scene, which is the auto model of vehicle;
Control vehicle icon is travelled according to automatic Pilot path, so that user observes the driving status of vehicle.
Implement the optional embodiment, by vehicle-carrying display screen by vehicle according to the traveling feelings in automatic Pilot path
Condition is shown, and driving status of the family perception vehicle according to automatic Pilot route when is able to use, further to examine vehicle
Transversal wave movement situation when according to automatic Pilot route.
As it can be seen that implementing method described in Fig. 1, by filtering out the curvature pair less than preset threshold from original path point
The first path point answered, and be fitted according to first path point and obtain aim curve, then first path point is mapped to target song
Destination path point is obtained on line, and first path point finally will be removed in destination path point and original path point using the first default lines
Other outer path points connect, and can either characterize complete routing information, and can be by the original road for having transversal wave movement
Diameter is treated as extensive continuous path and improves the steady of vehicle driving to reduce the transversal wave movement in vehicle travel process
Property.In addition, original path can derive from the historical path database of user, it is capable of the driving habit of significantly analog subscriber,
Improve the comfort of automatic Pilot.
Embodiment two
Referring to Fig. 2, Fig. 2 is the flow diagram of another path processing method disclosed by the embodiments of the present invention.Such as Fig. 2
Shown, this method may comprise steps of.
201, vehicle obtains current location and the destination locations of vehicle, and by the current location of vehicle and destination locations
As key message.
In the embodiment of the present invention, vehicle can be built-in with locating module, such as global positioning system (Global
Positioning System, GPS) module, Beidou satellite alignment system, the embodiment of the present invention said by taking GPS module as an example
It is bright, do not answer that limiting the invention.GPS module integrates high sensitivity, low in energy consumption, can track up to 20 satellites simultaneously, and
Positioning rapidly realizes that 1Hz navigation updates, and therefore, vehicle can obtain vehicle by built-in GPS module in the embodiment of the present invention
Current location.
In the embodiment of the present invention, the destination information (title of such as destination) that vehicle can be inputted according to user passes through
Access location services equipment can be obtained destination locations corresponding with destination information.
202, vehicle searches the history driving path to match with key message from historical path database.
In the embodiment of the present invention, the history traveling formed in the previous driving process of vehicle is stored in historical path database
Path, according to the current location of the vehicle of step 201 acquisition and destination locations, i.e., starting point and termination on original path
Point can search the history driving path to match with key message with this from historical path database.
203, vehicle determines preset quantity historical path point from the history driving path to match with key message,
And using historical path point as the original path point on original path.
In the embodiment of the present invention, it is to be understood that an original path is made of multiple path points, and therefore, vehicle can
To determine preset quantity historical path point from the history driving path to match with key message.Wherein it is determined that history
The mode of path point can a path point to be chosen from history driving path at interval of pre-determined distance as historical path point,
It is possible thereby to determine preset quantity historical path point from history driving path;Alternatively, determining the mode of historical path point
Or several path points more important in history driving path are chosen as historical path point, on turn point, straight way
Intermediate point etc., it is possible thereby to determine preset quantity historical path point from history driving path.For historical path point
Method of determination, the embodiment of the present invention is not especially limited.In embodiments of the present invention, preset quantity can pass through for tester
The quantity crossing a large amount of experimental result and setting, the embodiment of the present invention are not construed as limiting.
In the embodiment of the present invention, implementation steps 201- step 203 provides a kind of method for obtaining original path point, will
From the history driving path to match with the current location of vehicle and destination locations found in historical path database
Historical path point can be improved the confidence level of original path point as original path point.
204, original path point is attached by vehicle using the second default lines.
In the embodiment of the present invention, the second default lines can be spline curve (such as B-spline Curve), or shellfish
Sai Er curve, can also be helix, and the embodiment of the present invention is not construed as limiting.
In the embodiment of the present invention, for convenience of understanding, it is described by taking B-spline Curve as an example, it is assumed that there are four original
Path point P0(x0, y0)、P1(x1, y1)、P2(x2, y2) and P3(x3, y3), P is connected with B-spline Curve0、P1、P2And P3Four
The expression formula of original path point is as follows:
Wherein, t is parameter, and the starting point of B-spline Curve is indicated as t=0, indicates that cubic B-spline is bent as t=1
The terminal of line.
