CN110703753B - Path planning method and device, electronic equipment and storage medium - Google Patents
Path planning method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the disclosure relates to a path planning method and device, electronic equipment and a storage medium, and relates to the technical field of automatic driving, wherein the method comprises the following steps: acquiring an invisible area in the current environment where a target object is located; obtaining the area where the potential obstacle in the current environment is located from the invisible area; and taking the area where the potential obstacle is located and the real obstacle as target obstacles, and planning the path of the target object in the current environment according to the position information of the target obstacles. The technical scheme disclosed by the invention can improve the accuracy and comprehensiveness of path planning.
Description
Technical Field
The present disclosure relates to the field of automatic driving technologies, and in particular, to a path planning method, a path planning apparatus, an electronic device, and a computer-readable storage medium.
Background
With the development of the automatic driving technology, how to accurately perform the path planning becomes a key problem in the automatic driving technology.
In the related art, during the automatic driving, an area outside the visual field is generally regarded as a blank area to generate a travel path from obstacles in other areas, and therefore the path generated during the automatic driving is inaccurate and cannot ensure safety. In addition, all obstacles are not considered in the related art, so that certain limitations exist, and a proper path cannot be generated comprehensively according to the scene situation.
It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
The present disclosure is directed to a path planning method and apparatus, an electronic device, and a storage medium, which overcome, at least to some extent, the problem of inaccurate generated paths due to the limitations and disadvantages of the related art.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.
According to an aspect of the present disclosure, there is provided a path planning method, including: acquiring an invisible area in the current environment where a target object is located; acquiring the area where the potential obstacle in the current environment is located from the invisible area; and taking the area where the potential obstacle is located and the real obstacle as target obstacles, and planning the path of the target object in the current environment according to the position information of the target obstacles.
In an exemplary embodiment of the present disclosure, obtaining the area where the potential obstacle in the current environment is located from the invisible area includes: acquiring a reference track for the real obstacle; generating a reference point within the invisible region; and if the reference point is detected to exist on the reference track when the target object moves according to the reference track, determining the area where the potential obstacle is located in the invisible area according to the reference point and the state information of the target object.
In an exemplary embodiment of the present disclosure, the acquiring the reference trajectory for the real obstacle includes: and generating the reference track according to the current path and the movement information of the target object in the current path.
In an exemplary embodiment of the present disclosure, determining the area where the potential obstacle is located in the invisible area according to the reference point and the state information of the target object includes: and if the reference point exists on the reference track and the state information is in an abnormal state, determining the area of the potential obstacle according to the reference point.
In an exemplary embodiment of the present disclosure, determining the area where the potential obstacle is located in the invisible area according to the reference point and the state information of the target object includes: and if the reference point exists on the reference track and the state information is in a normal state, ignoring the reference point and stopping determining the area of the potential obstacle according to the reference point.
In an exemplary embodiment of the present disclosure, generating the reference point within the invisible area includes: randomly generating the reference point within the invisible region in a Monte Carlo manner.
In an exemplary embodiment of the present disclosure, the path planning of the target object in the current environment according to the position information of the target obstacle includes: and generating a target path according to the starting position and the end position of the target object and the position information of the target obstacle in the current environment.
In an exemplary embodiment of the present disclosure, the method further comprises: and if the reference point and the preset operation acting on the target object are detected to exist on the reference track and the state information of the target object is in an abnormal state, storing the reference point corresponding to the abnormal state.
According to an aspect of the present disclosure, there is provided a path planning apparatus including: the first area acquisition module is used for acquiring an invisible area in the current environment where the target object is located; the second area acquisition module is used for acquiring an area where the potential barrier in the current environment is located from the invisible area; and the planning control module is used for taking the area where the potential barrier is located and the real barrier as target barriers and planning the path of the target object in the current environment according to the position information of the target barriers.
According to an aspect of the present disclosure, there is provided an electronic device including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform any of the path planning methods described above via execution of the executable instructions.
According to an aspect of the present disclosure, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a path planning method as described in any one of the above.
