CN114485706A - A route planning method, device, storage medium and electronic device - Google Patents
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Abstract
Description
Translated fromChinese技术领域technical field
本说明书涉及自动驾驶技术领域，尤其涉及一种路线规划方法、装置、存储介质及电子设备。This specification relates to the technical field of automatic driving, and in particular, to a route planning method, device, storage medium and electronic device.
背景技术Background technique
在自动驾驶领域，在自动驾驶设备(以下简称无人车)行驶之前，通常会先为无人车规划出一条行驶路线，使无人车能够沿着行驶路线行驶。In the field of autonomous driving, before the autonomous driving device (hereinafter referred to as the unmanned vehicle), a driving route is usually planned for the unmanned vehicle, so that the unmanned vehicle can travel along the driving route.
在获知无人车的起点和终点之后，即可以为无人车规划出一条自起点至终点的路线，在现有技术中，通常会为无人车规划出一条自起点至终点行驶路线的路线长度最短的路线。After knowing the starting point and ending point of the unmanned vehicle, a route from the starting point to the ending point can be planned for the unmanned vehicle. In the prior art, a route from the starting point to the ending point is usually planned for the unmanned vehicle. The shortest route.
根据规划路线时所采用的地图的精度不同，除了基于如图1A所示的拓扑结构的二维地图生成用于导航的路线，在基于如图1B所示的高精地图进行路线规划时，由于高精地图中还规划出了在每个路道路上的车道，因此，还可以生成车道的序列，作为所规划出的路由，参见图1B，可以为无人车生成L3、L6、L7、L11的路由以指示无人车朝向右前方行驶。Depending on the precision of the map used when planning the route, in addition to generating the route for navigation based on the two-dimensional map with the topology shown in Figure 1A, when planning the route based on the high-precision map shown in Figure 1B, due to The lanes on each road are also planned in the high-precision map. Therefore, a sequence of lanes can also be generated as the planned route, see Figure 1B, L3, L6, L7, L11 can be generated for the unmanned vehicle route to instruct the unmanned vehicle to go forward right.
但采用上述任一方式中所规划的行驶路线，都仅仅是根据起点位置、终点位置以及交通信息所生成的，在此情形下，往往只能基于行驶路线的路线长度最短这一种策略来生成路线，所生成的路线较为单一，当无人车的存在着其他行驶需求(例如急刹次数最少)时，该单一策略所生成的行驶路线无法满足无人车的行驶需求。However, the driving route planned by any of the above methods is only generated based on the starting point position, the ending point position and the traffic information. In this case, it can only be generated based on the shortest route length strategy. Route, the generated route is relatively simple. When the unmanned vehicle has other driving requirements (such as the minimum number of sudden braking), the driving route generated by this single strategy cannot meet the driving demand of the unmanned vehicle.
发明内容SUMMARY OF THE INVENTION
本说明书提供一种路线规划方法、装置、存储介质及电子设备，以部分的解决现有技术存在的上述问题。This specification provides a route planning method, device, storage medium and electronic device to partially solve the above problems existing in the prior art.
本说明书采用下述技术方案：This manual adopts the following technical solutions:
本说明书提供了一种路线规划方法，包括：This specification provides a route planning method including:
获取预先构建的路网，其中，所述路网中包括位置节点，以及用于表示各位置节点之间的连通关系的边；acquiring a pre-built road network, wherein the road network includes location nodes and edges used to represent the connectivity between the location nodes;
获取历史行驶数据，并根据所述历史行驶数据确定出若干个行驶数据的评价指标，针对每个评价指标，基于所述路网中各位置节点之间的连通关系，确定出在该评价指标下，所述路网中每个边的代价权重，得到该评价指标下所述路网对应的有向图，作为该评价指标对应的有向图；Obtain historical driving data, and determine a number of evaluation indicators of the driving data according to the historical driving data, and for each evaluation indicator, based on the connectivity relationship between each location node in the road network, determine the evaluation indicators under the evaluation indicators , the cost weight of each edge in the road network, and the directed graph corresponding to the road network under the evaluation index is obtained as the directed graph corresponding to the evaluation index;
根据预先在所述路网中指定出的起点节点和终点节点，针对每个有向图，以节点序列所连通出的各有向边的代价权重最小为目标，确定出自所述起点节点至所述终点节点的节点序列，作为在该有向图对应的评价指标下所确定出的候选路线，其中，各候选路线中的至少一个候选路线为提供给用户的目标路线。According to the starting point node and the ending point node specified in the road network in advance, for each directed graph, with the goal of minimizing the cost weight of each directed edge connected by the node sequence, determine the path from the starting point node to the destination node. The node sequence of the end node is used as the candidate route determined under the evaluation index corresponding to the directed graph, wherein at least one candidate route in each candidate route is the target route provided to the user.
可选地，预先在所述路网中指定出的起点节点和终点节点，具体包括：Optionally, the starting point node and the ending point node specified in the road network in advance specifically include:
响应于所接收到的用户输入的目标任务，将所述目标任务的起点所位于的节点作为起点节点，并将所述目标任务的终点所位于的节点作为终点节点。In response to the received target task input by the user, the node where the start point of the target task is located is used as the start node, and the node where the end point of the target task is located is used as the end node.
可选地，确定出自所述起点节点至所述终点节点的节点序列，作为在该有向图对应的评价指标下所确定出的候选路线之后，所述方法还包括：Optionally, after determining the node sequence from the starting point node to the ending point node as the candidate route determined under the evaluation index corresponding to the directed graph, the method further includes:
响应于所接收到的用户输入的目标任务，确定所述目标任务的起点和终点；In response to the received target task input by the user, determining the start point and the end point of the target task;
若所述目标任务的起点位于所述起点节点，并且所述目标任务的终点位于所述终点节点，则从所确定出的各评价指标下的候选路线中选择出目标路线。If the start point of the target task is located at the start point node, and the end point of the target task is located at the end point node, a target route is selected from the candidate routes under each determined evaluation index.
可选地，当行驶对象为自动驾驶设备时，所述历史行驶数据包含所述行驶对象从自动驾驶状态被接管控制的次数；Optionally, when the driving object is an automatic driving device, the historical driving data includes the number of times the driving object is taken over from the automatic driving state;
所确定出的至少一个评价指标包括：行驶对象沿所确定出的候选路线行驶时从自动驾驶状态被接管控制的次数。The determined at least one evaluation index includes the number of times that the driving object is taken over from the automatic driving state when the driving object travels along the determined candidate route.
可选地，以所确定出的节点序列所连通出的各有向边的代价权重最小为目标，确定出自所述起点节点至所述终点节点的节点序列，具体包括：Optionally, taking the minimum cost weight of each directed edge connected by the determined sequence of nodes as the goal, determining the sequence of nodes from the start node to the end node, specifically including:
将起点节点作为当前节点，根据所述路网中各位置节点之间的连通关系，确定出目标设备位于当前节点时的各可通行节点；Taking the starting point node as the current node, according to the connection relationship between the position nodes in the road network, determine each passable node when the target device is located at the current node;
针对每个可通行节点，根据所述路网中有向边的代价权重，确定途经该可通行节点时，自所述起点节点至所述终点节点所连通出的各有向边的代价权重，作为该可通行节点的通行代价权重；For each passable node, according to the cost weight of the directed edge in the road network, determine the cost weight of each directed edge connected from the starting node to the end node when passing through the passable node, as the pass cost weight of the passable node;
根据所确定出的各可通行节点的通行代价权重，从各可通行节点中选择出通行代价权重最小的目标节点，并将所述目标节点更新为当前节点；According to the determined access cost weight of each passable node, select the target node with the smallest access cost weight from each passable node, and update the target node to the current node;
根据更新后的当前节点，继续确定目标节点，直到确定出的目标节点的可通行节点包括终点节点时，将各目标节点被确定为目标节点的顺序作为各目标节点在节点序列中的顺序，获得自起点节点至终点节点的包含各目标节点的节点序列。According to the updated current node, continue to determine the target node, until the passable nodes of the determined target node include the end node, take the order in which each target node is determined as the target node as the order of each target node in the node sequence, and obtain A sequence of nodes from the start node to the end node that includes each target node.