205, vehicle calculates the corresponding curvature of original path point on the second default lines.
In the embodiment of the present invention, the corresponding curvature of original path point on the second default lines indicates original path in the original
The bending degree of beginning path point, curvature is bigger, and bending degree is bigger, indicates that vehicle amplitude of turning on the original path point is got over
Greatly.
In the embodiment of the present invention, for convenience of understanding, it is described by taking B-spline Curve as an example, it is assumed that step 204 passes through
B-spline Curve is attached original path point, and obtained B-spline Curve parametric equation isThat
, can use the corresponding curvature of original path point in parametric equation method of derivation calculating B-spline Curve, expression
It is as follows:
It is appreciated that the corresponding curvature of original path point in B-spline Curve can be calculated by the expression formula
K。
In the embodiment of the present invention, implementation steps 204- step 205 is connected original path point using the second default lines
Parametric equation is obtained to obtain, the corresponding song of original path point on the second default lines is found out followed by parametric equation method of derivation
Rate can be improved the efficiency of curvature estimation.
206, vehicle filters out first path point corresponding less than the curvature of preset threshold from original path point.
In the embodiment of the present invention, user in driving procedure can unconsciously steering wheel rotation by a small margin, therefore, as one
The optional embodiment of kind, preset threshold can be set according to the driving habit of user.
In the embodiment of the present invention, the acquisition of original path can be from the history row in the historical path database of user
Sail path, wherein the related data of history driving path can acquire (such as visual sensor, supersonic sensing by sensor
Device etc.).Since the measurement error of sensor can cause the fluctuation of original path point, as another optional embodiment party
Formula, preset threshold can be set according to the noise profile situation of sensor.
In the embodiment of the present invention, preset threshold is for screening original path point, i.e., selection curvature is less than default threshold
The original path point of value is as first path point.As an example it is assumed that preset threshold is 0.05, then vehicle is according to preset threshold
The corresponding curvature of original path point is screened, the first path point of acquisition is original path point of the curvature less than 0.05.
It is understood that since song can not be fitted when 207 vehicle of step is fitted according to first path point and obtains aim curve
The biggish original path point of rate, therefore, the biggish original path point of curvature can be screened away by executing step 206, to guarantee
The smooth fitting of step 207 aim curve.
207, vehicle is fitted according to first path point and obtains aim curve.
In the embodiment of the present invention, aim curve can be polynomial curve, and vehicle can use least square method according to the
The fitting of one path point obtains polynomial curve.Wherein, least square method (also known as least squares method) is a kind of mathematical optimization techniques,
It finds the optimal function matching of data by minimizing the quadratic sum of error, can easily be acquired not using least square method
The data known, and the quadratic sum of error is minimum between the data and real data that these are acquired.
Optionally, in embodiments of the present invention, it can according to need the routing information of expression to select suitable target bent
The polynomial form of line, such as primary (straight line), secondary, three times or four is inferior, the embodiment of the present invention is not construed as limiting.
Optionally, in embodiments of the present invention, in addition to least square method, gradient descent method, Gauss-Newton can also be used
Method etc., is fitted according to first path point and obtains aim curve, and the embodiment of the present invention is not construed as limiting.
208, first path point is mapped on aim curve by vehicle, to obtain destination path point.
As an alternative embodiment, first path point is mapped on aim curve by step 208 vehicle, to obtain
Destination path point, comprising:
Target-based coordinate system is constructed, and first path point and aim curve are projected into coordinates of targets and fastened;
Obtain the abscissa of first path point and the ordinate of first path point;
The abscissa of control first path point remains unchanged, and the ordinate of first path point is adjusted, so that first path point
It is placed on aim curve;
Path point on aim curve is determined as destination path point.
In the embodiment of the present invention, for example, assuming that the aim curve that step 207 is fitted is quadratic polynomial curve, i.e. p
(x)=a0+a1x+a2x2, first path point is pi(xi, yi), wherein i=1,2 ..., n, n are the quantity of first path point.It will
The abscissa x of first path pointiIt substitutes into quadratic polynomial curve p (x) and obtains p (xi), the mapping of first path point can be completed.
