Path planning method and device

Abstract

A path planning method is provided, which meets the user needs of multiple strategies and can be applied to intelligent driving systems including automatic driving and assisted driving. The path planning method includes: obtaining path planning reference information, the path planning reference information including at least one of traffic conditions, road conditions, weather conditions or vehicle conditions (201), obtaining multiple user strategies input by one or more users (202), and performing path planning according to the path planning reference information and the multiple user strategies (203). A path planning device, a computer storage medium, a computer program product and an intelligent vehicle are also provided.

Description

Technical Field

[0001] The present application relates to intelligent driving technology, and in particular to a path planning method and device. Background Art

[0002] In current intelligent driving scenarios, for example, when a vehicle sets out, it is necessary to first select a destination in the path planning software, and then the path planning software will plan the vehicle's driving path. In this way, the vehicle can move along the planned path and eventually reach the destination.

[0003] The current path planning software uses the following path planning methods: shortest distance path planning, shortest time path planning, best comfort path planning, most economical path planning, etc. The existing path planning methods are based on a single strategy to pursue the only optimal path, collectively referred to as single strategy path planning. To a certain extent, they can solve the uncertainty caused by incomplete information and can also plan a relatively optimal path, but there are many problems, including: the existing path planning methods are not centered on user needs, do not consider multi-strategy needs, and are difficult to meet the application scenario requirements of multiple path planning strategies coexisting, and the user experience is poor; due to the real-time nature of environmental changes such as road conditions, it is inappropriate to let users fix a certain strategy in advance; due to the real-time dynamic changes in road conditions, vehicle information, weather, traffic conditions, etc., any single path planning strategy cannot be applied to actual scenarios alone. For example, if a section of the path pre-planned based on the shortest distance path planning strategy has temporary construction, if the strategy is not changed, it may cause the path planning software to indicate that the vehicle is dead on the section; when the user's strategy needs change, it does not support autonomous dynamic switching of the path, and manual intervention is required to adjust and update the planned path; it is difficult to tap more potential path opportunities.

[0004] In short, there is an urgent need for a path planning solution that is more suitable for actual scenarios and improves user experience. Summary of the invention

[0005] In order to overcome the above problems existing in the prior art, an embodiment of the present invention provides a path planning method and device.

[0006] In a first aspect, a path planning method is provided, comprising: obtaining path planning reference information, the path planning reference information including at least one of traffic conditions, road conditions, weather conditions or vehicle conditions; obtaining multiple user strategies input by one or more users; and performing path planning according to the path planning reference information and the multiple user strategies. The user strategy reflects the user's preference for the path planning strategy, and the multiple user strategies may be multiple user strategies of one user, for example, a user hopes that the path is to comprehensively consider time priority and distance priority; the multiple user strategies may also be multiple user strategies of multiple users, for example, when multiple users take a car, user A hopes that time priority, user B hopes that distance priority, and user C hopes that cost priority, then the different needs of multiple users are taken into account as much as possible by comprehensively considering time priority, distance priority and cost priority. By using multiple strategies as a decision reference for path planning, user-centric intelligent path planning can be realized, and when the driving environment information changes dynamically in real time, the multi-strategy path planning mechanism facilitates more flexible adjustment of the path and excavation of a better potential path, and the planned path is more suitable for the actual scene.

[0007] According to the first aspect, in a first possible implementation of the path planning method, the user strategy includes distance priority, time priority, safety priority, comfort priority or cost priority. Distance priority aims to shorten the driving distance and avoid detours; time priority aims to shorten the travel time, such as trying to meet high speed, short distance, avoid congestion and avoid waiting for traffic lights; safety priority aims to avoid driving accidents, such as trying to avoid accident-prone sections, avoid frequent lane changes and avoid sections with incomplete traffic facilities; comfort priority aims to improve the user's riding experience, such as trying to maintain a uniform driving speed, driving on a flat road and avoid sharp turns; cost priority aims to reduce travel costs, and the travel costs include tolls and fuel costs.

[0008] According to the first aspect or the first possible implementation of the first aspect, in a second possible implementation of the path planning method, the method further includes: updating the path planning reference information; obtaining updates of the multiple user policies by one or more users; and re-planning the path according to the updated path planning reference information or at least one of the updated multiple user policies. The updating of the path planning reference information includes continuing to collect the path planning reference information using a sensor, or receiving the updated path planning reference information using a receiver. The updating of the multiple user policies by the one or more users includes deleting one or more user policies in the multiple user policies, or adding one or more new user policies, and the new one or more user policies are obtained from the original one or more users, or the newly added one or more users. When the real-time change of the path planning reference information makes the current path not the optimal path, or the user has a need to adjust the selected user policy, it is necessary to re-plan the path according to the updated path planning reference information or the updated multiple user policies, so that the planned path meets the real-time changes of the driving scene and the adjustment of user preferences.

[0009] According to the first aspect, or any implementation of the first aspect above, in a third possible implementation of the path planning method, the method further includes: determining one or more user strategies recommended to the user based on the path planning reference information; sending a suggestion message containing the one or more user strategies recommended to the user to the user; the obtaining of multiple user strategies input by one or more users includes: obtaining one or more user strategies selected by the one or more users from the one or more user strategies recommended to the user. Since it is difficult for users to understand the complete path planning reference information and the limitations of subjective judgment, the user strategy that the user wants to adopt may not be applicable to the current driving scenario. By making suggestions on user strategies to the user, the user strategy selected by the user can be more in line with the actual driving environment.

