A path planning method, device, and storage medium

Abstract

Embodiments of the present application disclose a path planning method, apparatus, and storage medium, including: when receiving a to-be-executed task of a target object, determining an end position according to the to-be-executed task, and acquiring the current position of the target object, map nodes, and the duration for a moving object to pass through the map nodes; in the map nodes, determining at least two paths according to the current position and the end position, where each of the at least two paths includes at least one map node; determining at least two blocking weights of the at least two paths according to the duration; and determining a target path from the at least two paths according to the at least two blocking weights, so that the target object executes the to-be-executed task according to the target path.

Description

Technical Field

[0001] This application relates to the technical field of path planning, and in particular, to a path planning method, apparatus, and storage medium. Background Art

[0002] When multiple robots execute tasks in the same area, problems such as traffic congestion and path blockage may occur. According to the popularity and blockage situation of each area, the robot can avoid this section when calculating the path, so as to improve the efficiency of the robot in executing tasks.

[0003] In the prior art, sensors are set on the robot side, and the sensors are used to detect whether there are obstacles in front of the robot, so as to determine the blockage degree of the path where the robot is located. Since the robot needs to walk on the road to know the blockage situation of the road, the timeliness of path planning is reduced. Summary of the Invention

[0004] To solve the above technical problems, embodiments of this application are expected to provide a path planning method, apparatus, and storage medium, which can improve the timeliness of path planning.

[0005] The technical solution of this application is implemented as follows:

[0006] Embodiments of this application provide a path planning method, and the path planning method includes:

[0007] When receiving the task to be executed of the target object, determine the end position according to the task to be executed, and obtain the current position of the target object, the map nodes, and the duration for the moving object to pass through the map nodes;

[0008] In the map nodes, determine at least two paths according to the current position and the end position, and each path in the at least two paths includes at least one map node;

[0009] Determine at least two blockage weights of the at least two paths according to the duration;

[0010] Determine a target path from the at least two paths according to the at least two blockage weights, so that the target object can execute the task to be executed according to the target path.

[0011] Embodiments of this application provide a path planning apparatus, and the apparatus includes:

[0012] A determination unit, configured to, when receiving a to-be-executed task of a target object, determine an end position according to the to-be-executed task; in the map nodes, determine at least two paths according to the current position and the end position, each of the at least two paths including at least one map node; determine at least two blocking weights of the at least two paths according to the duration; determine a target path from the at least two paths according to the at least two blocking weights, so that the target object executes the to-be-executed task according to the target path;

[0013] An acquisition unit, configured to acquire the current position of the target object, the map nodes, and the duration of the moving object passing through the map nodes.

[0014] An embodiment of the present application provides a path planning device, including:

[0015] A memory, a processor, and a communication bus. The memory communicates with the processor through the communication bus. The memory stores a path planning program executable by the processor. When the path planning program is executed, the above-mentioned path planning method is executed by the processor.

[0016] An embodiment of the present application provides a storage medium, on which a computer program is stored and applied to a path planning device. The computer program, when executed by a processor, implements the above-mentioned path planning method.

[0017] An embodiment of the present application provides a path planning method, device, and storage medium. The path planning method includes: when receiving a to-be-executed task of a target object, determining an end position according to the to-be-executed task, and acquiring the current position of the target object, the map nodes, and the duration of the moving object passing through the map nodes; in the map nodes, determining at least two paths according to the current position and the end position, each of the at least two paths including at least one map node; determining at least two blocking weights of the at least two paths according to the duration; determining a target path from the at least two paths according to the at least two blocking weights, so that the target object executes the to-be-executed task according to the target path. By adopting the above method implementation scheme, when the path planning device receives the to-be-executed task of the target object, it predicts at least two blocking weights corresponding to at least two paths between the current position and the target position of the target object according to the duration of the moving object passing through the map nodes in the current situation, and determines a target path from the at least two paths according to the at least two blocking weights, so that the target object can determine the target path before executing the to-be-executed task, and the target object executes the to-be-executed task according to the target path, improving the timeliness when determining the target path, that is, improving the timeliness of path planning for the target object. Description of the Drawings

