Path planning method, device and computer equipment for AGV

Abstract

The present disclosure relates to a path planning method, apparatus, and computer device for an AGV. The method includes: obtaining the driving paths of each vehicle, where the driving paths include a plurality of driving stations of the vehicle; determining the driving conflict stations in the driving paths between the conflicting vehicles according to the driving paths of the conflicting vehicles, where the conflicting vehicles include vehicles with conflicting driving paths; determining the yielding stations corresponding to the conflicting vehicles according to the driving conflict stations and the driving stations in the driving paths; and determining the conflict-free driving paths of the conflicting vehicles at least according to the driving paths, driving conflict stations, and yielding stations of the conflicting vehicles. By using this method, when there are multiple conflict segments, the avoidance positions of the AGV can be determined, and the AGV will not stop working.

Description

Technical Field

[0001] The present disclosure relates to the field of automatic control technologies, and particularly to a path planning method, apparatus, and computer device for an AGV. Background Art

[0002] With the development of intelligent industries, AGVs play an important role in the transportation process in factories. An AGV (Automated Guided Vehicle), also known as an unmanned transport vehicle, an automatic guided vehicle, or a laser guided vehicle, has the remarkable feature of being driverless. An AGV is equipped with an automatic guidance system, which can ensure that the system can automatically travel along a predetermined route without manual piloting, and automatically transport goods or materials from the starting point to the destination.

[0003] However, during the process of an AGV transporting materials, there are usually multiple AGVs working together. When multiple AGVs work together, there may be a problem of path conflicts. In the current AGV scheduling system, when multiple AGVs conflict, only some of the AGVs can be stopped from working, and then the other conflicting AGVs can be avoided. If there are multiple conflict segments, it usually causes the AGVs to be unable to determine the avoidance positions, resulting in deadlocks and then stopping working, which will reduce the operating efficiency of the AGVs. Summary of the Invention

[0004] Based on this, in view of the above technical problems, it is necessary to provide a path planning method, apparatus, and computer device for an AGV that can determine the avoidance positions of AGVs when there are multiple conflict segments and will not cause the AGVs to stop working.

[0005] In a first aspect, the present disclosure provides a path planning method for an AGV. The method includes:

[0006] Obtain the driving paths of each vehicle, where the driving paths include multiple driving stations of the vehicle;

[0007] Determine the driving conflict stations in the driving paths between the conflicting vehicles according to the driving paths of the conflicting vehicles, where the conflicting vehicles include vehicles with conflicting driving paths;

[0008] Determine the yielding stations corresponding to the conflicting vehicles according to the driving conflict stations and the driving stations in the driving paths;

[0009] Determine the conflict-free driving paths of the conflicting vehicles at least according to the driving paths, driving conflict stations, and yielding stations of the conflicting vehicles.

[0010] In one embodiment, the driving site includes: a driving end site, and determining a conflict-free driving path of the conflict vehicle according to at least the driving paths of the conflict vehicles, the driving conflict site, and the yielding site includes:

[0011] In response to the first driving end site being in the second driving path, or the second vehicle in the conflict vehicle driving into the driving conflict site, it is determined that the first vehicle in the conflict vehicle yields;

[0012] According to the driving path of the first vehicle and the yielding site, determine the conflict-free driving path of the first vehicle;

[0013] Wherein, the first driving end site is the driving end site of the first vehicle in the conflict vehicle, and the second driving path is the driving path of the second driving vehicle in the conflict vehicle.

[0014] In one embodiment, determining the conflict-free driving path of the conflict vehicle according to at least the driving paths of the conflict vehicles, the driving conflict site, and the yielding site further includes:

[0015] In response to none of the conflict vehicles driving into the driving conflict site, determine the yielding vehicle among the conflict vehicles according to the pre-set priorities of the conflict vehicles and the priorities of the driving paths of the conflict vehicles;

[0016] According to the driving path of the yielding vehicle and the yielding site, determine the conflict-free driving path of the yielding vehicle.

[0017] In one embodiment, determining the conflict-free driving path of the conflict vehicle according to at least the driving paths of the conflict vehicles, the driving conflict site, and the yielding site further includes:

[0018] In response to all of the conflict vehicles driving into the driving conflict site, determine the yielding vehicle among the conflict vehicles according to the yielding site closest to the conflict vehicle and the weight value of the driving path corresponding to when the conflict vehicle drives into the driving conflict site determined in advance;

[0019] Control the yielding vehicle to drive to the yielding site closest to the conflict vehicle;

[0020] According to the driving path of the yielding vehicle and the yielding site, determine the conflict-free driving path of the yielding vehicle.

[0021] In one embodiment, obtaining the driving path of each vehicle includes:

[0022] Obtain a regional map, where the regional map includes: multiple sites;

[0023] Determine the starting station and the ending station of the vehicle's travel in the regional map;

[0024] Determine at least one travel path for each vehicle according to the starting station, the ending station of the travel and multiple stations in the regional map.

[0025] In one embodiment, determining the yielding station corresponding to the conflicting vehicle according to the travel conflict station and the travel stations in the travel path includes at least one of the following:

[0026] Determine the yielding station corresponding to the conflicting vehicle according to the travel stations in the travel path of the conflicting vehicle before the travel conflict station;

[0027] Determine the yielding station corresponding to the conflicting vehicle according to the stations in the regional map that are outside the travel stations of the conflicting vehicle and have no path conflicts with other vehicles.