[0010] According to the first aspect, or any implementation of the first aspect above, in a fourth possible implementation of the path planning method, the path planning reference information also includes a map, the map includes multiple path segments connecting two adjacent intersections, and the path planning according to the path planning reference information and the multiple user strategies includes: determining the weight of each path segment corresponding to each user strategy in the multiple user strategies according to the path planning reference information, the weight is used to identify the travel cost of a path segment under a user strategy; determining one or more reachable paths between a source location and a destination location according to the multiple user strategies and the weight of each path segment corresponding to each user strategy in the multiple user strategies, the reachable path includes multiple path segments continuous on the map; determining the current path from the one or more reachable paths. The user strategies adopted by the multiple continuous path segments may be different, and path planning based on multiple user strategies is implemented by distributing the multiple user strategies in space.

[0011] According to the first aspect, or any implementation of the first aspect above, in a fifth possible implementation of the path planning method, the weight of at least one user policy among the multiple user policies corresponding to each path segment in the multiple path segments satisfies the threshold limit of the corresponding user policy. By identifying and excluding path segments that do not meet the requirements of any user policy among the multiple user policies in a threshold-limited manner, the planned path can simultaneously meet the requirements of the multiple user policies.

[0012] According to the first aspect, or any implementation manner of the first aspect above, in a sixth possible implementation manner of the path planning method, determining the current path from the multiple reachable paths includes: randomly selecting a reachable path from the multiple reachable paths as the current path; or, according to the weight of each user policy in the multiple user policies corresponding to the multiple path segments included in each reachable path, selecting a reachable path from the multiple reachable paths as the current path; or, according to the number of the multiple path segments included in each reachable path, selecting a reachable path from the multiple reachable paths as the current path.

[0013] According to the first aspect, or any implementation of the first aspect above, in a seventh possible implementation of the path planning method, the path planning according to the path planning reference information and the multiple user strategies includes: selecting one user strategy from the multiple user strategies in turn as the current user strategy until a reachable path that meets preset conditions from the source location to the destination location is successfully planned based on the current user strategy. In addition to the aforementioned distribution of the multiple user strategies in space, the path planning based on multiple user strategies can also be implemented by distributing the multiple user strategies in time.

[0014] According to the first aspect, or any implementation of the first aspect above, in an eighth possible implementation of the path planning method, selecting a user policy from the multiple user policies in sequence as the current user policy includes: sorting the multiple user policies by priority, and selecting a user policy from the multiple user policies in order from high to low priority as the current user policy, or, selecting a user policy from the multiple user policies in order of rotation as the current user policy.

[0015] In a second aspect, a path planning device is provided, including: a path planning reference information acquisition module, used to acquire path planning reference information, the path planning reference information includes at least one of traffic conditions, road conditions, weather conditions or vehicle conditions; a user strategy acquisition module, used to acquire multiple user strategies input by one or more users; and a path planning module, used to perform path planning according to the path planning reference information and the multiple user strategies. The user strategy reflects the user's preference for the path planning strategy, and the multiple user strategies can be multiple user strategies of one user, for example, a user hopes that the path is to comprehensively consider time priority and distance priority; the multiple user strategies can also be multiple user strategies of multiple users, for example, when multiple users take a car, user A hopes that time priority, user B hopes that distance priority, and user C hopes that cost priority, then by comprehensively considering time priority, distance priority and cost priority, the different needs of multiple users are taken into account as much as possible. By using multiple strategies as a decision reference for path planning, user-centric intelligent path planning can be realized, and when the driving environment information changes dynamically in real time, the multi-strategy path planning mechanism facilitates more flexible adjustment of the path and excavation of a better potential path, and the planned path is more suitable for the actual scene.

[0016] According to the second aspect, in a first possible implementation of the path planning device, the user strategy includes distance priority, time priority, safety priority, comfort priority or cost priority. Distance priority aims to shorten the driving distance and avoid detours; time priority aims to shorten the travel time, such as trying to meet high speed, short distance, avoid congestion and avoid waiting for traffic lights; safety priority aims to avoid driving accidents, such as trying to avoid accident-prone sections, avoid frequent lane changes and avoid sections with incomplete traffic facilities; comfort priority aims to improve the user's riding experience, such as trying to drive at a uniform speed, driving on a flat road and avoiding sharp turns; cost priority aims to reduce travel costs, and the travel costs include tolls and fuel costs.

[0017] According to the second aspect or the first possible implementation of the second aspect, in the second possible implementation of the path planning device: the path planning reference information acquisition module is also used to update the path planning reference information; the user policy acquisition module is also used to obtain updates of the multiple user policies by one or more users; the path planning module is also used to re-plan the path according to the updated path planning reference information or at least one of the updated multiple user policies. The updating of the path planning reference information includes continuing to collect the path planning reference information using a sensor, or receiving the updated path planning reference information using a receiver. The updating of the multiple user policies by one or more users includes deleting one or more user policies in the multiple user policies, or adding one or more new user policies, and the new one or more user policies are obtained from the original one or more users, or one or more newly added users. When the real-time change of the path planning reference information makes the current path not the optimal path, or the user has a need to adjust the selected user policy, it is necessary to re-plan the path according to the updated path planning reference information or the updated multiple user policies, so that the planned path meets the real-time changes of the driving scene and the adjustment of user preferences.