可选地，根据所述路网中有向边的代价权重，确定途经该可通行节点时，自所述起点节点至所述终点节点所连通出的各有向边的代价权重，作为该可通行节点的通行代价权重，具体包括：Optionally, according to the cost weight of the directed edge in the road network, when passing through the passable node, the cost weight of each directed edge connected from the start node to the end node is determined as the passable node. The weight of the pass cost of the pass node, including:
确定途经所选择出的各目标节点的节点序列所连通出的自所述起点节点至该可通行节点的各有向边，并根据所连通出的各有向边的代价权重，确定出该可通行节点的第一代价权重；Determine each directed edge from the starting point node to the passable node connected by the node sequence passing through each selected target node, and determine the passable node according to the cost weight of each connected directed edge. The first cost weight of the passing node;
根据所确定出的该可通行节点的第一代价权重，确定出该可通行节点的通行代价权重。According to the determined first cost weight of the passable node, the pass cost weight of the passable node is determined.
可选地，根据所述路网中有向边的代价权重，确定途经该可通行节点时，自所述起点节点至所述终点节点所连通出的各有向边的代价权重，作为该可通行节点的通行代价权重，具体包括：Optionally, according to the cost weight of the directed edge in the road network, when passing through the passable node, the cost weight of each directed edge connected from the start node to the end node is determined as the passable node. The weight of the pass cost of the pass node, including:
获取预先确定的标准代价权重；Get pre-determined standard cost weights;
根据该可通行节点的位置，以及所述终点节点的位置，确定出该可通行节点与所述终点节点之间的通行长度，作为该可通行节点的通行长度；According to the position of the passable node and the position of the end node, determine the travel length between the passable node and the end node as the travel length of the passable node;
确定出所述通行长度与所述标准代价权重之间的乘积，并作为该可通行节点的第二代价权重；determining the product of the passable length and the standard cost weight as the second cost weight of the passable node;
根据所确定出的该可通行节点的第二代价权重，确定出该可通行节点的通行代价权重。According to the determined second cost weight of the passable node, the pass cost weight of the passable node is determined.
可选地，确定出该可通行节点与所述终点节点之间的通行长度，具体包括：Optionally, determining the travel length between the passable node and the end node, specifically including:
基于预先指定的寻路算法，预测出自所述可通行节点至所述终点节点的预测路径，并将所述预测路径的路径长度作为该可通行节点与所述终点节点之间的通行长度。Based on a pre-specified pathfinding algorithm, a predicted path from the traversable node to the destination node is predicted, and the path length of the predicted path is used as the travel length between the traversable node and the destination node.
可选地，预先确定标准代价权重，具体包括：Optionally, standard cost weights are predetermined, including:
确定预先划分出的各指定区域，以及根据历史行驶数据所确定出的在该评价指标下途经每个指定区域的标准代价权重；Determine each designated area divided in advance, and the standard cost weight of passing through each designated area under the evaluation index determined according to the historical driving data;
确定出该可通行节点的通行长度与所述标准代价权重之间的乘积，并作为该可通行节点的第二代价权重，具体包括：Determine the product of the passing length of the passable node and the standard cost weight, and use it as the second cost weight of the passable node, specifically including:
确定所述预测路径途经的各指定区域；determining each designated area traversed by the predicted path;
针对所述预测路径途经的每个指定区域，将所述预测路径在该指定区域中的路径长度和该指定区域的标准代价权重之间的乘积作为该可通行节点在该指定区域的第二代价权重；For each designated area that the predicted path passes through, the product between the path length of the predicted path in the designated area and the standard cost weight of the designated area is taken as the second cost of the passable node in the designated area Weights;
将该可通行节点在各指定区域的第二代价权重之和，作为该可通行节点的第二代价权重。The sum of the second cost weights of the passable node in each designated area is taken as the second cost weight of the passable node.
可选地，确定出自所述起点节点至所述终点节点的节点序列，作为在该有向图对应的评价指标下所确定出的候选路线之后，所述方法还包括：Optionally, after determining the node sequence from the starting point node to the ending point node as the candidate route determined under the evaluation index corresponding to the directed graph, the method further includes:
将所确定出的各评价指标下的候选路线的拓扑图映射在二维地图中，并在所述二维地图中将各候选路线的拓扑图展示给用户；mapping the determined topological maps of the candidate routes under each evaluation index on a two-dimensional map, and displaying the topological maps of each candidate route to the user in the two-dimensional map;
响应于所接收到的用户输入的候选路线，将该候选路线选择为目标路线。In response to the received user-input candidate route, the candidate route is selected as the target route.
可选地，获取预先构建的路网，具体包括：Optionally, obtain a pre-built road network, including:
获取预先构建的路网，其中，针对所述路网中的每个位置节点，该位置节点为目标区域中的路口或路段，其中，该位置节点中包含若干个在高精地图中确定出的位于该位置节点上的车道；Acquire a pre-built road network, wherein, for each location node in the road network, the location node is an intersection or road segment in the target area, wherein the location node includes several nodes determined in the high-precision map. the lane at the location node;
所述方法还包括：The method also includes:
从所确定出的各评价指标下的候选路线中选择出目标路线，基于所述目标路线中的每个位置节点，从该位置节点包含的各车道中选择出对应的目标车道；A target route is selected from the candidate routes under the determined evaluation indicators, and based on each position node in the target route, a corresponding target lane is selected from the lanes included in the position node;
将各目标车道按照各目标车道所处的位置节点在所述目标路线中的顺序排列，得到作为目标路由的车道序列，并将所述路由下发至目标设备。Arrange the target lanes according to the order of the location nodes of the target lanes in the target route, obtain a lane sequence as the target route, and deliver the route to the target device.
本说明书提供了一种路线规划装置，包括：This specification provides a route planning device, including:
数据获取模块，用于获取预先构建的路网，其中，所述路网中包括位置节点，以及用于表示各位置节点之间的连通关系的边；a data acquisition module for acquiring a pre-built road network, wherein the road network includes location nodes and edges used to represent the connectivity between the location nodes;
有向图构建模块，用于获取历史行驶数据，并根据所述历史行驶数据确定出若干个行驶数据的评价指标，针对每个评价指标，基于所述路网中各位置节点之间的连通关系，确定出在该评价指标下，所述路网中每个边的代价权重，得到该评价指标下所述路网对应的有向图，作为该评价指标对应的有向图；The directed graph building module is used to obtain historical driving data, and determine several evaluation indicators of the driving data according to the historical driving data, and for each evaluation indicator, based on the connection relationship between each location node in the road network , determine the cost weight of each edge in the road network under the evaluation index, and obtain the directed graph corresponding to the road network under the evaluation index as the directed graph corresponding to the evaluation index;
路线规划模块，用于根据在所述路网中指定出的起点节点和终点节点，针对每个有向图，以节点序列所连通出的各有向边的代价权重最小为目标，确定出自所述起点节点至所述终点节点的节点序列，作为在该有向图对应的评价指标下所确定出的候选路线，其中，各候选路线中的至少一个候选路线为提供给用户的目标路线。The route planning module is used for, for each directed graph, according to the starting point node and the ending point node specified in the road network, with the goal of the minimum cost weight of each directed edge connected by the node sequence, to determine the origin of the The node sequence from the starting node to the ending node is used as a candidate route determined under the evaluation index corresponding to the directed graph, wherein at least one candidate route in each candidate route is a target route provided to the user.
本说明书提供了一种计算机可读存储介质，所述存储介质存储有计算机程序，所述计算机程序被处理器执行时实现上述路线规划方法。This specification provides a computer-readable storage medium, where the storage medium stores a computer program, and when the computer program is executed by a processor, implements the above-mentioned route planning method.
本说明书提供了一种电子设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述程序时实现上述路线规划方法。This specification provides an electronic device, including a memory, a processor, and a computer program stored in the memory and running on the processor, where the processor implements the above-mentioned route planning method when executing the program.