Implement the optional embodiment, by the way that first path point and aim curve are projected on the same coordinate system, then
The coordinate of adjustment first path point can be reduced in vehicle travel process so that first path point is mapped on aim curve
Transversal wave movement, to improve the stationarity of vehicle driving.
209, destination path point and the second path point are attached by vehicle using the first default lines, are driven automatically with obtaining
Sail path.
In the embodiment of the present invention, the second path point is other path points in original path point in addition to first path point.
In the embodiment of the present invention, the first default lines can be spline curve (such as B-spline Curve), or shellfish
Sai Er curve, can also be helix, and the embodiment of the present invention is not construed as limiting.
As it can be seen that implementing method described in Fig. 2 compared with implementing method described in Fig. 1, it is original to provide a kind of acquisition
The method of path point is gone through what is found from historical path database with what the current location of vehicle and destination locations matched
Historical path point in history driving path can be improved the confidence level of original path point as original path point.In addition, implementing figure
Original path point is attached acquisition parametric equation using the second default lines, followed by parameter side by method described in 2
Journey method of derivation finds out the corresponding curvature of original path point on the second default lines, can be improved the efficiency of curvature estimation.
Embodiment three
Referring to Fig. 3, Fig. 3 is a kind of structural schematic diagram of path processing system disclosed by the embodiments of the present invention.The path
Processing system is applied to vehicle, allows the vehicle to execute any one path processing method of FIG. 1 to FIG. 2.As shown in figure 3, should
Path processing system may include:
Acquiring unit 301, for determining preset quantity original path point from original path.
In the embodiment of the present invention, optionally, original path point can be from the path planning module of vehicle according to current location
And destination locations, navigation map perhaps cooked up using A* or the cost-effective method of Grid Method isotactic by the information such as SLAM map
Whole path on path point in determine.
Alternatively, optional, the user that original path point can also be stored from historical path database passed through manually in the past
It drives in the path point on passed through history driving path and determines.
In the embodiment of the present invention, it is to be understood that original path (such as the entirety that path planning module is cooked up
The history driving path stored in path or database) it is made of multiple path points.Wherein it is determined that the mode of original path point can
Think and chooses a path point from original path at interval of pre-determined distance as original path point, it is possible thereby to from original path
On determine preset quantity original path point;Alternatively, determining that the mode of original path point may be to choose on original path
More important path point is as the intermediate point on original path point, such as turn point, straight way, it is possible thereby to from original path
Determine preset quantity original path point.For the method for determination of original path point, the embodiment of the present invention is not especially limited.
In embodiments of the present invention, the quantity that preset quantity can set for tester by a large amount of experimental result, the present invention
Embodiment is not construed as limiting.
Determination unit 302, for determining curvature of the original path point on original path.
In the embodiment of the present invention, curvature of some original path point on original path indicates original path on the original road
The bending degree of diameter point, curvature is bigger, and bending degree is bigger, indicates that vehicle amplitude of turning on the original path point is bigger.
In the embodiment of the present invention, determination unit 302 can first connect original path point to obtain a curve, according to
The curve can determine that the corresponding curvature of original path point, and the song using the curvature as original path point on original path
Rate.For example, it is described by taking B-spline Curve as an example, determination unit 302 utilizes B-spline Curve by original road
Diameter point is attached, obtained B-spline Curve parametric equation, it is possible to calculate B three times using parametric equation method of derivation
The corresponding curvature of original path point in spline curve.
Screening unit 303, for filtering out first path corresponding less than the curvature of preset threshold from original path point
Point.
In the embodiment of the present invention, user in driving procedure can unconsciously steering wheel rotation by a small margin, therefore, as one
The optional embodiment of kind, preset threshold can be set according to the driving habit of user.
In the embodiment of the present invention, the acquisition of original path can be from the history row in the historical path database of user
Sail path, wherein the related data of history driving path can acquire (such as visual sensor, supersonic sensing by sensor
Device etc.).Since the measurement error of sensor can cause the fluctuation of original path point, as another optional embodiment party
Formula, preset threshold can be set according to the noise profile situation of sensor.
Fitting unit 304 obtains aim curve for being fitted according to first path point.