[0018] According to the second aspect, or any implementation of the second aspect above, in a third possible implementation of the path planning device, the device further includes: a user strategy suggestion module, used to determine one or more user strategies suggested to the user based on the path planning reference information; a sending module, used to send a suggestion message containing the one or more user strategies suggested to the user to the user; the user strategy acquisition module acquires multiple user strategies input by one or more users, including: acquiring one or more user strategies selected by the one or more users from the one or more user strategies suggested to the user. Since it is difficult for users to understand the complete path planning reference information and the limitations of subjective judgment, the user strategy that the user wishes to adopt may not be applicable to the current driving scenario. By making suggestions to the user about the user strategy, the user strategy selected by the user can be more in line with the actual driving environment.

[0019] According to the second aspect, or any implementation of the second aspect above, in a fourth possible implementation of the path planning device, the path planning reference information also includes a map, the map includes multiple path segments connecting two adjacent intersections, and the path planning module includes: a weight determination module, which is used to determine the weight of each path segment corresponding to each user strategy in the multiple user strategies according to the path planning reference information, and the weight is used to identify the travel cost of a path segment under a user strategy; a reachable path determination module, which is used to determine one or more reachable paths between a source location and a destination location according to the multiple user strategies and the weight of each path segment corresponding to each user strategy in the multiple user strategies, and the reachable path includes multiple path segments continuous on the map; a current path determination module, which is used to determine the current path from the one or more reachable paths. The user strategies adopted by the multiple continuous path segments may be different, and path planning based on multiple user strategies is achieved by distributing the multiple user strategies in space.

[0020] According to the second aspect, or any implementation of the second aspect above, in a fifth possible implementation of the path planning device, the weight of at least one user policy among the multiple user policies corresponding to each path segment in the multiple path segments satisfies the threshold limit of the corresponding user policy. By identifying and excluding path segments that do not meet the requirements of any user policy among the multiple user policies in a threshold-limited manner, the planned path can simultaneously meet the requirements of the multiple user policies.

[0021] According to the second aspect, or any implementation manner of the second aspect above, in a sixth possible implementation manner of the path planning device, the current path determination module determines the current path from the one or more reachable paths, including: randomly selecting a reachable path from the multiple reachable paths as the current path; or, according to the weight of each user policy in the multiple user policies corresponding to the multiple path segments included in each reachable path, selecting a reachable path from the multiple reachable paths as the current path; or, according to the number of the multiple path segments included in each reachable path, selecting a reachable path from the multiple reachable paths as the current path.

[0022] According to the second aspect, or any implementation of the second aspect above, in a seventh possible implementation of the path planning device, the path planning module performs path planning according to the path planning reference information and the multiple user strategies, including: selecting one user strategy from the multiple user strategies in turn as the current user strategy, until a reachable path that meets preset conditions from the source location to the destination location is successfully planned based on the current user strategy. In addition to the aforementioned distribution of the multiple user strategies in space, path planning based on multiple user strategies can also be achieved by distributing the multiple user strategies in time.

[0023] According to the second aspect, or any implementation of the second aspect above, in an eighth possible implementation of the path planning device, selecting a user policy from the multiple user policies in sequence as the current user policy includes: sorting the multiple user policies by priority, and selecting a user policy from the multiple user policies in order from high to low priority as the current user policy, or, selecting a user policy from the multiple user policies in order of rotation as the current user policy.

[0024] In a third aspect, a path planning device is provided, comprising a memory and a processor, wherein the memory stores computer program instructions, and the processor runs the computer program instructions to execute the path planning method mentioned in the first aspect or any one of the implementations of the first aspect above.

[0025] According to the third aspect, in a first possible implementation manner of the path planning device, the device further includes: a user interface, used to obtain multiple user policies input by one or more users and update the multiple user policies.

[0026] According to the third aspect or the first possible implementation manner of the third aspect, in a second possible implementation manner of the path planning device, the user interface obtains multiple user strategies input by one or more users and updates the multiple user strategies, including: obtaining one or more user strategies selected by the one or more users from the one or more user strategies recommended to the users.

[0027] According to the third aspect, or any implementation of the third aspect, in a third possible implementation of the path planning device, the memory is further used to store the multiple user policies and the path planning reference information.

[0028] According to the third aspect, or any implementation of the third aspect, in a fourth possible implementation of the path planning device, the device further includes a sensor or a receiver for acquiring the path planning reference information. The sensor collects the path planning reference information. The receiver receives the path planning reference information.

[0029] In a fourth aspect, a computer storage medium is provided, comprising computer instructions, which, when executed by a processor, enable the path planning device to execute the path planning method mentioned in the first aspect or any one of the implementations of the first aspect above.

[0030] In a fifth aspect, a computer program product is provided. When the computer program product runs on a processor, the path planning device executes the path planning method mentioned in the first aspect or any one of the implementations of the first aspect above.

[0031] In a sixth aspect, a smart car is provided, comprising the path planning device mentioned in the second aspect, any one of the implementations of the second aspect above, the third aspect or any one of the implementations of the third aspect above. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 This is a schematic diagram of the reference source on which the path planning decision is based in the first embodiment of the present invention.

[0034] Figure 2 It is a flow chart of the path planning method provided in the first embodiment of the present invention.

[0035] Figure 3 It is a flow chart of the path planning method provided in the second embodiment of the present invention.

[0036] Figure 4 It is a flow chart of the path planning method provided in the third embodiment of the present invention.

[0037] Figure 5 It is a schematic diagram of weights of path segments under multiple strategies determined during path planning in the third embodiment of the present invention.