[0018] Figure 1 Flow chart of a path planning method provided by an embodiment of the present application;

[0019] Figure 2 Exemplary path node illustration provided by an embodiment of the present application Figure 1 ;

[0020] Figure 3 Exemplary path node illustration provided by an embodiment of the present application Figure 2 ;

[0021] Figure 4 Exemplary path node illustration provided by an embodiment of the present application Figure 3 ;

[0022] Figure 5 Exemplary path node illustration provided by an embodiment of the present application Figure 4 ;

[0023] Figure 6 Exemplary path node illustration provided by an embodiment of the present application Figure 5 ;

[0024] Figure 7 Exemplary path planning schematic diagram provided by an embodiment of the present application;

[0025] Figure 8 Composition structure illustration of a path planning device provided by an embodiment of the present application Figure 1 ;

[0026] Figure 9 Composition structure illustration of a path planning device provided by an embodiment of the present application Figure 2 . Detailed implementation manners

[0027] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0028] An embodiment of the present application provides a path planning method. A path planning method is applied to a path planning device. Figure 1 Flow chart of a path planning method provided by an embodiment of the present application, as Figure 1 shown, the path planning method may include:

[0029] S101. When receiving a to-be-executed task of a target object, determine an end position according to the to-be-executed task, and obtain the current position of the target object, map nodes, and the duration for the moving object to pass through the map nodes.

[0030] A path planning method provided by an embodiment of this application is applicable to a scenario of planning a target path for a target object.

[0031] In an embodiment of this application, the path planning device can be implemented in various forms. For example, the path planning device described in this application can include devices such as mobile phones, cameras, tablet computers, laptop computers, palmtop computers, personal digital assistants (PDAs), portable media players (PMPs), navigation devices, wearable devices, smart bracelets, pedometers, etc., as well as devices such as digital TVs, desktop computers, servers, threads, etc.

[0032] In an embodiment of this application, the target object can be a robot, the target object can also be a user, and the target object can also be other objects for performing tasks to be executed; the specific target object can be determined according to the actual situation, and this application embodiment does not make any limitations in this regard.

[0033] It should be noted that the number of target objects can be one, the number of target objects can also be two, and the number of target objects can also be multiple; the specific number of target objects can be determined according to the actual situation, and this application embodiment does not make any limitations in this regard.

[0034] It should be noted that the task to be executed also includes the object identifier of the target object. Exemplarily, the object identifier can be the name of the target object, the object identifier can also be the number of the target object (such as an ID card number), and the object identifier can also be other identifiers for uniquely identifying the target object; specifically, it can be determined according to the actual situation, and this application embodiment does not make any limitations in this regard.

[0035] In an embodiment of this application, the map node is a configured node located in the area. The map node can be a node at an intersection in the area, and the map node can also be a multi-path robot path intersection node; the specific map node can be determined according to the actual situation, and this application embodiment does not make any limitations in this regard.

[0036] It should be noted that the map node can also be a QR code, a cursor, a magnetic mark, etc., and the specific map node can be determined according to the actual situation, and this application embodiment does not make any limitations in this regard.

[0037] It should be noted that the number of map nodes is multiple. The map nodes also include node identifiers of multiple map nodes, the area to which the nodes belong, etc.

[0038] Exemplarily, the node identifier may be the node name of the map node, or the node number (node ID) of the map node, or other identifiers used to identify the map node. The specific node identifier may be determined according to the actual situation, and the embodiments of the present application do not limit this.

[0039] It should be noted that the moving object may be an object passing by at the current map node. Specifically, the moving object may be a robot; the moving object may also be a user, and the moving object may also be other objects; the specific moving object may be determined according to the actual situation, and the embodiments of the present application do not limit this.

[0040] It should also be noted that the number of moving objects may be multiple, the number of moving objects may also be one, and the number of moving objects may also be two; the specific number of moving objects may be determined according to the actual situation, and the embodiments of the present application do not limit this.

[0041] In the embodiments of the present application, if there are two map nodes such as point A and point B, a certain moving object may stop for a period of time during the process of moving from point A to point B. If the length of this period of time exceeds the preset duration threshold and is not stopped due to a robot failure, then this period of time is considered the duration for the moving object to pass through the map node.

