Multi-vehicle collaborative path determination method and device, electronic device and storage medium

Abstract

The present disclosure relates to a method and device for determining a multi-vehicle collaborative path, an electronic device, and a computer-readable storage medium, and relates to the field of autonomous driving technology, and can be applied to scenarios where multiple unmanned vehicles are routed. The multi-vehicle collaborative path determination method includes: obtaining a pre-constructed road network connectivity graph; wherein the road network connectivity graph includes driving costs of multiple driving sections; obtaining vehicle information of multiple vehicles, and determining the vehicle priority of each vehicle based on the multiple vehicle information; performing sequential path determination processing on each vehicle based on the priority of each vehicle and each driving cost, so as to determine the driving paths corresponding to the multiple vehicles in the road network connectivity graph. The present disclosure can perform collaborative routing processing on multiple vehicles based on the priorities of multiple unmanned vehicles and road congestion conditions.

Description

Background Art

[0002] Unmanned vehicles mainly rely on the intelligent driving instrument based on the computer system in the car to achieve the purpose of unmanned driving. With the rapid development of unmanned driving technology, unmanned driving technology has been applied to all aspects of people's daily life.

[0003] At present, unmanned driving technology has been applied in the field of logistics and distribution, for example, unmanned delivery vehicles. Unmanned delivery vehicles can achieve batch delivery to places where orders are concentrated, such as office buildings and convenience stores in urban environments, which will greatly improve the delivery efficiency of express delivery.

[0004] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0005] The purpose of the present disclosure is to provide a multi-vehicle collaborative path determination method, a multi-vehicle collaborative path determination device, an electronic device and a computer-readable storage medium, thereby at least to a certain extent overcoming the problem that common routing methods are only performed for a single vehicle and cannot achieve collaborative routing for multiple vehicles.

[0006] Other features and advantages of the present disclosure will become apparent from the following detailed description, or may be learned in part by the practice of the present invention.

[0007] According to a first aspect of the present disclosure, a method for determining a multi-vehicle collaborative path is provided, comprising: obtaining a pre-constructed road network connectivity graph; wherein the road network connectivity graph includes driving costs of multiple driving sections; obtaining vehicle information of multiple vehicles, and determining a vehicle priority of each vehicle based on the multiple vehicle information; performing sequential path determination processing on each vehicle based on each vehicle priority and each driving cost, so as to determine driving paths corresponding to each of the multiple vehicles in the road network connectivity graph.

[0008] Optionally, the vehicle priority of each vehicle is determined based on multiple vehicle information, including: determining the starting point coordinates and the end point coordinates corresponding to each vehicle from the vehicle information; determining the Manhattan distance between the starting point coordinates and the end point coordinates corresponding to each vehicle, and determining the vehicle priority based on the Manhattan distance.

[0009] Optionally, a sequential path determination process is performed on each vehicle according to each vehicle priority and each driving cost to determine driving paths corresponding to multiple vehicles in the road network connectivity graph, including: determining a first vehicle from multiple vehicles according to the vehicle priority; determining an initial driving cost for each driving section in the road network connectivity graph; determining a driving path of the first vehicle from the road network connectivity graph as a first driving path according to the initial driving cost; determining a second driving path of the second vehicle in the road network connectivity graph according to the first driving path and the vehicle priority; wherein the second vehicle includes other vehicles among the multiple vehicles except the first vehicle.

[0010] Optionally, determining the initial driving cost of each driving section in the road network connectivity graph includes: determining multiple nodes included in the road network connectivity graph, and determining multiple driving sections based on the multiple nodes; respectively obtaining the congestion coefficient and section length of each driving section, and determining the initial driving cost of each driving section based on the congestion coefficient and the section length.

[0011] Optionally, a second driving path of the second vehicle is determined in a road network connectivity map based on the first driving path and the vehicle priority, including: updating an initial driving cost based on the first driving path to generate a current driving cost; selecting vehicles to be processed one by one from the second vehicles based on the vehicle priority, and performing the following steps on the vehicles to be processed until the second driving path of each second vehicle is determined: determining the second driving path of the vehicle to be processed in the road network connectivity map based on the current driving cost; and updating the current driving cost based on the determined driving path of the vehicle to be processed.

[0012] Optionally, the initial driving cost is updated according to the first driving path to generate the current driving cost, including: determining the driving section included in the first driving path as the first driving section; obtaining the congestion coefficient currently corresponding to the first driving section as the first congestion coefficient, and updating the first congestion coefficient to generate a second congestion coefficient; updating the initial driving cost according to the second congestion coefficient to generate the current driving cost.

[0013] Optionally, a second driving path of the vehicle to be processed is determined in the road network connectivity map based on the current driving cost, including: obtaining the target starting point coordinates and the target end point coordinates of the vehicle to be processed; determining multiple candidate driving paths related to the vehicle to be processed from the road network connectivity map based on the target starting point coordinates and the target end point coordinates; determining candidate driving costs corresponding to each candidate driving path, and determining the second driving path based on the candidate driving costs; wherein the driving cost corresponding to the second driving path is the smallest.

[0014] According to a second aspect of the present disclosure, a multi-vehicle collaborative path determination device is provided, comprising: a connectivity graph acquisition module, used to acquire a pre-constructed road network connectivity graph; wherein the road network connectivity graph includes driving costs of multiple driving sections; a priority determination module, used to acquire vehicle information of multiple vehicles, and determine the vehicle priority of each vehicle based on the multiple vehicle information; a driving path determination module, used to perform sequential path determination processing on each vehicle based on the priority of each vehicle and each driving cost, so as to determine the driving paths corresponding to the multiple vehicles in the road network connectivity graph.

[0015] Optionally, the priority determination module includes a priority determination unit, which is used to determine the starting point coordinates and the end point coordinates corresponding to each vehicle from the vehicle information; determine the Manhattan distance between the starting point coordinates and the end point coordinates corresponding to each vehicle, and determine the vehicle priority based on the Manhattan distance.