[0038] Figure 6 It is a schematic diagram of multiple reachable paths generated when performing path planning in the third embodiment of the present invention.

[0039] Figure 7 It is a flow chart of the path planning method provided in the fourth embodiment of the present invention.

[0040] Figure 8 It is a structural block diagram of a path planning device provided in Embodiment 5 of the present invention.

[0041] Fig. 9 It is a structural block diagram of the path planning device provided in the sixth embodiment of the present invention.

[0042] Fig.10 It is a structural block diagram of a path planning device provided in Embodiment 7 of the present invention.

[0043] Fig.11 It is a structural block diagram of a path planning device provided in Embodiment 8 of the present invention. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] Different from the prior art which uses a single user strategy for path planning, the embodiments of the present invention perform path planning based on multiple user strategies, and can be applied to in-vehicle navigation systems implemented by hardware, software, or a combination of hardware and software, and can also be applied to electronic devices with navigation functions, such as navigators, mobile phones, portable computers, tablet computers, or wearable devices.

[0046] Embodiment 1 of the present invention provides a path planning method, wherein the reference source based on which the path planning decision is made is as follows: Figure 1As shown, it includes user strategies and path planning reference information. There is more than one user strategy, and one or more users can select multiple path planning strategies from cost priority, safety priority, comfort priority, time priority, distance priority or other path planning strategies that reflect user preferences. The path planning reference information includes at least one of traffic conditions, road conditions, weather conditions or vehicle conditions, wherein each condition further includes multiple path planning reference elements: for example, inherent information such as vehicle height and vehicle width can be derived from local storage; historical information such as historical traffic volume and historical travel time can be derived from local storage or receiver reception; real-time information such as lane division and current congestion conditions can be derived from real-time collection by sensors or receiver reception.

[0047] Figure 2 It is a flow chart of the path planning method provided in Example 1 of the present invention, from which it can be seen that the path planning method includes: step 201, obtaining path planning reference information, the path planning reference information including at least one of traffic conditions, road conditions, weather conditions or vehicle conditions; step 202, obtaining multiple user strategies input by one or more users; step 203, performing path planning according to the path planning reference information and the multiple user strategies.

[0048] User policies reflect the user's preference for path planning strategies and can be selected by one or more users. Figure 1 Select multiple from the cost priority, safety priority, comfort priority, time priority, distance priority or other path planning strategies that reflect user preferences. The multiple user strategies can be multiple user strategies for one user, for example, a user wants a path that comprehensively considers time priority and distance priority; the multiple user strategies can also be multiple user strategies for multiple users, for example, when multiple users take a car, user A wants time priority, user B wants distance priority, and user C wants cost priority, then the different needs of multiple users can be taken into account as much as possible by comprehensively considering time priority, distance priority and cost priority.

[0049] By using multiple strategies as a decision reference for path planning, user-centered intelligent path planning can be achieved. When the driving environment information changes dynamically in real time, the multi-strategy path planning mechanism facilitates more flexible path adjustment and the discovery of better potential paths. The planned path is more suitable for actual scenarios, and it is also easy to achieve autonomous dynamic path switching when the user strategy changes.

[0050] Figure 3 is a flow chart of a path planning method provided in Embodiment 2 of the present invention. Figure 3 Step 301 and step 305 in Figure 2 Step 201 and step 203 are the same, and it can be seen that the second embodiment has two improvements over the first embodiment:

[0051] The first improvement is the addition of a strategy recommendation mechanism, that is, before the step of obtaining multiple user strategies input by one or more users, it also includes step 302, determining one or more user strategies recommended to the user based on the path planning reference information, and step 303, sending a recommendation message containing the one or more user strategies recommended to the user to the user, and step 304 of obtaining multiple user strategies input by one or more users includes: obtaining one or more user strategies selected by the one or more users from the one or more user strategies recommended to the user.

[0052] Since it is difficult for users to understand the complete path planning reference information and subjective judgment has limitations, the user strategy that users want to adopt may not be suitable for the current driving scenario. By making suggestions to users about user strategies, the user strategy selected by users can be more in line with the actual driving environment.

[0053] The second improvement is the addition of a dynamic update mechanism, that is, after performing path planning according to the path planning reference information and the multiple user policies, it also includes step 306, updating the path planning reference information and obtaining updates of the multiple user policies by one or more users. When the update of the path planning reference information meets the preset conditions or the multiple user policies are updated, step 307 is executed to re-plan the path according to the updated path planning reference information or at least one of the updated multiple user policies.

[0054] The updating of the path planning reference information includes collecting the path planning reference information using a sensor, or receiving the updated path planning reference information using a receiver. The updating of the multiple user policies by the one or more users includes deleting one or more user policies among the multiple user policies, or adding one or more new user policies, wherein the new one or more user policies come from the original one or more users, or from one or more newly added users. When the real-time change of the path planning reference information meets the preset conditions, for example, the current path is not the optimal path after the real-time change of the path planning reference information, or the user has a need to adjust the selected user strategy, the path planning is re-performed according to the updated path planning reference information or the updated multiple user policies, so that the planned path can meet the real-time changes of the driving scene and the adjustment of user preferences.