[0042] It should be noted that the preset duration threshold may be the threshold configured in the path planning device; the preset duration threshold may also be the threshold obtained by the path planning device from other places; the specific way for the path planning device to obtain the preset duration threshold may be determined according to the actual situation, and the embodiments of the present application do not limit this.

[0043] In the embodiments of the present application, the preset duration threshold may be the maximum time required for the robot to travel normally at this node and the corresponding road section, that is, the maximum time required for the robot to travel normally plus the time for in-place rotation.

[0044] In the embodiments of the present application, if both the moving object and the target object are robots, when the moving object and the target object start, the robots of the moving object and the robots of the target object will transmit their own object identifiers, current position information, and the duration for the robot of the moving object to pass through the map node, etc. to the path planning device.

[0045] It should be noted that one map node may have one moving object; one map node may also have two moving objects; one map node may also have multiple moving objects; the specific corresponding relationship between the map node and the moving object may be determined according to the actual situation, and the embodiments of the present application do not limit this.

[0046] In the embodiment of the present application, the current position is determined by marking through map nodes.

[0047] S102. In the map nodes, determine at least two paths according to the current position and the end position, and each of the at least two paths includes at least one map node.

[0048] In the embodiment of the present application, after the path planning device obtains the current position of the target object, the map nodes, and the duration of the moving object passing through the map nodes, the path planning device can determine at least two paths in the map nodes according to the current position and the end position.

[0049] It should be noted that each of the at least two paths includes at least one map node.

[0050] S103. Determine at least two blocking weights of the at least two paths according to the duration.

[0051] In the embodiment of the present application, after the path planning device determines at least two paths in the map nodes according to the current position and the end position, the path planning device can determine at least two blocking weights of the at least two paths according to the duration.

[0052] It should be noted that the at least two paths correspond one-to-one with the at least two blocking weights, and specifically, one path corresponds to one blocking weight.

[0053] In the embodiment of the present application, the number of durations is multiple, and the number of map nodes in at least one path is multiple; the process of the path planning device determining at least two blocking weights of the at least two paths according to the duration includes: when the first duration among the multiple durations is greater than or equal to the preset duration threshold, the path planning device determines that the blocking node weight corresponding to the first map node among the multiple map nodes is the first weight; when the first duration is less than the preset duration threshold, the path planning device determines that the blocking node weight corresponding to the first map node is the second weight; until multiple weights corresponding to multiple map nodes are determined according to the multiple durations; the path planning device obtains at least two groups of weights corresponding to the at least two paths among the multiple weights; the path planning device determines at least two blocking weights according to the at least two groups of weights.

[0054] It should be noted that the first duration is the duration information when the movement passes through the first map node.

[0055] In the embodiment of the present application, the first weight can be 100W, that is, w occupied = 100w, and the first weight can also be other weight values; specifically, the first weight can be determined according to the actual situation, and the embodiment of the present application does not limit this.

[0056] In an embodiment of the present application, the second weight may be W, that is, w passable = w. The second weight may also be other weight values; specifically, the second weight may be determined according to the actual situation, and the embodiments of the present application do not limit this.

[0057] It should be noted that W may be any parameter value; the specific value may be determined according to the actual situation, and the embodiments of the present application do not limit this.

[0058] In an embodiment of the present application, each of at least two paths includes at least one map node. The path planning device may obtain at least one weight corresponding to at least one map node included in each path among multiple weights, and determine the sum of the at least one weight, so as to obtain at least two sets of weights corresponding to at least two paths. Specifically, as shown in formula (1):

[0059]

[0060] It should be noted that f in formula (1) is the number of map nodes corresponding to the first weight.

[0061] In an embodiment of the present application, the path planning device may determine the blocking weight of each map node in the map nodes corresponding to the first weight according to formula (2):

[0062]

[0063] In an embodiment of the present application, the manner in which the path planning device determines at least two blocking weights according to at least two sets of weights may be that the path planning device determines the weight sum of each set of weights in the at least two sets of weights, so as to obtain the blocking weight of each set of weights, that is, obtain at least two blocking weights corresponding to the at least two sets of weights.

