Path planning method and device, electronic equipment and readable storage medium

Abstract

The present disclosure provides a path planning method and device, electronic equipment and readable storage medium, relates to the technical field of data processing, in particular to the technical field of electronic map or traffic network. The specific implementation scheme is: determining a target intersection from intersection points of an electronic map; and performing path planning based on the target intersection to obtain a target path, the target path not changing lanes at the target intersection. In this scheme, by avoiding lane changing at the target intersection, unreasonable paths can be avoided, thereby reducing the number of planned paths and facilitating the decision of the best path.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of data processing, in particular to the technical field of electronic map or traffic network, and more particularly to a path planning method and device, an electronic device and a readable storage medium. BACKGROUND

[0002] At present, when the intelligent cockpit is navigated, the path planning is generally performed according to the traffic network data provided by the electronic map, so as to determine the best path.

[0003] In actual situation, there may be many intersections in the road, which makes the number of planned paths may be more, and it is not convenient to make the decision of the best path. SUMMARY

[0004] The present disclosure provides a path planning method, device, electronic device and readable storage medium to solve at least one of the above defects.

[0005] According to a first aspect of the present disclosure, a path planning method is provided, the method comprising:

[0006] determining a target intersection from intersection points of an electronic map;

[0007] performing path planning based on the target intersection to obtain a target path, the target path not performing lane changing at the target intersection.

[0008] According to a second aspect of the present disclosure, a path planning device is provided, the device comprising:

[0009] a target intersection determination module configured to determine a target intersection from intersection points of an electronic map;

[0010] a path planning module configured to perform path planning based on the target intersection to obtain a target path, the target path not performing lane changing at the target intersection.

[0011] According to a third aspect of the present disclosure, an electronic device is provided, the electronic device comprising:

[0012] at least one processor; and

[0013] a memory communicatively connected with the at least one processor; wherein

[0014] the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the path planning method.

[0015] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, where the computer instructions are used to cause a computer to execute the path planning method.

[0016] According to a fifth aspect of the present disclosure, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the path planning method.

[0017] It should be understood that the contents described in this part are not intended to identify key or important features of the embodiments of the present disclosure, nor to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings are used to better understand the present scheme, and do not constitute a limitation on the present disclosure. Among them:

[0019] Figure 1 is a flowchart of a path planning method provided by an embodiment of the present disclosure;

[0020] Figure 2 is a schematic diagram of an intersection model of a "from" intersection provided by an embodiment of the present disclosure;

[0021] Figure 3 is a schematic diagram of an intersection model of a left-turn-only intersection provided by an embodiment of the present disclosure;

[0022] Figure 4 is a flowchart of another path planning method provided by an embodiment of the present disclosure;

[0023] Figure 5 is a schematic diagram of a path planning device provided by an embodiment of the present disclosure;

[0024] Figure 6 is a schematic diagram of another path planning device provided by an embodiment of the present disclosure;

[0025] Figure 7 is a block diagram of an electronic device for implementing the path planning method of an embodiment of the present disclosure. DETAILED DESCRIPTION

[0026] Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, which include various details of the embodiments of the present disclosure to help understanding, and should be considered as merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Also, in order to be clear and concise, the description below omits the description of well-known functions and structures.

[0027] In an electronic map, a road is divided into multiple routes by an intersection. When path planning is performed, the path planning result is generally obtained by arranging and combining each route. When there are many intersections in the road, the number of paths in the path planning result can be large, and it is difficult to determine the best path from the numerous paths. If the number of paths in the path planning result can be reduced, the difficulty of determining the best path is reduced, and the determination of the best path is facilitated.

[0028] When path planning is performed, there can be some special intersections. If lane changing is performed at these intersections, some unreasonable paths can be planned, which are obviously not in line with reality and cannot be used. Therefore, if lane changing at these special intersections can be avoided when path planning is performed, unreasonable paths can be avoided, thereby reducing the number of paths in the path planning result and facilitating the determination of the best path.

[0029] The path planning method, device, electronic device and computer readable storage medium provided by the embodiments of the present disclosure aim to solve at least one of the above technical problems of the prior art.

[0030] Figure 1 A flowchart of a path planning method provided by an embodiment of the present disclosure is shown, as shown in Figure 1 The method can mainly include the following steps.