[0016] Optionally, the driving path determination module includes a driving path determination unit, which is used to determine a first vehicle from multiple vehicles based on vehicle priority; determine an initial driving cost for each driving section in a road network connectivity graph; determine a driving path of the first vehicle from the road network connectivity graph based on the initial driving cost as a first driving path; determine a second driving path of the second vehicle in the road network connectivity graph based on the first driving path and vehicle priority; wherein the second vehicle includes other vehicles among the multiple vehicles except the first vehicle.

[0017] Optionally, the driving path determination unit includes an initial cost determination unit, which is used to determine multiple nodes included in the road network connectivity graph, and determine multiple driving sections based on the multiple nodes; respectively obtain the congestion coefficient and section length of each driving section, and determine the initial driving cost of each driving section based on the congestion coefficient and the section length.

[0018] Optionally, the driving path determination unit includes a driving path determination sub-unit, which is used to update the initial driving cost according to the first driving path to generate a current driving cost; select the vehicles to be processed one by one from the second vehicles according to the vehicle priority, and perform the following steps on the vehicles to be processed until the second driving path of each second vehicle is determined: determine the second driving path of the vehicle to be processed in the road network connectivity map according to the current driving cost; and update the current driving cost according to the determined driving path of the vehicle to be processed.

[0019] Optionally, the driving path determination subunit includes a cost updating subunit, which is used to determine the driving section included in the first driving path as the first driving section; obtain the congestion coefficient currently corresponding to the first driving section as the first congestion coefficient, and update the first congestion coefficient to generate a second congestion coefficient; update the initial driving cost according to the second congestion coefficient to generate the current driving cost.

[0020] Optionally, the driving path determination subunit includes a path determination subunit, which is used to obtain the target starting point coordinates and the target end point coordinates of the vehicle to be processed; determine multiple candidate driving paths related to the vehicle to be processed from the road network connectivity graph according to the target starting point coordinates and the target end point coordinates; determine the candidate driving costs corresponding to each candidate driving path, and determine a second driving path according to the candidate driving costs; wherein the driving cost corresponding to the second driving path is the smallest.

[0021] According to a third aspect of the present disclosure, there is provided an electronic device, comprising: a processor; and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the multi-vehicle collaborative path determination method according to any one of the above items is implemented.

[0022] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the multi-vehicle cooperative path determination method according to any one of the above items is implemented.

[0023] The technical solution provided by the present disclosure may have the following beneficial effects:

[0024] The method for determining a multi-vehicle cooperative path in an exemplary embodiment of the present disclosure obtains a pre-constructed road network connectivity graph; wherein the road network connectivity graph includes driving costs of multiple driving sections; obtains vehicle information of multiple vehicles, and determines the vehicle priority of each vehicle based on the multiple vehicle information; and performs sequential path determination processing on each vehicle based on the priority of each vehicle and the driving cost, so as to determine the driving paths corresponding to the multiple vehicles in the road network connectivity graph. On the one hand, the driving path of the vehicle is determined based on the driving costs of multiple driving sections in the road network connectivity graph, so that the determined driving path corresponds to the minimum driving cost, which can improve the driving efficiency of the vehicle. On the other hand, the sequential path determination processing is performed on multiple vehicles based on the vehicle priority and the driving cost. Therefore, when determining the driving path of a vehicle, the driving path of the vehicle with a higher priority has been converted into the driving cost of the vehicle, so that the driving paths of the determined multiple vehicles are global and unified. On the other hand, by allocating multiple vehicles in the driving path determination stage, the phenomenon of multiple vehicles parking in the same area can be avoided, and the utilization rate of vehicle resources can be improved.

[0025] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present disclosure, and together with the specification, are used to explain the principles of the present disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0027] Figure 1 A flowchart of a method for determining a multi-vehicle cooperative path according to an exemplary embodiment of the present disclosure is schematically shown;

[0028] Figure 2 A road network connectivity diagram including driving costs of different driving road segments according to an exemplary embodiment of the present disclosure is schematically shown;

[0029] Figure 3 A state diagram of a road network connectivity graph when determining a driving path of a first vehicle according to an exemplary embodiment of the present disclosure is schematically shown;

[0030] Figure 4 A state diagram of a road network connectivity graph when determining a driving path of a second vehicle according to an exemplary embodiment of the present disclosure is schematically shown;

[0031] Figure 5 A state diagram of a road network connectivity graph when determining a driving path of a third vehicle according to an exemplary embodiment of the present disclosure is schematically shown;

[0032] Figure 6 A state diagram of a road network connectivity graph when determining a driving path of a fourth vehicle according to an exemplary embodiment of the present disclosure is schematically shown;

[0033] Figure 7 A block diagram of a multi-vehicle cooperative path determination device according to an exemplary embodiment of the present disclosure is schematically shown;

[0034] Figure 8 A block diagram schematically shows an electronic device according to an exemplary embodiment of the present disclosure;

[0035] Fig. 9 A schematic diagram of a computer-readable storage medium according to an exemplary embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0036] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be comprehensive and complete and will fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar parts, and thus their repeated description will be omitted.

[0037] In addition, the described features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other cases, known structures, methods, devices, implementations, materials or operations are not shown or described in detail to avoid blurring the various aspects of the present disclosure.

[0038] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or these functional entities or parts of functional entities may be implemented in one or more software hardened modules, or these functional entities may be implemented in different networks and / or processor devices and / or microcontroller devices.

[0039] At present, unmanned driving technology has been applied in the field of logistics and distribution, for example, unmanned delivery vehicles. Unmanned delivery vehicles can realize batch delivery to places where orders are concentrated, such as office buildings and community convenience stores in urban environments. However, the common routing methods are currently aimed at a single vehicle. After the unmanned delivery vehicles are mass-produced in the future, they will be large-scale. Therefore, there may be a strange phenomenon that multiple unmanned vehicles are parked in crowded isolation pile areas waiting for the green light. Among the existing routing methods, there is still a lack of effective methods that can allocate multiple unmanned vehicles at the same time and coordinately determine the driving paths of multiple unmanned vehicles.