[0055] Embodiment 3 provides a path planning method, such as Figure 4 As shown, step 401 and step 402 are respectively Figure 2The steps 201 and 202 in the embodiment are the same. Compared with the embodiment 1, the step of "performing path planning according to the path planning reference information and the multiple user policies" is refined in the embodiment 3, including: step 403, determining the weight of each path segment corresponding to each user policy in the multiple user policies according to the path planning reference information, and the weight is used to identify the travel cost of a path segment under a user policy. For example, when the travel time of a path segment is (0, 1min], (1min, 2min], (2min, 3min], (3min, 5min], and (5min, 8min], the corresponding weights (Time Cost, abbreviated as TC) under the time priority (Time First, abbreviated as TF) strategy are 1, 2, 3, 4, and 5 respectively; when the length of a path segment is (0, 200m], (200m, 400m], (400m, 600m], (600m, 800m], and (800m, 1000m], the corresponding weights (Distance Cost, abbreviated as DC) under the distance priority (Distance First, abbreviated as DF) strategy are 1, 2, 3, 4, and 5 respectively. The path planning reference information also includes a map, and the map includes multiple path segments connecting two adjacent intersections, from Figure 5 The weights of path segments under multiple strategies can be seen in . Figure 5 The circles with letters in them represent the intersections on the map. The letters represent the intersection numbers. "S" is the intersection closest to the source location, "D" is the intersection closest to the destination location, "A", "B", "C", "E", "F", "G", "H", "I", "J" and "K" are the intersections involved in the directed path topology from the source location to the destination location on the map. The arrows between two adjacent intersections represent path segments. The numbers in brackets on each arrow are the numbers of the path segments. The equation after the colon is used to represent the weight of each user strategy in the multiple user strategies corresponding to the path segment. Take the two user strategies of Distance First (abbreviated as DF) and Time First (abbreviated as TF) as an example. Figure 5 For example, the text “(1): DC=6, TC=4” on the arrow line between the intersections “S” and “A” in the figure indicates that the path segment between “S” and “A” is path segment (1), whose weight corresponding to the distance priority user strategy (Distance Cost, abbreviated as DC) is 6, and its weight corresponding to the time priority user strategy (Time Cost, abbreviated as TC) is 4.

[0056] Step 404: determining one or more reachable paths between a source location and a destination location based on the multiple user policies and the weight of each path segment corresponding to each user policy in the multiple user policies, wherein the reachable path includes multiple path segments continuous on the map, and the weight of at least one user policy in the multiple user policies corresponding to each path segment in the multiple path segments satisfies the threshold limit of the corresponding user policy.

[0057] In order to take into account multiple user strategies, the weight of each path segment under each user strategy is determined during path planning to identify and avoid path segments whose travel costs are too high relative to user expectations. Figure 5 When planning a path based on the directed path topology in , it is assumed that the thresholds of both the time priority and distance priority user strategies are 3, that is, only path segments with a weight DC not exceeding 3 or a weight TC not exceeding 3 can form a reachable path. It can be seen that since the DC and TC of path segments (1) and (6) are both greater than 3, they are not considered as path segments that constitute a reachable path. Path segments (8), (9), (14) and (15) each have only one weight (DC or TC) that meets the threshold requirements and can be considered as path segments that constitute a reachable path. The reachable path obtained in this way can be found in Figure 6 , a total of 5 reachable paths are obtained, namely SBEJKD, SBEID, SBGID, SCGID and SCHD.

[0058] In addition to the above methods, other methods can be used to determine the reachable path, such as unequal thresholds for DC and TC, or limiting the reachable path to only those path segments whose weight DC does not exceed 3 and whose weight TC does not exceed 3 (in this case Figure 6 The reachable paths in the system only have SBEID and SBGID), or the reachable paths are limited to include path segments that do not exceed the threshold limit (for example, no more than 4, in this case Figure 6 The only reachable paths in are SBEID, SBGID, SCGID, and SCHD).

[0059] Step 405: Determine the current path from the one or more reachable paths. There are many methods for determining the current path, for example, randomly selecting a reachable path from the multiple reachable paths as the current path, or selecting a reachable path from the multiple reachable paths as the current path according to the weight of each user policy in the multiple user policies corresponding to the multiple path segments included in each reachable path, or selecting a reachable path from the multiple reachable paths as the current path according to the number of path segments included in each reachable path. Figure 6From the five reachable paths shown in , select the path with the least number of path segments, namely, path SCHD as the current path. Figure 6 Among the five reachable paths shown, a path with the smallest sum of TCs is selected (reachable paths including path segments whose TCs do not meet the threshold requirement are not considered), that is, path SBEID is taken as the current path.

[0060] It can be seen that the user strategies adopted by the multiple continuous path segments on the reachable path may be different. By balancing the multiple user strategies in space, path planning based on multiple user strategies can be achieved. In addition to balancing the multiple user strategies in space, path planning based on multiple user strategies can also be achieved by balancing the multiple user strategies in time. Figure 7 The fourth embodiment shown adopts the "time balance" method, and the path planning method described therein includes:

[0061] Step 701, obtaining path planning reference information, wherein the path planning reference information includes at least one of traffic conditions, road conditions, weather conditions, or vehicle conditions;

[0062] Step 702, obtaining multiple user policies input by one or more users;

[0063] Step 703 : selecting one user policy from the multiple user policies in turn as the current user policy until a reachable path from the source location to the destination location that meets preset conditions is successfully planned based on the current user policy.