本说明书采用的上述至少一个技术方案能够达到以下有益效果：The above-mentioned at least one technical solution adopted in this specification can achieve the following beneficial effects:
在本说明书提供的路线规划方法中，根据历史行驶数据确定出若干个行驶数据的评价指标，并基于路网中各位置节点之间的连通关系，针对每个评价指标，确定出路网中各有向边的代价权重，得到该评价指标下的有向图，并基于有向图得到在各评价指标下所确定出的候选路线，即获得了多种评价策略下的候选路线，提升了候选路线的多样性，使得用户能够从多样的候选路线中选择出目标路线。In the route planning method provided in this specification, several evaluation indicators of the driving data are determined according to the historical driving data, and based on the connection relationship between each location node in the road network, for each evaluation indicator, it is determined that there are different indicators in the road network. The cost weight of the edge is obtained, the directed graph under the evaluation index is obtained, and the candidate routes determined under each evaluation index are obtained based on the directed graph, that is, the candidate routes under various evaluation strategies are obtained, and the candidate routes are improved. The diversity enables users to select a target route from a variety of candidate routes.
附图说明Description of drawings
此处所说明的附图用来提供对本说明书的进一步理解，构成本说明书的一部分，本说明书的示意性实施例及其说明用于解释本说明书，并不构成对本说明书的不当限定。在附图中：The accompanying drawings described herein are used to provide further understanding of the specification and constitute a part of the specification. The exemplary embodiments and descriptions of the specification are used to explain the specification and do not constitute an improper limitation of the specification. In the attached image:
图1A为本说明书中一种地图的示意图；1A is a schematic diagram of a map in this specification;
图1B为本说明书中另一种地图的示意图；1B is a schematic diagram of another map in this specification;
图2为本说明书中一种路线规划方法的流程示意图；Fig. 2 is the schematic flow chart of a kind of route planning method in this specification;
图3为本说明书中又一种地图的示意图；Fig. 3 is the schematic diagram of another kind of map in this specification;
图4为本说明书提供的一种地图规划装置的示意图；4 is a schematic diagram of a map planning device provided in this specification;
图5为本说明书提供的电子设备的结构示意图。FIG. 5 is a schematic structural diagram of an electronic device provided in this specification.
具体实施方式Detailed ways
而实际上，除了上述仅基于路线最短的策略来生成行驶路线，在现有技术中，还可以根据生成行驶路线时的实时路况来预估无人车以各路线行驶时的行驶时长，通过避开堵车路段等方式，生成预估行驶耗时最短的路线。In fact, in addition to the above-mentioned strategy that only generates the driving route based on the shortest route, in the prior art, the driving time of the unmanned vehicle on each route can also be estimated according to the real-time road conditions when the driving route is generated. By driving traffic jams, etc., the route with the shortest estimated travel time can be generated.
但在无法获得具有先验性的历史行驶数据的情况下，仅仅根据上述交通数据(例如预先测绘出的交通地图、实时交通路况等等)在两种评价指标(即路线长度最短和预估行驶耗时最短)下仅仅能够生成上述两种路线，并且其中预估行驶耗时最短的路线中无人车的行驶耗时仅仅是根据预测所得到的，不具有先验性。However, in the case where the prior historical driving data cannot be obtained, only two evaluation indicators (i.e. the shortest route length and the estimated driving distance) are based on the above-mentioned traffic data (such as pre-measured traffic maps, real-time traffic conditions, etc.) Only the above two routes can be generated under the shortest travel time), and the travel time of the unmanned vehicle in the route with the shortest travel time is estimated only based on the prediction, which is not a priori.
为了解决上述生成路线的策略较为单一这一问题，生成更具有指导意义的路线，本说明实施例提供一种路线规划方法。In order to solve the above problem that the strategy for generating a route is relatively simple and generate a more instructive route, an embodiment of the present description provides a route planning method.
本说明书实施例中，摒弃了仅仅根据交通数据生成来构建路线优劣的评价指标，而是引入行驶对象的历史行驶数据，在此情形下，所述历史行驶数据即为行驶对象对道路的测试数据，也即，具有先验性的数据，此外，还基于历史行驶数据中确定出若干个评价指标，并基于各评价指标生成多条候选路径，以提高所生成的路径的多样性，从而能够满足无人车的各种行驶需求。In the embodiment of this specification, the evaluation index for constructing the pros and cons of the route based only on the generation of traffic data is abandoned, but the historical driving data of the driving object is introduced. In this case, the historical driving data is the test of the road by the driving object data, that is, data with a priori, in addition, several evaluation indicators are determined based on the historical driving data, and multiple candidate routes are generated based on each evaluation index, so as to improve the diversity of the generated routes. Meet the various driving needs of unmanned vehicles.
为使本说明书的目的、技术方案和优点更加清楚，下面将结合本说明书具体实施例及相应的附图对本说明书技术方案进行清楚、完整地描述。显然，所描述的实施例仅是本说明书一部分实施例，而不是全部的实施例。基于本说明书中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本说明书保护的范围。In order to make the purpose, technical solutions and advantages of this specification clearer, the technical solutions of this specification will be clearly and completely described below in conjunction with specific embodiments of this specification and the corresponding drawings. Obviously, the described embodiments are only some of the embodiments of the present specification, but not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of this specification.
以下结合附图，详细说明本说明书各实施例提供的技术方案。The technical solutions provided by the embodiments of the present specification will be described in detail below with reference to the accompanying drawings.
图2为本说明书中一种路线规划方法的流程示意图，具体包括以下步骤：2 is a schematic flow chart of a route planning method in this specification, which specifically includes the following steps:
S200：获取预先构建的路网，其中，所述路网中包括位置节点，以及用于表示各位置节点之间的连通关系的边。S200: Acquire a pre-built road network, wherein the road network includes location nodes and edges used to represent the connectivity between the location nodes.
本说明书实施例中，预先构建有采用拓扑结构对道路关系进行表示的路网，其中，所述道路可以包括路口，以及由两个路口所划分出的路段。In the embodiment of the present specification, a road network is pre-built to represent road relationships by using a topology structure, wherein the road may include an intersection and a road segment divided by two intersections.
如图1A所示，所述路网中包括位置节点，以及用于表示各位置节点之间的连通关系的边。As shown in FIG. 1A , the road network includes location nodes and edges used to represent the connectivity between the location nodes.
其中，采用预先设定的划分方式，位置节点(以下简称节点)可以指示现实道路上的某一位置，本说明书实施例中，以下示例性提供两种采用拓扑结构对道路关系进行表示的方法：Wherein, using a preset division method, a location node (hereinafter referred to as a node) may indicate a certain location on a real road. In the embodiment of this specification, the following exemplarily provide two methods for representing road relationships by using a topology structure:
第一种：可以将道路中的路口作为路网中的节点，并将两个路口之间的路段作为两个路口的边，如图1A所示，图1A中路网的节点A和节点B可以分别为现实道路中的两个路口，然后，节点A和节点B之间的路段R2则是路网中节点A和节点B之间的边。The first one: the intersection in the road can be used as a node in the road network, and the road segment between the two intersections can be used as the edge of the two intersections, as shown in Figure 1A, the node A and node B of the road network in Figure 1A can be are two intersections in the real road respectively, and then the road segment R2 between node A and node B is the edge between node A and node B in the road network.
第二种：可以将道路中的路口和路段均作为路网中的节点，而边则表示边所连通的节点之间的连通关系。当图1A所示出的现实道路采用该方法表示时，所表示出的拓扑结构如图3所示，其中，节点A、节点C、节点E，以及节点F为路段，节点B和节点D则是路口，L1-L5则分别为各节点之间的边，此时，路网中的边并不对应于现实道路中任何的现实位置，而仅表示各节点之间的连通关系。The second: the intersections and road segments in the road can be regarded as nodes in the road network, and the edge represents the connection relationship between the nodes connected by the edge. When the real road shown in FIG. 1A is represented by this method, the represented topology is shown in FIG. 3 , in which node A, node C, node E, and node F are road segments, and node B and node D are is the intersection, and L1-L5 are the edges between the nodes respectively. At this time, the edges in the road network do not correspond to any real positions on the real road, but only represent the connectivity between the nodes.