[0040] Based on this, in this example embodiment, a multi-vehicle collaborative path determination method is first provided. The multi-vehicle collaborative path determination method of the present disclosure can be implemented using a server, or the method described in the present disclosure can be implemented using a terminal device, wherein the terminal described in the present disclosure may include mobile terminals such as mobile phones, tablet computers, laptop computers, PDAs, personal digital assistants (PDAs), navigation devices, etc., as well as fixed terminals such as desktop computers. Figure 1 The following is a schematic diagram of a multi-vehicle cooperative path determination method process according to some embodiments of the present disclosure. Figure 1The multi-vehicle collaborative path determination method may include the following steps:

[0041] Step S110, obtaining a pre-constructed road network connectivity map; wherein the road network connectivity map includes driving costs of multiple driving road sections.

[0042] Step S120, obtaining vehicle information of a plurality of vehicles, and determining a vehicle priority of each vehicle according to the plurality of vehicle information.

[0043] In step S130, a sequential path determination process is performed on each vehicle according to each vehicle priority and each driving cost, so as to determine driving paths corresponding to a plurality of vehicles in the road network connectivity graph.

[0044] According to the multi-vehicle collaborative path determination method in this example embodiment, on the one hand, the driving path of the vehicle is determined according to the driving costs of multiple driving sections in the road network connectivity diagram, so that the determined driving path corresponds to the minimum driving cost, which can improve the driving efficiency of the vehicle. On the other hand, sequential path determination processing is performed on multiple vehicles according to vehicle priority and driving cost. Therefore, when determining the driving path of a vehicle, the driving paths of vehicles with higher priorities have been converted into the driving cost of the vehicle, so that the driving paths of multiple vehicles determined are global and unified. On the other hand, by allocating multiple vehicles in the driving path determination stage, the phenomenon of multiple vehicles parking in the same area can be avoided, thereby improving the utilization rate of vehicle resources.

[0045] Next, the multi-vehicle cooperative path determination method in this example embodiment will be further described.

[0046] In step S110, a pre-constructed road network connectivity map is obtained; wherein the road network connectivity map includes driving costs of multiple driving road sections.

[0047] In some exemplary embodiments of the present disclosure, the road network connectivity graph may be a connectivity graph constructed based on a road network. A driving section may be a section of the road network connectivity graph where a vehicle can travel. A driving cost may be a cost corresponding to a vehicle driving on a certain driving section, and the driving cost may be determined based on factors such as the congestion level of the driving section and the length of the driving section.

[0048] refer to Figure 2 As shown, Figure 2A road network connectivity graph including driving costs of different driving sections according to an exemplary embodiment of the present disclosure is schematically shown. Before determining the driving path of the vehicle, a pre-constructed road network connectivity graph 200 may be acquired by calling an interface. The road network connectivity graph 200 may include driving costs corresponding to each driving section in the connectivity graph when the road network connectivity graph is acquired. For example, the road network connectivity graph 200 may include coordinates 210 and coordinates 220. From coordinates 210 to coordinates 220, multiple driving paths may be included, for example, driving path 230, driving path 240, and driving path 250. Different driving paths have different corresponding driving costs. Figure 2 The driving costs of each driving route are shown by different line types, and the driving costs corresponding to the driving route 230 , the driving route 240 , and the driving route 250 are driving cost 1 , driving cost 2 , and driving cost 3 , respectively.

[0049] In step S120, vehicle information of a plurality of vehicles is acquired, and the vehicle priority of each vehicle is determined according to the plurality of vehicle information.

[0050] In some exemplary embodiments of the present disclosure, vehicle information may be information indicating the driving purpose of a certain vehicle, and the vehicle information may include the type of goods transported by the vehicle, the vehicle type, the starting point coordinates and the end point coordinates, etc. The vehicle priority may be the priority used when determining the driving paths of different vehicles, and the vehicle priorities of different vehicles may be numbered one by one.

[0051] Before determining the vehicle priorities of different vehicles, the vehicle information of each vehicle may be obtained first, and the vehicle priorities corresponding to the plurality of vehicles may be determined based on the obtained vehicle information, so that the driving path of each vehicle may be determined one by one based on the vehicle priority.

[0052] According to some exemplary embodiments of the present disclosure, the starting point coordinates and the end point coordinates corresponding to each vehicle are determined from the vehicle information; the Manhattan distance between the starting point coordinates and the end point coordinates corresponding to each vehicle is determined, and the vehicle priority is determined according to the Manhattan distance. The starting point coordinates may be the coordinates corresponding to the starting point of a vehicle. The end point coordinates may be the coordinates corresponding to the end point of a vehicle. The Manhattan distance may be the sum of the absolute wheelbases of the starting point and the end point of a vehicle on a standard coordinate system.

[0053] refer to Figure 2, the starting coordinate 210 corresponding to a vehicle may be (x1, y1), and the end coordinate 220 may be (x2, y2), then the Manhattan distance between the starting coordinate 210 and the end coordinate 220 may be d(1,2)=|x1-x2|+|y1-y2|. For example, the Manhattan distance between the starting coordinate 210 and the end coordinate 220 may be the length corresponding to the line segment 230, and the length corresponding to the line segment 240 may also be the Manhattan distance between the starting coordinate 210 and the end coordinate 220, and the line segment 250 corresponds to an equivalent Manhattan distance. The above method can be used to determine the Manhattan distance between the starting coordinates and the end coordinates of different vehicles, and the vehicle priority of each vehicle can be determined based on the determined Manhattan distance. The smaller the Manhattan distance corresponding to a vehicle, the higher the vehicle priority corresponding to the vehicle. If the Manhattan distances corresponding to two different vehicles are the same, the vehicle priority can be determined based on factors such as the importance of the vehicle in transporting goods and the vehicle type. For example, the Manhattan distance corresponding to vehicle 1 is the same as the Manhattan distance corresponding to vehicle 2, the importance of vehicle 1 in transporting goods is very important, and the importance of vehicle 2 in transporting goods is important, then it is determined that the vehicle priority of vehicle 1 is greater than the vehicle priority of vehicle 2.