[0064] The step of selecting one user policy from the plurality of user policies as the current user policy in sequence includes: sorting the plurality of user policies by priority, selecting one user policy from the plurality of user policies in sequence from high to low priority as the current user policy, or selecting one user policy from the plurality of user policies in sequence in a rotating order as the current user policy. For example, a car is shared by three users, and the preferences of the three users are different. The selected user policies are time priority, cost priority, and distance priority, respectively, and each of the three users has an acceptable range limit for the three parameters of time, cost, and distance; or there may be another situation, the car is shared by one user, and the user selects three user policies of time priority, cost priority, and distance priority, and has an acceptable range limit for the three parameters of time, cost, and distance. In short, for the execution subject of the fourth embodiment, the plurality of user policies obtained include time priority, cost priority, and distance priority, and the acceptable range limit of each of the plurality of user policies by the one or more users is obtained, and the priority of the plurality of user policies is determined from high to low for the scenario described in the above example, which is time priority, cost priority, and distance priority. First, the path planning is performed based on the time priority strategy. However, the cost or distance of the path planned based on the time priority strategy exceeds the acceptable range limit preset by at least one user, that is, the time priority strategy cannot plan a reachable path that meets the preset conditions. Then, the path planning is performed based on the cost priority strategy. If the planned path meets the acceptable range limit of the three parameters of time, cost and distance for each of the one or more users, the path planned based on the cost priority strategy is used as the current path. It can be seen that when a user strategy cannot plan a reachable path that meets the preset conditions, the method described in Example 4 can autonomously and quickly switch strategies, select other user strategies from the multiple user strategies to re-plan the path, avoid the "dead waiting" state, and avoid manual switching operations. While taking into account the needs of multiple user strategies, it has better dynamic adaptability.

[0065] Embodiment 5 of the present invention provides a path planning device, such as Figure 8 As shown, it includes: a path planning reference information acquisition module 801, used to obtain path planning reference information, and the path planning reference information includes at least one of traffic conditions, road conditions, weather conditions or vehicle conditions; a user strategy acquisition module 802, used to obtain multiple user strategies input by one or more users; a path planning module 803, used to perform path planning based on the path planning reference information and the multiple user strategies.

[0066] By using multiple strategies as a decision reference for path planning, user-centered intelligent path planning can be achieved. When the driving environment information changes dynamically in real time, the multi-strategy path planning mechanism facilitates more flexible path adjustment and the discovery of better potential paths, making the planned path more suitable for actual scenarios.

[0067] Fig. 9 It is a structural block diagram of the path planning device provided in the sixth embodiment of the present invention. It can be seen that, relative to the fifth embodiment, the path planning device shown in the sixth embodiment further includes: a user strategy suggestion module 904, which is used to determine one or more user strategies recommended to the user based on the path planning reference information; a sending module 905, which is used to send a suggestion message containing the one or more user strategies recommended to the user to the user; the user strategy acquisition module obtains multiple user strategies input by one or more users, including: obtaining one or more user strategies selected by the one or more users from the one or more user strategies recommended to the user. Since it is difficult for users to understand the complete path planning reference information and the limitations of subjective judgment, the user strategy that the user wants to adopt may not be applicable to the current driving scenario. By making suggestions on user strategies to the user, the user strategy selected by the user can be more in line with the actual driving environment.

[0068] in addition, Fig. 9 The path planning module 903 in can implement path planning based on multiple user policies by adopting the aforementioned method of balancing the multiple user policies in time, specifically: the path planning module 903 selects one user policy from the multiple user policies in turn as the current user policy until a reachable path that meets the preset conditions from the source location to the destination location is successfully planned based on the current user policy. The selecting one user policy from the multiple user policies in turn as the current user policy includes: sorting the multiple user policies by priority, and selecting one user policy from the multiple user policies in order from high to low priority as the current user policy; or, selecting one user policy from the multiple user policies in turn as the current user policy.

[0069] Fig.10It is a structural block diagram of the path planning device provided by the seventh embodiment of the present invention. It can be seen that, relative to the sixth embodiment, the path planning device 1003 shown in the seventh embodiment realizes path planning based on multiple user strategies by balancing the multiple user strategies in space, and the path planning module 1003 further includes: a weight determination module 1006, which is used to determine the weight of each path segment corresponding to each user strategy in the multiple user strategies according to the path planning reference information, and the weight is used to identify the travel cost of a path segment under a user strategy. A reachable path determination module 1007 is used to determine one or more reachable paths between the source location and the destination location according to the multiple user strategies and the weight of each path segment corresponding to each user strategy in the multiple user strategies, and the reachable path includes multiple path segments continuous on the map, and the weight of at least one user strategy in the multiple user strategies corresponding to each path segment in the multiple path segments meets the threshold limit of the corresponding user strategy. A current path determination module 1008 is used to determine the current path from the one or more reachable paths. There are multiple ways to determine the current path, for example: randomly selecting a reachable path from the multiple reachable paths as the current path; or, according to the weight of each user policy in the multiple user policies corresponding to the multiple path segments included in each reachable path, selecting a reachable path from the multiple reachable paths as the current path; or, according to the number of the multiple path segments included in each reachable path, selecting a reachable path from the multiple reachable paths as the current path.

[0070] Figure 8-10 One or more of the modules in the system may be implemented by software, hardware, firmware or a combination thereof. The software or firmware includes but is not limited to computer program instructions or codes and may be executed by a hardware processor. The hardware includes but is not limited to various integrated circuits, such as a central processing unit (CPU), a digital signal processor (DSP), a field programmable gate array (FPGA) or an application specific integrated circuit (ASIC).