In the path planning method, the path planning apparatus, the electronic device, and the computer-readable storage medium provided in the embodiments of the present disclosure, on one hand, a region where a potential obstacle is located is obtained from an invisible region in a current environment where a target object is located, so as to convert the invisible region into the potential obstacle in the current environment, and further perform path planning on the target object in the current environment by using the real obstacle and the region where the potential obstacle is located together as the target obstacle. Because the areas of the real obstacles and the potential obstacles in the invisible area are considered, rather than directly ignoring the invisible area, a more accurate path can be generated, and the accuracy of path planning is improved. On the other hand, the areas where the real obstacles and the potential obstacles are located are used as the target obstacles together, so that the limitation caused by neglecting invisible areas is avoided, a proper path can be generated more comprehensively, and the reliability of path planning and the safety of a target object are improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. It should be apparent that the drawings in the following description are merely examples of the disclosure and that other drawings may be derived by those of ordinary skill in the art without inventive effort.
Fig. 1 schematically shows a schematic diagram of a system architecture for implementing a path planning method in an embodiment of the present disclosure.
Fig. 2 schematically illustrates a schematic diagram of a path planning method in an embodiment of the present disclosure.
Fig. 3 schematically illustrates a schematic diagram of a current environment in an embodiment of the present disclosure.
Fig. 4 schematically illustrates a flow of acquiring an area where a potential obstacle is located according to an invisible area in an embodiment of the present disclosure.
Fig. 5 schematically illustrates a specific flowchart for determining an area where a potential obstacle is located in the embodiment of the present disclosure.
Fig. 6 schematically shows a block diagram of a path planning apparatus in an embodiment of the present disclosure.
Fig. 7 schematically illustrates a block diagram of an electronic device in an embodiment of the present disclosure.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the embodiments of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, devices, steps, etc. In other instances, well-known technical solutions have not been shown or described in detail to avoid obscuring aspects of the present disclosure.
Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
Fig. 1 shows a schematic diagram of an exemplary system architecture to which the technical solutions of the embodiments of the present disclosure may be applied.
As shown in fig. 1, the system architecture 100 may include a first end 101, a network 102, and a second end 103. Wherein the first end 101 may be a target object, such as an unmanned vehicle. The network 102 is used as a medium for providing a communication link between the first end 101 and the second end 103, the network 102 may include various connection types, such as a wired communication link, a wireless communication link, and the like, and in the embodiment of the present disclosure, the network 102 between the first end 101 and the second end 103 may be a wired communication link, such as a communication link provided by a serial connection line, or a wireless communication link, such as a communication link provided by a wireless network. The second end 103 may be a server, or may be the target object itself, as long as the data or image acquired by the target object can be processed.
It should be understood that the number of first ends, networks and second ends in fig. 1 is merely illustrative. There may be any number of target objects, networks, and servers, as desired for an implementation.
It should be noted that the path planning method provided by the embodiment of the present disclosure may be completely executed by the second end 103, may also be completely executed by the first end 101, may also be partially executed by the first end, and is partially executed by the second end, where an execution main body of the path planning method is not particularly limited. Accordingly, the path planning device may be disposed in the second end 103 or in the first end 101.
On this basis, in the embodiment of the disclosure, the invisible area which cannot be acquired by the sensor of the target object can be acquired, and the invisible area is further processed to be converted into an area where the visible potential obstacle is located; and then acquiring the real obstacles in the visible region acquired by the sensor of the target object so as to facilitate the server or the processor of the target object to realize the purpose of local path planning on the target object through the region where the real obstacles and the potential obstacles are located.
On the basis of the system architecture, the embodiment of the disclosure provides a path planning method, which can be applied to any scenes in the field of automatic driving, such as a parking scene, a lane changing scene, an intersection scene and the like. Fig. 2 schematically shows a flow chart of the path planning method, and referring to fig. 2, the method mainly includes the following steps:
in step S210, an invisible area in the current environment where the target object is located is obtained;
in step S220, obtaining an area where a potential obstacle in the current environment is located from the invisible area;
in step S230, the area where the potential obstacle is located and the real obstacle are used as target obstacles, and a path of the target object is planned in the current environment according to the position information of the target obstacles.