[0054] In step S130, a sequential path determination process is performed on each vehicle according to each vehicle priority and each driving cost, so as to determine driving paths corresponding to a plurality of vehicles in the road network connectivity graph.

[0055] In some exemplary embodiments of the present disclosure, a sequential algorithm is an early algorithm for solving target planning, and its core is to decompose the target planning problem into a series of single-target planning problems according to the order of priority, and then solve them one by one. The sequential path determination process can be a processing method of converting the determined driving path of the vehicle into the road network connectivity graph as a unitized increment of the driving cost of each driving section, so as to determine the driving path of the vehicle to be processed in the road network connectivity graph with the driving cost of each driving section updated. The driving path (route) can be the path of each vehicle determined from the starting point to the end point of each vehicle. The driving path in the present disclosure refers to the driving route formed at the road end level, such as the path of the successful navigation path planning in the Amap, which is different from the path (path) mentioned in the local path planning technology.

[0056] According to the determined vehicle priority and the driving cost of each driving section, sequential path determination processing is performed on the above multiple vehicles, and the driving paths corresponding to each vehicle can be determined in the road network connectivity graph. Figure 2 , a vehicle can choose from three paths from the starting point coordinate 210 to the end point coordinate 220: path 230, path 240 and path 250. These three paths correspond to different driving costs ( Figure 2 ), then when determining the final driving route, a route with the minimum driving cost can be selected as the driving route corresponding to the vehicle. In the present disclosure, the algorithm used when finding a route for a certain vehicle can be the Dijkstra algorithm or the A* algorithm. The present disclosure does not impose any special limitation on the algorithm used when finding the route. Specifically, the sequential path determination processing method can be: when finding the route for the first vehicle, it is only necessary to find the route in the road network connectivity map in combination with the actual traffic congestion level; then, when finding the route for the second vehicle, the routing solution of the first vehicle is converted into the road network connectivity map as a unitized increment of the congestion level, and the routing is performed in the updated road network connectivity map accordingly, and so on, until the driving routes of all vehicles are determined.

[0057] According to some exemplary embodiments of the present disclosure, a first vehicle is determined from a plurality of vehicles according to vehicle priority; an initial driving cost of each driving section in a road network connectivity graph is determined; a driving path of the first vehicle is determined from the road network connectivity graph according to the initial driving cost as a first driving path; a second driving path of a second vehicle is determined in the road network connectivity graph according to the first driving path and the vehicle priority; wherein the second vehicle includes other vehicles other than the first vehicle among the plurality of vehicles. The first vehicle may be a vehicle with the highest current vehicle priority determined from the plurality of vehicles according to the vehicle priority. The initial driving cost may be a driving cost corresponding to each driving section in the road network connectivity graph before determining the first driving path of the first vehicle. The first driving path may be a driving path corresponding to the first vehicle from the starting point to the end point. The second vehicle may be other vehicles other than the first vehicle among the plurality of vehicles whose driving paths are to be determined, the vehicle priority of the second vehicle is lower than the vehicle priority of the first vehicle, and the number of the second vehicles may be one or more. The first driving path may be a driving path corresponding to the second vehicle from the starting point to the end point.

[0058] After determining the vehicle priorities corresponding to a plurality of vehicles, a vehicle with the highest vehicle priority can be selected from the plurality of vehicles as the first vehicle. After obtaining the road network connectivity map, the initial driving cost corresponding to each driving section can be calculated according to the congestion level and section length of each driving section in the road network connectivity map. After determining the initial driving cost of each driving section in the road network connectivity map, the first driving path of the first vehicle from the starting point to the end point can be determined from the road network connectivity map. After determining the first driving path, a second vehicle can be determined from the plurality of vehicles according to the vehicle priority, and the second driving path corresponding to the second vehicle can be determined in the road network connectivity map in combination with the first driving path.

[0059] refer to Figure 3 , Figure 3 The state diagram of the road network connectivity graph when determining the driving path of the first vehicle according to an exemplary embodiment of the present disclosure is schematically shown. Figure 3 In the figure, the starting point coordinates corresponding to the first vehicle are coordinates 210, and the ending point coordinates are coordinates 311. According to the starting point coordinates and the ending point coordinates, the first driving path corresponding to the first vehicle is determined from the road network connectivity graph as line segment 310. The multiple vehicles may also include multiple second vehicles, such as the starting point coordinates corresponding to the second vehicle 1 are coordinates 210, and the ending point coordinates are coordinates 311; the starting point coordinates corresponding to the second vehicle 2 are coordinates 210, and the ending point coordinates are coordinates 312; the starting point coordinates corresponding to the second vehicle 3 are coordinates 210, and the ending point coordinates are coordinates 313; the starting point coordinates corresponding to the second vehicle 4 are coordinates 210, and the ending point coordinates are coordinates 314, etc. The second driving paths corresponding to the second vehicles may be determined one by one according to the above method.

[0060] According to some exemplary embodiments of the present disclosure, a plurality of nodes included in a road network connectivity graph are determined, and a plurality of driving sections are determined based on the plurality of nodes; the congestion coefficient and section length of each driving section are respectively obtained, and the initial driving cost of each driving section is determined based on the congestion coefficient and section length. A node in a road network connectivity graph may represent an intersection, an isolation pile, etc. in an actual road. The connecting line segment between two nodes may be a driving section in a road network connectivity graph. The congestion coefficient may be a parameter representing the degree of congestion of a certain driving section, and the congestion coefficient may be represented by numbers 0, 1, 2, 3, 4, 5, etc. The larger the value of the congestion coefficient, the higher the degree of congestion of the driving section. The section length may be the length of a certain driving section.