[0071] Fig.11 is a structural block diagram of a path planning device provided in Embodiment 8 of the present invention. The path planning device may be a component of an in-vehicle navigation system, or may be an electronic device such as a navigator, mobile phone, portable computer, tablet computer or wearable device with navigation function. Fig.11 As shown, the path planning device includes:

[0072] A memory 1102, wherein the memory 1102 stores computer program instructions, the plurality of user policies, and the path planning reference information. The path planning reference information stored in the memory 1102 includes inherent information such as vehicle height and vehicle width, and historical information such as historical vehicle flow and historical travel time.

[0073] The processor 1101 is used to run the computer program instructions to perform the operations described in any one of Embodiments 1 to 4. The processor 1101 includes but is not limited to various types of CPUs, DSPs, microcontrollers, microprocessors or artificial intelligence processors.

[0074] The user interface 1103 is used to obtain multiple user policies input by one or more users and to update the multiple user policies. The user interface obtains multiple user policies input by one or more users and to update the multiple user policies, including: obtaining one or more user policies selected by the one or more users from the one or more user policies recommended to the user. The user interface 1103 includes a display, a touch screen, a mouse, a keyboard, a voice input device, or a somatosensory input device.

[0075] Sensor 1104 is used to collect the path planning reference information, such as lane division and current congestion situation. The sensor 1104 includes but is not limited to a temperature sensor, a humidity sensor, an altitude sensor, a pressure sensor, a light sensor, a speed sensor, a gravity sensor, an acceleration sensor, a camera, a laser radar, an ultrasonic radar or a millimeter wave radar.

[0076] Receiver 1105 is used to receive the path planning reference information. The path planning reference information received by the receiver 1105 includes historical information such as historical traffic volume and historical travel time, as well as real-time information such as lane division and current congestion. The receiver 1105 receives the path planning reference information in a manner including but not limited to 2G (second generation mobile communication technology), 3G (third generation mobile communication technology), 4G (fourth generation mobile communication technology), 5G (fifth generation mobile communication technology), Wifi (wireless local area network), Wimax (Worldwide Interoperability for Microwave Access), Bluetooth (Bluetooth communication technology), ZigBee (ZigBee communication technology), optical transmission, optical fiber transmission, cable transmission, satellite communication or infrared transmission and other wired or wireless transmission methods.

[0077] The above-mentioned embodiments of the present invention can be used not only in vehicles, but also in portable electronic devices, communication devices, navigation devices and other devices with path planning functions, and the application scenarios include but are not limited to assisted driving and unmanned driving.

[0078] Those skilled in the art can clearly understand that the descriptions of the various embodiments provided in the present application can refer to each other. For the convenience and conciseness of the description, for example, the functions of the various devices and equipment provided in the embodiments of the present application and the execution steps can refer to the relevant description of the method embodiments of the present application, and the various method embodiments and the various device embodiments can also refer to each other.

[0079] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes all or part of the steps of the above-mentioned method embodiments; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0080] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk Solid State Disk (SSD)), etc.

[0081] In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways without exceeding the scope of the present application. For example, the embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. A person of ordinary skill in the art can understand and implement it without paying creative labor.

[0082] In addition, the described devices and methods and schematic diagrams of different embodiments may be combined or integrated with other systems, modules, technologies or methods without exceeding the scope of the present application. In addition, the coupling or direct coupling or communication connection between each other shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, which may be electronic, mechanical or other forms.

[0083] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A path planning method, It is characterized in that include: Acquiring path planning reference information, wherein the path planning reference information includes at least one of traffic conditions, road conditions, weather conditions, or vehicle conditions; Acquire multiple user policies input by multiple users, where the multiple users are riding in a vehicle; Performing path planning according to the path planning reference information and the multiple user strategies; Updating the path planning reference information, wherein updating the path planning reference information includes collecting the path planning reference information using a sensor, or receiving the updated path planning reference information using a receiver; Obtaining updates of multiple users to the multiple user policies; When the update of the path planning reference information meets a preset condition or the user has a need to adjust the selected user policy, the path planning is re-performed according to the updated path planning reference information or at least one of the updated multiple user policies, wherein the preset condition includes that the current path is not the optimal path after the path planning reference information changes in real time; Before obtaining multiple user policies input by multiple users, the method further includes: Determining one or more user strategies recommended to the user according to the path planning reference information; Sending a suggestion message including the one or more user strategies suggested to the user to the user; The acquiring multiple user policies input by multiple users includes: acquiring one or more user policies selected by the multiple users from the one or more user policies suggested to the users.

2. The method according to claim 1, It is characterized in that The user strategy includes distance priority, time priority, safety priority, comfort priority or cost priority.

3. The method according to any one of claims 1 to 2, It is characterized in that The path planning reference information further includes a map, wherein the map includes a plurality of path segments connecting two adjacent intersections, and performing path planning according to the path planning reference information and the plurality of user strategies includes: Determine, according to the path planning reference information, a weight of each path segment corresponding to each user policy in the multiple user policies, wherein the weight is used to identify a travel cost of a path segment under a user policy; Determine one or more reachable paths between a source location and a destination location according to the multiple user policies and the weight of each path segment corresponding to each user strategy in the multiple user policies, wherein the reachable path includes multiple path segments that are continuous on the map; A current path is determined from the one or more reachable paths.

4. The method according to claim 3, It is characterized in that The weight of at least one user policy among the multiple user policies corresponding to each path segment in the multiple path segments meets the threshold limit of the corresponding user policy.

