CN111829540B - Driving track generation method and device, electronic equipment and storage medium - Google Patents
Driving track generation method and device, electronic equipment and storage mediumDownload PDFInfo
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Abstract
Description
Translated fromChinese技术领域technical field
本申请涉及计算机技术领域，具体涉及自动驾驶技术领域，尤其涉及驾驶轨迹生成方法、装置、电子设备及存储介质。The present application relates to the field of computer technology, in particular to the field of automatic driving technology, and in particular to a driving trajectory generation method, apparatus, electronic device, and storage medium.
背景技术Background technique
由于现实交通场景的复杂多样化，大规模的仿真测试已成为自动驾驶算法迭代过程必不可少的一环，而人工编辑场景是仿真测试重要的组成部分之一。Due to the complexity and diversity of real traffic scenarios, large-scale simulation testing has become an indispensable part of the iterative process of autonomous driving algorithms, and manual editing of scenarios is one of the important components of simulation testing.
相关技术中，通常依赖人工编辑增加途径点，从而辅助生成环岛场景的驾驶轨迹。In the related art, manual editing is usually used to add waypoints, so as to assist in generating the driving trajectory of the roundabout scene.
这种方式下，环岛场景的驾驶轨迹的生成效率不高，且生成的驾驶轨迹不平滑，导致生成的驾驶轨迹质量不高。In this way, the generation efficiency of the driving trajectories of the roundabout scene is not high, and the generated driving trajectories are not smooth, resulting in low quality of the generated driving trajectories.
发明内容SUMMARY OF THE INVENTION
提供了一种驾驶轨迹生成方法、装置、电子设备、存储介质及计算机程序产品，能够有效提升环岛场景的驾驶轨迹生成效率，提升驾驶轨迹的生成质量。Provided are a driving trajectory generation method, device, electronic device, storage medium and computer program product, which can effectively improve the driving trajectory generation efficiency of a roundabout scene and improve the driving trajectory generation quality.
根据第一方面，提供了一种驾驶轨迹生成方法，包括：确定与环岛场景的第一线路对应的目标贝塞尔曲线，所述第一线路为未入环岛的线路；确定所述环岛场景的第二线路对应的环形曲线，所述第二线路为环岛内的线路；根据所述目标贝塞尔曲线和所述环形曲线，生成所述环岛场景的驾驶轨迹。According to a first aspect, a method for generating a driving trajectory is provided, including: determining a target Bezier curve corresponding to a first line of a roundabout scene, where the first line is a line that does not enter the roundabout; A circular curve corresponding to a second route, where the second route is a route within a roundabout; and a driving trajectory of the roundabout scene is generated according to the target Bezier curve and the circular curve.
本申请实施例的驾驶轨迹生成方法，通过确定与环岛场景的第一线路对应的目标贝塞尔曲线，所述第一线路为未入环岛的线路，并确定所述环岛场景的第二线路对应的环形曲线，所述第二线路为环岛内的线路，以及根据所述目标贝塞尔曲线和所述环形曲线，生成所述环岛场景的驾驶轨迹，能够有效提升环岛场景的驾驶轨迹生成效率，提升驾驶轨迹的生成质量。In the driving trajectory generation method of the embodiment of the present application, the target Bezier curve corresponding to the first line of the roundabout scene is determined, and the first line is the line that does not enter the roundabout, and the second line of the roundabout scene is determined to correspond to The second route is a route in the roundabout, and the driving trajectory of the roundabout scene is generated according to the target Bezier curve and the circular curve, which can effectively improve the driving trajectory generation efficiency of the roundabout scene, Improve the generation quality of driving trajectories.
根据第二方面，提供了一种驾驶轨迹生成装置，包括：第一确定模块，用于确定与环岛场景的第一线路对应的目标贝塞尔曲线，所述第一线路为未入环岛的线路；第二确定模块，用于确定所述环岛场景的第二线路对应的环形曲线，所述第二线路为环岛内的线路；生成模块，用于根据所述目标贝塞尔曲线和所述环形曲线，生成所述环岛场景的驾驶轨迹。According to a second aspect, a driving trajectory generating device is provided, comprising: a first determination module configured to determine a target Bezier curve corresponding to a first line of a roundabout scene, where the first line is a line that does not enter the roundabout The second determination module is used to determine the loop curve corresponding to the second line of the roundabout scene, and the second line is the line in the roundabout; the generation module is used for according to the target Bezier curve and the loop curve to generate the driving trajectory of the roundabout scene.
本申请实施例的驾驶轨迹生成装置，通过确定与环岛场景的第一线路对应的目标贝塞尔曲线，所述第一线路为未入环岛的线路，并确定所述环岛场景的第二线路对应的环形曲线，所述第二线路为环岛内的线路，以及根据所述目标贝塞尔曲线和所述环形曲线，生成所述环岛场景的驾驶轨迹，能够有效提升环岛场景的驾驶轨迹生成效率，提升驾驶轨迹的生成质量。The driving trajectory generating device of the embodiment of the present application determines the target Bezier curve corresponding to the first line of the roundabout scene, where the first line is a line that does not enter the roundabout, and determines that the second line of the roundabout scene corresponds to The second route is a route in the roundabout, and the driving trajectory of the roundabout scene is generated according to the target Bezier curve and the circular curve, which can effectively improve the driving trajectory generation efficiency of the roundabout scene, Improve the generation quality of driving trajectories.