为了描述方便，本说明书实施例以下以上述第二种路网的确定方式为例进行说明。当然，在本说明书实施例中，当所获取到的路网为采用上述任一方式所构建出的，所述路网中节点之间的连通关系可以为单向的连通关系，所述路网中的边可以为有向边。For the convenience of description, the embodiments of the present specification are described below by taking the above-mentioned second way of determining the road network as an example. Of course, in the embodiment of this specification, when the acquired road network is constructed by using any of the above methods, the connection relationship between nodes in the road network may be a unidirectional connection relationship, and the road network in the can be directed edges.
具体的，对于一对节点来说，当其中第一节点存在与第二节点之间的连通关系时，可以表示当目标设备位于第一节点时，可以行驶至第二节点，但第一节点存在与第二节点之间的连通关系并不表示第二节点也存在与第一节点之间的连通关系，若目标设备位于第二节点时，无法行驶至第一节点，则第二节点不存在与第一节点之间的连通关系，也就是说，连通关系可以是单向的。Specifically, for a pair of nodes, when the first node has a connection relationship with the second node, it can mean that when the target device is located at the first node, it can travel to the second node, but the first node exists The connectivity relationship with the second node does not mean that the second node also has a connectivity relationship with the first node. If the target device is located at the second node and cannot travel to the first node, the second node does not have a connectivity relationship with the first node. The connectivity relationship between the first nodes, that is, the connectivity relationship may be unidirectional.
在此情形下，采用任一方式所构建出的路网中，用于指示节点之间连通关系的边可以为有向边，边的方向则表示节点之间连通关系的方向。以图3为例，节点A和节点B之间的连通关系为单向的连通关系，则节点A和节点B之间的边L1的方向为自节点A至节点B。相应的，在高精地图中，沿L7至L11可通行，而沿L11至L7则不可通行。In this case, in the road network constructed by any method, the edge used to indicate the connectivity between the nodes can be a directed edge, and the direction of the edge represents the direction of the connectivity between the nodes. Taking FIG. 3 as an example, the connectivity relationship between node A and node B is a one-way connectivity relationship, and the direction of edge L1 between node A and node B is from node A to node B. Correspondingly, in the high-precision map, it is passable along L7 to L11, but not passable along L11 to L7.
S202：获取历史行驶数据，并根据所述历史行驶数据确定出若干个行驶数据的评价指标，针对每个评价指标，基于所述路网中各位置节点之间的连通关系，确定出在该评价指标下，所述路网中每个边的代价权重，得到该评价指标下所述路网对应的有向图，作为该评价指标对应的有向图。S202: Obtain historical driving data, and determine several evaluation indicators of the driving data according to the historical driving data, and for each evaluation indicator, based on the connection relationship between each location node in the road network, determine the evaluation index in the evaluation index. Under the index, the cost weight of each edge in the road network is obtained, and the directed graph corresponding to the road network under the evaluation index is obtained as the directed graph corresponding to the evaluation index.
如上所述，为了解决上述生成路线的策略较为单一的问题，本说明书实施例中，构建有若干个评价指标，以针对每个评价指标，生成该评价指标下的候选路线。As described above, in order to solve the problem that the strategy for generating a route is relatively simple, in the embodiment of the present specification, several evaluation indexes are constructed to generate a candidate route under the evaluation index for each evaluation index.
本说明书实施例中，可以根据历史行驶数据来确定出若干个行驶数据的评价指标，具体的，可以预先对行驶对象的行驶数据进行采集，得到历史上行驶对象的历史行驶数据，所述历史行驶数据可以为行驶对象上所搭载的采集设备采集到的。本说明书一实施例中，针对每个节点(以节点包括路段和路线为例)，所述历史行驶数据中可以包括该节点的实际长度，当所述行驶对象为无人车时，所述历史行驶数据中还可以包括行驶对象以自动驾驶模式在该节点上所经过的里程数、时间，以及在该节点上的平均行驶速度、急刹次数、故障次数、事故次数等等，当然，还可以包括在该节点上从自动驾驶状态被接管控制的次数，等等，本说明书对此不作赘述。In the embodiment of this specification, several evaluation indicators of the driving data may be determined according to the historical driving data. Specifically, the driving data of the driving object may be collected in advance to obtain the historical driving data of the historical driving object. The data can be collected by the collection equipment mounted on the driving object. In an embodiment of this specification, for each node (taking a node including a road segment and a route as an example), the historical driving data may include the actual length of the node. When the driving object is an unmanned vehicle, the historical driving data The driving data can also include the mileage and time that the driving object has passed on the node in the automatic driving mode, as well as the average driving speed on the node, the number of sudden braking, the number of failures, the number of accidents, etc. Of course, you can also Including the number of times that the node is taken over from the automatic driving state, etc., which will not be repeated in this specification.
然后，可以根据所述历史行驶数据确定出若干个行驶数据的评价指标，本说明书实施例中，可以将历史行驶数据中的字段作为行驶数据的评价指标。更进一步的，本说明书一实施例中，所确定出的至少一个评价指标包括：行驶对象沿所确定出的候选路线行驶时从自动驾驶状态被接管控制的次数。Then, several evaluation indicators of the driving data may be determined according to the historical driving data. In the embodiment of the present specification, fields in the historical driving data may be used as the evaluation indicators of the driving data. Further, in an embodiment of the present specification, the determined at least one evaluation index includes: the number of times that the driving object is taken over from the automatic driving state when driving along the determined candidate route.
本说明书实施例中，针对每个评价指标，可以基于上述路网，确定出在该评价指标下，所述路网中每个边的代价权重，得到该评价指标下所述路网对应的有向图，作为该评价指标对应的有向图。In the embodiment of this specification, for each evaluation index, the cost weight of each edge in the road network under the evaluation index can be determined based on the above-mentioned road network, and the corresponding value of the road network under the evaluation index is obtained. The directed graph is used as the directed graph corresponding to the evaluation index.
以上述所列举出的各历史数据为例，其中可以包括第一类行驶数据和第二类行驶数据。Taking the historical data listed above as an example, the first type of driving data and the second type of driving data may be included.
以上述自第一节点至第二节点的连通关系为例，其中，所述第一类行驶数据可以包括行驶对象以自动驾驶模式所经过的里程数、时间、平均行驶速度，当行驶对象以自动驾驶模式沿第一节点至第二节点行驶时，所经过的里程数、时间、平均行驶速度的数值越大时，在上述第一类行驶数据所作为的评价指标下，所述路网中第一节点至第二节点的有向边的代价权重可以越小。Taking the above-mentioned connection relationship from the first node to the second node as an example, the first type of driving data may include the mileage, time, and average driving speed of the driving object in the automatic driving mode. When the driving mode travels along the first node to the second node, when the value of the mileage, time and average driving speed elapsed is larger, under the evaluation index used by the above-mentioned first type of driving data, the No. The cost weight of the directed edge from one node to the second node can be smaller.
这是由于当里程数和时间较多时，倾向于认为驾驶对象历史上更多地选择了沿第一节点至第二节点的道路，而平均行驶速度的数值越大，则认为驾驶对象历史上在沿第一节点至第二节点的道路的行驶较为通畅，因此，上述数值越大，在第一类评价指标下的评价值越高，所述路网中第一节点至第二节点的有向边的代价权重可以越小。This is because when the mileage and time are large, the driving object tends to choose the road along the first node to the second node more in the history, and the larger the value of the average driving speed, the more the driving object is considered to have historically The driving along the road from the first node to the second node is relatively smooth. Therefore, the larger the above value is, the higher the evaluation value under the first type of evaluation index is. The direction of the first node to the second node in the road network is The cost weight of the edge can be smaller.