[0031] Step S110: determining a target intersection from intersection points of an electronic map.

[0032] Step S120: performing path planning based on the target intersection to obtain a target path, and the target path does not perform lane changing at the target intersection.

[0033] In the electronic map, a road is abstracted as multiple routes. The intersection is an intersection corresponding to a crossing intersection of at least two routes in the electronic map.

[0034] The target intersection is a special intersection. If lane changing is performed at the intersection corresponding to the target intersection when path planning is performed, some unreasonable paths can be planned, which are obviously not in line with reality and cannot be used.

[0035] In the embodiments of the present disclosure, lane changing at the target intersection can be avoided to avoid planning unreasonable paths, thereby reducing the number of paths in the path planning result.

[0036] As an example, Figure 2 An intersection model diagram of a "from" word intersection is shown in

[0037] As Figure 2As shown in FIG. 1, a1, a2, a3, a4, a5, a6 and a7 are all intersection points. When planning a path, if a path between a2-a5-a3 is planned, i.e., a lane change occurs at a5, compared with directly planning a path between a2-a3, the path length of the path between a2-a5-a3 is longer, which obviously does not meet the actual demand. Therefore, the path between a2-a5-a3 is an unreasonable path, and a5 is a target intersection point, and a lane change should not occur at a5 when planning a path.

[0038] As an example, Figure 3 As shown in FIG. 2, a left-turn-only intersection is shown in a schematic diagram of an intersection model.

[0039] As Figure 3 As shown in FIG. 2, b1, b2, b3, b4, b5 and b6 are all intersection points. When planning a path, if a path between b2-b3-b5 is planned, i.e., a lane change occurs at b3, compared with directly planning a path between b2-b5, the path length of the path between b2-b3-b5 is longer, which obviously does not meet the actual demand. Therefore, the path between a2-a5-a3 is an unreasonable path. If a path between b1-b3-b4 is planned, i.e., a lane change occurs at b3, compared with directly planning a path between b1-b4, the path length of the path between b1-b3-b4 is longer, which obviously does not meet the actual demand. Therefore, the path between b1-b3-b4 is an unreasonable path. Therefore, b3 is a target intersection point, and a lane change should not occur at b3 when planning a path.

[0040] The method provided by the embodiments of the present disclosure determines a target intersection point from intersection points of an electronic map, plans a path based on the target intersection point to obtain a target path, and makes the target path not change lanes at the target intersection point. In the present solution, by avoiding lane changes at the target intersection point, unreasonable paths can be avoided, thereby reducing the number of planned paths and facilitating the decision of the best path.

[0041] As an example, the intersection points in the electronic map can also be marked with attributes. The target intersection point can be marked as a virtual interchange intersection point, i.e., the target intersection point is regarded as a virtual interchange intersection point, and the target intersection point is processed in the same way as an interchange intersection point when planning a path, so that the planned path does not change lanes at the target intersection point.

[0042] The solution provided by the embodiments of the present disclosure can be applied not only to path planning in actual roads, but also to path planning in a ferry line.

[0043] In an optional mode of the present disclosure, the target intersection is determined from the intersection points of the electronic map, comprising:

[0044] An intersection model in the electronic map is acquired, the intersection model comprising a plurality of intersection points having an adjacency relationship;

[0045] Path planning is performed based on at least one set of path start and end points located outside the intersection model, to obtain an intersection planning path;

[0046] The target intersection is determined from the intersection points included in the intersection model based on the intersection planning path.

[0047] The intersection model can be composed of a plurality of intersection points having an adjacency relationship and routes between the intersection points. For example, Figure 2 and Figure 3 the intersection model shown in the above.

[0048] The intersection model can be constructed by identifying the intersection points having an adjacency relationship in the electronic map using a graph traversal method.

[0049] In the embodiments of the present disclosure, the path start and end points are located outside the intersection model, i.e., outside the intersection points and routes included in the intersection model. To facilitate calculation, the path start and end points can be arranged adjacent to the intersection model.

[0050] The path start and end points include a path start point and a path end point, and the intersection planning path is a path located between the path start point and the path end point and planned based on the path start and end points. Driving along the intersection planning path can pass through the intersection model.