根据第三方面，提供了一种电子设备，包括：至少一个处理器；以及与所述至少一个处理器通信连接的存储器；其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行本申请实施例的驾驶轨迹生成方法。According to a third aspect, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor , the instructions are executed by the at least one processor, so that the at least one processor can execute the driving trajectory generation method of the embodiment of the present application.
本申请实施例的电子设备，通过确定与环岛场景的第一线路对应的目标贝塞尔曲线，所述第一线路为未入环岛的线路，并确定所述环岛场景的第二线路对应的环形曲线，所述第二线路为环岛内的线路，以及根据所述目标贝塞尔曲线和所述环形曲线，生成所述环岛场景的驾驶轨迹，能够有效提升环岛场景的驾驶轨迹生成效率，提升驾驶轨迹的生成质量。In the electronic device of the embodiment of the present application, the target Bezier curve corresponding to the first line in the roundabout scene is determined, and the first line is a line that does not enter the roundabout, and the loop corresponding to the second line in the roundabout scene is determined. curve, the second route is a route in the roundabout, and the driving trajectory of the roundabout scene is generated according to the target Bezier curve and the circular curve, which can effectively improve the driving trajectory generation efficiency of the roundabout scene and improve driving. The generation quality of the trajectory.
根据第四方面，提出了一种存储有计算机指令的非瞬时计算机可读存储介质，所述计算机指令用于使所述计算机执行本申请实施例公开的驾驶轨迹生成方法。According to a fourth aspect, a non-transitory computer-readable storage medium storing computer instructions is proposed, where the computer instructions are used to cause the computer to execute the driving trajectory generation method disclosed in the embodiments of the present application.
根据第五方面，提出了一种计算机程序产品，包括计算机程序，当所述计算机程序由处理器执行时实现本申请实施例公开的驾驶轨迹生成方法。According to a fifth aspect, a computer program product is proposed, including a computer program, which, when the computer program is executed by a processor, implements the driving trajectory generation method disclosed in the embodiments of the present application.
根据本申请的技术解决了环岛场景的驾驶轨迹的生成效率不高，且生成的驾驶轨迹不平滑，导致生成的驾驶轨迹质量不高的技术问题，有效提升环岛场景的驾驶轨迹生成效率，提升驾驶轨迹的生成质量。The technology according to the present application solves the technical problem that the generation efficiency of the driving trajectory of the roundabout scene is not high, and the generated driving trajectory is not smooth, which leads to the low quality of the generated driving trajectory, and effectively improves the driving trajectory generation efficiency of the roundabout scene and improves driving. The generation quality of the trajectory.
应当理解，本部分所描述的内容并非旨在标识本申请的实施例的关键或重要特征，也不用于限制本申请的范围。本申请的其它特征将通过以下的说明书而变得容易理解。It should be understood that the content described in this section is not intended to identify key or critical features of the embodiments of the application, nor is it intended to limit the scope of the application. Other features of the present application will become readily understood from the following description.
附图说明Description of drawings
附图用于更好地理解本方案，不构成对本申请的限定。其中：The accompanying drawings are used for better understanding of the present solution, and do not constitute a limitation to the present application. in:
图1是根据本申请第一实施例的示意图；1 is a schematic diagram according to a first embodiment of the present application;
图2是根据本申请第二实施例的示意图；2 is a schematic diagram according to a second embodiment of the present application;
图3为本申请实施例中环岛场景示意图；3 is a schematic diagram of a roundabout scene in an embodiment of the present application;
图4为本申请实施例确定控制点的应用示意图；FIG. 4 is an application schematic diagram of determining a control point according to an embodiment of the present application;
图5是根据本申请第三实施例的示意图；5 is a schematic diagram according to a third embodiment of the present application;
图6是根据本申请第四实施例的示意图；6 is a schematic diagram according to a fourth embodiment of the present application;
图7是根据本申请第五实施例的示意图；7 is a schematic diagram according to a fifth embodiment of the present application;
图8是用来实现本申请实施例的驾驶轨迹生成方法的电子设备的框图。FIG. 8 is a block diagram of an electronic device used to implement the driving trajectory generation method of the embodiment of the present application.
具体实施方式Detailed ways
以下结合附图对本申请的示范性实施例做出说明，其中包括本申请实施例的各种细节以助于理解，应当将它们认为仅仅是示范性的。因此，本领域普通技术人员应当认识到，可以对这里描述的实施例做出各种改变和修改，而不会背离本申请的范围和精神。同样，为了清楚和简明，以下的描述中省略了对公知功能和结构的描述。Exemplary embodiments of the present application are described below with reference to the accompanying drawings, which include various details of the embodiments of the present application to facilitate understanding, and should be considered as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted from the following description for clarity and conciseness.