According to the technical scheme provided by the embodiment of the disclosure, on one hand, the invisible area in the current environment where the target object is located is converted into the area where the potential obstacle is located in the current environment, and the real obstacle and the area where the potential obstacle is located are further jointly used as the target obstacle, so that the path of the target object is planned in the current environment. Because the real obstacles and the potential obstacles in the invisible area are considered, rather than directly ignoring the invisible area, a more accurate path can be generated, and the accuracy of path planning is improved. On the other hand, the areas where the real obstacles and the potential obstacles are located are used as the target obstacles together, so that the limitation caused by neglecting invisible areas is avoided, a proper path can be generated more comprehensively, and the reliability of path planning and the safety of a target object are improved.
Next, a path planning method in the embodiment of the present disclosure is described in detail with reference to the drawings.
In step S210, an invisible area in the current environment in which the target object is located is acquired.
In the disclosed embodiment, the target object may be an object for automatic driving, such as various types of automatic driving vehicles. The target object may be an autonomous vehicle that travels alone or an autonomous vehicle that travels in cooperation. The current environment refers to a scene where the target object is located at the current time, and may be a parking lot, a road, or any suitable place. When the target object is in the current environment, the target object may be controlled to be in a moving state (driving state) or a stationary state, and the moving state is taken as an example for explanation. The invisible region refers to a region outside the field of view, and may be, for example, a blind field of view region, and may specifically be a partial region that cannot be directly observed due to the fact that the line of sight is blocked by the target object itself or by other objects. Specifically, the inner invisible area or the outer invisible area may be included. The inner invisible area may be caused by the structure of the target object itself or by human beings, the outer invisible area is caused by other objects (such as other vehicles or pedestrians) which are fixed or moving or light problems, and the invisible areas corresponding to different target objects may be the same or different.
A schematic view of the invisible area is schematically shown in fig. 3. Common on-board sensing devices are lidar and vision sensors. As shown in fig. 3, by scanning and fusing the vision sensor with the lidar, there may be a certain blind area (invisible area) of the field of view, and the obstacle situation in the invisible area cannot be determined by the vision sensor. The size of the invisible area may be gradually reduced as the target object moves. Therefore, real obstacles within the visual field range and invisible areas outside the visual field range in the current environment can be labeled. The notation here refers to the position coordinates of the real obstacle and the coordinates of the invisible area.
In step S220, an area where a potential obstacle in the current environment is located is obtained from the invisible area.
In the embodiment of the present disclosure, a potential obstacle refers to a possible obstacle that is obtained by processing an invisible area, rather than a real obstacle. By converting the invisible area, the problem of limitation caused by directly neglecting the invisible area can be avoided, and potential safety hazards are also avoided. The area in which the potential obstacle is located refers to a range of the potential obstacle in an invisible area so as to facilitate effective avoidance of the target object.
A flow chart for converting an invisible area into a potential obstacle is schematically shown in fig. 4, and with reference to the flow chart shown in fig. 4, mainly includes the following steps:
in step S410, a reference trajectory for the real obstacle is acquired.
In the embodiment of the present disclosure, the real obstacle may be any object that blocks the target object from traveling, and specifically may be a static obstacle or a dynamic obstacle, and the like. The reference trajectory refers to a standard trajectory obtained from a path planning algorithm for representing a travel route of a target object in consideration of only a real obstacle, the reference trajectory having bypassed the real obstacle. And, the reference trajectory is dynamically updated as the target object moves. Therefore, the reference trajectory can be determined according to a static path and the moving state of the target object.
Based on this, when determining the reference trajectory, the current path of the target object may be determined according to the real obstacle, and the reference trajectory may be further generated according to the current path and the movement information of the target object in the current path. Wherein the current path refers to a path generated in consideration of a real obstacle. When determining the current path, a path planning proposition can be established, which can be: the problem of how to make the target object safely avoid the real obstacle in the current environment with the real obstacle. The path planning proposition can be further solved to obtain a current path. The movement information refers to a movement speed of the target object, and the movement speed may be a speed set in advance, so that a reference trajectory may be generated as the trajectory according to the current path and the configured movement speed. After the movement information is determined, the timestamp information of the target object can be correspondingly determined, and then the reference track of the target object is generated by integrating the information of the path and the time dimension. This reference trajectory may be referred to herein as χ 0 When the moving speed is fixed, the motion process time interval corresponding to the target object can be represented as [ t ] 0 ,t 1 ]. It should be noted that the reference trajectory may be adjusted according to the obstacle situation in the invisible area.