[0051] The intersection planning path can reflect some specific conditions of the intersection points, and thus the target intersection can be determined from the intersection points included in the intersection model based on the intersection planning path.

[0052] In actual use, to ensure the accuracy of the determined target intersection, a plurality of sets of path start and end points can be selected to plan the intersection planning paths, which are used to determine the target intersection.

[0053] In an optional mode of the present disclosure, the target intersection is determined from the intersection points included in the intersection model based on the intersection planning path, comprising any one of the following:

[0054] If the average path length of all the intersection planning paths passing through any intersection point is greater than the average path length of all the intersection planning paths not passing through any intersection point, the any intersection point is determined as the target intersection;

[0055] If there is a path included angle less than a first preset angle in the intersection planning path, the intersection point at the path included angle is determined as the target intersection;

[0056] If the average path length of the path planning paths through all the intersection points of any intersection point is greater than the average path length of the path planning paths not through any intersection point, the any intersection point is determined as a candidate intersection point, and if there is a path planning path with a path angle less than the second preset angle at the candidate intersection point, the candidate intersection point is determined as the target intersection point.

[0057] In the embodiments of the present disclosure, the path length of the unreasonable path caused by the lane change at the target intersection point is longer than that of the reasonable path. Therefore, the average path length of the path planning paths through each intersection point can be counted, and if there is a case that the average path length of the path planning paths through a certain intersection point is greater than the average path length of the path planning paths not through the intersection point, the intersection point can be determined as the target intersection point.

[0058] In the embodiments of the present disclosure, when the lane change at the target intersection point, the path corner at the target intersection point may have some small angles, and therefore a first preset angle can be preset, and if there is a path angle less than the first preset angle in the path planning path, the intersection point at the path angle can be determined as the target intersection point.

[0059] In the embodiments of the present disclosure, to ensure the accuracy of the determined target intersection point, it can be further determined whether there is a case that the average path length of the path planning paths through a certain intersection point is greater than the average path length of the path planning paths not through the intersection point, and if there is, the intersection point is determined as a candidate intersection point. Then, it is determined whether there is a case that the path angle of the path planning path at some candidate intersection point is less than the second preset angle, and if there is, the candidate intersection points are determined as the target intersection points.

[0060] As an example, the first preset angle can be an acute angle, such as 30°. The first preset angle can be the same as the second preset angle.

[0061] In an optional manner of the present disclosure, the target intersection point is determined from the intersection points of the electronic map, comprising:

[0062] Obtaining the lane change restriction sign information at each intersection point of the electronic map and the lane change situation at each intersection point;

[0063] If it is determined based on the lane change restriction sign information and the lane change situation that the lane change cannot be performed at the intersection point, the intersection point is determined as the target intersection point.

[0064] In the embodiments of the present disclosure, the lane change situation at the intersection point can include whether there is a lane change at the intersection point, the specific direction of the lane change, and the like.

[0065] The lane changing restriction sign information can be restriction information for lane changing at the intersection, such as no left turn, no U-turn, and the like. The lane changing restriction sign information can be in the form of a signboard or a signal light, or the like. The lane changing restriction sign information can be obtained from road network data of an electronic map.

[0066] In the embodiments of the present disclosure, if it is determined that lane changing cannot be performed at the path intersection based on the lane changing restriction sign information and the lane changing condition, the path intersection can be determined as the target path intersection.

[0067] As an example, if the lane changing condition at the path intersection is left turn lane changing, and the lane changing restriction sign information is no left turn, it can be determined that lane changing is prohibited at the path intersection, and the path intersection can be determined as the target path intersection.

[0068] In an optional manner of the present disclosure, the target path is obtained based on the target path intersection, including:

[0069] An initial path is obtained based on the path intersection;

[0070] The initial path that does not perform lane changing at the target path intersection is determined as the target path.

[0071] In the embodiments of the present disclosure, when performing path planning, an initial path can be obtained based on the path intersection, and then the initial path that performs lane changing at the target path intersection can be considered as an unreasonable path. These unreasonable paths are filtered out, so as to obtain the target path. By filtering out the unreasonable paths, the number of paths in the path planning result is reduced, which facilitates the decision of the best path.