图1是根据本申请第一实施例的示意图。其中，需要说明的是，本实施例的驾驶轨迹生成方法的执行主体为驾驶轨迹生成装置，该装置可以由软件和/或硬件的方式实现，该装置可以配置在电子设备中，电子设备可以包括但不限于终端、服务器端等。FIG. 1 is a schematic diagram according to a first embodiment of the present application. It should be noted that the execution body of the driving trajectory generation method in this embodiment is a driving trajectory generation device, which may be implemented by software and/or hardware, and the device may be configured in an electronic device, and the electronic device may include But not limited to terminal, server, etc.
如图1所示，该驾驶轨迹生成方法可以包括：As shown in Figure 1, the driving trajectory generation method may include:
S101：确定与环岛场景的第一线路对应的目标贝塞尔曲线，第一线路为未入环岛的线路。S101: Determine a target Bezier curve corresponding to a first line of the roundabout scene, where the first line is a line that does not enter the roundabout.
环岛场景是指包含有环岛的实际交通场景在仿真测试设备中的体现。The roundabout scene refers to the embodiment of the actual traffic scene including the roundabout in the simulation test equipment.
本申请实施例中，可以预先对仿真测试设备所呈现的环岛场景进行线路划分，将环岛场景的线路划分为未入环岛的线路和环岛内的线路，其中未入环岛的线路可以被称为第一线路，而环岛内的线路可以被称为第二线路，还可以对环岛场景划分得到出环岛的线路，该出环岛的线路，可以被称为第三线路。In the embodiment of the present application, the lines of the roundabout scene presented by the simulation test equipment may be divided in advance, and the lines of the roundabout scene may be divided into lines that do not enter the roundabout and lines within the roundabout, wherein the lines that do not enter the roundabout may be referred to as the first line. One line, and the line within the roundabout can be called the second line, and the roundabout scene can also be divided to obtain the line out of the roundabout, and the line out of the roundabout can be called the third line.
由于通常环岛场景的未入环岛的线路和环岛内的线路呈现出不同的线路特征，例如未入环岛的线路通常具有特定的方向性，非环状线路，而环岛内的线路通常为环状的线路，因此，本申请实施例中可以依据环岛场景的线路特征预先划分得到第一线路和第二线路，从而能够更好地辅助驾驶轨迹的生成。Usually, the lines that do not enter the roundabout in the roundabout scene and the lines inside the roundabout show different line characteristics, for example, the lines that do not enter the roundabout usually have a specific directionality, non-circular lines, while the lines in the roundabout are usually circular. Therefore, in the embodiment of the present application, the first route and the second route can be pre-divided according to the route characteristics of the roundabout scene, so that the generation of the driving trajectory can be better assisted.
本申请实施例中，拟合与环岛场景的第一线路对应的贝塞尔曲线，该对应的贝塞尔曲线可以被称为目标贝塞尔曲线，拟合得到的目标贝塞尔曲线能够用于描述未入环岛的线路对应的驾驶轨迹。In the embodiment of the present application, a Bezier curve corresponding to the first line of the roundabout scene is fitted, and the corresponding Bezier curve may be called a target Bezier curve, and the fitted target Bezier curve can be obtained by using It is used to describe the driving trajectory corresponding to the line that does not enter the roundabout.
贝塞尔曲线是一种包括线段和节点的矢量曲线，而其中节点主要包括控制点和数据点，也即，当形成矢量曲线时，可以首先确定数据点和控制点，而后，移动控制点，从而根据移动后控制点和数据点各自的位置形成矢量曲线。A Bezier curve is a vector curve including line segments and nodes, and the nodes mainly include control points and data points. That is, when a vector curve is formed, the data points and control points can be determined first, and then the control points can be moved. Thus, a vector curve is formed according to the respective positions of the control points and data points after the movement.
在具体执行的过程中，可以根据第一线路的形状特征、方向等确定控制点和数据点，从而拟合对应的目标贝塞尔曲线，或者，也可以根据用户的实际驾驶需求确定控制点和数据点，从而拟合对应的目标贝塞尔曲线，对此不作限制。During the specific execution process, the control points and data points may be determined according to the shape characteristics and direction of the first route, so as to fit the corresponding target Bezier curve, or the control points and data points may be determined according to the actual driving needs of the user. data points, so as to fit the corresponding target Bezier curve, which is not limited.
而本申请实施例中，参见图2，图2是根据本申请第二实施例的示意图，确定与环岛场景的第一线路对应的目标贝塞尔曲线，包括：In the embodiment of the present application, referring to FIG. 2 , FIG. 2 is a schematic diagram according to the second embodiment of the present application, and the target Bezier curve corresponding to the first line of the roundabout scene is determined, including:
S201：根据第一线路和第二线路，确定多个数据点。S201: Determine a plurality of data points according to the first line and the second line.
S202：根据环岛的形状参数结合多个数据点，确定控制点。S202: Determine the control point according to the shape parameter of the roundabout in combination with multiple data points.
环岛的形状参数例如为环岛的内环所在的位置坐标，以及内环的形状等等，对此不作限制。The shape parameters of the roundabout are, for example, the position coordinates of the inner ring of the roundabout, the shape of the inner ring, etc., which are not limited.
S203：根据多个数据点和控制点拟合目标贝塞尔曲线。S203: Fit a target Bezier curve according to multiple data points and control points.
