2results about How to "Continuous and smooth operation" patented technology

This application discloses a port route planning method, system, device, and storage medium based on virtual lanes. First, based on a pre-built lane grid index, the starting and ending lanes of the target vehicle are quickly located. Second, based on the obstacle and structural information of the current lane, a set of key lane-changing points formed by obstacles and / or process constraints is extracted. Then, the actual lanes and the virtual lanes generated based on the key lane-changing points are used together as graph nodes, and a weighted topology graph is constructed with travel cost as the edge weight. Next, the optimal path from the starting lane to the ending lane, passing through all key virtual lane nodes in sequence, is obtained based on the shortest path algorithm. Finally, the optimal path is converted into an executable path point sequence containing the key lane-changing points. This method can efficiently adapt to the dynamic operating environment and process constraints of ports, improving the flexibility and efficiency of route planning.