In step S420, a reference point is generated within the invisible area.
In the embodiments of the present disclosure, it is,the reference point refers to a point for determining a potential obstacle, which may be a particle point. The reference point may be located within the non-visible area and initially at rest. It should be noted that, in the time interval in which the target object moves according to the reference trajectory, the reference point may also move in a certain direction at any attitude angle according to a preset speed so as to be in a motion state, and the reference point may move according to a straight line or a curved line, and the like, which is not limited herein. For example, the reference point is initially stationary in the invisible area, and during the time interval in which the target object moves, the reference point is at a certain time t within the time interval move ∈[t 0 ,t 1 ]Suddenly at a constant speed v ∈ [0 max ]In a certain direction theta epsilon 0,2 pi]And makes a linear motion.
In generating the reference point, the reference point may be randomly generated within the invisible region according to a monte carlo manner. The monte carlo method refers to a calculation method based on a probabilistic and statistical theory method in a plane space, and is a method for solving many calculation problems using random numbers (or more generally, pseudo random numbers). The solved problem is associated with a certain probability model, and statistical simulation or sampling is implemented by an electronic computer to obtain an approximate solution of the problem. The monte carlo method is to reflect the probability distribution in the instantiation mode, so as to reflect the distribution of the generated result intuitively, and facilitate the subsequent processing. The main steps of the monte carlo method may include: a simple and convenient probability statistical model is established for practical problems, and the quantity is just the probability distribution or the numerical characteristic of the model. A sampling method is established for the random variables of the model, simulation test is carried out on a computer, and enough random numbers are extracted. The results of the simulation experiment are statistically analyzed, giving an "estimate" of the solution. If necessary, the model is improved to improve the estimation precision, reduce the experiment cost and improve the simulation efficiency. When the reference point is generated in the invisible area in the Monte Carlo mode, the generated reference point can be more accurate, and larger deviation is avoided, so that the generated random point is more consistent with the actual situation.
In step S430, if it is detected that the reference point exists on the reference track when the target object moves according to the reference track, determining an area where the potential obstacle is located in the invisible area according to the reference point and the state information of the target object.
In the embodiment of the disclosure, the invisible area can be converted into a measurable area where the potential obstacle is located according to the information of the current environment and the state information of the target object, so as to reasonably plan the path of the target object. The state information can be in both abnormal and normal states. The abnormal state refers to an abnormal driving state, for example, a state in which the target object collides with another object other than the real obstacle, and the abnormal state may be a state in which the target object still collides after a preset operation is performed. The preset operation may be, for example, an operation for avoiding the reference point, such as an operation for accelerating or decelerating the target object, but the specific degree of acceleration and deceleration is not particularly limited. For example, the target object is controlled to brake by the maximum deceleration in order to avoid the collision. Or the target object is controlled to accelerate by the maximum acceleration within a suitable range to avoid the collision. The normal state refers to a state in which the target object does not collide with an object other than the real obstacle, and the normal state may include a normal state in which a preset operation is performed and a normal state in which a preset operation is not performed. It should be noted that, when the preset operation is detected, the path remains unchanged, parameters such as the speed of the target object are adjusted, and the path is affected differently by different speeds.
Fig. 5 schematically shows a flow chart for determining the area where the potential obstacle is located, and referring to fig. 5, the method mainly includes the following steps:
in step S510, it is determined whether a reference point exists on the reference track; if yes, go to step S520; if not, go to step S550.
In the embodiment of the present disclosure, the generated coordinates of the reference point may be compared with the coordinates of all points on the reference track, and if the comparison result is that the coordinates of the reference point coincide with the coordinates of any one of all points on the reference track, it may be considered that the reference point exists on the reference track. If they do not coincide, the reference point is deemed to be absent.
In step S520, if it is detected that the reference point exists on the reference track when the target object moves according to the reference track, continuously determining whether the state information of the target object is in an abnormal state; if yes, go to step S530; if not, go to step S540.
In the embodiment of the present disclosure, when the target object moves according to the reference trajectory, if the reference point exists on the reference trajectory, it is determined whether the target object is in an abnormal state after detecting that the target object performs an operation such as acceleration or deceleration. If the target object is in the abnormal state when moving according to the reference track, it can be shown that obstacles exist in other ranges besides the real obstacles, and since the real obstacles are all the obstacles in the visual field range, it can be determined that the obstacle causing the abnormal state exists in the invisible area. If no abnormal state occurs, the reference point is not a potential obstacle.