由于上述在确定多个数据点时，结合了第一线路(未入环岛的线路)和第二线路(环岛内的线路)来确定数据点，以此实现根据未入环岛的线路和环岛内的线路的结合确定数据点，并且还结合了整个环岛的形状参数和数据点确定控制点，从而能够有效地模拟出未入环岛的线路和环岛内的线路之间的切入特征，使得拟合得到的目标贝塞尔曲线更具有参考价值。Because of the above, when multiple data points are determined, the first line (the line that does not enter the roundabout) and the second line (the line within the roundabout) are combined to determine the data point, so as to realize according to the line that does not enter the roundabout and the line within the roundabout. The combination of lines determines the data points, and also combines the shape parameters and data points of the entire roundabout to determine the control points, so that the cut-in characteristics between the lines that do not enter the roundabout and the lines within the roundabout can be effectively simulated, so that the fitting obtained The target Bezier curve has more reference value.
在一个更具体的示例中，上述的多个数据点可以为两个数据点，在根据第一线路和第二线路，确定多个数据点，还可以是从第一线路中确定一数据点；将第一线路和第二线路之间的切入点作为另一数据点，从而得到两个数据点，能够使得生成的驾驶轨迹在第一线路和第二线路相切处更为平滑，保障驾驶轨迹生成质量。In a more specific example, the above-mentioned multiple data points may be two data points, and the multiple data points may be determined according to the first line and the second line, or one data point may be determined from the first line; Taking the entry point between the first route and the second route as another data point, two data points can be obtained, which can make the generated driving trajectory smoother at the tangent of the first route and the second route, and ensure the driving trajectory Build quality.
参见图3，图3为本申请实施例中环岛场景示意图，其中，当在仿真测试设备中呈现环岛场景时，环岛场景内的第一线路31和第二线路32分别相应的标示出第一线路的中心线311和第二线路的中心线321，可以将第一线路和第二线路之间的切入点(切入点可以被标记为P2)作为另一数据点，切入点可以具体例如中心线311和中心线321相切的点，而从第一线路中确定一数据点时，可以例如是从第一线路的中心线311上确定一数据点(该一数据点可以被标记为P1)，从而确定得到两个数据点P1和P2。Referring to FIG. 3, FIG. 3 is a schematic diagram of a roundabout scene in an embodiment of the present application, wherein, when the roundabout scene is presented in the simulation test equipment, the
另外一个实施例中，上述在确定了两个数据点P1和P2后，还根据环岛的形状参数确定环岛的内环线路；确定一数据点和另一数据点之间的中线；将中线与内环线路的交点作为控制点，提供了一种简便地确定控制点的方法，并能够使得所拟合的目标贝塞尔曲线能够更契合环岛场景整体的形状特征。In another embodiment, after the two data points P1 and P2 are determined, the inner ring line of the roundabout is also determined according to the shape parameters of the roundabout; the center line between one data point and another data point is determined; The intersection point of the loop line is used as the control point, which provides a simple method to determine the control point, and can make the fitted target Bezier curve more suitable for the overall shape characteristics of the roundabout scene.
一并参见上述图3，图3中还示出了环岛的内环线路33，可以理解的是，不同形状参数的环岛，其对应的内环线路的位置可能不相同，上述在确定了两个数据点P1和P2后，还将两个数据点P1和P2之间的中线，并将中线与内环线路的交点作为控制点M，该交点为内环线路上靠近数据点P1和P2的交点。Referring to FIG. 3 above, the
作为一个更清晰的示例，参见图4，图4为本申请实施例确定控制点的应用示意图，图4示出了数据点P1和P2，以及数据点P1和P2之间的中线41，内环线路42，以及中线41和内环线路42之间的交点43(该交点43即为所确定的控制点)。As a clearer example, please refer to FIG. 4 , which is a schematic diagram of an application of determining a control point according to an embodiment of the present application.
在上述确定了两个数据点P1和P2，以及控制点之后，可以根据多个数据点和控制点拟合贝塞尔曲线，从而得到与第一线路对应的目标贝塞尔曲线，后续在生成驾驶轨迹时，可以直接将该目标贝塞尔曲线作为生成的第一线路对应的驾驶轨迹。After the two data points P1 and P2 and the control points are determined above, the Bezier curve can be fitted according to the multiple data points and control points, so as to obtain the target Bezier curve corresponding to the first line. When driving a trajectory, the target Bezier curve can be directly used as the driving trajectory corresponding to the generated first route.
S102：确定环岛场景的第二线路对应的环形曲线，第二线路为环岛内的线路。S102: Determine a circular curve corresponding to a second line of the roundabout scene, where the second line is a line within the roundabout.
可选地，环形曲线为圆形曲线，或者，环形曲线也可以为类圆形曲线、椭圆形曲线等，对此不作限制。Optionally, the annular curve is a circular curve, or the annular curve can also be a quasi-circular curve, an elliptical curve, etc., which is not limited.