[0072] In an optional manner of the present disclosure, after the target path is obtained based on the target path intersection, the above method further includes:

[0073] When driving along the target path to the target path intersection, the user is shown prompt information of lane changing prohibition.

[0074] In the embodiments of the present disclosure, in the process of navigation based on the target path, when driving to the target path intersection, the user can be shown prompt information of lane changing prohibition, so as to avoid lane changing of the vehicle at the target path intersection.

[0075] As an example, the prompt information of lane changing prohibition can be displayed in the form of text on the center screen of the vehicle, or can be broadcasted by voice.

[0076] Figure 4 A flowchart of another path planning method provided by the embodiments of the present disclosure is shown, as shown in FIG. 8, the method can mainly include: Figure 4 ​

[0077] Step S410: Obtain a junction model in the electronic map, the junction model comprising a plurality of junctions having an adjacency relationship;

[0078] Step S420: Perform path planning based on at least one set of path start and end points located outside the junction model to obtain a junction planning path;

[0079] Step S430: Determine a target junction from the junctions comprised in the junction model based on the junction planning path;

[0080] Step S440: Perform path planning based on the target junction to obtain a target path, the target path not performing lane changing at the target junction.

[0081] In the electronic map, a road can be abstracted as a plurality of routes. A junction is a point corresponding to an intersection of at least two routes in the electronic map.

[0082] The target junction is a special junction. If lane changing is performed at the junction corresponding to the target junction during path planning, some unreasonable paths can be planned, which are obviously not in line with reality and cannot be used.

[0083] In the embodiments of the present disclosure, by avoiding lane changing at the target junction, unreasonable paths can be avoided, thereby reducing the number of paths in the path planning result.

[0084] The junction model can be composed of a plurality of junctions having an adjacency relationship and routes between the junctions. For example, Figure 2 and Figure 3 the junction model shown in.

[0085] The graph traversal method can be used to identify the junctions having an adjacency relationship in the electronic map, thereby constructing the junction model.

[0086] In the embodiments of the present disclosure, the path start and end points are located outside the junction model, i.e., outside the junctions and routes comprised in the junction model. For ease of calculation, the path start and end points can be arranged adjacent to the junction model.

[0087] The path start and end points include a path start point and a path end point. The junction planning path is a path planned based on the path start and end points and located between the path start and end points. Driving along the junction planning path can pass through the junction model.

[0088] The junction planning path can reflect some specific conditions of the junctions, and therefore the target junction can be determined from the junctions comprised in the junction model based on the junction planning path.

[0089] The method provided by the embodiments of the present disclosure determines a target intersection from intersection points of an electronic map, plans a target path based on the target intersection, and makes the target path not change lanes at the target intersection. In this solution, by avoiding lane changing at the target intersection, unreasonable paths can be avoided, thereby reducing the number of planned paths and facilitating the decision of the optimal path.

[0090] As an example, the intersection points in the electronic map can also be marked with attributes. The target intersection can be marked as a virtual interchange intersection, that is, the target intersection is regarded as a virtual interchange intersection, and the target intersection is processed in the same way as the interchange intersection during path planning, so that the planned path does not change lanes at the target intersection.

[0091] The solution provided by the embodiments of the present disclosure can be applied not only to path planning in actual roads but also to path planning in a rail transit line.

[0092] Based on the same principle as the method shown in Figure 1 Figure 5 The structure of a path planning device provided by the embodiments of the present disclosure is shown in a schematic diagram, as Figure 5 The path planning device 50 can include:

[0093] The target intersection determination module 510 is configured to determine a target intersection from intersection points of an electronic map.

[0094] The path planning module 520 is configured to plan a target path based on the target intersection, and the target path does not change lanes at the target intersection.

[0095] The device provided by the embodiments of the present disclosure determines a target intersection from intersection points of an electronic map, plans a target path based on the target intersection, and makes the target path not change lanes at the target intersection. In this solution, by avoiding lane changing at the target intersection, unreasonable paths can be avoided, thereby reducing the number of planned paths and facilitating the decision of the optimal path.