In step S530, if it is detected that the reference point exists on the reference track and the state information is an abnormal state, determining an area where the potential obstacle is located according to the reference point.
In the embodiment of the present disclosure, when there is a reference point and the target object is in an abnormal state, it may be considered that the abnormal state is caused by the reference point, which belongs to an abstract obstacle. The area in which the potential obstacle is located can thus be determined from the reference points. In particular, potential obstacles may be determined from the position information of the reference points. That is, when a reference point exists on the reference track, and the target object moves according to the reference track and is in an abnormal state through a preset operation, the position of the reference point may be acquired, and the area where the potential obstacle is located may be determined according to the position of the reference point and the area where the reference point is located.
For example, in the moving process of the target object, the information such as the distance from the reference point and the moving track of the reference point is detectedWhen the reference point 1 with potential collision risk is detected to exist on the reference track, a preset operation can be performed on the target object. If the target object still has an abnormal state after the preset operation is performed, it can be considered that there is a risk of the reference point 1, and the reference point 1 can be recorded and stored as the reference point (x) when the abnormal state occurs collide ,y collide ) The reference point of the abnormal state may be understood as a reference point concerned in the abnormal state (or a reference point for performing the preset operation), and each time the preset operation is performed, one reference point may be respectively corresponding to. In this way, each reference point is detected, and the area where the potential obstacle is located is obtained according to the recorded reference points of the abnormal state.
In step S540, if it is detected that the reference point exists on the reference track and the state information is a normal state, ignoring the reference point and stopping determining the area where the potential obstacle is located according to the reference point.
In the embodiment of the disclosure, when the target object moves according to the reference track, if the reference point exists on the reference track and is not in an abnormal state, it may be considered that no potential obstacle exists on the reference track, and no potential danger point exists, so that the reference point for executing the preset operation this time may be directly omitted, that is, the reference point is not stored. The state information here is in a normal state, and it can be understood that the target object bypasses the reference point through operations such as acceleration or deceleration, so as to avoid a collision state. In this way, it can be considered that the reference point can be avoided through the control of the target object, rather than being unavoidable, and therefore the influence of the reference point can be ignored. In addition, the state information here is in a normal state, and it can also be understood that the target object is in a normal driving state without a preset operation, and at this time, the reference point concerned can also be ignored. After the reference point is omitted, since the reference point is not a potential danger point, the reference point may not be considered when determining the area where the potential obstacle is located, and the determination of the area where the potential obstacle is located according to the reference point may be stopped.
In step S550, if it is detected that the reference point does not exist on the reference trajectory when the target object moves according to the reference trajectory, it is determined that the area where the potential obstacle does not exist on the reference trajectory.
In the embodiment of the present disclosure, when the target object moves according to the reference track, if there is no reference point on the reference track, it may be considered that there is no potential obstacle in the invisible area. If the reference point does not exist but the target object is in an abnormal state, the abnormal state can be considered to be caused by a real obstacle, and an area where a potential obstacle exists does not exist in the invisible area.
It should be noted that, for the randomly generated reference points, several reference points may be randomly generated according to the independent and equally distributed probabilities (for example, the number of the reference points may be in the order of 1000), and all the reference points where the abnormal state occurs are marked according to the steps from step S510 to step S550.
According to the technical scheme in fig. 5, by considering the reference track of the real obstacle, the reference point randomly generated and located in the invisible area, and whether the target object is in an abnormal state when moving according to the reference track, the area where the potential obstacle is located can be accurately obtained from the invisible area, so that the invisible area is converted into the area where the potential obstacle is located. Since the invisible area is converted into the area where the potential barrier can be measured in a balanced manner, the limitation that only the real barrier is considered and the invisible area is ignored can be avoided, and the current scene can be comprehensively analyzed.
Continuing to refer to fig. 2, in step S230, the area where the potential obstacle is located and the real obstacle are taken as target obstacles, and the path of the target object is planned in the current environment according to the position information of the target obstacles.