本申请实施例中，通过针对环岛内的线路拟合得到对应的圆形曲线，能够使得生成的驾驶轨迹更为平滑，且具有更为广泛的适用性，便于驾驶轨迹生成方法的拓展。在具体执行的过程中，可以在第二线路内标定多个位置点，从而根据多个位置点的位置坐标，结合数学常识中的曲线拟合方法拟合得到第二线路对应的类圆形曲线、椭圆形曲线等，对此不作限制。In the embodiment of the present application, the corresponding circular curve is obtained by fitting the route in the roundabout, which can make the generated driving trajectory smoother and have wider applicability, which facilitates the expansion of the driving trajectory generation method. In the specific implementation process, multiple position points can be calibrated in the second line, so that according to the position coordinates of the multiple position points, combined with the curve fitting method in mathematical common sense, a quasi-circular curve corresponding to the second line can be obtained by fitting , elliptic curve, etc., which are not limited.
而本申请在具体执行的过程中，参见图5，图5是根据本申请第三实施例的示意图，确定环岛场景的第二线路对应的环形曲线，包括：In the specific implementation process of the present application, refer to FIG. 5 , which is a schematic diagram according to the third embodiment of the present application. The annular curve corresponding to the second line of the roundabout scene is determined, including:
S501：确定第二线路和第三线路之间的切出点，第三线路为出环岛的线路。S501: Determine the cut-out point between the second line and the third line, and the third line is the line that leaves the roundabout.
一并参见上述图3，上述图3中还示出了出环岛的线路(第三线路)34，可以确定第二线路和第三线路之间的切出点35，图3还示出了第三线路34的中心线341，则可以将第二线路的中心线321和第三线路34的中心线341相切的点作为切出点35，切出点35可以被标记为P4。Referring to the above-mentioned FIG. 3 together, the above-mentioned FIG. 3 also shows the line (third line) 34 exiting the roundabout, and the cut-
S502：从第二线路内确定目标点。S502: Determine the target point from the second route.
一并参见上述图3，可以在第二线路的中心线321上任意确定一个位置点并作为目标点36，该目标点36可以被标记为P3。Referring to FIG. 3 above, a position point can be arbitrarily determined on the
S503：根据另一数据点、切出点以及目标点，拟合得到与第二线路对应的环形曲线。S503: According to another data point, the cut-out point, and the target point, a ring-shaped curve corresponding to the second line is obtained by fitting.
上述在确定得到另一数据点(切入点P2)，切出点35(P4)，以及目标点36(P3)后，可以直接根据另一数据点(切入点P2)，切出点35(P4)，以及目标点36(P3)拟合一个圆形曲线并作为与第二线路对应的环形曲线。After it is determined to obtain another data point (entry point P2), cut out point 35 (P4), and target point 36 (P3), it can be directly based on another data point (entry point P2), cut out point 35 (P4) ), and the target point 36 (P3) is fitted with a circular curve as a circular curve corresponding to the second line.
在根据另一数据点(切入点P2)，切出点35(P4)，以及目标点36(P3)拟合一个圆形曲线，可以例如，使用另一数据点(切入点P2)，切出点35(P4)，以及目标点36(P3)计算出该环岛近似圆的圆心ca_p坐标及半径radius，并且，以障碍车位于切入线P2进行示例，以此时的障碍车的朝向为方向，以2度为步长，使用极坐标计算方式，逐步计算得出p2～p4之间的圆上的点坐标，从而绘制出一个圆形曲线作为拟合得到的与第二线路对应的环形曲线。After fitting a circular curve based on another data point (entry point P2), cut out point 35 (P4), and target point 36 (P3), it is possible, for example, to use another data point (entry point P2), cut out Point 35 (P4) and target point 36 (P3) calculate the center ca_p coordinates and radius radius of the approximate circle of the roundabout, and take the obstacle vehicle at the cut-in line P2 as an example, and take the direction of the obstacle vehicle at this time as the direction, Taking 2 degrees as a step, using the polar coordinate calculation method, gradually calculate the coordinates of the points on the circle between p2 and p4, so as to draw a circular curve as the ring curve corresponding to the second line obtained by fitting.
通过确定第二线路和第三线路之间的切出点，第三线路为出环岛的线路，从第二线路内确定目标点，以及根据另一数据点、切出点以及目标点，拟合得到与第二线路对应的环形曲线，能够所拟合的曲线能够更为精准地模拟出环岛内路线的特征，保障后续驾驶轨迹的生成效果。By determining the cut-out point between the second line and the third line, the third line is the line out of the roundabout, the target point is determined from the second line, and according to another data point, the cut-out point and the target point, fitting The annular curve corresponding to the second route is obtained, and the fitted curve can more accurately simulate the characteristics of the route in the roundabout and ensure the generation effect of the subsequent driving trajectory.
S103：根据目标贝塞尔曲线和环形曲线，生成环岛场景的驾驶轨迹。S103: Generate a driving trajectory of the roundabout scene according to the target Bezier curve and the annular curve.
上述在拟合得到目标贝塞尔曲线和环形曲线，可以直接将目标贝塞尔曲线和环形曲线共同作为环岛场景的驾驶轨迹。The target Bezier curve and the annular curve are obtained by the above fitting, and the target Bezier curve and the annular curve can be directly used as the driving trajectory of the roundabout scene.