[0061] According to the multiple nodes included in the road network connectivity graph, multiple driving road sections included in the road network connectivity graph can be determined. Figure 2 , Figure 2 Each square in the figure can correspond to a node (not all are shown in the figure), and the connecting lines between different nodes are the driving sections in the road network connectivity diagram. For a certain driving section, the congestion coefficient of the driving section can be determined according to the operation of the vehicle. For example, if the congestion coefficient of a certain driving section is 0, it means that there are no vehicles on the driving section and no congestion occurs. The section length of the driving section is obtained, and after normalizing and weighted addition of the section length and congestion coefficient, the initial driving cost corresponding to the driving section can be obtained.

[0062] According to some exemplary embodiments of the present disclosure, the initial driving cost is updated according to the first driving path to generate the current driving cost; the vehicles to be processed are selected one by one from the second vehicles according to the vehicle priority, and the following steps are performed on the vehicles to be processed until the second driving path of each second vehicle is determined: the second driving path of the vehicle to be processed is determined in the road network connectivity graph according to the current driving cost; the current driving cost is updated according to the determined driving path of the vehicle to be processed. The vehicle to be processed may be the vehicle currently used to determine the driving path that is determined from the second vehicles according to the vehicle priority. The current driving cost may be the driving cost corresponding to each driving section in the road network connectivity graph obtained by converting the first driving path into the initial driving cost and updating the initial driving cost, that is, converting the path plan of the first driving path into the road network connectivity graph as a unitized increment of the congestion coefficient.

[0063] After determining the first driving path, a vehicle with the highest vehicle priority can be selected from the second vehicles as the vehicle to be processed, and the second driving path of the vehicle to be processed can be determined. Specifically, the specific steps for determining the second driving path of the vehicle to be processed are as follows: Figure 4 , Figure 4 The state diagram of the road network connectivity diagram when determining the driving path of the second vehicle according to an exemplary embodiment of the present disclosure is schematically shown. After the first driving path corresponding to the first vehicle is determined, the initial driving cost in the road network connectivity diagram is updated according to the first driving path. For example, the driving segment 310 corresponding to the first driving path of the first vehicle is converted into the initial driving cost in the road network connectivity diagram after the first driving path is determined, and the initial driving cost is updated to generate the current driving cost. The second driving path of the vehicle to be processed is determined according to the updated current driving cost.

[0064] According to some exemplary embodiments of the present disclosure, a driving section included in a first driving path is determined as a first driving section; a congestion coefficient currently corresponding to the first driving section is obtained as the first congestion coefficient, and the first congestion coefficient is updated to generate a second congestion coefficient; and an initial driving cost is updated according to the second congestion coefficient to generate a current driving cost. The first driving section may be all driving sections corresponding to the first driving path in a road network connectivity graph. The first congestion coefficient may be a congestion coefficient corresponding to the first driving section before the driving cost generated by the first driving path is converted and calculated. The second congestion coefficient may be a congestion coefficient corresponding to the first driving section after the driving cost generated by the first driving path is converted and calculated. The current driving cost may be a driving cost corresponding to each driving section in the road network connectivity graph after the driving cost corresponding to the driving path of the vehicle that has been determined is converted and calculated. Each time a driving path of a vehicle is determined, the current driving cost may be updated according to the determined driving path.

[0065] According to some exemplary embodiments of the present disclosure, the target starting point coordinates and the target end point coordinates of the vehicle to be processed are obtained; multiple candidate driving paths related to the vehicle to be processed are determined from the road network connectivity graph according to the target starting point coordinates and the target end point coordinates; the candidate driving costs corresponding to each candidate driving path are determined, and the second driving path is determined according to the candidate driving costs; wherein the driving cost corresponding to the second driving path is the smallest. The target starting point coordinates may be the starting point coordinates corresponding to the vehicle to be processed. The target end point coordinates may be the end point coordinates corresponding to the vehicle to be processed. The candidate driving paths may be all driving paths from the target starting point coordinates to the target end point coordinates. The candidate driving costs may be the driving costs corresponding to each candidate driving path. Since the candidate driving path may contain multiple driving sections, different driving sections may correspond to different driving costs, and therefore, the driving costs corresponding to each driving section may be determined.

[0066] refer to Figure 4 After determining the first driving path corresponding to the first vehicle, the second vehicle 2 is obtained from the second vehicle as the vehicle to be processed. The starting point coordinates corresponding to the vehicle to be processed are coordinates (i.e., target starting point coordinates) 210, and the end point coordinates are coordinates (i.e., target end point coordinates) 312. After obtaining the target starting point coordinates and the target end point coordinates, the candidate driving paths from the target starting point coordinates to the target end point coordinates can be determined in the road network connectivity graph. The candidate driving paths may include candidate driving path 1 and candidate driving path 2. Candidate driving path 1 starts from coordinate 210 and reaches coordinate 312 via coordinates 411 and coordinates 412; candidate driving path 2 starts from coordinate 210 and reaches coordinate 312 via coordinates 311 and coordinates 412. Figure 4Different types of lines are used to show the candidate driving costs corresponding to the candidate driving path 1 and the candidate driving path 2. After the first driving path is determined, the driving cost corresponding to the first driving segment 310 is 1, and the candidate driving path 1 includes three driving segments, namely driving segment 1 (coordinates 210 to coordinates 411), driving segment 2 (coordinates 411 to coordinates 412), and driving segment 3 (coordinates 412 to coordinates 312), and the driving cost of each driving segment is 2; and the candidate driving path 2 also includes three driving segments, namely driving segment 1' (coordinates 210 to coordinates 311), driving segment 2' (coordinates 311 to coordinates 412), and driving segment 3' (coordinates 412 to coordinates 312), and the driving costs corresponding to driving segment 1', driving segment 2' and driving segment 3' are 1, 2, and 2, respectively. It can be seen that the candidate driving cost corresponding to the candidate driving path 2 is less than the candidate driving cost corresponding to the candidate driving path 1. Therefore, the candidate driving path 2 can be used as the second driving path 410 corresponding to the vehicle to be processed (the second vehicle 2). After the second driving path corresponding to the second vehicle 2 is determined, the driving costs of the driving sections included in the second path can be updated to obtain the current driving cost corresponding to the road network connectivity graph.