[0064] S104. Determine a target path from at least two paths according to at least two blocking weights, so that a target object executes a task to be executed according to the target path.

[0065] In an embodiment of the present application, after the path planning device determines at least two blocking weights of at least two paths according to the duration, the path planning device may determine a target path from at least two paths according to the at least two blocking weights, so that a target object executes a task to be executed according to the target path.

[0066] In the embodiment of the present application, before the path planning device determines the target path from at least two paths according to at least two blocking weights, the path planning device also determines the movement direction of the moving object when passing through the map node; correspondingly, the process of the path planning device determining the target path from at least two paths according to at least two blocking weights includes: the path planning device determines the path node type corresponding to the map node according to the movement direction; the path planning device determines the heat information corresponding to the map node according to the path node type; the path planning device determines the target path from at least two paths according to the heat information and at least two blocking weights.

[0067] In the embodiment of the present application, the movement direction may be moving towards a certain map node or moving away from a certain map node. Among them, moving towards a certain map node includes: moving from the east towards a certain map node, moving from the west towards a certain map node, moving from the south towards a certain map node, and moving from the north towards a certain map node.

[0068] It should be noted that the path node types include: same-direction overlapping path node type, opposite-direction overlapping path node type, two-way intersection path node type, three-way intersection path node type, and four-way intersection path node type.

[0069] In the embodiment of the present application, the process of the path planning device determining the path node type corresponding to the map node according to the movement direction includes: if two moving objects move in the same direction at a certain map node, the path planning device confirms that the path node type corresponding to the map node is the same-direction overlapping path node type; if two moving objects move towards each other at a certain map node, the path planning device confirms that the path node type corresponding to the map node is the opposite-direction overlapping path node type; if two moving objects move towards the certain map node from any two of the four directions of east, south, west, and north, the path planning device confirms that the path node type corresponding to the map node is the two-way intersection path node type; if three moving objects move towards the certain map node from any three of the four directions of east, south, west, and north, the path planning device confirms that the path node type corresponding to the map node is the three-way intersection path node type; if four moving objects move towards the certain map node from the four directions of east, south, west, and north respectively, the path planning device confirms that the path node type corresponding to the map node is the four-way intersection path node type.

[0070] Exemplarily, as Figure 2 shown: two moving objects move in the same direction at a certain map node, and the path planning device confirms that the path node type corresponding to the map node is the same-direction overlapping path node type. As Figure 3As shown: When two moving objects move towards each other at a certain map node, the path planning device determines that the path node type corresponding to this map node is the opposite coincidence path node type; as Figure 4 As shown: When two moving objects move towards this map node from any two of the four directions of east, south, west, and north, the path planning device determines that the path node type corresponding to this map node is the two-way intersection path node type; as Figure 5 As shown: When three moving objects move towards this map node from any three of the four directions of east, south, west, and north, the path planning device determines that the path node type corresponding to this map node is the three-way intersection path node type; as Figure 6 As shown: When four moving objects move towards this map node from the four directions of east, south, west, and north respectively, the path planning device determines that the path node type corresponding to this map node is the four-way intersection path node type.

[0071] In the embodiment of the present application, the process by which the path planning device determines the heat information corresponding to the map node according to the path node type includes: when the path node type is the same-direction coincidence path node type, the path planning device determines that the heat weight of the map node is the first heat weight; when the path node type is the opposite coincidence path node type, the path planning device determines that the heat weight of the map node is the second heat weight; when the path node type is the two-way intersection path node type, the path planning device determines that the heat weight of the map node is the third heat weight; when the path node type is the three-way intersection path node type, the path planning device determines that the heat weight of the map node is the fourth heat weight; when the path node type is the four-way intersection path node type, the path planning device determines that the heat weight of the map node is the fifth heat weight; the path planning device determines the heat information according to the first heat weight, the second heat weight, the third heat weight, the fourth heat weight, and the fifth heat weight.

[0072] In the embodiment of the present application, the first heat weight may be W, and the first heat weight may also be other weight values; the specific first heat weight can be determined according to the actual situation, and the embodiment of the present application does not limit this.

