CN117870706A

CN117870706A - Path updating method and device and vehicle-mounted terminal

Info

Publication number: CN117870706A
Application number: CN202311738975.XA
Authority: CN
Inventors: 董小瑜; 吕颖; 安孝文; 刘宇杰
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2023-12-15
Filing date: 2023-12-15
Publication date: 2024-04-12

Abstract

The application relates to a path updating method, a path updating device, computer equipment and a storage medium. Belonging to the technical field of automatic driving, the method comprises the following steps: position information of each path point on an initial running path planned for a target vehicle is acquired. And determining target point location information of each path point according to the position information of each path point on the initial driving path. The target point location information comprises target course angle information, curvature information and highest safety speed information. And updating the initial travel path according to the target point location information of each path point to obtain a target travel path. The method and the device can determine the target point position information of each path point based on the position information of each path point on the initial driving path, and update the initial driving path based on the target point position information of each path point, so that the updated target driving path not only has the position information, but also has the target course angle information, the curvature information and the highest safety speed information.

Description

Path updating method and device and vehicle-mounted terminal

Technical Field

The present disclosure relates to the field of autopilot technologies, and in particular, to a method and an apparatus for path update and a vehicle terminal.

Background

With the increasing severity of traffic problems, autopilot technology has received increasing attention from academia and industry because of its ability to improve traffic efficiency, improve vehicle safety, and reduce the burden on drivers.

However, most of the current automatic driving vehicles only can plan an automatic driving path when performing automatic driving operation, and then the automatic driving vehicles travel along the planned path, so that the path planning mode is single.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a method, an apparatus, and a vehicle-mounted terminal for updating a path to which target point location information is added.

In a first aspect, the present application provides a path update method. The method comprises the following steps:

acquiring position information of each path point on an initial running path planned for a target vehicle;

determining target point location information of each path point according to the position information of each path point on the initial driving path; the target point location information comprises target course angle information, curvature information and highest safety speed information;

and updating the initial travel path according to the target point location information of each path point to obtain a target travel path.

In one embodiment, determining target point location information of each path point according to location information of each path point on an initial travel path includes:

Determining initial course angle information of each path point according to the position information of each path point;

according to the initial course angle information of each path point, determining the course angle difference value between two adjacent path points in each path point;

determining target course angle information in target point position information of each path point according to initial course angle information of the first path point and course angle difference values between two adjacent path points in each path point; wherein, along the driving direction of the target vehicle, the initial course angle information of the first path point on the initial driving path is the same as the initial course angle information of the second path point.

In one embodiment, initial course angle information of each path point is determined according to the position information of each path point;

for each path point, determining a previous path point and a subsequent path point of the path point from the path points;

determining the direction of the front path point of the path point to the rear path point of the path point according to the position information of the front path point and the position information of the rear path point of the path point;

and determining initial course angle information of the path point according to the direction of the front path point of the path point pointing to the rear path point of the path point.

for each path point, selecting a first auxiliary path point and a second auxiliary path point of the path point from the path points; the first auxiliary path point and the second auxiliary path point are positioned at two sides of the path point, and the number of path point intervals between the first auxiliary path point and the path point is equal to the number of path point intervals between the second auxiliary path point and the path point;

and determining curvature information in the target point position information of the path point according to the position information of the path point, the position information of the first auxiliary path point and the position information of the second auxiliary path point.

In one embodiment, determining curvature information in target point location information of the waypoint, the location information of the first auxiliary waypoint and the location information of the second auxiliary waypoint includes:

determining the graphic information of an auxiliary triangle formed by the path point, the first auxiliary path point and the second auxiliary path point according to the position information of the path point, the position information of the first auxiliary path point and the position information of the second auxiliary path point;

Determining the curvature radius of the path point according to the graphic information of the auxiliary triangle;

and determining curvature information in the target point position information of the path point according to the curvature radius of the path point.

determining a first constraint condition of highest safe speed information of each path point according to the maximum accepted acceleration of a driver, the maximum longitudinal acceleration of a target vehicle, the interval distance between the path points and the curvature information of each path point;

determining a second constraint condition of highest safe speed information of each path point according to the preset speed of the target vehicle;

and determining highest safe speed information in the target point location information of each path point according to the preset speed of the target vehicle and the first constraint condition and the second constraint condition of each path point.