另外一些实施例中，也可以提供障碍车驾驶圈数设定功能，由人工设定需求的驾驶圈数，控制障碍车模拟实际驾驶场景在环岛场景内行驶设定圈数，并在行驶的过程中对上述生成的驾驶轨迹进行微调修正，从而将修正后的驾驶轨迹作为环岛场景的驾驶轨迹，对此不作限制。In some other embodiments, the function of setting the number of driving laps for the obstacle vehicle can also be provided, and the required number of driving laps is manually set, and the obstacle vehicle is controlled to simulate the actual driving scene to drive the set number of laps in the roundabout scene, and during the driving process The above generated driving trajectory is fine-tuned and corrected in , so that the corrected driving trajectory is used as the driving trajectory of the roundabout scene, which is not limited.
本申请实施例所提供的的技术方案，适用于大部分环岛场景生成平滑轨迹，有效地解决了原来的人工编辑环岛场景中存在的heading突变、轨迹不平滑的技术问题，并且也较大程度地提高了效率，有力地支撑了边界能力评估工作以及自动驾驶场景体系建设工作。The technical solutions provided by the embodiments of the present application are suitable for generating smooth trajectories in most of the roundabout scenes, effectively solving the technical problems of sudden heading changes and uneven trajectories in the original manually edited roundabout scenes, and also to a large extent. The efficiency has been improved, and it has strongly supported the evaluation of boundary capabilities and the construction of automatic driving scenario systems.
本实施例中，通过确定与环岛场景的第一线路对应的目标贝塞尔曲线，第一线路为未入环岛的线路，并确定环岛场景的第二线路对应的环形曲线，第二线路为环岛内的线路，以及根据目标贝塞尔曲线和环形曲线，生成环岛场景的驾驶轨迹，能够有效提升环岛场景的驾驶轨迹生成效率，提升驾驶轨迹的生成质量。In this embodiment, the target Bezier curve corresponding to the first line of the roundabout scene is determined, the first line is the line that does not enter the roundabout, and the loop curve corresponding to the second line of the roundabout scene is determined, and the second line is the roundabout It can effectively improve the driving trajectory generation efficiency of the roundabout scene and improve the generation quality of the driving trajectory.
为了实现上述实施例，本申请实施例还提供一种驾驶轨迹生成装置。In order to realize the above embodiments, the embodiments of the present application further provide a driving trajectory generating device.
图6是根据本申请第四实施例的示意图。如图6所示，该驾驶轨迹生成装置600包括第一确定模块601、第二确定模块602和生成模块603，其中：FIG. 6 is a schematic diagram according to a fourth embodiment of the present application. As shown in FIG. 6 , the driving trajectory generating device 600 includes a first determining
第一确定模块601，用于确定与环岛场景的第一线路对应的目标贝塞尔曲线，第一线路为未入环岛的线路。The first determining
第二确定模块602，用于确定环岛场景的第二线路对应的环形曲线，第二线路为环岛内的线路。The
生成模块603，用于根据目标贝塞尔曲线和环形曲线，生成环岛场景的驾驶轨迹。The
在本申请的一个实施例中，参见图7，第一确定模块601，包括：In an embodiment of the present application, referring to FIG. 7 , the
第一确定子模块6011，用于根据第一线路和第二线路，确定多个数据点。The
第二确定子模块6012，用于根据环岛的形状参数结合多个数据点，确定控制点。The
拟合子模块6013，用于根据多个数据点和控制点拟合目标贝塞尔曲线。The fitting sub-module 6013 is used for fitting the target Bezier curve according to the multiple data points and control points.
在本申请的一个实施例中，多个数据点为两个数据点，第一确定子模块6011，具体用于：In an embodiment of the present application, the multiple data points are two data points, and the
从第一线路中确定一数据点；determining a data point from the first line;
将第一线路和第二线路之间的切入点作为另一数据点，从而得到两个数据点。Taking the cut point between the first line and the second line as another data point, resulting in two data points.
在本申请的一个实施例中，第二确定子模块6012，具体用于：In an embodiment of the present application, the
根据环岛的形状参数确定环岛的内环线路；Determine the inner ring route of the roundabout according to the shape parameters of the roundabout;
确定一数据点和另一数据点之间的中线；Determine the midline between one data point and another;
将中线与内环线路的交点作为控制点。Take the intersection of the center line and the inner ring line as the control point.
在本申请的一个实施例中，第二确定模块602，具体用于：In an embodiment of the present application, the second determining
确定第二线路和第三线路之间的切出点，第三线路为出环岛的线路；Determine the cut-out point between the second line and the third line, and the third line is the line out of the roundabout;
从第二线路内确定目标点；determine the target point from within the second route;
根据另一数据点、切出点以及目标点，拟合得到与第二线路对应的环形曲线。According to another data point, the cut-out point and the target point, a circular curve corresponding to the second line is obtained by fitting.
在本申请的一个实施例中，环形曲线为圆形曲线。In one embodiment of the present application, the annular curve is a circular curve.
需要说明的是，前述对驾驶轨迹生成方法的解释说明也适用于本实施例的驾驶轨迹生成装置，此处不再赘述。It should be noted that, the foregoing explanations on the driving trajectory generating method are also applicable to the driving trajectory generating apparatus of this embodiment, which will not be repeated here.