而第二类行驶数据可以包括行驶对象以自动驾驶模式行驶的急刹次数、故障次数、事故次数以及从自动驾驶状态被接管控制的次数，当行驶对象以自动驾驶模式沿第一节点至第二节点行驶时，以自动驾驶模式在该节点上的急刹次数、故障次数、事故次数以及从自动驾驶状态被接管控制的次数越多时，在上述第二类行驶数据所作为的评价指标下，所述路网中连通至该节点的有向边的代价权重可以越大。The second type of driving data may include the number of times of sudden braking, the number of failures, the number of accidents, and the number of times the driving object is taken over from the automatic driving state when the driving object is in the automatic driving mode. When the node is driving, the more the number of sudden braking, the number of failures, the number of accidents and the number of times the node is taken over from the automatic driving state in the automatic driving mode, under the evaluation index used by the above-mentioned second type of driving data, the The cost weight of the directed edge connected to the node in the road network can be larger.
可以看出，在上述第二类行驶数据下，历史行驶数据的数值越大，则表示在驾驶对象历史上在沿第一节点至第二节点的道路的行驶难以通畅行驶，因此，上述数值越大，在第二类评价指标下的评价值越低，所述路网中第一节点至第二节点的有向边的代价权重可以越大。It can be seen that under the above-mentioned second type of driving data, the larger the value of the historical driving data, the more difficult it is for the driving object to drive smoothly along the road from the first node to the second node in the history of the driving object. The lower the evaluation value under the second type of evaluation index is, the larger the cost weight of the directed edge from the first node to the second node in the road network can be.
当然，也可以基于若干种行驶数据作为评价标准的评价指标，本说明书对此并不限制。当所确定出的评价指标采用其他评价标准时，确定代价权重的方式也不同，但代价权重越小，均表示在该评价指标下边的评价值越高。Of course, the evaluation index of the evaluation standard may also be based on several kinds of driving data, which is not limited in this specification. When the determined evaluation index adopts other evaluation criteria, the method of determining the cost weight is also different, but the smaller the cost weight is, the higher the evaluation value under the evaluation index is.
通过上述方式，确定出所述路网中每个边的代价权重，得到该评价指标下所述路网对应的有向图，作为该评价指标对应的有向图。Through the above method, the cost weight of each edge in the road network is determined, and the directed graph corresponding to the road network under the evaluation index is obtained as the directed graph corresponding to the evaluation index.
S204：根据在所述路网中指定出的起点节点和终点节点，针对每个有向图，以节点序列所连通出的各有向边的代价权重最小为目标，确定出自所述起点节点至所述终点节点的节点序列，作为在该有向图对应的评价指标下所确定出的候选路线。S204: According to the starting point node and the ending point node specified in the road network, for each directed graph, take the minimum cost weight of each directed edge connected by the node sequence as the goal, determine the distance from the starting point node to the The node sequence of the end node is used as a candidate route determined under the evaluation index corresponding to the directed graph.
本说明书实施例中，所规划出的路线用于指导作为无人车的目标设备行驶，其中，所述无人车可包括自动驾驶的车辆以及具有辅助驾驶功能的车辆。无人车可以是应用于配送领域的配送车。In the embodiment of the present specification, the planned route is used to guide the driving of the target device as an unmanned vehicle, wherein the unmanned vehicle may include an automatic driving vehicle and a vehicle with an assisted driving function. The unmanned vehicle can be a delivery vehicle applied in the delivery field.
如图2所示的路线规划方法的流程图的执行主体可以为目标设备本身，也可以为服务器，当执行主体为目标设备本身时，执行主体可以为目标设备所搭载的自动驾驶设备，当所述执行主体为服务器时，本说明书实施例并不限制所述控制设备为分布式服务器或集群式服务区。The execution subject of the flowchart of the route planning method shown in FIG. 2 may be the target device itself or a server. When the execution subject is the target device itself, the execution subject may be the automatic driving device carried by the target device. When the execution subject is a server, the embodiments of this specification do not limit the control device to be a distributed server or a clustered service area.
可以在接收到的用户输入起点和终点时执行如图2所示的路线规划方法，此时，在所述路网中指定出的起点节点和终点节点即为根据用于输入的路线规划任务(以下简称目标任务)，将所述目标任务的起点所位于的节点作为起点节点，并将所述目标任务的终点所位于的节点作为终点节点。然后，在根据本说明书提供的路线规划方法生成若干个评价指标下的候选路线之后，则可以从中选择出一条作为目标路线，以指示目标设备沿目标路线行驶。The route planning method as shown in Figure 2 can be executed when the received user inputs the starting point and the end point, and at this time, the starting point node and the end point node specified in the road network are the route planning tasks ( Hereinafter referred to as the target task), the node where the starting point of the target task is located is taken as the starting point node, and the node where the ending point of the target task is located is the ending node. Then, after generating candidate routes under several evaluation indicators according to the route planning method provided in this specification, one can be selected as the target route to instruct the target device to travel along the target route.
当然，还可以预先执行本说明书实施例提供的路线规划方法，然后，响应于所接收到的用户输入的目标任务，确定所述目标任务的起点和终点；若所述目标任务的起点位于所述起点节点，并且所述目标任务的终点位于所述终点节点，则从所确定出的各评价指标下的候选路线中选择出目标路线。Of course, the route planning method provided by the embodiments of this specification can also be executed in advance, and then, in response to the received target task input by the user, the starting point and the end point of the target task are determined; if the starting point of the target task is located in the the starting point node, and the end point of the target task is located at the end point node, then the target route is selected from the candidate routes under each determined evaluation index.
本说明书一实施例中，当所述目标设备用于执行配送任务时，所述目标任务的起点即为配送站点，所述目标任务的终点即为收货点，在此情形下，由于配送站点通常仅覆盖一定范围内的配送服务，因此，可以预先为配送站点提供配送服务的每个收货点均采用本说明书提供的路线规划方法规划出若干个候选路线，作为该收货点对应的候选路线，在生成目标任务时，可以根据目标任务中所包含的收货点，从该收货点对应的各候选路线中选择出一条作为目标路线。In an embodiment of this specification, when the target device is used to perform a delivery task, the starting point of the target task is the delivery site, and the end point of the target task is the receiving point. In this case, because the delivery site Usually, it only covers delivery services within a certain range. Therefore, each receiving point that can provide delivery services to the delivery site in advance uses the route planning method provided in this manual to plan several candidate routes as candidates corresponding to the receiving point. Route, when generating the target task, according to the receiving point included in the target task, one can be selected as the target route from the candidate routes corresponding to the receiving point.
在采用上述任一方式生成各评价指标下的有向图之后，针对每个有向图，以节点序列所连通出的各有向边的代价权重最小为目标，确定出自所述起点节点至所述终点节点的节点序列，作为在该有向图对应的评价指标下所确定出的候选路线。After using any of the above methods to generate the directed graph under each evaluation index, for each directed graph, with the goal of minimizing the cost weight of each directed edge connected by the node sequence, determine the distance from the starting node to the The node sequence of the end node is used as the candidate route determined under the evaluation index corresponding to the directed graph.
接着，本说明书一实施例中，提供一种从候选路线中选择出目标路线的方式。具体的，可以将所确定出的各评价指标下的候选路线的拓扑图映射在二维地图中，并在所述二维地图中将各候选路线的拓扑图展示给用户，然后，响应于所接收到的用户输入的候选路线，将该候选路线选择为目标路线。Next, in an embodiment of the present specification, a method for selecting a target route from candidate routes is provided. Specifically, the determined topological map of the candidate routes under each evaluation index can be mapped on a two-dimensional map, and the topological map of each candidate route can be displayed to the user in the two-dimensional map, and then, in response to the selected The candidate route input by the user is received, and the candidate route is selected as the target route.