In one embodiment, updating the initial travel path according to the target point location information of each path point to obtain a target travel path includes:

smoothing the target point location information of each path point according to the length of the sliding window;

And updating the initial travel path according to the target point location information of each path point after the smoothing processing to obtain a target travel path.

and updating the position information of each path point in the initial travel path according to the target point position information of each path point to obtain the target travel path.

In a second aspect, the present application further provides a path updating apparatus. The device comprises:

the acquisition module is used for acquiring the position information of each path point on the initial running path planned for the target vehicle;

the determining module is used for determining the target point location information of each path point according to the position information of each path point on the initial driving path; the target point location information comprises target course angle information, curvature information and highest safety speed information;

and the updating module is used for updating the initial running path according to the target point position information of each path point to obtain a target running path.

In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor which when executing the computer program performs the steps of:

In a fourth aspect, the present application also provides a computer-readable storage medium. A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:

In a fifth aspect, the present application also provides a computer program product. Computer program product comprising a computer program which, when executed by a processor, realizes the steps of:

The path updating method, the path updating device and the vehicle-mounted terminal acquire the position information of each path point on the initial running path planned for the target vehicle. And determining target point location information of each path point according to the position information of each path point on the initial driving path. The target point location information comprises target course angle information, curvature information and highest safety speed information. And updating the initial travel path according to the target point location information of each path point to obtain a target travel path. According to the method and the device, the target point position information of each path point on the initial driving path can be determined based on the position information of each path point on the initial driving path, and the initial driving path is updated based on the target point position information of each path point, so that the updated target driving path not only has the position information, but also has the target course angle information, the curvature information and the highest safe speed information, the information contained in the target driving path is more comprehensive, and the fluency, the safety and the comfort in the process of executing an automatic driving function are effectively improved.

Drawings

Fig. 1 is an application environment diagram of a path updating method provided in the present embodiment;

fig. 2 is a flowchart of a first path updating method according to the present embodiment;

fig. 3 is a schematic flow chart of determining target heading angle information in target point location information of each path point according to the embodiment;

fig. 4 is a schematic diagram of determining target heading angle information in target point location information of each path point according to the present embodiment;

fig. 5 is a schematic flow chart of determining curvature information in target point location information of the path point according to the present embodiment;

fig. 6 is a schematic diagram of determining curvature information in target point location information of the path point according to the present embodiment;

fig. 7 is a schematic flow chart of determining highest security speed information in target point location information of each path point according to the present embodiment;

fig. 8 is a schematic diagram of a maximum acceleration circle provided in the present embodiment when determining the highest safe speed information in the target point location information of each path point;

fig. 9 is a flowchart of a second path updating method according to the present embodiment;

fig. 10 is a block diagram of a path updating device according to the present embodiment;

fig. 11 is an internal configuration diagram of the vehicle-mounted terminal provided in the present embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

The path updating method provided by the embodiment of the application can be applied to the situation of how to plan the path of the vehicle, and is particularly suitable for the situation of how to update the path planned for the vehicle. Alternatively, the path updating method may be performed by an in-vehicle terminal in the target vehicle, or may be performed by a server. For example, the in-vehicle terminal/server may update the initial travel path based on a preset path update logic in combination with position information of each path point on the initial travel path planned for the target vehicle. Further, the path updating method can also be performed by interaction between the vehicle-mounted terminal and the server, that is, the method can be applied to the application environment shown in fig. 1. When a path update request is received, the server 104 interacts with the vehicle-mounted terminal 102 in the target vehicle, and obtains, from the vehicle-mounted terminal 102, position information of each path point on the initial travel path planned for the target vehicle 102. The server 104 determines target point location information of each path point according to the position information of each path point on the initial travel path, and updates the initial travel path according to the target point location information of each path point to obtain a target travel path. The target point location information comprises target course angle information, curvature information and highest safety speed information.