[0096] Optionally, the target intersection determination module is specifically configured to:

[0097] Obtain an intersection model in the electronic map, the intersection model including a plurality of intersection points having an adjacency relationship;

[0098] Plan a path based on at least one group of path start and end points located outside the intersection model to obtain an intersection planning path;

[0099] Determine a target intersection from intersection points included in the intersection model based on the intersection planning path.​

[0100] Optionally, the target intersection point determination module, when determining the target intersection point from the intersection points included in the intersection model based on the intersection planning path, is specifically configured to perform any of the following:

[0101] If the average path length of all intersection planning paths passing through any intersection point is greater than the average path length of all intersection planning paths not passing through the any intersection point, the any intersection point is determined as the target intersection point.

[0102] If there is a path included angle less than the first preset angle in the intersection planning path, the intersection point at the path included angle is determined as the target intersection point.

[0103] If the average path length of all intersection planning paths passing through any intersection point is greater than the average path length of all intersection planning paths not passing through the any intersection point, the any intersection point is determined as the candidate intersection point, and if there is a path included angle less than the second preset angle in the intersection planning path at the candidate intersection point, the candidate intersection point is determined as the target intersection point.

[0104] Optionally, the target intersection point determination module is specifically configured to:

[0105] Obtain the lane change restriction sign information at each intersection point in the electronic map and the lane change situation at each intersection point.

[0106] If it is determined based on the lane change restriction sign information and the lane change situation that the lane change cannot be performed at the intersection point, the intersection point is determined as the target intersection point.

[0107] Optionally, the path planning module is specifically configured to:

[0108] Perform path planning based on the intersection point to obtain an initial path.

[0109] Determine the initial path without lane change at the target intersection point as the target path.

[0110] Optionally, the device further includes:

[0111] An information prompting module configured to, after obtaining the target path based on the target intersection point, show the user the prompt information prohibiting lane change when driving along the target path to the target intersection point.

[0112] It can be understood that the above modules of the path planning device in the embodiments of the present disclosure have the functions of realizing Figure 1The path planning method in the embodiment shown in the method corresponds to the functions of the respective steps in the embodiment. The functions can be implemented by hardware, or the corresponding software can be executed by hardware. The hardware or software includes one or more modules corresponding to the above functions. The above modules can be software and / or hardware, and the above modules can be implemented individually or integrated into multiple modules. For the function description of each module of the path planning device, please refer to Figure 1 The path planning method in the embodiment shown in the method corresponds to the functions of the respective steps in the embodiment. The functions can be implemented by hardware, or the corresponding software can be executed by hardware. The hardware or software includes one or more modules corresponding to the above functions. The above modules can be software and / or hardware, and the above modules can be implemented individually or integrated into multiple modules. For the function description of each module of the path planning device, please refer to

[0113] Based on the same principle as the method shown in the embodiment, Figure 4 Based on the same principle as the method shown in the embodiment, Figure 6 The structure of another path planning device provided by the embodiment of the present disclosure is shown in the schematic diagram, as shown in the embodiment. Figure 6 The path planning device 60 can include:

[0114] The intersection model acquisition module 610 is configured to acquire an intersection model in an electronic map, and the intersection model includes a plurality of intersection points having an adjacency relationship.

[0115] The first path planning module 620 is configured to perform path planning based on at least one set of path start and end points located outside the intersection model to obtain an intersection planning path.

[0116] The target intersection point determination module 630 is configured to determine a target intersection point from the intersection points included in the intersection model based on the intersection planning path.

[0117] The second path planning module 640 is configured to perform path planning based on the target intersection point to obtain a target path, and the target path does not change lanes at the target intersection point.

[0118] The device provided by the embodiment of the present disclosure determines a target intersection point from the intersection points of the electronic map, performs path planning based on the target intersection point to obtain a target path, and makes the target path not change lanes at the target intersection point. In this scheme, by avoiding lane changes at the target intersection point, unreasonable paths can be avoided, thereby reducing the number of planned paths and facilitating the decision of the best path.

[0119] It can be understood that the above modules of the path planning device in the embodiment of the present disclosure have the functions of Figure 4 The path planning method in the embodiment shown in the method corresponds to the functions of the respective steps in the embodiment. The functions can be implemented by hardware, or the corresponding software can be executed by hardware. The hardware or software includes one or more modules corresponding to the above functions. The above modules can be software and / or hardware, and the above modules can be implemented individually or integrated into multiple modules. For the function description of each module of the path planning device, please refer to Figure 4The corresponding description of the path planning method in the embodiments shown in the middle will not be repeated here.