[0073] In the embodiment of the present application, the second heat weight may be 5W, and the second heat weight may also be other weight values; the specific second heat weight can be determined according to the actual situation, and the embodiment of the present application does not limit this.

[0074] In the embodiment of the present application, the third heat weight may be 2.5W, and the third heat weight may also be other weight values; the specific third heat weight can be determined according to the actual situation, and the embodiment of the present application does not limit this.

[0075] In the embodiment of the present application, the fourth heat weight may be 6W, and the fourth heat weight may also be other weight values; specifically, the fourth heat weight may be determined according to the actual situation, and the embodiment of the present application does not limit this.

[0076] In the embodiment of the present application, the fifth heat weight may be 10W, and the fifth heat weight may also be other weight values; specifically, the fifth heat weight may be determined according to the actual situation, and the embodiment of the present application does not limit this.

[0077] In the embodiment of the present application, the process by which the path planning device determines the heat information according to the first heat weight, the second heat weight, the third heat weight, the fourth heat weight, and the fifth heat weight includes: the path planning device determines the area heat according to the area to which the map node belongs, the first heat weight, the second heat weight, the third heat weight, the fourth heat weight, and the fifth heat weight; when the heat value of the area heat is greater than or equal to the preset area heat threshold, the path planning device uses the area corresponding to the area heat as the heat area; and determines the number of heat nodes located in the heat area among the map nodes; the path planning device determines the heat node value corresponding to the heat node according to the area heat and the number; the path planning device uses the first heat value corresponding to the first node located in the non-heat area among the map nodes, and the heat node value as the heat information.

[0078] It should be noted that the first heat value is to determine the heat information corresponding to the map node according to the path node type: for example, when the first node type is the same-direction overlapping path node type, it is determined that the heat weight of the first node is the first heat weight; when the first node type is the opposite-direction overlapping path node type, it is determined that the heat weight of the first node is the second heat weight; when the first node type is the two-way intersection path node type, it is determined that the heat weight of the first node is the third heat weight; when the first node type is the three-way intersection path node type, it is determined that the heat weight of the first node is the fourth heat weight; when the first node type is the four-way intersection path node type, it is determined that the heat weight of the first node is the fifth heat weight. That is, the first heat value may be any one of the first heat weight, the second heat weight, the third heat weight, the fourth heat weight, or the fifth heat weight.

[0079] In the embodiment of the present application, the path planning device determines the area heat hot according to the area to which the map node belongs, the first heat weight, the second heat weight, the third heat weight, the fourth heat weight, and the fifth heat weight area in the manner shown in formula (3):

[0080]

[0081] Specifically, a, b, c, d, and e are respectively the quantities of paths of the same - direction overlapping path node type, path nodes of the opposite - direction overlapping path node type, path nodes of the two - way intersection path node type, path nodes of the three - way intersection path node type, and path nodes of the four - way intersection path node type in a section.

[0082] In the embodiment of the present application, the way for the path planning device to determine the heat node value corresponding to the heat node according to the section heat and the quantity of heat nodes is shown in formula (4):

[0083]

[0084] It should be noted that the preset section heat threshold can be the heat threshold configured in the path planning device; the preset section heat threshold can also be the heat threshold transmitted from other devices to the path planning device; specifically, the way for the path planning device to obtain the preset section heat threshold can be determined according to the actual situation, and the embodiments of the present application do not limit this.

[0085] In the embodiment of the present application, the process for the path planning device to determine the target path from at least two paths according to the heat information and at least two blocking weights includes: the path planning device obtains at least two groups of heat information corresponding to at least two paths from the heat information; the path planning device determines at least two heat information according to the at least two groups of heat information; the path planning device determines at least two congestion parameters corresponding to the at least two heat information and the at least two blocking weights; the path planning device screens the target congestion parameter with the smallest congestion parameter value from the at least two congestion parameters; and takes the path corresponding to the target congestion parameter as the target path.

[0086] In the embodiment of the present application, at least two paths correspond one - to - one with at least two groups of heat information. Specifically, one path corresponds to one group of heat information.