The server 104 may be implemented as a stand-alone server or as a server cluster of multiple servers. The target vehicle may be an autonomous vehicle that requires a path update.

In one embodiment, as shown in fig. 2, a path updating method is provided, and the method is applied to the vehicle-mounted terminal in fig. 1, and as shown in fig. 2, the method includes the following steps:

s201, position information of each path point on an initial running path planned for a target vehicle is acquired.

The method is mainly applied to an automatic driving vehicle, so that the target vehicle generally refers to the automatic driving vehicle, and the possibility of application to a common vehicle is not excluded. The initial travel path is a travel path which is already planned and is not updated, and general automatic driving automobiles all have a path planning function, and detailed description of how to plan the initial travel path is omitted here. The path points are points on the initial driving path, the path points can be acquired from the initial driving path in an equidistant sampling mode, and the distance of the distance can be set according to the requirement. The position information refers to position information of the path point on the initially planned path.

An alternative implementation manner of this embodiment is as follows: and constructing a coordinate system according to the initial travel path, and taking the position information of each path point on the initial travel path on the X axis and the Y axis in the coordinate system as the position information of each path point.

Another alternative implementation of this embodiment is: and carrying out vectorization processing on the initial travel path strength, and acquiring the position information of each path point on the initial travel path based on the initial travel path after vectorization processing.

S202, determining target point position information of each path point according to the position information of each path point on the initial driving path. The target point location information comprises target course angle information, curvature information and highest safety speed information.

The target point location information refers to other information of the determined path points based on the position information of each path point, and the other information includes target course angle information, curvature information and highest safety speed information. The target course angle information refers to course angle information of a path point, and the curvature information refers to a numerical value of a degree of curvature at a reference point. The highest safe speed information is the maximum speed which ensures the safe and stable form of the target vehicle on the basis of meeting the comfort of personnel in the vehicle.

An alternative implementation manner of this embodiment is as follows: the position information of each path point on the initial driving path is input into the neural network model, and the neural network model outputs the target point position information of each path point. The target point location information comprises target course angle information, curvature information and highest safety speed information.

Another alternative implementation of this embodiment is: according to the position information of each path point on the initial driving path, the target course angle information, curvature information and highest safety speed information of each path point can be determined through mathematical operation.

S203, updating the initial travel path according to the target point location information of each path point to obtain a target travel path.

An alternative implementation manner of this embodiment is as follows: and updating the position information of each path point in the initial travel path according to the target point position information of each path point to obtain the target travel path. Optionally, a path matrix corresponding to the initial travel path is constructed in advance according to the position information of each path point in each initial travel path, the path matrix includes the position information of each path point (for example, includes the position information of each path point on the X axis and the position information of each path point on the Y axis), and the target point location information of each path point is added to the path matrix, that is, the position information of each path point in the initial travel path is updated, so as to obtain the target travel path. The optional ways of adding the target point location information of each path point to the path matrix are as follows: three columns are added in the path matrix and are respectively used for adding target course angle information, curvature information and highest safe speed information, namely, one column is used for adding the target course angle information of each path point, one column is used for adding the curvature information of each path point, and the last column is used for adding the highest safe speed information of each path point.

Another alternative implementation of this embodiment is: and smoothing the target point location information of each path point according to the length of the sliding window. And updating the initial travel path according to the target point location information of each path point after the smoothing processing to obtain a target travel path. Specifically, the sliding window length is preset, and the sliding window length may be set to be the number of path point intervals (for example, 3 path points are spaced), and each index (i.e., target heading angle information, curvature information, and highest safe speed information) in the target point location information of each path point is respectively smoothed according to the sliding window length. The target point location information may be smoothed by the following equation (1).