[0120] In the technical solution of the present disclosure, the collection, storage, use, processing, transmission, provision and disclosure of user personal information comply with relevant laws and regulations and do not violate public order and good customs.

[0121] According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0122] The electronic device includes at least one processor and a memory communicatively connected to the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the path planning method provided by the embodiments of the present disclosure.

[0123] Compared with the prior art, the electronic device determines a target intersection from intersection points of an electronic map, performs path planning based on the target intersection to obtain a target path, and makes the target path not change lanes at the target intersection. In this solution, by avoiding changing lanes at the target intersection, unreasonable paths can be avoided, thereby reducing the number of planned paths and facilitating the decision of the best path.

[0124] The readable storage medium is a non-transitory computer readable storage medium storing computer instructions, wherein the computer instructions are used to make a computer execute the path planning method provided by the embodiments of the present disclosure.

[0125] Compared with the prior art, the readable storage medium determines a target intersection from intersection points of an electronic map, performs path planning based on the target intersection to obtain a target path, and makes the target path not change lanes at the target intersection. In this solution, by avoiding changing lanes at the target intersection, unreasonable paths can be avoided, thereby reducing the number of planned paths and facilitating the decision of the best path.

[0126] The computer program product includes a computer program, which, when executed by a processor, implements the path planning method provided by the embodiments of the present disclosure.

[0127] Compared with the prior art, the computer program product determines a target intersection from intersection points of an electronic map, performs path planning based on the target intersection to obtain a target path, and makes the target path not change lanes at the target intersection. In this solution, by avoiding changing lanes at the target intersection, unreasonable paths can be avoided, thereby reducing the number of planned paths and facilitating the decision of the best path.

[0128] Figure 7 A schematic block diagram of an example electronic device 2000 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0129] like Figure 7 As shown, the electronic device 2000 includes a computing unit 2010, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 2020 or a computer program loaded from a storage unit 2080 into a random access memory (RAM) 2030. The RAM 2030 may also store various programs and data required for the operation of the device 2000. The computing unit 2010, ROM 2020, and RAM 2030 are interconnected via a bus 2040. An input / output (I / O) interface 2050 is also connected to the bus 2040.

[0130] Multiple components in device 2000 are connected to I / O interface 2050, including: input unit 2060, such as keyboard, mouse, etc.; output unit 2070, such as various types of monitors, speakers, etc.; storage unit 2080, such as disk, optical disk, etc.; and communication unit 2090, such as network card, modem, wireless transceiver, etc. Communication unit 2090 allows device 2000 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0131] The computing unit 2010 can be various general-purpose and / or special-purpose processing components having processing and computing capabilities. Some examples of the computing unit 2010 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 2010 performs the path planning method provided in the embodiments of the present disclosure. For example, in some embodiments, the path planning method provided in the embodiments of the present disclosure can be implemented as a computer software program, which is tangibly embodied in a machine-readable medium, such as the storage unit 2080. In some embodiments, part or all of the computer program can be loaded and / or installed onto the device 2000 via the ROM 2020 and / or the communication unit 2090. When the computer program is loaded onto the RAM 2030 and executed by the computing unit 2010, one or more steps of the path planning method provided in the embodiments of the present disclosure can be performed. Alternatively, in other embodiments, the computing unit 2010 can be configured to perform the path planning method provided in the embodiments of the present disclosure by any other suitable means, such as by means of firmware.

[0132] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0133] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, produces the functions / operations specified in the flowcharts and / or the block diagrams. The program code can be embodied in whole or in part within a machine, executed partially on the machine, partially on the machine and partially on a remote machine or a server, or entirely on a remote machine or server.

[0134] In the context of this disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0135] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0136] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0137] The computer system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0138] It should be understood that the various forms of flow shown above can be used to reorder, add, or delete steps. For example, the steps described in the present disclosure can be performed in parallel, in series, or in a different order, as long as the desired results of the technology disclosed in the present disclosure can be achieved, which is not limited herein.

