Multi-vehicle anti-deadlock method, system and equipment based on short path, and storage medium

Abstract

The invention provides a multi-vehicle anti-deadlock method, system and equipment based on a short path, and a storage medium. The method comprises the following steps: performing path planning based on time extension on each vehicle; segmenting the planned path of each vehicle into a plurality of short path areas based on a preset length; enabling the vehicle to apply for at least one short-path area in front of the driving direction based on the passing time of the path planning in the driving process, and when an overlapping area exists, generating waiting link information; tracing the vehicle at the head of the queue of the current waiting link information, and supplementing the waiting link information; if the vehicle at the head of the queue can obtain a short-path area which is not overlapped with the path plans of all other vehicles in the waiting link information, applying for the vehicle at the head of the queue and driving into the short-path area; and after the vehicle at the tail of the queue passes through the overlapping area, releasing the vehicle at the head of the queue in the waiting link information. The method, the system and the equipment can be applied to path collaborative planning among multiple unmanned vehicles, deadlock is effectively prevented, vehicle collision prevention and deadlock avoidance are achieved, and the overall transportation efficiency of a motorcade is improved.

Description

technical field [0001] The present invention relates to the technical field of path planning, in particular to a short-path-based multi-vehicle anti-deadlock method, system, device and storage medium. Background technique [0002] The development of the shortest path algorithm has always been a frontier issue in engineering and graph theory. Due to its wide applicability, there are endless variants of path planning algorithms designed individually for various industries. On the premise of establishing an electronic map of the environment, for a given starting point and ending point, select the optimal path from the starting point to the ending point. Since there may be many connection methods from the start node to the end node, and the path lengths of each connection method are different, so without considering the interference between vehicles, environmental interference and line congestion, the path planning problem It is transformed into finding the shortest path lengt...

AI Technical Summary

Problems solved by technology

The researchers quickly found that when the number of vehicles increased to more than one, the complexity of the algorithm increased greatly

[0004] Moreover, in the scenario where a large number of unmanned vehicles work together, for example: unmanned docks use a large number of unmanned collection trucks at the same time, if each unmanned collection truck is allowed to plan its own route, it is easy to happen at some special intersections, a large number of vehicles Congestion, the situation where the entire area is locked

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