In the embodiment of the disclosure, after the area where the potential obstacle is located is obtained, the real obstacle and the area where the potential obstacle is located may be determined together as the target obstacle, that is, the target obstacle includes the real obstacle and the area where the potential obstacle is located formed by the plurality of reference points located in the invisible area. Both potential obstacles and real obstacles may be represented in the form of polygons. Further, the target object may be path planned according to the position information of the target obstacle. Path planning refers to finding a series of path points to be passed through in an environment with obstacles, the path points being positions or key angles in space, and the path points forming a collision-free path from a starting position to a target position. The goal of path planning is to make the path as far as possible from the obstacles and the length of the path as short as possible.
Specifically, the path planning of the target object in the current environment according to the position information of the target obstacle includes: and generating a target path according to the starting position and the end position of the target object and the position information of the target obstacle in the current environment. The target path refers to a path for the target object to normally move avoiding the target obstacle. The target path refers to a generated geometric curve which is connected with a motion starting point and a motion ending point of a target object and meets the vehicle kinematics law, and a geometric locus which does not have an abnormal state with any obstacle in the current environment.
Based on this, a path planning proposition can be established, which can be: the problem of how to safely avoid a target obstacle in the current environment of an area where the real obstacle and a potential obstacle in an invisible area exist is solved, so that the target object can be safely moved.
When solving the path planning proposition, tasks of the target object, such as parking, lane changing, crossing passing, normal driving and the like, can be acquired. And the method for planning the path for different tasks may be the same or different, and is not limited herein. Next, model building may be performed; further, a solution can be performed according to the model to obtain the target path. The model building algorithm may be any one of a graph search method, a random sampling method, a curve difference method, a machine learning method, and a dynamic optimization method, and here, the model building of the unmanned vehicle by the dynamic optimization method is described as an example. Specifically, analytic form constraint conditions for accurately describing collision avoidance between rectangular vehicles can be established based on a collision judgment method of graph areas; through a differential description scheme of the vehicle outline, for example, a rectangular, a double-circle and a single-circle are adopted to describe the vehicle body, and corresponding collision avoidance constraint condition systems are respectively established. The method comprises the steps of establishing a model corresponding to a dynamic optimization proposition by using a vehicle kinematic equation constraint, a minimized performance index, a path constraint (a control/state variable interval constraint and a collision avoidance constraint) acting on a motion time domain and having a constraint effect on a vehicle motion behavior, and an edge value constraint comprising an initial time constraint and a termination time constraint as constraint conditions, and using the minimum time or the shortest path as an optimization target.
Next, the unmanned vehicle may be path-planned through a dynamic planning algorithm. The dynamic programming algorithm may include any one of an indirect method, a dynamic programming method, and a direct method, which is described herein as an example. The direct method discretizes the time continuous variable in the original dynamic programming proposition, and obtains a solution by solving the time discrete nonlinear programming proposition formed after the discretization. Specifically, a complete discrete mode (complete simultaneous orthogonal configuration finite element method) can be selected to convert the time-continuous optimal control problem into a time-discrete nonlinear programming problem, and then a gradient optimization method (interior point algorithm) based on the barrier function is adopted to solve the time-discrete nonlinear programming problem. And (3) properly processing the obtained solution to be regarded as an approximately optimal or approximately feasible initial solution, and solving the original dynamic programming proposition to obtain a target path for representing the result of the dynamic programming proposition.
According to the technical scheme, the area where the potential obstacle is located is obtained from the invisible area, and the area where the potential obstacle is located and the real obstacle are jointly used as the target obstacle, so that the target object can be conveniently subjected to path planning in the current environment according to the target obstacle, and the purposes of accurate local path planning and avoidance of all obstacles are achieved. Because the area where the potential obstacle is located in the invisible area and the real obstacle in the visual field range are considered at the same time, the invisible area can be converted into measurable potential coordinate points, the problems of incomplete information and limitation caused by only considering the real obstacle and directly neglecting a dangerous point in the invisible area are avoided, and the positions of all obstacles and the potential dangerous point can be accurately and comprehensively determined, so that a target path which is more suitable for the current environment is accurately determined according to the more comprehensive target obstacle, the target path is more suitable, the probability of collision of a target object is reduced, and the safety and the reliability are improved when the target object moves according to the target path.