基于上述如图2所述的方法，根据历史行驶数据确定出若干个行驶数据的评价指标，并基于路网中各位置节点之间的连通关系，针对每个评价指标，确定出路网中各有向边的代价权重，得到该评价指标下的有向图，并基于有向图得到在各评价指标下所确定出的候选路线，即获得了多种评价策略下的候选路线，提升了候选路线的多样性。Based on the above-mentioned method as shown in Figure 2, several evaluation indicators of the driving data are determined according to the historical driving data, and based on the connection relationship between each position node in the road network, for each evaluation indicator, it is determined that there are The cost weight of the edge is obtained, the directed graph under the evaluation index is obtained, and the candidate routes determined under each evaluation index are obtained based on the directed graph, that is, the candidate routes under various evaluation strategies are obtained, and the candidate routes are improved. diversity.
以下，针对每个评价指标对应的有向图，本说明书实施例提供一种基于该有向图确定出在该评价指标下的候选路线的方法。Hereinafter, for a directed graph corresponding to each evaluation index, the embodiments of the present specification provide a method for determining a candidate route under the evaluation index based on the directed graph.
具体的，可以将起点节点作为当前节点，根据所述路网中各位置节点之间的连通关系，确定出目标设备位于当前节点时的各可通行节点，然后，针对每个可通行节点，根据所述路网中有向边的代价权重，确定途经该可通行节点时，自所述起点节点至所述终点节点所连通出的各有向边的代价权重(即自所述起点节点至所述终点节点所连通出的各有向边的代价权重之和)，作为该可通行节点的通行代价权重。接着，根据所确定出的各可通行节点的通行代价权重，从各可通行节点中选择出通行代价权重最小的目标节点，并将所述目标节点更新为当前节点，根据更新后的当前节点，继续确定目标节点，直到确定出的目标节点的可通行节点包括终点节点时，将各目标节点被确定为目标节点的顺序作为各目标节点在节点序列中的顺序，获得自起点节点至终点节点的包含各目标节点的节点序列。Specifically, the starting point node can be used as the current node, and each passable node when the target device is located at the current node can be determined according to the connection relationship between the position nodes in the road network, and then, for each passable node, according to The cost weight of the directed edge in the road network is determined when passing through the passable node, the cost weight of each directed edge connected from the start node to the end node (that is, from the start node to all The sum of the cost weights of the directed edges connected by the end node) is taken as the pass cost weight of the passable node. Next, according to the determined pass cost weights of each passable node, select the target node with the smallest pass cost weight from each passable node, and update the target node as the current node. According to the updated current node, Continue to determine the target node, until the passable nodes of the determined target node include the end node, take the order in which each target node is determined as the target node as the order of each target node in the node sequence, and obtain the sequence from the start node to the end node. A node sequence containing each target node.
当然，也可以在确定出的目标节点的可通行节点包括终点节点时继续确定下一个目标节点，直到所述终点节点被确定为目标节点时，将各目标节点被确定为目标节点的顺序作为各目标节点在节点序列中的顺序，获得自起点节点至终点节点的包含各目标节点的节点序列，此时所述终点节点为顺序最后的目标节点。Of course, it is also possible to continue to determine the next target node when the traversable nodes of the determined target node include the end node, until the end node is determined as the target node, the order in which each target node is determined as the target node is used as each target node. The order of the target node in the node sequence is obtained from a node sequence including each target node from the start node to the end node, where the end node is the last target node in the sequence.
在上述方式中，针对每个可通行节点，该可通行节点的代价权重可以根据该可通行节点的第一代价权重和/或第二代价权重来确定。In the above manner, for each passable node, the cost weight of the passable node may be determined according to the first cost weight and/or the second cost weight of the passable node.
其中，所述第一代价权重的确定方式可以为，确定途经所选择出的各目标节点的节点序列所连通出的自所述起点节点至该可通行节点的各有向边，并根据所连通出的各有向边的代价权重，确定出该可通行节点的第一代价权重。The method for determining the first cost weight may be: determining each directed edge from the starting point node to the passable node connected by the node sequence passing through the selected target nodes, and determining each directional edge from the starting point node to the passable node connected by The cost weight of each directed edge is determined, and the first cost weight of the passable node is determined.
以下，本说明书实施例还提供一种第二代价权重的确定方式。为了节约计算资源，可以并不对自该可通行节点至终点节点的各路径进行遍历，并计算沿每个路径自该可通行节点至终点节点的代价权重之和。Hereinafter, the embodiments of the present specification further provide a method for determining the second cost weight. In order to save computing resources, each path from the passable node to the end node may not be traversed, and the sum of the cost weights from the passable node to the end node along each path is calculated.
具体的，可以获取预先确定的标准代价权重，然后，根据该可通行节点的位置，以及所述终点节点的位置，确定出该可通行节点与所述终点节点之间的通行长度，作为该可通行节点的通行长度。接着，确定出所述通行长度与所述标准代价权重之间的乘积，并作为该可通行节点的第二代价权重。示例性的，所述可通行节点与所述终点节点的通行长度可以为所述可通行节点与所述终点节点曼哈顿距离、欧式距离等等距离度量方法所确定出的长度。Specifically, a predetermined standard cost weight can be obtained, and then, according to the position of the passable node and the position of the end node, the travel length between the passable node and the end node is determined, as the passable node. The pass length of the pass node. Next, the product between the pass length and the standard cost weight is determined and used as the second cost weight of the passable node. Exemplarily, the travel length between the passable node and the end node may be a length determined by a distance measurement method such as Manhattan distance, Euclidean distance, or the like between the passable node and the end node.
其中，该可通行节点的通行长度可以根据以下方法确定，具体的，基于预先指定的寻路算法，预测出自所述可通行节点至所述终点节点的预测路径，并将所述预测路径的路径长度作为该可通行节点与所述终点节点之间的通行长度。The travel length of the passable node can be determined according to the following method. Specifically, based on a pre-specified pathfinding algorithm, a predicted path from the passable node to the end node is predicted, and the path of the predicted path is predicted. The length is taken as the travel length between the traversable node and the destination node.
本说明书示例出一种预先确定标准代价权重的方法，具体的，确定预先划分出的各指定区域，以及根据历史行驶数据所确定出的在该评价指标下途经每个指定区域的标准代价权重。This specification exemplifies a method for pre-determining standard cost weights, specifically, determining each pre-divided designated area, and determining the standard cost weight for passing through each designated area under the evaluation index based on historical driving data.
然后，可以根据该可通行节点的预测路径途经的各指定区域，针对所述预测路径途经的每个指定区域，将所述预测路径在该指定区域中的路径长度和该指定区域的标准代价权重之间的乘积作为该可通行节点在该指定区域的第二代价权重，将该可通行节点在各指定区域的第二代价权重之和，作为该可通行节点的第二代价权重。Then, according to each designated area passed by the predicted path of the passable node, for each designated area passed by the predicted path, the path length of the predicted path in the designated area and the standard cost weight of the designated area may be weighted The product between them is taken as the second cost weight of the passable node in the designated area, and the sum of the second cost weights of the passable node in each designated area is taken as the second cost weight of the passable node.
本说明书一实施例中，针对所述路网中的每个节点，该节点为目标区域中的路口或路段，其中，该节点中包含若干个在高精地图中确定出的位于该节点上的车道，如图1A、1B所示，图1A中的路段R2中包含有图1B中的车道L4-L7。In an embodiment of this specification, for each node in the road network, the node is an intersection or road segment in the target area, and the node includes a number of nodes located on the node determined in the high-precision map. Lanes, as shown in FIGS. 1A and 1B , the road section R2 in FIG. 1A includes the lanes L4 - L7 in FIG. 1B .
因此，在采用上述任一方式确定出目标路线之后，还可以从所确定出的各评价指标下的候选路线中选择出目标路线，基于所述目标路线中的每个节点，从该节点包含的各车道中选择出对应的目标车道，将各目标车道按照各目标车道所处的节点在所述目标路线中的顺序排列，得到作为目标路由的车道序列，并将所述路由下发至目标设备，以使目标设备根据路由沿着目标路线行驶。Therefore, after the target route is determined by any of the above methods, the target route can also be selected from the determined candidate routes under each evaluation index, and based on each node in the target route, from the The corresponding target lanes are selected from each lane, the target lanes are arranged in the order of the nodes where each target lane is located in the target route, the lane sequence as the target route is obtained, and the route is sent to the target device , so that the target device follows the target route according to the route.