本实施例中，通过确定与环岛场景的第一线路对应的目标贝塞尔曲线，第一线路为未入环岛的线路，并确定环岛场景的第二线路对应的环形曲线，第二线路为环岛内的线路，以及根据目标贝塞尔曲线和环形曲线，生成环岛场景的驾驶轨迹，能够有效提升环岛场景的驾驶轨迹生成效率，提升驾驶轨迹的生成质量。In this embodiment, the target Bezier curve corresponding to the first line of the roundabout scene is determined, the first line is the line that does not enter the roundabout, and the loop curve corresponding to the second line of the roundabout scene is determined, and the second line is the roundabout It can effectively improve the driving trajectory generation efficiency of the roundabout scene and improve the generation quality of the driving trajectory.
根据本申请的实施例，本申请还提供了一种电子设备、一种可读存储介质和一种计算机程序产品。According to the embodiments of the present application, the present application further provides an electronic device, a readable storage medium, and a computer program product.
图8是用来实现本申请实施例的驾驶轨迹生成方法的电子设备的框图。电子设备旨在表示各种形式的数字计算机，诸如，膝上型计算机、台式计算机、工作台、个人数字助理、服务器、刀片式服务器、大型计算机、和其它适合的计算机。电子设备还可以表示各种形式的移动装置，诸如，个人数字处理、蜂窝电话、智能电话、可穿戴设备和其它类似的计算装置。本文所示的部件、它们的连接和关系、以及它们的功能仅仅作为示例，并且不意在限制本文中描述的和/或者要求的本申请的实现。FIG. 8 is a block diagram of an electronic device used to implement the driving trajectory generation method of the embodiment of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are by way of example only, and are not intended to limit implementations of the application described and/or claimed herein.
如图8所示，设备800包括计算单元801，其可以根据存储在只读存储器(ROM)802中的计算机程序或者从存储单元808加载到随机访问存储器(RAM)803中的计算机程序，来执行各种适当的动作和处理。在RAM 803中，还可存储设备800操作所需的各种程序和数据。计算单元801、ROM 802以及RAM 803通过总线804彼此相连。输入/输出(I/O)接口805也连接至总线804。As shown in FIG. 8 , the
设备800中的多个部件连接至I/O接口805，包括：输入单元806，例如键盘、鼠标等；输出单元807，例如各种类型的显示器、扬声器等；存储单元808，例如磁盘、光盘等；以及通信单元809，例如网卡、调制解调器、无线通信收发机等。通信单元809允许设备800通过诸如因特网的计算机网络和/或各种电信网络与其他设备交换信息/数据。Various components in the
计算单元801可以是各种具有处理和计算能力的通用和/或专用处理组件。计算单元801的一些示例包括但不限于中央处理单元(CPU)、图形处理单元(GPU)、各种专用的人工智能(AI)计算芯片、各种运行机器学习模型算法的计算单元、数字信号处理器(DSP)、以及任何适当的处理器、控制器、微控制器等。计算单元801执行上文所描述的各个方法和处理，例如，驾驶轨迹生成方法。
例如，在一些实施例中，驾驶轨迹生成方法可被实现为计算机软件程序，其被有形地包含于机器可读介质，例如存储单元808。在一些实施例中，计算机程序的部分或者全部可以经由ROM 802和/或通信单元809而被载入和/或安装到设备800上。当计算机程序加载到RAM 803并由计算单元801执行时，可以执行上文描述的驾驶轨迹生成方法的一个或多个步骤。备选地，在其他实施例中，计算单元801可以通过其他任何适当的方式(例如，借助于固件)而被配置为执行驾驶轨迹生成方法。For example, in some embodiments, the driving trajectory generation method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as
本文中以上描述的系统和技术的各种实施方式可以在数字电子电路系统、集成电路系统、场可编程门阵列(FPGA)、专用集成电路(ASIC)、专用标准产品(ASSP)、芯片上系统的系统(SOC)、负载可编程逻辑设备(CPLD)、计算机硬件、固件、软件、和/或它们的组合中实现。这些各种实施方式可以包括：实施在一个或者多个计算机程序中，该一个或者多个计算机程序可在包括至少一个可编程处理器的可编程系统上执行和/或解释，该可编程处理器可以是专用或者通用可编程处理器，可以从存储系统、至少一个输入装置、和至少一个输出装置接收数据和指令，并且将数据和指令传输至该存储系统、该至少一个输入装置、和该至少一个输出装置。Various implementations of the systems and techniques described herein above may be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips system (SOC), load programmable logic device (CPLD), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include being implemented in one or more computer programs executable and/or interpretable on a programmable system including at least one programmable processor that The processor, which may be a special purpose or general-purpose programmable processor, may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device an output device.
用于实施本申请的驾驶轨迹生成方法的程序代码可以采用一个或多个编程语言的任何组合来编写。这些程序代码可以提供给通用计算机、专用计算机或其他可编程数据处理装置的处理器或控制器，使得程序代码当由处理器或控制器执行时使流程图和/或框图中所规定的功能/操作被实施。程序代码可以完全在机器上执行、部分地在机器上执行，作为独立软件包部分地在机器上执行且部分地在远程机器上执行或完全在远程机器或服务器上执行。Program code for implementing the driving trajectory generation method of the present application may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer or other programmable data processing apparatus, such that the program code, when executed by the processor or controller, performs the functions/functions specified in the flowcharts and/or block diagrams. Action is implemented. The program code may execute entirely on the machine, partly on the machine, partly on the machine and partly on a remote machine as a stand-alone software package or entirely on the remote machine or server.