In the embodiment of the present invention, aim curve can be polynomial curve, and path processing system can use least square
Method is fitted according to first path point and obtains polynomial curve.Wherein, least square method (also known as least squares method) is a kind of mathematics
Optimisation technique, it finds the optimal function matching of data by minimizing the quadratic sum of error, can letter using least square method
Just the quadratic sum of error is minimum between the data and real data for acquiring unknown data, and these being acquired.
Optionally, in embodiments of the present invention, it can according to need the routing information of expression to select suitable target bent
The polynomial form of line, such as primary (straight line), secondary, three times or four is inferior, the embodiment of the present invention is not construed as limiting.
Optionally, in embodiments of the present invention, in addition to least square method, gradient descent method, Gauss-Newton can also be used
Method etc., is fitted according to first path point and obtains aim curve, and the embodiment of the present invention is not construed as limiting.
Map unit 305, for first path point to be mapped to aim curve, to obtain destination path point.
In the embodiment of the present invention, the expression formula of the available aim curve of map unit 305, then by first path point
Abscissa substitutes into the expression formula of the aim curve, and obtained ordinate is the ordinate of destination path point.As an example it is assumed that
Aim curve is quadratic polynomial curve, i.e. p (x)=a0+a1x+a2x2, first path point is pi(xi, yi), wherein i=1,
2 ..., n, n are the quantity of first path point.By the abscissa x of first path pointiIt substitutes into quadratic polynomial curve p (x) and obtains p
(xi), the mapping of first path point can be completed.
Connection unit 306, for being attached destination path point and the second path point using the first default lines, to obtain
Derived from dynamic driving path.
In the embodiment of the present invention, the second path point is other path points in original path point in addition to first path point.
In the embodiment of the present invention, the first default lines can be spline curve (such as B-spline Curve), or shellfish
Sai Er curve, can also be helix, and the embodiment of the present invention is not construed as limiting.
As an alternative embodiment, in connection unit 306 using the first default lines by destination path point and the
Two path points are attached, and after obtaining automatic driving path, following steps can also be performed:
Construct virtual road scene;
Vehicle icon and automatic Pilot path are added, in virtual road scene to obtain virtual automatic Driving Scene;Its
In, vehicle icon is the auto model of vehicle;
Virtual automatic Driving Scene is sent to the intelligent glasses of user's wearing, so that the intelligent glasses are driven virtual automatic
Scene display is sailed on the eyeglass of intelligent glasses, and controls vehicle icon and is travelled according to automatic Pilot path.
In the embodiment of the present invention, the intelligent glasses that user wears have virtual reality (Virtual Reality, VR) skill
Art, the phenomenon that vehicle icon being travelled according to automatic Pilot path, show user.Wherein, VR technology is that one kind can
To create the computer simulation system with the experiencing virtual world, it generates a kind of simulated environment using computer, immerses user
Into the environment.That is, VR technology can use real-life data, the e-mail generated by computer technology
Number, so that it is converted into the phenomenon that people capable of being allowed to experience in conjunction with various output equipments it, these phenomenons can be reality
In object really earnestly, be also possible to the substance that our naked eyes can't see, showed by threedimensional model.
Implement the optional embodiment, simulates virtual automatic Driving Scene, and the intelligent glasses worn by user
The phenomenon that vehicle icon is travelled according to automatic Pilot path shows user, has not only improved the driving experience of user, but also
It is able to use driving status of the family perception vehicle according to automatic Pilot route when, further to examine vehicle according to driving automatically
Sail transversal wave movement situation when route.
As another optional embodiment, in connection unit 306 using the first default lines by destination path point and
Second path point is attached, and after obtaining automatic driving path, following steps can also be performed:
Virtual road scene is constructed on the vehicle-carrying display screen of vehicle;
Vehicle icon is placed in virtual road scene, which is the auto model of vehicle;
Control vehicle icon is travelled according to automatic Pilot path, so that user observes the driving status of vehicle.
Implement the optional embodiment, by vehicle-carrying display screen by vehicle according to the traveling feelings in automatic Pilot path
Condition is shown, and driving status of the family perception vehicle according to automatic Pilot route when is able to use, further to examine vehicle
Transversal wave movement situation when according to automatic Pilot route.