[0087] In the embodiment of the present application, the process for the path planning device to determine at least two heat information according to at least two groups of heat information includes that the path planning device determines the sum of each group of heat information in the at least two groups of heat information, so as to obtain the heat information corresponding to each group, that is, to obtain at least two heat information.

[0088] In the embodiment of the present application, the process for the path planning device to determine at least two congestion parameters corresponding to at least two heat information and at least two blocking weights includes that the path planning device respectively determines the sum of the at least two heat information and the at least two blocking weights to obtain at least two congestion parameters.

[0089] Exemplarily, a schematic diagram of an exemplary path planning method is as Figure 7 shown:

[0090] S1. When receiving the task to be executed of the target object, the path planning device determines the end position according to the task to be executed, and obtains the current position of the target object, the map nodes, and the duration for the moving object to pass through the map nodes.

[0091] S2. The path planning device determines at least two paths in the map nodes according to the current position and the end position.

[0092] It should be noted that each of the at least two paths includes at least one map node;

[0093] S3. The path planning device determines at least two blocking weights of the at least two paths according to the duration.

[0094] S4. The path planning device determines the moving direction when the moving object passes through the map node.

[0095] S5. The path planning device determines the path node type corresponding to the map node according to the moving direction.

[0096] S6. The path planning device determines the heat information corresponding to the map node according to the path node type.

[0097] S7. The path planning device determines the target path from the at least two paths according to the heat information and the at least two blocking weights, so that the target object can execute the task to be executed according to the target path.

[0098] It can be understood that when receiving the task to be executed of the target object, the path planning device predicts at least two blocking weights corresponding to at least two paths between the current position and the target position of the target object according to the duration for the moving object to pass through the map node in the current situation, so as to determine the target path from the at least two paths according to the at least two blocking weights, enabling the target object to determine the target path before executing the task to be executed, and providing the target object with the target path to execute the task to be executed, improving the timeliness when determining the target path, that is, improving the timeliness of path planning for the target object.

[0099] Based on the same inventive concept as the above path planning method, an embodiment of the present application provides a path planning device 1, corresponding to a path planning method; Figure 8 The schematic composition structure of a path planning device provided by an embodiment of the present application Figure 1 The path planning device 1 may include:

[0100] A determination unit 11, configured to, when receiving a to-be-executed task of a target object, determine an end position according to the to-be-executed task; in the map nodes, determine at least two paths according to the current position and the end position, each of the at least two paths including at least one map node; determine at least two blocking weights of the at least two paths according to the duration; and determine a target path from the at least two paths according to the at least two blocking weights, so that the target object executes the to-be-executed task according to the target path.

[0101] An acquisition unit 12, configured to acquire the current position of the target object, the map nodes, and the duration for a moving object to pass through the map nodes.

[0102] In some embodiments of the present application, the determination unit 11 is configured to determine the moving direction of the moving object when passing through the map node.

[0103] Correspondingly, the determination unit 11 is configured to determine the path node type corresponding to the map node according to the moving direction; determine the heat information corresponding to the map node according to the path node type; and determine the target path from the at least two paths according to the heat information and the at least two blocking weights.

[0104] In some embodiments of the present application, the determination unit 11 is configured to, when the path node type is a same-direction coincidence path node type, determine the heat weight of the map node as a first heat weight; when the path node type is an opposite-direction coincidence path node type, determine the heat weight of the map node as a second heat weight; when the path node type is a two-way intersection path node type, determine the heat weight of the map node as a third heat weight; when the path node type is a three-way intersection path node type, determine the heat weight of the map node as a fourth heat weight; when the path node type is a four-way intersection path node type, determine the heat weight of the map node as a fifth heat weight; and determine the heat information according to the first heat weight, the second heat weight, the third heat weight, the fourth heat weight, and the fifth heat weight.

[0105] In some embodiments of the present application, the determining unit 11 is configured to determine the area heat according to the area to which the map node belongs, the first heat weight, the second heat weight, the third heat weight, the fourth heat weight, and the fifth heat weight; when the heat value of the area heat is greater than or equal to a preset area heat threshold, take the area corresponding to the area heat as the heat area; and determine the number of heat nodes located in the heat area among the map nodes; determine the heat node value corresponding to the heat node according to the area heat and the number; take the first heat value corresponding to the first node located in the non-heat area among the map nodes, and the heat node value as the heat information.