（1）

Wherein in the formula (1)An index value indicating an index (for example, curvature information) of a certain index in the target point position information of the i-th route point after the smoothing process; />An index value indicating one index in the target point location information of the i-th route point; />An index value indicating one index in the target point location information of the jth path point; />Represents the sliding window length (represented by the number of waypoints available at intervals); />Representing the total number of path points. For each of the route points, if the number of route points ahead or behind the route point is smaller than the sliding window length, the index value of each index of the route point is used as the index value of each index in the smoothed target point information according to the sorting position of the route point (sorting the route points along the traveling direction of the target vehicle).

And smoothing the target point location information of each path point according to the length of the sliding window. The problem of jitter or jump in path planning can be effectively solved.

According to the path updating method, the position information of each path point on the initial running path planned for the target vehicle is obtained. And determining target point location information of each path point according to the position information of each path point on the initial driving path. The target point location information comprises target course angle information, curvature information and highest safety speed information. And updating the initial travel path according to the target point location information of each path point to obtain a target travel path. According to the method and the device, the target point position information of each path point on the initial driving path can be determined based on the position information of each path point on the initial driving path, and the initial driving path is updated based on the target point position information of each path point, so that the updated target driving path not only has the position information, but also has the target course angle information, the curvature information and the highest safe speed information, the information contained in the target driving path is more comprehensive, and the fluency, the safety and the comfort in the process of executing an automatic driving function are effectively improved.

In one embodiment, in order to more accurately determine the target heading angle information of each waypoint, as shown in fig. 3, S202 is an alternative implementation, including:

s301, determining initial course angle information of each path point according to the position information of each path point.

The initial course angle information is course angle information of each path point which is calculated preliminarily according to the position information of each path point.

Alternatively, in this embodiment, as shown in fig. 4, for each of the path points, the preceding path point and the following path point of the path point are determined from the path points. According to the position information of the previous path point and the position information of the next path point of the path point, the direction that the previous path point points to the next path point of the path point is determined, for example, the slope from the previous path point to the next path point can be used as the direction that the previous path point points to the next path point of the path point. According to the direction that the front path point points to the rear path point of the path point, initial course angle information of the path point is determined, for example, the slope from the front path point to the rear path point can be subjected to arctangent calculation, and the initial course angle information of the path point is determined. Alternatively, the initial heading angle information of each of the path points may be determined by the following formula (2):

（2）

Wherein in the formula (2)Initial heading angle information representing an ith waypoint; />Y-axis coordinate values representing a subsequent path point of the ith path point; />A Y-axis coordinate value representing a previous path point of the i-th path point; />X-axis coordinate values representing a subsequent path point to the i-th path point; />Previous path representing the ith path pointX-axis coordinate values of the points; />Representing the total number of path points.

In the traveling direction of the target vehicle, since the first route point on the initial traveling route does not have a previous route point, the initial heading angle information of the first route point is identical to the initial heading angle information of the second route point. And since the last path point on the initial travel path does not have a subsequent path point, the initial heading angle information of the last path point is identical to the initial heading angle information of the path point preceding the last path point.

S302, according to the initial course angle information of each path point, determining the course angle difference value between two adjacent path points in each path point.

The course angle difference value refers to the difference value of the course angle between the back path point and the front path point in the adjacent path points.

Optionally, in this embodiment, because the initial heading angle information of the path points calculated by using the arctangent function has angle multiple values, a difference value between the calculated heading angle difference values between adjacent path points has a jump of 2npi (n is an integer), so as to prevent the heading angle difference value between the adjacent path points from jumping due to angle multiple values, after determining the heading angle difference value between two adjacent path points in each path point, correction processing is required to be performed on the heading angle difference value, and the method is toCorrection to-pi to pi can be performed to eliminate the angle multi-value.