在本申请的上下文中，机器可读介质可以是有形的介质，其可以包含或存储以供指令执行系统、装置或设备使用或与指令执行系统、装置或设备结合地使用的程序。机器可读介质可以是机器可读信号介质或机器可读储存介质。机器可读介质可以包括但不限于电子的、磁性的、光学的、电磁的、红外的、或半导体系统、装置或设备，或者上述内容的任何合适组合。机器可读存储介质的更具体示例会包括基于一个或多个线的电气连接、便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器(EPROM或快闪存储器)、光纤、便捷式紧凑盘只读存储器(CD-ROM)、光学储存设备、磁储存设备、或上述内容的任何合适组合。In the context of this application, a machine-readable medium may be a tangible medium that may contain or store the program for use by or in connection with the instruction execution system, apparatus or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media may include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media would include one or more wire-based electrical connections, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), fiber optics, compact disk read only memory (CD-ROM), optical storage, magnetic storage, or any suitable combination of the foregoing.
为了提供与用户的交互，可以在计算机上实施此处描述的系统和技术，该计算机具有：用于向用户显示信息的显示装置(例如，CRT(阴极射线管)或者LCD(液晶显示器)监视器)；以及键盘和指向装置(例如，鼠标或者轨迹球)，用户可以通过该键盘和该指向装置来将输入提供给计算机。其它种类的装置还可以用于提供与用户的交互；例如，提供给用户的反馈可以是任何形式的传感反馈(例如，视觉反馈、听觉反馈、或者触觉反馈)；并且可以用任何形式(包括声输入、语音输入或者、触觉输入)来接收来自用户的输入。To provide interaction with a user, the systems and techniques described herein may be implemented on a computer having a display device (eg, a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user ); and a keyboard and pointing device (eg, a mouse or trackball) through which a user can provide input to the computer. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (eg, visual feedback, auditory feedback, or tactile feedback); and can be in any form (including acoustic input, voice input, or tactile input) to receive input from the user.
可以将此处描述的系统和技术实施在包括后台部件的计算系统(例如，作为数据服务器)、或者包括中间件部件的计算系统(例如，应用服务器)、或者包括前端部件的计算系统(例如，具有图形用户界面或者网络浏览器的用户计算机，用户可以通过该图形用户界面或者该网络浏览器来与此处描述的系统和技术的实施方式交互)、或者包括这种后台部件、中间件部件、或者前端部件的任何组合的计算系统中。可以通过任何形式或者介质的数字数据通信(例如，通信网络)来将系统的部件相互连接。通信网络的示例包括：局域网(LAN)、广域网(WAN)、互联网及区块链网络。The systems and techniques described herein may be implemented on a computing system that includes back-end components (eg, as a data server), or a computing system that includes middleware components (eg, an application server), or a computing system that includes front-end components (eg, a user's computer having a graphical user interface or web browser through which a user may interact with implementations of the systems and techniques described herein), or including such backend components, middleware components, Or any combination of front-end components in a computing system. The components of the system may be interconnected by any form or medium of digital data communication (eg, a communication network). Examples of communication networks include: Local Area Networks (LANs), Wide Area Networks (WANs), the Internet, and blockchain networks.
计算机系统可以包括客户端和服务器。客户端和服务器一般远离彼此并且通常通过通信网络进行交互。通过在相应的计算机上运行并且彼此具有客户端-服务器关系的计算机程序来产生客户端和服务器的关系。服务器可以是云服务器，又称为云计算服务器或云主机，是云计算服务体系中的一项主机产品，以解决了传统物理主机与VPS服务("Virtual Private Server"，或简称"VPS")中，存在的管理难度大，业务扩展性弱的缺陷。服务器也可以为分布式系统的服务器，或者是结合了区块链的服务器。A computer system can include clients and servers. Clients and servers are generally remote from each other and usually interact through a communication network. The relationship of client and server arises by computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or a cloud host. It is a host product in the cloud computing service system to solve the traditional physical host and VPS service ("Virtual Private Server", or "VPS" for short). , there are the defects of difficult management and weak business expansion. The server can also be a server of a distributed system, or a server combined with a blockchain.
应该理解，可以使用上面所示的各种形式的流程，重新排序、增加或删除步骤。例如，本发申请中记载的各步骤可以并行地执行也可以顺序地执行也可以不同的次序执行，只要能够实现本申请公开的技术方案所期望的结果，本文在此不进行限制。It should be understood that steps may be reordered, added or deleted using the various forms of flow shown above. For example, the steps described in the present application can be performed in parallel, sequentially or in different orders, and as long as the desired results of the technical solutions disclosed in the present application can be achieved, no limitation is imposed herein.
上述具体实施方式，并不构成对本申请保护范围的限制。本领域技术人员应该明白的是，根据设计要求和其他因素，可以进行各种修改、组合、子组合和替代。任何在本申请的精神和原则之内所作的修改、等同替换和改进等，均应包含在本申请保护范围之内。The above-mentioned specific embodiments do not constitute a limitation on the protection scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of this application shall be included within the protection scope of this application.
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