[0139] The above detailed description does not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A path planning method, comprising: determining a target intersection from intersections of an electronic map; planning a path based on the target intersection, the path not changing lanes at the target intersection; wherein the determining the target intersection from the intersections of the electronic map comprises: obtaining intersection models in the electronic map, the intersection models comprising a plurality of intersections having adjacency relationships; planning paths based on at least one set of path start and end points outside the intersection models to obtain intersection planning paths; determining the target intersection from the intersections included in the intersection models based on the intersection planning paths; wherein the determining the target intersection from the intersections included in the intersection models based on the intersection planning paths comprises any of: if an average path length of all the intersection planning paths passing through any intersection is greater than an average path length of all the intersection planning paths not passing through the any intersection, the any intersection is determined as the target intersection; if there is a path included angle less than a first preset angle in the intersection planning paths, an intersection at the path included angle is determined as the target intersection; if an average path length of all the intersection planning paths passing through any intersection is greater than an average path length of all the intersection planning paths not passing through the any intersection, the any intersection is determined as a candidate intersection, and if there is a path included angle less than a second preset angle in the intersection planning paths at the candidate intersection, the candidate intersection is determined as the target intersection.

2. The method of claim 1, wherein, The determining the target intersection from the intersections of the electronic map comprises: obtaining lane change restriction sign information at each intersection in the electronic map and lane change conditions at the each intersection; if it is determined based on the lane change restriction sign information and the lane change conditions that lane change cannot be performed at the intersection, the intersection is determined as the target intersection.

3. The method of claim 1 or 2, wherein, The planning the path based on the target intersection comprises: planning an initial path based on the intersection; determining the initial path not changing lanes at the target intersection as the target path. 4.The method of claim 1 or 2, after the planning the path based on the target intersection, the method further comprising: when driving along the target path to the target intersection, showing prompt information prohibiting lane change to a user. 5.A path planning device, comprising: a target intersection determining module configured to determine a target intersection from intersections of an electronic map; a path planning module configured to plan a path based on the target intersection, the path not changing lanes at the target intersection; wherein the target intersection determining module is specifically configured to: obtain intersection models in the electronic map, the intersection models comprising a plurality of intersections having adjacency relationships; The path planning is performed based on at least one set of path start and end points located outside the intersection model to obtain an intersection planning path; The target intersection is determined from intersection junctions included in the intersection model based on the intersection planning path; The target intersection determination module is specifically configured to: If the average path length of all the intersection planning paths passing through any intersection junction is greater than the average path length of all the intersection planning paths not passing through the any intersection junction, the any intersection junction is determined as the target intersection; If there is a path included angle less than a first preset angle in the intersection planning path, the intersection junction at the path included angle is determined as the target intersection; If the average path length of all the intersection planning paths passing through any intersection junction is greater than the average path length of all the intersection planning paths not passing through the any intersection junction, the any intersection junction is determined as a candidate intersection junction, and if there is a path included angle less than a second preset angle in the intersection planning path at the candidate intersection junction, the candidate intersection junction is determined as the target intersection.

6. The apparatus of claim 5, wherein, The target intersection determination module is specifically configured to: Obtain lane change restriction sign information at each intersection junction in an electronic map and lane change conditions at the each intersection junction; If it is determined based on the lane change restriction sign information and the lane change conditions that lane change cannot be performed at the intersection junction, the intersection junction is determined as the target intersection.

7. The apparatus of claim 5 or 6, wherein, The path planning module is specifically configured to: Perform path planning based on the intersection junction to obtain an initial path; Determine the initial path without lane change at the target intersection junction as a target path.

8. The apparatus of claim 5 or 6, further comprising: An information prompting module configured to, after the target path is obtained based on the target intersection junction, show prompt information prohibiting lane change to a user when driving along the target path to the target intersection junction.

9. An electronic device, comprising: At least one processor; And A memory in communication connection with the at least one processor; wherein The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-4.

10. A non-transitory computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions are used to enable the computer to perform the method of any one of claims 1-4.

11. A computer program product comprising a computer program which, when executed by a processor, implements the method of any one of claims 1-4.

11. A computer program product comprising a computer program which, when executed by a processor, implements the method of any one of claims 1-4.

Images