S303, determining target course angle information in target point position information of each path point according to initial course angle information of the first path point and course angle difference values between two adjacent path points in each path point.

Optionally, in this embodiment, for each path point, the initial heading angle information of the first path point and the heading angle difference values between the path points in front of the path point may be summed to determine the target heading angle information in the target point location information of the path point. For example, the target heading angle information in the target point location information of each path point may be determined by the following formula (3):

（3）

Wherein in the formula (3)Target heading angle information representing an i-th waypoint; />Target heading angle information representing a first waypoint; />And the heading angle difference value of the initial heading angle information of the jth path point and the initial heading angle information of the previous path point is represented.

In this embodiment, initial heading angle information of each path point is determined according to the position information of each path point. And determining the course angle difference value between two adjacent path points in each path point according to the initial course angle information of each path point. According to the initial course angle information of the first path point and the course angle difference value between two adjacent path points in each path point, the target course angle information in the target point position information of each path point can be accurately determined.

In one embodiment, for more accurate curvature information of each path point, as shown in fig. 5, S202 is an alternative implementation, including:

s501, selecting a first auxiliary path point and a second auxiliary path point of each path point from the path points for each path point. The first auxiliary path point and the second auxiliary path point are positioned at two sides of the path point, and the number of the path point intervals between the first auxiliary path point and the path point is equal to the number of the path point intervals between the second auxiliary path point and the path point.

The first auxiliary path point is a first path point which is determined according to the position information of each path point and the number of path point intervals and is used for assisting in determining the curvature information of the path point. May be a waypoint ahead of each waypoint. The second auxiliary path point is a second path point which is determined according to the position information of each path point and the distance number of the path points and is used for assisting in determining the curvature information of the path point. May be a path point that is behind each path point.

Alternatively, the number of the path point intervals may be predetermined in the present embodiment, and for each path point, the first auxiliary path point is determined from the front of the path point according to the number of the path point intervals. A second auxiliary waypoint is determined from behind the waypoint according to the number of waypoint intervals.

S502, determining curvature information in target point position information of the path point according to the position information of the path point, the position information of the first auxiliary path point and the position information of the second auxiliary path point.

Alternatively, in this embodiment, as shown in fig. 6, the graphic information of the auxiliary triangle formed by the path point, the first auxiliary path point and the second auxiliary path point may be determined according to the position information of the path point, the position information of the first auxiliary path point and the position information of the second auxiliary path point. The radius of curvature of the path point is determined from the graphical information of the auxiliary triangle. And determining curvature information in the target point position information of the path point according to the curvature radius of the path point.

An alternative embodiment for determining the radius of curvature of the path point from the graphical information of the auxiliary triangle is: the radius of curvature of the waypoint may be determined from the ratio of the product of the three side lengths of the triangle to the area of the triangle. The radius of curvature of each store can be determined by the following equation (4):

（4）

wherein in the formula (4)Representing the radius of curvature of the ith path point; />Representing a first auxiliary path point;an i-th path point; />Representing a second auxiliary path point; />Representing the area of the auxiliary triangle;representing the number of path point intervals.

According to the curvature radius of the path point, an alternative implementation manner of determining the curvature information in the target point location information of the path point is as follows: the inverse of the radius of curvature of the path point may be used as the curvature information in the target point location information of the path point.

It should be noted that, in the traveling direction of the target vehicle, the first few of the route points may not have the first auxiliary route point, the second few of the route points may not have the second auxiliary route point, and in this case, when the route points do not have the first auxiliary route point or the second auxiliary route point, the curvature information of such route points may be determined according to the number of route point intervals and the curvature information of other route points. For example, curvature information of such path points may be determined by the following equation (5):

（5）

Wherein,curvature information indicating an i-th path point; />Curvature information indicating a j-th path point;representing the number of path point intervals.