[0067] refer to Figure 5 , Figure 5 The state diagram of the road network connectivity diagram when determining the driving path of the third vehicle according to an exemplary embodiment of the present disclosure is schematically shown. The second vehicle 3 is obtained from the second vehicle, and the target starting point coordinates corresponding to the second vehicle 3 are coordinates 210 and the target end point coordinates are coordinates 313. Figure 5As shown, the second vehicle 3 may include a candidate driving path 1 and a candidate driving path 2. The candidate driving path 1 starts from coordinate 210 and reaches coordinate 313 via coordinate 311 and coordinate 412; the candidate driving path 2 starts from coordinate 210 and reaches coordinate 313 via coordinate 311 and coordinate 312. The candidate driving path 1 includes three driving sections, namely driving section 1 (coordinate 210 to coordinate 311), driving section 2 (coordinate 311 to coordinate 412), and driving section 3 (coordinate 412 to coordinate 313), and the driving costs corresponding to driving section 1, driving section 2 and driving section 3 are 2, 2, and 1 respectively; and the candidate driving path 2 also includes three driving sections, namely driving section 1' (coordinate 210 to coordinate 311), driving section 2' (coordinate 311 to coordinate 312), and driving section 3' (coordinate 312 to coordinate 313), and the driving costs corresponding to driving section 1', driving section 2' and driving section 3' are 2, 1, and 1 respectively. It can be seen from this that the candidate driving cost corresponding to the candidate driving path 2 is less than the candidate driving cost corresponding to the candidate driving path 1. Therefore, the candidate driving path 2 can be used as the second driving path 510 corresponding to the second vehicle 3, and the current driving cost of each driving section in the road network connectivity diagram can be updated according to the determined second driving path.

[0068] After determining the second driving path corresponding to the second vehicle 3, the second vehicle 4 is obtained from the second vehicles, and the driving path corresponding to the second vehicle 4 is determined. Figure 6 , Figure 6 The state diagram of the road network connectivity diagram when determining the driving path of the fourth vehicle according to an exemplary embodiment of the present disclosure is schematically shown. The target starting point coordinates corresponding to the second vehicle 4 are coordinates 210, and the corresponding target end point coordinates are coordinates 314. The above method can be used to determine the driving path 610 corresponding to the second vehicle 4, and the current driving cost of each driving section in the road network connectivity diagram is updated according to the determined second driving path. And so on, until the driving paths corresponding to all vehicles are determined.

[0069] It should be noted that the terms "first", "second", etc. used in the present disclosure are only for distinguishing different vehicles, different driving routes, and different congestion coefficients, and should not impose any limitations on the present disclosure.

[0070] In summary, the multi-vehicle cooperative path determination method disclosed in the present invention obtains a pre-constructed road network connectivity graph; wherein the road network connectivity graph includes the driving costs of multiple driving sections; obtains vehicle information of multiple vehicles, and determines the vehicle priority of each vehicle according to the multiple vehicle information; and performs sequential path determination processing on each vehicle according to each vehicle priority and each driving cost, so as to determine the driving paths corresponding to the multiple vehicles in the road network connectivity graph. On the one hand, the driving path of the vehicle is determined according to the driving costs of multiple driving sections in the road network connectivity graph, so that the determined driving path corresponds to the minimum driving cost, which can improve the driving efficiency of the vehicle. On the other hand, the sequential path determination processing is performed on multiple vehicles according to the vehicle priority and the driving cost. Therefore, when determining the driving path of a vehicle, the driving path of the vehicle with a higher priority has been converted into the driving cost of the vehicle, so that the driving paths of the determined multiple vehicles are global and unified. On the other hand, by allocating multiple vehicles in the driving path determination stage, the phenomenon of multiple vehicles parking in the same area can be avoided, and the utilization rate of vehicle resources can be improved.

[0071] It should be noted that, although the steps of the method of the present invention are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0072] In addition, in this exemplary embodiment, a multi-vehicle cooperative path determination device is also provided. Figure 7 The multi-vehicle cooperative path determination device 700 may include: a connectivity graph acquisition module 710, a priority determination module 720 and a driving path determination module 730.

[0073] Specifically, the connectivity map acquisition module 710 is used to obtain a pre-constructed road network connectivity map; wherein the road network connectivity map includes driving costs of multiple driving sections; the priority determination module 720 is used to obtain vehicle information of multiple vehicles, and determine the vehicle priority of each vehicle based on the multiple vehicle information; the driving path determination module 730 is used to perform sequential path determination processing on each vehicle based on the priority of each vehicle and each driving cost, so as to determine the driving paths corresponding to the multiple vehicles in the road network connectivity map.

[0074] The multi-vehicle collaborative path determination device 700 determines the vehicle's driving path according to the driving costs of multiple driving sections in the road network connectivity diagram, so that the determined driving path corresponds to the minimum driving cost, which can improve the vehicle's driving efficiency; sequential path determination processing is performed on multiple vehicles according to vehicle priority and driving cost. When determining the driving path of a vehicle, the driving path of the vehicle with a higher priority is converted into the driving cost of the vehicle, so that the determined driving paths of the multiple vehicles are global and unified; multiple vehicles are allocated to avoid the phenomenon of multiple vehicles parking in the same area, which can improve the utilization rate of vehicle resources. It is an effective multi-vehicle collaborative path determination device.

[0075] In an exemplary embodiment of the present disclosure, the priority determination module includes a priority determination unit, which is used to determine the starting point coordinates and the end point coordinates corresponding to each vehicle from the vehicle information; determine the Manhattan distance between the starting point coordinates and the end point coordinates corresponding to each vehicle, and determine the vehicle priority according to the Manhattan distance.