As it can be seen that path processing system described in implementing Fig. 3, by filtering out from original path point less than preset threshold
The corresponding first path point of curvature, and be fitted according to first path point and obtain aim curve, then first path point mapped
Destination path point is obtained on to aim curve, it finally will be in destination path point and original path point except the using the first default lines
Other path points outside one path point connect, and can either characterize complete routing information, and original can be had transverse direction
The path of fluctuation is treated as extensive continuous path, to reduce the transversal wave movement in vehicle travel process, improves vehicle row
The stationarity sailed.In addition, original path can derive from the historical path database of user, can significantly drive analog subscriber
Habit is sailed, the comfort of automatic Pilot is improved.
Example IV
Referring to Fig. 4, Fig. 4 is the structural schematic diagram of another path processing system disclosed by the embodiments of the present invention.The road
Diameter processing system is applied to vehicle, allows the vehicle to execute any one path processing method of FIG. 1 to FIG. 2.Wherein, Fig. 4 institute
The path processing system shown is that path processing system as shown in Figure 3 advanced optimizes.It is handled with path shown in Fig. 3
System compares, and path processing system shown in Fig. 4 can also include:
Acquiring unit 301 includes:
First obtains subelement 3011, for obtaining current location and the destination locations of vehicle, and by the current of vehicle
Position and destination locations are as key message;
Subelement 3012 is searched, travels road for searching the history to match with key message from historical path database
Diameter;
First determines subelement 3013, for determining preset quantity from the history driving path to match with key message
A historical path point, and using historical path point as the original path point on original path.
In the embodiment of the present invention, the first acquisition subelement 3011 can be built-in with locating module, such as global positioning system
(Global Positioning System, GPS) module, Beidou satellite alignment system, the embodiment of the present invention are with GPS module
Example is illustrated, and does not answer that limiting the invention.GPS module integrates high sensitivity, low in energy consumption, can track up to 20 simultaneously
Satellite, and position rapidly, realize that 1Hz navigation updates, therefore, the first acquisition subelement 3011 can pass through in the embodiment of the present invention
Built-in GPS module obtains the current location of vehicle.
In the embodiment of the present invention, first obtains destination information (such as purpose that subelement 3011 can be inputted according to user
The title on ground), it can be obtained destination locations corresponding with destination information by accessing location services equipment.
In the embodiment of the present invention, it is to be understood that an original path is made of multiple path points, and therefore, first really
Stator unit 3013 can determine preset quantity historical path point from the history driving path to match with key message.
Wherein it is determined that the mode of historical path point can be made to choose a path point from history driving path at interval of pre-determined distance
For historical path point, it is possible thereby to determine preset quantity historical path point from history driving path;Alternatively, determining history
The mode of path point may be to choose several path points more important in history driving path as historical path point, such as turn
Intermediate point etc. on curved point, straight way, it is possible thereby to determine preset quantity historical path point from history driving path.For
The method of determination of historical path point, the embodiment of the present invention are not especially limited.In embodiments of the present invention, preset quantity can be
The quantity that tester sets by a large amount of experimental result, the embodiment of the present invention are not construed as limiting.
Determination unit 302 includes:
Subelement 3021 is connected, for being attached original path point using the second default lines;
Computation subunit 3022, for calculating the corresponding curvature of original path point on the second default lines.
In the embodiment of the present invention, the second default lines can be spline curve (such as B-spline Curve), or shellfish
Sai Er curve, can also be helix, and the embodiment of the present invention is not construed as limiting.
In the embodiment of the present invention, the corresponding curvature of original path point on the second default lines indicates original path in the original
The bending degree of beginning path point, curvature is bigger, and bending degree is bigger, indicates that vehicle amplitude of turning on the original path point is got over
Greatly.
As an alternative embodiment, map unit 305 may include following subelement (not shown):
Subelement is projected, projects to coordinates of targets for constructing target-based coordinate system, and by first path point and aim curve
It fastens;
Second obtains subelement, for obtaining the abscissa of first path point and the ordinate of first path point;
Subelement is adjusted, the abscissa for controlling first path point remains unchanged, the ordinate of first path point is adjusted,
So that first path point is placed on aim curve;
Second determines subelement, for the path point on aim curve to be determined as destination path point.
Implement the optional embodiment, by the way that first path point and aim curve are projected on the same coordinate system, then
The coordinate of adjustment first path point can be reduced in vehicle travel process so that first path point is mapped on aim curve
Transversal wave movement, to improve the stationarity of vehicle driving.