In this embodiment, for each path point, a first auxiliary path point and a second auxiliary path point of the path point are selected from the path points. And constructing the obtained graphic information of the auxiliary triangle according to the position information of the path point, the position information of the first auxiliary path point and the position information of the second auxiliary path point, so that the curvature information of each path point can be accurately determined.

In one embodiment, in order to satisfy the driving efficiency and riding comfort of the target vehicle, the safety of the target vehicle may be further ensured, as shown in fig. 7, an alternative embodiment of S202 includes:

s701, determining a first constraint condition of highest safe speed information of each route point according to a maximum accepted acceleration of a driver, a maximum longitudinal acceleration of a target vehicle, an interval distance between route points, and curvature information of each route point.

The maximum acceptable acceleration of the driver refers to the maximum acceptable acceleration of the passengers in the vehicle, and exceeding the maximum acceptable acceleration affects the riding comfort. The maximum longitudinal acceleration of the target vehicle refers to the maximum acceleration of the target vehicle itself. The first constraint is a constraint for assisting in determining the highest safe vehicle speed.

Alternatively, in this embodiment, constraint conditions of lateral acceleration and longitudinal angular velocity of each path point may be constructed according to the maximum accepted acceleration of the driver, the maximum longitudinal acceleration of the target vehicle, and a maximum acceleration circle (as shown in fig. 8), as shown in the following formula (6):

（6）

wherein in the formula (6)Lateral acceleration representing the i-th waypoint; />Longitudinal acceleration representing the i-th waypoint; />Maximum accepted acceleration of the driver; />Representing the maximum longitudinal acceleration of the target vehicle.

And determining the highest safe speed information expression of each path point according to the transverse acceleration, the longitudinal acceleration, the interval distance between the path points and the curvature information of each path point. Wherein the highest safe speed information expression is as shown in the following formula (7):

（7）

wherein in the formula (7)Representing the radius of curvature of the ith path point; />Highest safe speed information indicating an i-th path point; />Curvature information indicating an i-th path point; />Highest safe speed information indicating a previous path point to the i-th path point; />Representing the separation distance between the path points.

Substituting the above formula (7) into the above formula (6) can obtain the first constraint condition of the highest safe speed information of the ith path point.

S702, determining a second constraint condition of the highest safe speed information of each path point according to the preset speed of the target vehicle.

The preset speed refers to the running speed of the planned target vehicle during path planning. The second constraint is a constraint for assisting in determining the highest safe vehicle speed.

Alternatively, the second constraint on the highest safe speed information is that the trivial need for the highest safe speed information is less than the square of the target vehicle's preset speed.

S703, determining highest safe speed information in the target point location information of each path point according to the preset speed of the target vehicle and the first constraint condition and the second constraint condition of each path point.

Alternatively, the highest safe speed information in the target point location information of each path point may be determined in combination with the following formula (8), and the first constraint condition and the second constraint condition.

（8）

In the formula (8), J represents a performance function.

The highest safe speed information of the ith path point can be obtained by optimizing and solving through minimizing the performance function J and combining the first constraint condition and the second constraint condition. And by analogy, determining the highest safe speed information of each path point.

In this embodiment, the first constraint condition of the highest safe speed of each route point is determined according to the maximum received acceleration of the driver, the maximum longitudinal acceleration of the target vehicle, the distance between route points, and the curvature information of each route point. And determining a second constraint condition of the highest safe speed of each path point according to the preset speed of the target vehicle. According to the preset speed of the target vehicle, the first constraint condition and the second constraint condition of each path point, the highest safe speed information in the target point position information of each path point can be accurately determined.

In one embodiment, as shown in fig. 9, an alternative implementation of the path update method is as follows:

s901, acquiring position information of each route point on an initial travel route planned for a target vehicle.

S902, for each path point, a preceding path point and a following path point of the path point are determined from the path points.