[0076] In an exemplary embodiment of the present disclosure, a driving path determination module includes a driving path determination unit, which is used to determine a first vehicle from multiple vehicles according to vehicle priority; determine an initial driving cost for each driving segment in a road network connectivity graph; determine a driving path of the first vehicle from the road network connectivity graph according to the initial driving cost as a first driving path; determine a second driving path of a second vehicle in the road network connectivity graph according to the first driving path and the vehicle priority; wherein the second vehicle includes other vehicles among the multiple vehicles except the first vehicle.

[0077] In an exemplary embodiment of the present disclosure, the driving path determination unit includes an initial cost determination unit, which is used to determine a plurality of nodes included in a road network connectivity graph, and determine a plurality of driving sections based on the plurality of nodes; respectively obtain a congestion coefficient and a section length of each driving section, and determine an initial driving cost of each driving section based on the congestion coefficient and the section length.

[0078] In an exemplary embodiment of the present disclosure, a driving path determination unit includes a driving path determination subunit, which is used to update an initial driving cost according to a first driving path to generate a current driving cost; select vehicles to be processed one by one from the second vehicles according to vehicle priority, and perform the following steps on the vehicles to be processed until a second driving path for each second vehicle is determined: determine the second driving path of the vehicle to be processed in a road network connectivity graph according to the current driving cost; and update the current driving cost according to the determined driving path of the vehicle to be processed.

[0079] In an exemplary embodiment of the present disclosure, the driving path determination subunit includes a cost updating subunit, which is used to determine the driving segment included in the first driving path as the first driving segment; obtain the congestion coefficient currently corresponding to the first driving segment as the first congestion coefficient, and update the first congestion coefficient to generate a second congestion coefficient; update the initial driving cost according to the second congestion coefficient to generate the current driving cost.

[0080] In an exemplary embodiment of the present disclosure, a driving path determination subunit includes a path determination subunit, which is used to obtain the target starting point coordinates and the target end point coordinates of the vehicle to be processed; determine multiple candidate driving paths related to the vehicle to be processed from the road network connectivity graph according to the target starting point coordinates and the target end point coordinates; determine the candidate driving costs corresponding to each candidate driving path, and determine a second driving path according to the candidate driving costs; wherein the driving cost corresponding to the second driving path is the smallest.

[0081] The specific details of the virtual modules of each of the above-mentioned multi-vehicle cooperative path determination devices have been described in detail in the corresponding multi-vehicle cooperative path determination method, so they will not be repeated here.

[0082] It should be noted that although several modules or units of the multi-vehicle collaborative path determination device are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiment of the present disclosure, the features and functions of two or more modules or units described above can be concretized in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided into multiple modules or units for concretization.

[0083] In addition, in an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above method is also provided.

[0084] It will be appreciated by those skilled in the art that various aspects of the present invention may be implemented as systems, methods or program products. Therefore, various aspects of the present invention may be specifically implemented in the following forms, namely: complete hardware embodiments, complete software embodiments (including firmware, microcode, etc.), or embodiments combining hardware and software aspects, which may be collectively referred to herein as "circuits", "modules" or "systems".

[0085] Reference below Figure 8 An electronic device 800 according to such an embodiment of the present invention is described. Figure 8 The electronic device 800 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0086] like Figure 8As shown, the electronic device 800 is in the form of a general computing device. The components of the electronic device 800 may include, but are not limited to: the at least one processing unit 810, the at least one storage unit 820, a bus 830 connecting different system components (including the storage unit 820 and the processing unit 810), and a display unit 840.

[0087] The storage unit stores program codes, which can be executed by the processing unit 810, so that the processing unit 810 executes the steps according to various exemplary embodiments of the present invention described in the above “Exemplary Method” section of this specification.

[0088] The storage unit 820 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 821 and / or a cache memory unit 822 , and may further include a read-only memory unit (ROM) 823 .

[0089] The storage unit 820 may include a program / utility 824 having a set (at least one) of program modules 825, such program modules 825 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0090] Bus 830 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0091] The electronic device 800 may also communicate with one or more external devices 870 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 800, and / or communicate with any device that enables the electronic device 800 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 850. Furthermore, the electronic device 800 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter 860. As shown, the network adapter 860 communicates with other modules of the electronic device 800 via a bus 830. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 800, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0092] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the embodiment of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiment of the present disclosure.

[0093] In an exemplary embodiment of the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the above method of the present specification is stored. In some possible embodiments, various aspects of the present invention can also be implemented in the form of a program product, which includes a program code, and when the program product is run on a terminal device, the program code is used to enable the terminal device to perform the steps according to various exemplary embodiments of the present invention described in the above "Exemplary Method" section of the present specification.

[0094] refer to Fig. 9 As shown, a program product 900 for implementing the above method according to an embodiment of the present invention is described, which can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, an apparatus or a device.

[0095] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0096] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, in which readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0097] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0098] Program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0099] In addition, the above-mentioned figures are only schematic illustrations of the processes included in the method according to an exemplary embodiment of the present invention, and are not intended to be limiting. It is easy to understand that the processes shown in the above-mentioned figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0100] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not disclosed in the present disclosure. The specification and examples are to be considered as exemplary only, and the true scope and spirit of the present disclosure are indicated by the claims.