As it can be seen that implementing path processing system described in Fig. 4 compared with the path processing system described in the implementing Fig. 3, mentioning
A kind of method for obtaining original path point has been supplied, current location and purpose with vehicle will be found from historical path database
As original path point, can be improved original path point can for historical path point in the history driving path that position matches
Reliability.In addition, implementing path processing system described in Fig. 4, original path point is attached using the second default lines and is obtained
Parametric equation is obtained, finds out the corresponding curvature of original path point on the second default lines, energy followed by parametric equation method of derivation
Enough improve the efficiency of curvature estimation.
Embodiment five
Referring to Fig. 5, Fig. 5 is the structural schematic diagram of another path processing system disclosed by the embodiments of the present invention.Such as Fig. 5
Shown, which may include:
It is stored with the memory 501 of executable program code;
The processor 502 coupled with memory 501;
Wherein, processor 502 calls the executable program code stored in memory 501, and it is any one to execute FIG. 1 to FIG. 2
Kind path processing method.
The embodiment of the present invention discloses a kind of computer readable storage medium, stores computer program, wherein the computer
Program makes computer execute any one path processing method of FIG. 1 to FIG. 2.
The embodiment of the present invention discloses a kind of computer program product, which includes storing computer journey
The non-transient computer readable storage medium of sequence, and the computer program is operable to keep computer execution FIG. 1 to FIG. 2 any
A kind of path processing method.
The embodiment of the present invention is also disclosed a kind of using distribution platform, wherein using distribution platform for issuing computer journey
Sequence product, wherein when computer program product is run on computers, so that computer executes such as the above each method embodiment
In some or all of method step.
It should be understood that " one embodiment " or " embodiment " that specification is mentioned in the whole text mean it is related with embodiment
A particular feature, structure, or characteristic is included at least one embodiment of the present invention.Therefore, occur everywhere in the whole instruction
" in one embodiment " or " in one embodiment " not necessarily refer to identical embodiment.In addition, these special characteristics, structure
Or characteristic can combine in any suitable manner in one or more embodiments.Those skilled in the art should also know that
Embodiment described in this description belongs to alternative embodiment, and not necessarily the present invention must for related actions and modules
Must.
In various embodiments of the present invention, it should be appreciated that magnitude of the sequence numbers of the above procedures are not meant to execute suitable
Successively, the execution sequence of each process should be determined by its function and internal logic the certainty of sequence, without coping with the embodiment of the present invention
Implementation process constitutes any restriction.
Above-mentioned unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be object unit, can be in one place, or may be distributed over multiple networks
On unit.Some or all of units can be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
In addition, each functional unit in various embodiments of the present invention can integrate in one processing unit, it is also possible to
Each unit physically exists alone, and can also be integrated in one unit with two or more units.Above-mentioned integrated unit
Both it can take the form of hardware realization, can also realize in the form of software functional units.
If above-mentioned integrated unit is realized in the form of SFU software functional unit and when sold or used as an independent product,
It can store in a retrievable memory of computer.Based on this understanding, technical solution of the present invention substantially or
Person says all or part of of the part that contributes to existing technology or the technical solution, can be in the form of software products
It embodies, which is stored in a memory, including several requests are with so that a computer is set
Standby (can be personal computer, server or network equipment etc., specifically can be the processor in computer equipment) executes
Some or all of each embodiment above method of the invention step.
In embodiment provided by the present invention, it should be appreciated that " B corresponding with A " indicates that B is associated with A, can be with according to A
Determine B.It is also to be understood that determine that B is not meant to determine B only according to A according to A, it can also be according to A and/or other information
Determine B.
In various embodiments of the present invention, it should be appreciated that the meaning of " A and/or B " refer to A and B respectively individualism or
In the case where person A and B are existed simultaneously is included in.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium include read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory,
RAM), programmable read only memory (Programmable Read-only Memory, PROM), erasable programmable is read-only deposits
Reservoir (Erasable Programmable Read Only Memory, EPROM), disposable programmable read-only memory (One-
Time Programmable Read-Only Memory, OTPROM), the electronics formula of erasing can make carbon copies read-only memory
(Electrically-Erasable Programmable Read-Only Memory, EEPROM), CD-ROM (Compact
Disc Read-Only Memory, CD-ROM) or other disc memories, magnetic disk storage, magnetic tape storage or can
For carrying or any other computer-readable medium of storing data.