[0106] In some embodiments of the present application, the device further includes a screening unit;

[0107] The obtaining unit 12 is configured to obtain at least two sets of heat information corresponding to the at least two paths from the heat information.

[0108] The determining unit 11 is configured to determine at least two pieces of heat information according to the at least two sets of heat information; determine at least two congestion parameters corresponding to the at least two pieces of heat information and the at least two blocking weights;

[0109] The screening unit is configured to screen a target congestion parameter with the smallest congestion parameter value from the at least two congestion parameters; and take the path corresponding to the target congestion parameter as the target path.

[0110] In some embodiments of the present application, the number of the durations is multiple, and the number of map nodes in the at least one path is multiple;

[0111] The determining unit 11 is configured to, when a first duration among the multiple durations is greater than or equal to a preset duration threshold, determine that the blocking node weight corresponding to the first map node among the multiple map nodes is the first weight; the first duration is the duration information when the movement passes through the first map node; when the first duration is less than the preset duration threshold, determine that the blocking node weight corresponding to the first map node is the second weight; until the multiple weights corresponding to the multiple map nodes are determined according to the multiple durations; determine the at least two blocking weights according to the at least two sets of weights;

[0112] The obtaining unit 12 is configured to obtain at least two sets of weights corresponding to the at least two paths from the multiple weights.

[0113] It should be noted that in practical applications, the above-mentioned determination unit 11 and acquisition unit 12 can be implemented by the processor 13 on the path planning device 1, specifically implemented by a CPU (Central Processing Unit), an MPU (Microprocessor Unit), a DSP (Digital Signal Processing), or a field programmable gate array (FPGA, Field Programmable Gate Array), etc.; the above-mentioned data storage can be implemented by the memory 14 on the path planning device 1.

[0114] An embodiment of the present application further provides a path planning device 1, as Figure 9 shown, the path planning device 1 includes: a processor 13, a memory 14, and a communication bus 15. The memory 14 communicates with the processor 13 through the communication bus 15. The memory 14 stores programs executable by the processor 13. When the programs are executed, the path planning method as described above is executed through the processor 13.

[0115] In practical applications, the above-mentioned memory 14 can be a volatile memory, such as a random access memory (RAM); or a non-volatile memory, such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD); or a combination of the above types of memories, and provides instructions and data to the processor 13.

[0116] An embodiment of the present application provides a computer-readable storage medium with a computer program thereon. When the program is executed by the processor 13, the path planning method as described above is implemented.

[0117] It can be understood that when the path planning device receives the task to be executed of the target object, according to the duration of the moving object passing through the map node in the current situation, it predicts at least two blocking weights corresponding to at least two paths between the current position and the target position of the target object, so as to determine the target path from at least two paths according to the at least two blocking weights, enabling the target object to determine the target path before executing the task to be executed, for the target object to execute the task to be executed according to the target path, improving the timeliness when determining the target path, that is, improving the timeliness of path planning for the target object.

[0118] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) that contain computer-usable program code.

[0119] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of the flows and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in one Figure 1 flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0120] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including instruction means, and the instruction means implements the functions specified in one Figure 1 flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0121] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one Figure 1 flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0122] As mentioned above, it is only the preferred embodiment of the present application, and is not used to limit the protection scope of the present application.

Claims

1. A path planning method, characterized in that, The method includes: When receiving a task to be executed by a target object, determining an end position according to the task to be executed, and obtaining the current position of the target object, map nodes, and the duration for a moving object to pass through the map nodes; Among the map nodes, determining at least two paths according to the current position and the end position, where each of the at least two paths includes at least one map node; Determining at least two blocking weights for the at least two paths according to the duration; Determining a target path from the at least two paths according to the at least two blocking weights, for the target object to execute the task to be executed according to the target path; Wherein, before determining the target path from the at least two paths according to the at least two blocking weights, the method further includes: Determining the moving direction of the moving object when passing through the map node; Correspondingly, determining the target path from the at least two paths according to the at least two blocking weights includes: Determining the path node type corresponding to the map node according to the moving direction; Determining the heat information corresponding to the map node according to the path node type; the heat information is determined according to the area heat corresponding to the area where the map node belongs; Determining the target path from the at least two paths according to the heat information and the at least two blocking weights.