[0101] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method for determining a multi-vehicle cooperative path, characterized in that: include: Obtaining a pre-constructed road network connectivity map; wherein the road network connectivity map includes driving costs of multiple driving sections; the driving cost is the cost corresponding to a vehicle driving on the driving section, and the driving cost is determined according to the congestion level of the driving section and the section length of the driving section; Acquire vehicle information of multiple vehicles, and determine the vehicle priority of each of the vehicles according to the multiple vehicle information; vehicle priority refers to the priority used when determining the driving path of the vehicle, and is used to determine the driving path of each vehicle one by one; the vehicle priority of each vehicle according to the multiple vehicle information is determined, including: determining the starting point coordinates and the end point coordinates corresponding to each vehicle from the vehicle information; determining the Manhattan distance between the starting point coordinates and the end point coordinates corresponding to each vehicle, and determining the vehicle priority according to the Manhattan distance; the method also includes: if the Manhattan distances corresponding to two different vehicles are the same, determining the vehicle priority according to the importance of the vehicle in transporting goods or the vehicle type; Performing sequential path determination processing on each of the vehicles according to each of the vehicle priorities and each of the driving costs, so as to determine the driving paths corresponding to each of the plurality of vehicles in the road network connectivity graph; wherein the sequential path determination processing is to convert the driving paths of the determined vehicles into the road network connectivity graph as the unitized increment of the driving costs of each driving section, so as to determine the driving paths of the vehicles to be processed in the road network connectivity graph in which the driving costs of each driving section are updated; The sequential path determination processing is performed on each of the vehicles according to the priority of each vehicle and each driving cost, so as to determine the driving paths corresponding to each of the plurality of vehicles in the road network connectivity graph, including: determining a first vehicle from the plurality of vehicles according to each of the vehicle priorities; Determining the initial driving cost of each driving section in the road network connectivity graph; Determine a driving path of the first vehicle from the road network connectivity graph according to the initial driving cost as a first driving path; A second driving path for a second vehicle is determined in the road network connectivity graph according to the first driving path and the vehicle priority; wherein the second vehicle includes the other vehicles among the plurality of vehicles except the first vehicle.

2. The method for determining a multi-vehicle cooperative path according to claim 1, characterized in that: The determining of the initial driving cost of each driving section in the road network connectivity graph comprises: Determine a plurality of nodes included in the road network connectivity graph, and determine a plurality of driving sections according to the plurality of nodes; The congestion coefficient and the length of each driving section are respectively obtained, and the initial driving cost of each driving section is determined according to the congestion coefficient and the length of the section.

3. The method for determining a multi-vehicle cooperative path according to claim 1, characterized in that: Determining a second driving path of a second vehicle in the road network connectivity graph according to the first driving path and the vehicle priority includes: Updating the initial driving cost according to the first driving path to generate a current driving cost; Selecting vehicles to be processed one by one from the second vehicles according to the vehicle priority, and performing the following steps on the vehicles to be processed until the second driving path of each of the second vehicles is determined: Determine a second driving path of the to-be-processed vehicle in the road network connectivity graph according to the current driving cost; The current driving cost is updated according to the determined driving path of the vehicle to be processed.

4. The method for determining a multi-vehicle cooperative path according to claim 3, characterized in that: The updating of the initial driving cost according to the first driving path to generate a current driving cost includes: Determining a driving section included in the first driving path as a first driving section; Acquire a congestion coefficient currently corresponding to the first driving road section as a first congestion coefficient, and update the first congestion coefficient to generate a second congestion coefficient; The initial driving cost is updated according to the second congestion coefficient to generate the current driving cost.

5. The method for determining a multi-vehicle cooperative path according to claim 3, characterized in that: Determining the second driving path of the to-be-processed vehicle in the road network connectivity graph according to the current driving cost includes: Obtaining the target starting point coordinates and the target end point coordinates of the vehicle to be processed; Determine a plurality of candidate driving paths related to the vehicle to be processed from the road network connectivity graph according to the target starting point coordinates and the target end point coordinates; Determine candidate driving costs corresponding to each of the candidate driving paths, and determine the second driving path according to the candidate driving costs; wherein the driving cost corresponding to the second driving path is the smallest.

6. A multi-vehicle cooperative path determination device, characterized in that: include: A connectivity map acquisition module is used to acquire a pre-constructed road network connectivity map; wherein the road network connectivity map includes driving costs of multiple driving sections; the driving cost is the cost corresponding to a vehicle driving on the driving section, and the driving cost is determined according to the congestion level of the driving section and the section length of the driving section; A priority determination module, used to obtain vehicle information of multiple vehicles, and determine the vehicle priority of each of the vehicles according to the multiple vehicle information; vehicle priority refers to the priority used when determining the driving path of the vehicle, and is used to determine the driving path of each vehicle one by one; the vehicle priority of each vehicle determined according to the multiple vehicle information is configured to: determine the starting point coordinates and the end point coordinates corresponding to each vehicle from the vehicle information; determine the Manhattan distance between the starting point coordinates and the end point coordinates corresponding to each vehicle, and determine the vehicle priority according to the Manhattan distance; the device is also configured to: if the Manhattan distances corresponding to two different vehicles are the same, determine the vehicle priority according to the importance of the vehicle in transporting goods or the vehicle type; A driving path determination module is used to perform sequential path determination processing on each of the vehicles according to each of the vehicle priorities and each of the driving costs, so as to determine the driving paths corresponding to the plurality of vehicles in the road network connectivity graph; wherein the sequential path determination processing is to convert the driving paths of the determined vehicles into the road network connectivity graph as the unitized increment of the driving costs of each driving section, so as to determine the driving paths of the vehicles to be processed in the road network connectivity graph in which the driving costs of each driving section are updated; The driving path determination module is configured as follows: determining a first vehicle from the plurality of vehicles according to each of the vehicle priorities; Determining the initial driving cost of each driving section in the road network connectivity graph; Determine a driving path of the first vehicle from the road network connectivity graph according to the initial driving cost as a first driving path; A second driving path for a second vehicle is determined in the road network connectivity graph according to the first driving path and the vehicle priority; wherein the second vehicle includes the other vehicles among the plurality of vehicles except the first vehicle.

7. An electronic device, characterized in that: include: processor; as well as A memory having computer-readable instructions stored thereon, wherein the computer-readable instructions, when executed by the processor, implement the multi-vehicle cooperative path determination method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the multi-vehicle cooperative path determination method according to any one of claims 1 to 5.

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