S903, determining the direction of the front path point pointing to the rear path point of the path point according to the position information of the front path point and the position information of the rear path point of the path point.

S904, determining initial course angle information of the path point according to the direction of the front path point pointing to the rear path point of the path point.

S905, determining the course angle difference value between two adjacent path points in each path point according to the initial course angle information of each path point.

S906, determining target course angle information in target point position information of each path point according to initial course angle information of the first path point and course angle difference values between two adjacent path points in each path point. Wherein, along the driving direction of the target vehicle, the initial course angle information of the first path point on the initial driving path is the same as the initial course angle information of the second path point.

S907, for each path point, selecting a first auxiliary path point and a second auxiliary path point of the path point from the path points. The first auxiliary path point and the second auxiliary path point are positioned at two sides of the path point, and the number of the path point intervals between the first auxiliary path point and the path point is equal to the number of the path point intervals between the second auxiliary path point and the path point.

S908, determining the graphic information of the auxiliary triangle formed by the path point, the first auxiliary path point and the second auxiliary path point according to the position information of the path point, the position information of the first auxiliary path point and the position information of the second auxiliary path point.

S909, determining the curvature radius of the path point according to the graphic information of the auxiliary triangle.

S9010, determining curvature information in the target point position information of the path point according to the curvature radius of the path point.

S9011, determining a first constraint condition of the highest safe speed of each route point according to the maximum received acceleration of the driver, the maximum longitudinal acceleration of the target vehicle, the distance between route points, and the curvature information of each route point.

S9012, determining a second constraint condition of the highest safe speed of each path point according to the preset speed of the target vehicle.

S9013, determining highest safe speed information in target point position information of each path point according to the preset speed of the target vehicle and the first constraint condition and the second constraint condition of each path point.

S9014, smoothing the target point location information of each path point according to the sliding window length.

S9015, updating the position information of each path point in the initial travel path according to the target point location information of each path point after the smoothing processing, to obtain the target travel path.

The present embodiment obtains position information of each route point on an initial travel route planned for a target vehicle. And determining target point location information of each path point according to the position information of each path point on the initial driving path. The target point location information comprises target course angle information, curvature information and maximum safety speed information. And updating the initial travel path according to the target point location information of each path point to obtain a target travel path. According to the method and the device, the target point position information of each path point on the initial driving path can be determined based on the position information of each path point on the initial driving path, and the initial driving path is updated based on the target point position information of each path point, so that the updated target driving path not only has the position information, but also has the target course angle information, the curvature information and the maximum safety speed information, the information contained in the target driving path is more comprehensive, and the fluency, the safety and the comfort in the process of executing an automatic driving function are effectively improved.

Based on the same inventive concept, the embodiment of the application also provides a path updating device for realizing the above related path updating method. The implementation of the solution provided by the apparatus is similar to the implementation described in the above method, so the specific limitation in the embodiment of the path updating apparatus provided below may be referred to the limitation of the path updating method hereinabove, and will not be repeated here.

In one embodiment, as shown in fig. 10, there is provided a path updating apparatus 1, including:

an acquiring module 10, configured to acquire position information of each path point on an initial travel path planned for a target vehicle;

the determining module 20 is configured to determine target point location information of each path point according to location information of each path point on the initial travel path; the target point location information comprises target course angle information, curvature information and maximum safety speed information;

and the updating module 30 is configured to update the initial travel path according to the target point location information of each path point, so as to obtain a target travel path.

In one embodiment, the determining module 20 in fig. 10 above is also specifically configured to:

Determining a first constraint condition of the highest safe speed of each path point according to the maximum bearing acceleration of the driver, the maximum longitudinal acceleration of the target vehicle, the interval distance between the path points and the curvature information of each path point;

determining a second constraint condition of the highest safe speed of each path point according to the preset speed of the target vehicle;

In one embodiment, the update module 30 in fig. 10 is further specifically configured to:

The respective modules in the path updating apparatus described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, a vehicle-mounted terminal is provided, an internal structure of which may be shown in fig. 11. The vehicle-mounted terminal comprises a processor, a memory, an input/output interface, a communication interface, a display unit and an input device. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a path update method. The display unit of the computer device is used for forming a visual picture, and can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be a key, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.