2. The method according to claim 1, characterized in that, Determining the heat information corresponding to the map node according to the path node type includes: When the path node type is the same-direction coincidence path node type, determining the heat weight of the map node as the first heat weight; When the path node type is the opposite-direction coincidence path node type, determining the heat weight of the map node as the second heat weight; When the path node type is the two-way intersection path node type, determining the heat weight of the map node as the third heat weight; When the path node type is the three-way intersection path node type, determining the heat weight of the map node as the fourth heat weight; When the path node type is the four-way intersection path node type, determining the heat weight of the map node as the fifth heat weight; Determining the heat information according to the first heat weight, the second heat weight, the third heat weight, the fourth heat weight, and the fifth heat weight.

3. The method according to claim 2, wherein Determining the heat information according to the first heat weight, the second heat weight, the third heat weight, the fourth heat weight, and the fifth heat weight includes: Determining the area heat according to the area where the map node belongs, the first heat weight, the second heat weight, the third heat weight, the fourth heat weight, and the fifth heat weight; When the heat value of the area heat is greater than or equal to a preset area heat threshold, taking the area corresponding to the area heat as the heat area; and determining the number of heat nodes located in the heat area among the map nodes; Determining the heat node value corresponding to the heat node according to the area heat and the number. Take the first heat value corresponding to the first node in the non-heat area of the map nodes, and the heat node value as the heat information.

4. The method according to claim 1, wherein The determining the target path from the at least two paths according to the heat information and the at least two blocking weights includes: Obtain at least two sets of heat information corresponding to the at least two paths from the heat information; Determine at least two pieces of heat information according to the at least two sets of heat information; Determine at least two congestion parameters corresponding to the at least two pieces of heat information and the at least two blocking weights; Screen out the target congestion parameter with the smallest congestion parameter value from the at least two congestion parameters; and take the path corresponding to the target congestion parameter as the target path.

5. The method according to claim 1, characterized in that The number of the durations is multiple, and the number of map nodes in the at least one path is multiple; the determining the at least two blocking weights of the at least two paths according to the durations includes: When the first duration among the multiple durations is greater than or equal to the preset duration threshold, determine that the blocking node weight corresponding to the first map node among the multiple map nodes is the first weight; the first duration is the duration information when the movement passes through the first map node; When the first duration is less than the preset duration threshold, determine that the blocking node weight corresponding to the first map node is the second weight; until the multiple weights corresponding to the multiple map nodes are determined according to the multiple durations; Among the multiple weights, obtain at least two sets of weights corresponding to the at least two paths; Determine the at least two blocking weights according to the at least two sets of weights.

6. A path planning device, characterized in that, The device includes: A determining unit, configured to, when receiving a to-be-executed task of a target object, determine an end position according to the to-be-executed task; in map nodes, determine at least two paths according to the current position and the end position, each path of the at least two paths includes at least one map node; determine at least two blocking weights of the at least two paths according to a duration; determine a target path from the at least two paths according to the at least two blocking weights, so that the target object executes the to-be-executed task according to the target path; An obtaining unit, configured to obtain the current position of the target object, map nodes, and the duration when a moving object passes through the map nodes; Wherein, the determining unit is configured to determine the moving direction of the moving object when passing through the map node; Correspondingly, the determining unit is configured to determine the path node type corresponding to the map node according to the moving direction; determine the heat information corresponding to the map node according to the path node type; determine a target path from the at least two paths according to the heat information and the at least two blocking weights; the heat information is determined according to the area heat corresponding to the area to which the map node belongs.

7. A path planning device, characterized in that, The device includes: A memory, a processor, and a communication bus, where the memory communicates with the processor through the communication bus, and the memory stores a path planning program executable by the processor. When the path planning program is executed, the method according to any one of claims 1 to 5 is executed by the processor.

8. A storage medium having a computer program stored thereon, applied to a path planning device, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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