In an embodiment of the present disclosure, a path planning apparatus is further provided, and as shown in fig. 6, the path planning apparatus 600 mainly includes a first area obtaining module 601, a second area obtaining module 602, and a planning control module 603, where:
a first region obtaining module 601, configured to obtain an invisible region in a current environment where a target object is located;
a second region obtaining module 602, configured to obtain, from the invisible region, a region where a potential obstacle in the current environment is located;
and a planning control module 603, configured to use the area where the potential obstacle is located and the real obstacle as target obstacles, and perform path planning on the target object in the current environment according to the position information of the target obstacles.
In an exemplary embodiment of the present disclosure, the second region acquisition module includes: a reference trajectory acquisition module for acquiring a reference trajectory for the real obstacle; a reference point generating module, configured to generate a reference point in the invisible area; and the potential obstacle determining module is used for determining the area where the potential obstacle is located in the invisible area according to the reference point and the state information of the target object if the reference point is detected to exist on the reference track when the target object moves according to the reference track.
In an exemplary embodiment of the present disclosure, the reference trajectory acquisition module includes: and the track generation module is used for generating the reference track according to the current path and the movement information of the target object in the current path.
In an exemplary embodiment of the present disclosure, the potential obstacle determining module includes: and the obstacle simulation module is used for determining the area where the potential obstacle is located according to the reference point if the reference point is detected to exist on the reference track and the state information is in an abnormal state.
In an exemplary embodiment of the present disclosure, the potential obstacle determination module includes: and a stop determining module, configured to ignore the reference point and stop determining the area where the potential obstacle is located according to the reference point if it is detected that the reference point exists on the reference track and the state information is a normal state.
In an exemplary embodiment of the present disclosure, the reference point generating module is configured to: randomly generating the reference point within the invisible region in a Monte Carlo manner.
In an exemplary embodiment of the present disclosure, the planning control module includes: and the target path generating module is used for generating a target path according to the starting position and the end position of the target object and the position information of the target obstacle in the current environment.
In an exemplary embodiment of the present disclosure, the apparatus further includes: and the reference point recording module is used for storing a reference point corresponding to an abnormal state if the reference point is detected to exist on the reference track and the preset operation acted on the target object is detected, and the state information of the target object is the abnormal state.
It should be noted that the specific details of each module in the path planning apparatus have been described in detail in the corresponding path planning method, and therefore are not described herein again.
It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
Moreover, although the steps of the methods of the present disclosure are depicted in the drawings in a particular order, this does not require or imply that the steps must be performed in this particular order, or that all of the depicted steps must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken into multiple step executions, etc.
In an embodiment of the present disclosure, an electronic device capable of implementing the above method is also provided.
As will be appreciated by one skilled in the art, aspects of the present disclosure may be embodied as a system, method or program product. Accordingly, various aspects of the present disclosure may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.) or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "circuit," module "or" system.
An electronic device 700 according to this embodiment of the disclosure is described below with reference to fig. 7. The electronic device 700 shown in fig. 7 is only an example and should not bring any limitation to the function and the scope of use of the embodiments of the present disclosure.
As shown in fig. 7, electronic device 700 is in the form of a general purpose computing device. The components of the electronic device 700 may include, but are not limited to: the at least one processing unit 710, the at least one memory unit 720, and a bus 750 that couples various system components including the memory unit 720 and the processing unit 710.
Wherein the storage unit stores program code that can be executed by the processing unit 710 to cause the processing unit 710 to perform the steps according to various exemplary embodiments of the present disclosure described in the above section "exemplary method" of this specification. For example, the processing unit 710 may perform the steps as shown in fig. 2.
The storage unit 720 may include readable media in the form of volatile memory units, such as a random access memory unit (RAM) 7201 and/or a cache memory unit 7202, and may further include a read only memory unit (ROM) 7203.
The storage unit 720 may also include a program/utility 7204 having a set (at least one) of program modules 7205, such program modules 7205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.
The electronic device 700 may also communicate with one or more external devices 800 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device 700, and/or with any device (e.g., router, modem, etc.) that enables the electronic device 700 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 750. Also, the electronic device 700 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the internet) via the network adapter 760. As shown, the network adapter 760 communicates with the other modules of the electronic device 700 over the bus 730. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the electronic device 700, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
In an embodiment of the present disclosure, a computer-readable storage medium is further provided, on which a program product capable of implementing the above-mentioned method of the present specification is stored. In some possible embodiments, various aspects of the disclosure may also be implemented in the form of a program product comprising program code for causing a terminal device to perform the steps according to various exemplary embodiments of the disclosure as described in the "exemplary methods" section above of this specification, when the program product is run on the terminal device.