It will be appreciated by those skilled in the art that the structure shown in fig. 11 is merely a block diagram of a portion of the structure associated with the present application and is not limiting of the computer device to which the present application applies, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.

In one embodiment, there is provided a vehicle-mounted terminal including a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:

determining target point location information of each path point according to the position information of each path point on the initial driving path; the target point location information comprises target course angle information, curvature information and maximum safety speed information;

In one embodiment, the processor when executing the computer program further performs the steps of: determining target point location information of each path point according to the position information of each path point on the initial driving path, including:

In one embodiment, the processor when executing the computer program further performs the steps of: determining initial course angle information of each path point according to the position information of each path point;

In one embodiment, the processor when executing the computer program further performs the steps of: the determining curvature information in target point location information of the path point includes:

In one embodiment, the processor when executing the computer program further performs the steps of: updating the initial travel path according to the target point location information of each path point to obtain a target travel path, comprising:

In one embodiment, a vehicle is provided, which includes the vehicle-mounted terminal in the above embodiment, where the vehicle-mounted terminal may implement the path updating method in the present application when in use.

In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:

In one embodiment, the computer program when executed by the processor further performs the steps of: determining target point location information of each path point according to the position information of each path point on the initial driving path, including:

In one embodiment, the computer program when executed by the processor further performs the steps of: determining initial course angle information of each path point according to the position information of each path point;

In one embodiment, the computer program when executed by the processor further performs the steps of: the determining curvature information in target point location information of the path point includes:

In one embodiment, the computer program when executed by the processor further performs the steps of: updating the initial travel path according to the target point location information of each path point to obtain a target travel path, comprising:

In one embodiment, a computer program product is provided comprising a computer program which, when executed by a processor, performs the steps of:

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.

Claims

1. A method of path update, the method comprising:

2. The method according to claim 1, wherein determining the target point location information of each path point according to the location information of each path point on the initial travel path comprises:

determining target course angle information in target point position information of each path point according to initial course angle information of the first path point and course angle difference values between two adjacent path points in each path point; and the initial course angle information of the first path point on the initial running path is the same as the initial course angle information of the second path point along the running direction of the target vehicle.

3. The method of claim 2, wherein the determining initial heading angle information of each waypoint is based on location information of each waypoint;

4. The method according to claim 1, wherein determining the target point location information of each path point according to the location information of each path point on the initial travel path comprises:

and determining curvature information in target point position information of the path point according to the position information of the path point, the position information of the first auxiliary path point and the position information of the second auxiliary path point.

5. The method of claim 4, wherein determining curvature information in target point location information for the waypoint, the location information for the first auxiliary waypoint and the location information for the second auxiliary waypoint comprises:

6. The method of claim 1, wherein determining target point location information for each of the waypoints based on the location information for each of the waypoints on the initial travel path comprises:

determining a first constraint condition of highest safe speed information of each path point according to the maximum accepted acceleration of a driver, the maximum longitudinal acceleration of the target vehicle, the interval distance between the path points and the curvature information of each path point;

7. The method of claim 1, wherein updating the initial travel path according to the target point location information of each path point to obtain a target travel path comprises:

8. The method of claim 1, wherein updating the initial travel path according to the target point location information of each path point to obtain the target travel path comprises:

and updating the position information of each path point in the initial travel path according to the target point position information of each path point to obtain a target travel path.

9. A path updating apparatus, the apparatus comprising:

and the updating module is used for updating the initial driving path according to the target point position information of each path point to obtain a target driving path.

10. An in-vehicle terminal comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the path updating method of any one of claims 1 to 7 when the computer program is executed.