在此情形下，所述目标路线可以作为为目标设备规划路由的模板，针对不同的目标设备，针对不同的环境，可以根据所确定出的目标路线为目标设备规划出对应的路由，以指导目标设备行驶。In this case, the target route can be used as a template for planning a route for the target device. For different target devices and different environments, a corresponding route can be planned for the target device according to the determined target route to guide the target device. Equipment travels.
以上为本说明书的一个或多个实施例提供的路线规划方法，基于同样的思路，本说明书还提供了相应的路线规划装置，如图4所示。The above route planning method provided by one or more embodiments of the present specification, based on the same idea, the present specification also provides a corresponding route planning device, as shown in FIG. 4 .
图4为本说明书提供的一种路线规划装置示意图，该装置包括：4 is a schematic diagram of a route planning device provided in this specification, and the device includes:
数据获取模块400，用于获取预先构建的路网，其中，所述路网中包括位置节点，以及用于表示各位置节点之间的连通关系的边；A
有向图构建模块402，用于获取历史行驶数据，并根据所述历史行驶数据确定出若干个行驶数据的评价指标，针对每个评价指标，基于所述路网中各位置节点之间的连通关系，确定出在该评价指标下，所述路网中每个边的代价权重，得到该评价指标下所述路网对应的有向图，作为该评价指标对应的有向图；The directed
路线规划模块404，用于根据在所述路网中指定出的起点节点和终点节点，针对每个有向图，以节点序列所连通出的各有向边的代价权重最小为目标，确定出自所述起点节点至所述终点节点的节点序列，作为在该有向图对应的评价指标下所确定出的候选路线，其中，各候选路线中的至少一个候选路线为提供给用户的目标路线。The
可选地，所述路线规划模块404具体用于，响应于所接收到的用户输入的目标任务，将所述目标任务的起点所位于的节点作为起点节点，并将所述目标任务的终点所位于的节点作为终点节点。Optionally, the
可选地，所述路线规划模块404还用于，响应于所接收到的用户输入的目标任务，确定所述目标任务的起点和终点；若所述目标任务的起点位于所述起点节点，并且所述目标任务的终点位于所述终点节点，则从所确定出的各评价指标下的候选路线中选择出目标路线。Optionally, the
可选地，当行驶对象为自动驾驶设备时，所述历史行驶数据包含所述行驶对象从自动驾驶状态被接管控制的次数；所确定出的至少一个评价指标包括：行驶对象沿所确定出的候选路线行驶时从自动驾驶状态被接管控制的次数。Optionally, when the driving object is an automatic driving device, the historical driving data includes the number of times that the driving object is taken over from the automatic driving state; the determined at least one evaluation index includes: the driving object along the determined The number of times the candidate route was taken over from the autopilot state.
可选地，所述路线规划模块404具体用于，将起点节点作为当前节点，根据所述路网中各位置节点之间的连通关系，确定出目标设备位于当前节点时的各可通行节点；针对每个可通行节点，根据所述路网中有向边的代价权重，确定途经该可通行节点时，自所述起点节点至所述终点节点所连通出的各有向边的代价权重，作为该可通行节点的通行代价权重；根据所确定出的各可通行节点的通行代价权重，从各可通行节点中选择出通行代价权重最小的目标节点，并将所述目标节点更新为当前节点；根据更新后的当前节点，继续确定目标节点，直到确定出的目标节点的可通行节点包括终点节点时，将各目标节点被确定为目标节点的顺序作为各目标节点在节点序列中的顺序，获得自起点节点至终点节点的包含各目标节点的节点序列。Optionally, the
可选地，所述路线规划模块404具体用于，确定途经所选择出的各目标节点的节点序列所连通出的自所述起点节点至该可通行节点的各有向边，并根据所连通出的各有向边的代价权重，确定出该可通行节点的第一代价权重；根据所确定出的该可通行节点的第一代价权重，确定出该可通行节点的通行代价权重。Optionally, the
可选地，所述路线规划模块404具体用于，获取预先确定的标准代价权重；根据该可通行节点的位置，以及所述终点节点的位置，确定出该可通行节点与所述终点节点之间的通行长度，作为该可通行节点的通行长度；确定出所述通行长度与所述标准代价权重之间的乘积，并作为该可通行节点的第二代价权重；根据所确定出的该可通行节点的第二代价权重，确定出该可通行节点的通行代价权重。Optionally, the
可选地，所述路线规划模块404具体用于，基于预先指定的寻路算法，预测出自所述可通行节点至所述终点节点的预测路径，并将所述预测路径的路径长度作为该可通行节点与所述终点节点之间的通行长度。Optionally, the
可选地，所述所述路线规划模块404还用于，确定预先划分出的各指定区域，以及根据历史行驶数据所确定出的在该评价指标下途经每个指定区域的标准代价权重；所述路线规划模块404具体用于，确定所述预测路径途经的各指定区域；针对所述预测路径途经的每个指定区域，将所述预测路径在该指定区域中的路径长度和该指定区域的标准代价权重之间的乘积作为该可通行节点在该指定区域的第二代价权重；将该可通行节点在各指定区域的第二代价权重之和，作为该可通行节点的第二代价权重。Optionally, the
可选地，所述路线规划模块404还用于，将所确定出的各评价指标下的候选路线的拓扑图映射在二维地图中，并在所述二维地图中将各候选路线的拓扑图展示给用户；响应于所接收到的用户输入的候选路线，将该候选路线选择为目标路线。Optionally, the
可选地，所述数据获取模块400具体用于，获取预先构建的路网，其中，针对所述路网中的每个位置节点，该位置节点为目标区域中的路口或路段，其中，该位置节点中包含若干个在高精地图中确定出的位于该位置节点上的车道；所述路线规划模块404还用于，从所确定出的各评价指标下的候选路线中选择出目标路线，基于所述目标路线中的每个位置节点，从该位置节点包含的各车道中选择出对应的目标车道；将各目标车道按照各目标车道所处的位置节点在所述目标路线中的顺序排列，得到作为目标路由的车道序列，并将所述路由下发至目标设备。Optionally, the
本说明书还提供了一种计算机可读存储介质，该存储介质存储有计算机程序，计算机程序可用于执行上述路线规划方法。The present specification also provides a computer-readable storage medium, where a computer program is stored in the storage medium, and the computer program can be used to execute the above route planning method.
本说明书还提供了图5所示的电子设备的结构示意图。如图5所示，在硬件层面，该电子设备包括处理器、内部总线、内存以及非易失性存储器，当然还可能包括其他业务所需要的硬件。处理器从非易失性存储器中读取对应的计算机程序到内存中然后运行，以实现上述路线规划方法。This specification also provides a schematic structural diagram of the electronic device shown in FIG. 5 . As shown in FIG. 5 , at the hardware level, the electronic device includes a processor, an internal bus, a memory, and a non-volatile memory, and of course, may also include hardware required by other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and executes it, so as to realize the above route planning method.
当然，除了软件实现方式之外，本说明书并不排除其他实现方式，比如逻辑器件抑或软硬件结合的方式等等，也就是说以下处理流程的执行主体并不限定于各个逻辑单元，也可以是硬件或逻辑器件。Of course, in addition to the software implementation, this specification does not exclude other implementations, such as logic devices or the combination of software and hardware, etc., that is to say, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic device.