5. The method according to claim 3, It is characterized in that Determining the current path from the multiple reachable paths includes: Randomly select a reachable path from the multiple reachable paths as the current path; Alternatively, according to the weight of each user policy in the multiple user policies corresponding to the multiple path segments included in each reachable path, select a reachable path from the multiple reachable paths as the current path; Alternatively, according to the number of the multiple path segments included in each reachable path, a reachable path is selected from the multiple reachable paths as the current path.

6. The method according to any one of claims 1 to 2, It is characterized in that The performing path planning according to the path planning reference information and the multiple user policies comprises: A user policy is selected from the multiple user policies in sequence as the current user policy until a reachable path from the source location to the destination location that meets preset conditions is successfully planned based on the current user policy.

7. The method according to claim 6, It is characterized in that The selecting one user policy from the multiple user policies in sequence as the current user policy comprises: Sort the multiple user policies by priority, and select one user policy from the multiple user policies in descending order of priority as the current user policy, Alternatively, one user policy is selected from the multiple user policies in turn as the current user policy.

8. A path planning device, It is characterized in that include: A path planning reference information acquisition module, used to acquire path planning reference information, wherein the path planning reference information includes at least one of traffic conditions, road conditions, weather conditions or vehicle conditions; A user policy acquisition module, used to acquire multiple user policies input by multiple users, where the multiple users are riding in a car; A path planning module, used for performing path planning according to the path planning reference information and the multiple user strategies; The path planning reference information acquisition module is further used to update the path planning reference information, wherein the updating of the path planning reference information includes collecting the path planning reference information using a sensor, or receiving the updated path planning reference information using a receiver; The user policy acquisition module is further used to acquire updates of the multiple user policies by multiple users; The path planning module is further configured to re-plan the path according to the updated path planning reference information or at least one of the updated multiple user policies when the update of the path planning reference information meets a preset condition or the user has a need to adjust the selected user policy, wherein the preset condition includes that the current path is not the optimal path after the path planning reference information changes in real time; A user strategy suggestion module, used for determining one or more user strategies suggested to the user according to the path planning reference information before obtaining the multiple user strategies input by the multiple users; A sending module, used for sending a suggestion message including one or more user strategies suggested to the user to the user; The user policy acquisition module acquires the multiple user policies input by the multiple users, including: acquiring one or more user policies selected by the multiple users from the one or more user policies suggested to the users.

9. The device according to claim 8, It is characterized in that The user strategy includes distance priority, time priority, safety priority, comfort priority or cost priority.

10. The device according to any one of claims 8 to 9, It is characterized in that The path planning reference information also includes a map, wherein the map includes a plurality of path segments connecting two adjacent intersections, and the path planning module includes: A weight determination module, configured to determine, based on the path planning reference information, a weight of each path segment corresponding to each user policy in the plurality of user policies, wherein the weight is used to identify a travel cost of a path segment under a user policy; a reachable path determination module, configured to determine one or more reachable paths between a source location and a destination location according to the plurality of user policies and a weight of each path segment corresponding to each of the plurality of user policies, wherein the reachable path includes a plurality of path segments that are continuous on the map; The current path determination module is used to determine the current path from the one or more reachable paths.

11. The device according to claim 10, It is characterized in that The weight of at least one user policy among the multiple user policies corresponding to each path segment in the multiple path segments meets the threshold limit of the corresponding user policy.

12. The device according to claim 10, It is characterized in that The current path determination module determines the current path from the one or more reachable paths, including: Randomly select a reachable path from the multiple reachable paths as the current path; Alternatively, according to the weight of each user policy in the multiple user policies corresponding to the multiple path segments included in each reachable path, select a reachable path from the multiple reachable paths as the current path; Alternatively, according to the number of the multiple path segments included in each reachable path, a reachable path is selected from the multiple reachable paths as the current path.

13. The device according to any one of claims 8 to 9, It is characterized in that The path planning module performs path planning according to the path planning reference information and the multiple user policies, including: A user policy is selected from the multiple user policies in sequence as the current user policy until a reachable path from the source location to the destination location that meets preset conditions is successfully planned based on the current user policy.

14. The device according to claim 13, It is characterized in that The selecting one user policy from the multiple user policies in sequence as the current user policy comprises: Sort the multiple user policies by priority, and select one user policy from the multiple user policies in descending order of priority as the current user policy, Alternatively, one user policy is selected from the multiple user policies in turn as the current user policy.

15. A path planning device, It is characterized in that The method comprises a memory and a processor, wherein the memory stores computer program instructions, and the processor runs the computer program instructions to perform the method according to any one of claims 1 to 7.

16. The device according to claim 15, It is characterized in that The device also includes: The user interface is used to obtain multiple user policies input by one or more users and update the multiple user policies.

17. The device according to claim 16, It is characterized in that The user interface acquiring multiple user policies input by one or more users and updating the multiple user policies includes: acquiring one or more user policies selected by the one or more users from the one or more user policies recommended to the user.

18. The device according to any one of claims 15 to 17, It is characterized in that The memory is also used to store the multiple user policies and the path planning reference information.

19. The device according to any one of claims 15 to 17, It is characterized in that The device also includes a sensor or a receiver for acquiring the path planning reference information.

20. A computer storage medium, It is characterized in that It comprises computer instructions, which, when executed by a processor, enable the path planning device to execute the method according to any one of claims 1 to 7.

21. A computer program product, It is characterized in that When the computer program product runs on a processor, the path planning device is enabled to execute the method according to any one of claims 1 to 7.

22. A smart car, It is characterized in that Comprising a path planning device as described in any one of claims 8-19.

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