A kind of path processing method disclosed by the embodiments of the present invention and system, vehicle are described in detail above, this
Apply that a specific example illustrates the principle and implementation of the invention in text, the explanation of above example is only intended to
It facilitates the understanding of the method and its core concept of the invention;At the same time, for those skilled in the art, think of according to the present invention
Think, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not be construed as pair
Limitation of the invention.
Claims (10)
1. a kind of path processing method characterized by comprising
Preset quantity original path point is obtained from original path;
Determine curvature of the original path point on the original path;
First path point corresponding less than the curvature of preset threshold is filtered out from the original path point;
It is fitted according to the first path point and obtains aim curve;
The first path point is mapped on the aim curve, to obtain destination path point;
The destination path point and the second path point are attached using the first default lines, to obtain automatic driving path;
Second path point is other path points in the original path point in addition to the first path point.
2. the method according to claim 1, wherein described obtain the original road of preset quantity from original path
Diameter point, comprising:
Current location and the destination locations of vehicle are obtained, and are believed using the current location and the destination locations as key
Breath;
The history driving path to match with the key message is searched from historical path database;
Preset quantity historical path point is determined from the history driving path, and using the historical path point as original
Original path point on path.
3. according to the method described in claim 2, it is characterized in that, the determination original path point is in the original path
On curvature, comprising:
The original path point is attached using the second default lines;
Calculate the corresponding curvature of the original path point on the described second default lines.
4. method according to any one of claims 1 to 3, which is characterized in that described to be mapped to the first path point
On the aim curve, to obtain destination path point, comprising:
Target-based coordinate system is constructed, and the first path point and the aim curve are projected into the coordinates of targets and fastened;
Obtain the abscissa of the first path point and the ordinate of first path point;
The abscissa for controlling the first path point remains unchanged, and adjusts the ordinate of the first path point, so that described
One path point is placed on the aim curve;
Path point on the aim curve is determined as destination path point.
5. according to the method described in claim 4, it is characterized in that, utilizing the first default lines by the destination path described
Point and the second path point are attached, after obtaining automatic driving path, the method also includes:
Construct virtual road scene;
Vehicle icon and the automatic Pilot path are added, in the virtual road scene to obtain virtual automatic driver training ground
Scape;
The virtual automatic Driving Scene is sent to the intelligent glasses of user's wearing, so that the intelligent glasses will be described virtual
Automatic Pilot scene display is on the eyeglass of the intelligent glasses and the control vehicle icon is according to the automatic Pilot road
Diameter is travelled.
6. a kind of path processing system characterized by comprising
Acquiring unit, for obtaining preset quantity original path point from original path;
Determination unit, for determining curvature of the original path point on the original path;
Screening unit, for filtering out first path point corresponding less than the curvature of preset threshold from the original path point;
Fitting unit obtains aim curve for being fitted according to the first path point;
Map unit, for the first path point to be mapped to the aim curve, to obtain destination path point;
Connection unit, for being attached the destination path point and the second path point using the first default lines, to obtain
Automatic Pilot path;Second path point is other path points in the original path point in addition to the first path point.
7. system according to claim 6, which is characterized in that the acquiring unit includes:
First obtains subelement, for obtaining current location and the destination locations of vehicle, and by the current location and described
Destination locations are as key message;
Subelement is searched, for searching the history driving path to match with the key message from historical path database;
First determines subelement, for determining preset quantity historical path point from the history driving path, and by institute
Historical path point is stated as the original path point on original path.
8. a kind of vehicle, which is characterized in that the vehicle includes the described in any item path processing systems of claim 6-7.
9. a kind of path processing system characterized by comprising
It is stored with the memory of executable program code;
The central processing unit coupled with the memory;
The central processing unit calls the executable program code stored in the memory, requires 1- for perform claim
A kind of 5 described in any item path processing methods.
10. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage computer journey
Sequence, wherein the computer program makes computer perform claim require a kind of described in any item path processing methods of 1-5.
Priority Applications (1)
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