在20世纪90年代，对于一个技术的改进可以很明显地区分是硬件上的改进(例如，对二极管、晶体管、开关等电路结构的改进)还是软件上的改进(对于方法流程的改进)。然而，随着技术的发展，当今的很多方法流程的改进已经可以视为硬件电路结构的直接改进。设计人员几乎都通过将改进的方法流程编程到硬件电路中来得到相应的硬件电路结构。因此，不能说一个方法流程的改进就不能用硬件实体模块来实现。例如，可编程逻辑器件(Programmable Logic Device,PLD)(例如现场可编程门阵列(Field Programmable GateArray，FPGA))就是这样一种集成电路，其逻辑功能由用户对器件编程来确定。由设计人员自行编程来把一个数字系统“集成”在一片PLD上，而不需要请芯片制造厂商来设计和制作专用的集成电路芯片。而且，如今，取代手工地制作集成电路芯片，这种编程也多半改用“逻辑编译器(logic compiler)”软件来实现，它与程序开发撰写时所用的软件编译器相类似，而要编译之前的原始代码也得用特定的编程语言来撰写，此称之为硬件描述语言(Hardware Description Language，HDL)，而HDL也并非仅有一种，而是有许多种，如ABEL(Advanced Boolean Expression Language)、AHDL(Altera Hardware DescriptionLanguage)、Confluence、CUPL(Cornell University Programming Language)、HDCal、JHDL(Java Hardware Description Language)、Lava、Lola、MyHDL、PALASM、RHDL(RubyHardware Description Language)等，目前最普遍使用的是VHDL(Very-High-SpeedIntegrated Circuit Hardware Description Language)与Verilog。本领域技术人员也应该清楚，只需要将方法流程用上述几种硬件描述语言稍作逻辑编程并编程到集成电路中，就可以很容易得到实现该逻辑方法流程的硬件电路。In the 1990s, improvements in a technology could be clearly differentiated between improvements in hardware (eg, improvements to circuit structures such as diodes, transistors, switches, etc.) or improvements in software (improvements in method flow). However, with the development of technology, the improvement of many methods and processes today can be regarded as a direct improvement of the hardware circuit structure. Designers almost get the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that the improvement of a method flow cannot be realized by hardware entity modules. For example, a Programmable Logic Device (PLD) (eg, Field Programmable Gate Array (FPGA)) is an integrated circuit whose logic function is determined by user programming of the device. It is programmed by the designer to "integrate" a digital system on a PLD without having to ask the chip manufacturer to design and manufacture a dedicated integrated circuit chip. And, instead of making integrated circuit chips by hand, these days, most of this programming is done using "logic compiler" software, which is similar to the software compilers used in program development and writing, but before compiling The original code also has to be written in a specific programming language, which is called Hardware Description Language (HDL), and there is not only one HDL, but many kinds, such as ABEL (Advanced Boolean Expression Language) , AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (RubyHardware Description Language), etc. The most commonly used are VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog. It should also be clear to those skilled in the art that a hardware circuit for implementing the logic method process can be easily obtained by simply programming the method process in the above-mentioned several hardware description languages and programming it into the integrated circuit.
控制器可以按任何适当的方式实现，例如，控制器可以采取例如微处理器或处理器以及存储可由该(微)处理器执行的计算机可读程序代码(例如软件或固件)的计算机可读介质、逻辑门、开关、专用集成电路(Application Specific Integrated Circuit，ASIC)、可编程逻辑控制器和嵌入微控制器的形式，控制器的例子包括但不限于以下微控制器：ARC 625D、Atmel AT91SAM、Microchip PIC18F26K20以及Silicone Labs C8051F320，存储器控制器还可以被实现为存储器的控制逻辑的一部分。本领域技术人员也知道，除了以纯计算机可读程序代码方式实现控制器以外，完全可以通过将方法步骤进行逻辑编程来使得控制器以逻辑门、开关、专用集成电路、可编程逻辑控制器和嵌入微控制器等的形式来实现相同功能。因此这种控制器可以被认为是一种硬件部件，而对其内包括的用于实现各种功能的装置也可以视为硬件部件内的结构。或者甚至，可以将用于实现各种功能的装置视为既可以是实现方法的软件模块又可以是硬件部件内的结构。The controller may be implemented in any suitable manner, for example, the controller may take the form of eg a microprocessor or processor and a computer readable medium storing computer readable program code (eg software or firmware) executable by the (micro)processor , logic gates, switches, application specific integrated circuits (ASICs), programmable logic controllers and embedded microcontrollers, examples of controllers include but are not limited to the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicon Labs C8051F320, the memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that, in addition to implementing the controller in the form of pure computer-readable program code, the controller can be implemented as logic gates, switches, application-specific integrated circuits, programmable logic controllers and embedded devices by logically programming the method steps. The same function can be realized in the form of a microcontroller, etc. Therefore, such a controller can be regarded as a hardware component, and the devices included therein for realizing various functions can also be regarded as a structure within the hardware component. Or even, the means for implementing various functions can be regarded as both a software module implementing a method and a structure within a hardware component.
上述实施例阐明的系统、装置、模块或单元，具体可以由计算机芯片或实体实现，或者由具有某种功能的产品来实现。一种典型的实现设备为计算机。具体的，计算机例如可以为个人计算机、膝上型计算机、蜂窝电话、相机电话、智能电话、个人数字助理、媒体播放器、导航设备、电子邮件设备、游戏控制台、平板计算机、可穿戴设备或者这些设备中的任何设备的组合。The systems, devices, modules or units described in the above embodiments may be specifically implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer can be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or A combination of any of these devices.
为了描述的方便，描述以上装置时以功能分为各种单元分别描述。当然，在实施本说明书时可以把各单元的功能在同一个或多个软件和/或硬件中实现。For the convenience of description, when describing the above device, the functions are divided into various units and described respectively. Of course, when implementing this specification, the functions of each unit may be implemented in one or more software and/or hardware.
本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block in the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means for implementing the functions specified in a flow or flow of a flowchart and/or a block or blocks of a block diagram.
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions The apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded on a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams.
在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
内存可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。内存是计算机可读介质的示例。Memory may include non-persistent memory in computer readable media, random access memory (RAM) and/or non-volatile memory in the form of, for example, read only memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按照本文中的界定，计算机可读介质不包括暂存电脑可读媒体(transitory media)，如调制的数据信号和载波。Computer-readable media includes both persistent and non-permanent, removable and non-removable media, and storage of information may be implemented by any method or technology. Information may be computer readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Flash Memory or other memory technology, Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cartridges, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, excludes transitory computer-readable media, such as modulated data signals and carrier waves.
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、商品或者设备中还存在另外的相同要素。It should also be noted that the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device comprising a series of elements includes not only those elements, but also Other elements not expressly listed, or which are inherent to such a process, method, article of manufacture, or apparatus are also included. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in the process, method, article of manufacture, or device that includes the element.
本领域技术人员应明白，本说明书的实施例可提供为方法、系统或计算机程序产品。因此，本说明书可采用完全硬件实施例、完全软件实施例或结合软件和硬件方面的实施例的形式。而且，本说明书可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。As will be appreciated by one skilled in the art, the embodiments of the present specification may be provided as a method, a system or a computer program product. Accordingly, this description may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present specification may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
本说明书可以在由计算机执行的计算机可执行指令的一般上下文中描述，例如程序模块。一般地，程序模块包括执行特定任务或实现特定抽象数据类型的例程、程序、对象、组件、数据结构等等。也可以在分布式计算环境中实践本说明书，在这些分布式计算环境中，由通过通信网络而被连接的远程处理设备来执行任务。在分布式计算环境中，程序模块可以位于包括存储设备在内的本地和远程计算机存储介质中。This specification may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification can also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including storage devices.
本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于系统实施例而言，由于其基本相似于方法实施例，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。Each embodiment in this specification is described in a progressive manner, and the same and similar parts between the various embodiments may be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, as for the system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and for related parts, please refer to the partial descriptions of the method embodiments.
以上所述仅为本说明书的实施例而已，并不用于限制本说明书。对于本领域技术人员来说，本说明书可以有各种更改和变化。凡在本说明书的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本说明书的权利要求范围之内。The above descriptions are merely examples of the present specification, and are not intended to limit the present specification. Various modifications and variations of this specification are possible for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this specification shall be included within the scope of the claims of this specification.
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| CN113432885A (en)* | 2021-06-03 | 2021-09-24 | 北京三快在线科技有限公司 | Method, apparatus, and storage medium for determining lane test route of unmanned vehicle |
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