The program product for implementing the above method according to the embodiments of the present disclosure may employ a portable compact disc read only memory (CD-ROM) and include program codes, and may be run on a terminal device, such as a personal computer. However, the program product of the present disclosure is not so limited, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
A computer readable signal medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations for the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In situations involving remote computing devices, the remote computing devices may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to external computing devices (e.g., through the internet using an internet service provider).
Furthermore, the above-described figures are merely schematic illustrations of processes involved in methods according to embodiments of the present disclosure, and are not intended to be limiting. It will be readily understood that the processes shown in the above figures are not intended to indicate or limit the chronological order of the processes. In addition, it is also readily understood that these processes may be performed, for example, synchronously or asynchronously in multiple modules.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice in the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
Claims (10)
1. A method of path planning, comprising:
acquiring an invisible area in the current environment where a target object is located;
obtaining the area where the potential obstacle in the current environment is located from the invisible area;
taking the area where the potential barrier is located and a real barrier as target barriers, and planning a path of the target object in the current environment according to the position information of the target barriers;
acquiring the area where the potential obstacle in the current environment is located from the invisible area, wherein the acquiring includes:
acquiring a reference track for the real obstacle;
generating a reference point within the invisible region;
and if the reference point exists on the reference track when the target object moves according to the reference track, determining the area where the potential obstacle is located in the invisible area according to the reference point and the state information of the target object.
2. The path planning method according to claim 1, wherein obtaining the reference trajectory for the real obstacle comprises:
and generating the reference track according to the current path and the movement information of the target object in the current path.
3. The path planning method according to claim 1, wherein determining the area in which the potential obstacle is located in the invisible area according to the reference point and the state information of the target object comprises:
and if the reference point is detected to exist on the reference track and the state information is in an abnormal state, determining the area where the potential barrier is located according to the reference point.
4. The path planning method according to claim 1, wherein determining the area in which the potential obstacle is located in the invisible area according to the reference point and the state information of the target object comprises:
and if the reference point is detected to exist on the reference track and the state information is in a normal state, ignoring the reference point and stopping determining the area where the potential obstacle is located according to the reference point.
5. The path planning method according to claim 1, wherein generating a reference point within the invisible region comprises:
randomly generating the reference point within the invisible region in a Monte Carlo manner.
6. The path planning method according to claim 1, wherein path planning the target object in the current environment according to the position information of the target obstacle comprises:
and generating a target path according to the starting position and the end position of the target object and the position information of the target obstacle in the current environment.
7. The path planning method according to claim 1, characterized in that the method further comprises:
and if the reference point and the preset operation acting on the target object are detected to exist on the reference track, and the state information of the target object is in an abnormal state, storing the reference point corresponding to the abnormal state.
8. A path planning apparatus, comprising:
the first area acquisition module is used for acquiring an invisible area in the current environment where the target object is located;
the second area acquisition module is used for acquiring an area where the potential barrier in the current environment is located from the invisible area;
the planning control module is used for taking the area where the potential barrier is located and a real barrier as target barriers and planning the path of the target object in the current environment according to the position information of the target barriers;
acquiring the area where the potential obstacle in the current environment is located from the invisible area, wherein the acquiring includes:
acquiring a reference track for the real obstacle;
generating a reference point within the invisible area;
and if the reference point exists on the reference track when the target object moves according to the reference track, determining the area where the potential obstacle is located in the invisible area according to the reference point and the state information of the target object.
9. An electronic device, comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the path planning method of any of claims 1-7 via execution of the executable instructions.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the path planning method according to any one of claims 1 to 7.
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| CN113792249A (en) * | 2020-11-25 | 2021-12-14 | 北京京东乾石科技有限公司 | Driving data processing method and device, storage medium and electronic equipment |
| CN113885507A (en) * | 2021-10-20 | 2022-01-04 | 北京京东乾石科技有限公司 | Obstacle determination method and device |
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