[0028] In one embodiment, determining at least one travel path for each vehicle according to the starting station, the ending station of the travel and multiple stations in the regional map includes:

[0029] Determine multiple travel paths for each vehicle according to the starting station, the ending station of the travel, multiple stations in the regional map and by using a recursive search algorithm;

[0030] Determine the weight value corresponding to each travel path according to the distance traveled by the vehicle in multiple travel paths and the number of travel conflict stations between the vehicles;

[0031] Determine at least one travel path for each vehicle according to the weight value corresponding to each travel path.

[0032] In one embodiment, obtaining the regional map includes:

[0033] In response to the regional map being larger than a pre-set regional range, split the regional map according to multiple stations in the regional map to obtain multiple split regional maps;

[0034] The determining multiple travel paths for each vehicle according to the starting station, the ending station of the travel, multiple stations in the regional map and by using a recursive search algorithm includes:

[0035] Obtain the connection stations between the split regional maps;

[0036] Determine multiple travel paths for each vehicle according to the starting station, the ending station of the travel, multiple stations in the split regional maps and the connection stations, and by using a recursive search algorithm.

[0037] In a second aspect, the present disclosure also provides a path planning device for an AGV. The device includes:

[0038] A path acquisition module, configured to acquire the driving path of each vehicle, where the driving path includes a plurality of driving stations of the vehicle;

[0039] A conflict station determination module, configured to determine the driving conflict stations in the driving paths between the conflict vehicles according to the driving paths of the conflict vehicles, where the conflict vehicles include vehicles with path conflicts;

[0040] A yielding station determination module, configured to determine the yielding stations corresponding to the conflict vehicles according to the driving conflict stations and the driving stations in the driving paths;

[0041] A path planning module, configured to determine the conflict-free driving paths of the conflict vehicles at least according to the driving paths, driving conflict stations, and yielding stations of the conflict vehicles.

[0042] In a third aspect, the present disclosure also provides a computer device. The computer device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of any of the above method embodiments are implemented.

[0043] In a fourth aspect, the present disclosure also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of any of the above method embodiments are implemented.

[0044] In a fifth aspect, the present disclosure also provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the steps of any of the above method embodiments are implemented.

[0045] In the above embodiments, by acquiring the driving path of each vehicle, and then according to the driving paths of each vehicle, the driving conflict stations between the vehicles can be determined, and the stations where the vehicles conflict with each other can be determined. The yielding stations are determined according to the driving stations and the driving conflict stations. The conflict-free driving paths of the vehicles are re-planned through the yielding stations. It is possible to avoid the paths of the vehicles from conflicting, thereby affecting the operation of the vehicles. When there are multiple conflict segments, the above method can also be used for processing, so that the vehicles will not be locked and stop working, and the operation efficiency of the vehicles will not be reduced. Description of the Drawings

[0046] To more clearly illustrate the specific embodiments of the present disclosure or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings required for the description of the specific embodiments or the prior art. Obviously, the accompanying drawings in the following description are some embodiments of the present disclosure. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0047] Figure 1 Schematic diagram of the application environment of the path planning method for an AGV in an embodiment;

[0048] Figure 2 Schematic flowchart of the path planning method for an AGV in an embodiment;

[0049] Figure 3 Schematic diagram of the driving path in an embodiment;

[0050] Figure 4 Schematic flowchart of step S208 in an embodiment;

[0051] Figure 5 Schematic flowchart of step S208 in an embodiment;

[0052] Figure 6 Schematic flowchart of step S208 in an embodiment;

[0053] Figure 7 Schematic flowchart of step S202 in an embodiment;

[0054] Figure 8 Schematic diagram of the yielding station in an embodiment;

[0055] Figure 9 Schematic flowchart of step S606 in an embodiment;

[0056] Figure 10 Schematic diagram of determining the driving path in the splitting area in an embodiment;

[0057] Figure 11 Schematic flowchart of determining the driving path in an embodiment;

[0058] Figure 12 Schematic flowchart of determining the conflict-free driving path in an embodiment;

[0059] Figure 13 Schematic block diagram of the structure of the path planning device for an AGV in an embodiment;

[0060] Figure 14 Schematic internal structure diagram of a computer device in an embodiment. Specific embodiments

[0061] In order to make the objectives, technical solutions, and advantages of the present disclosure more clear and understandable, the present disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure and are not used to limit the present disclosure.

[0062] It should be noted that the terms "first", "second", etc. in the specification and claims of this article and the above-mentioned drawings are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, device, product, or equipment comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or equipment.

[0063] In this article, the term "and / or" is only a relationship describing associated objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after.

[0064] The embodiment of the present disclosure provides a path planning method for an AGV, which can be applied to an application environment as Figure 1 shown. Among them, the terminal 102 communicates with at least one vehicle 104 through wireless communication. The terminal 102 obtains the pre-set and stored driving paths in each vehicle 104, where the driving paths include: multiple driving stations of the vehicle. In response to the terminal 102 determining that there is a conflict between the vehicles 104 according to the driving paths of each vehicle 104. The terminal 102 determines the driving conflict stations in the driving paths between the conflicting vehicles according to the driving paths of the conflicting vehicles, where the conflicting vehicles include: vehicles with conflicting driving paths. The terminal 102 determines the yielding stations corresponding to the conflicting vehicles according to the driving conflict stations and the driving stations in the driving paths. The terminal 102 determines the conflict-free driving paths of the conflicting vehicles at least according to the driving paths of the conflicting vehicles, the driving conflict stations, and the yielding stations. Among them, the terminal 102 can be, but is not limited to, various personal computers, laptop computers, smart phones, tablet computers, etc. The vehicle 104 can be an AGV car or other vehicles that can automatically drive and navigate. The wireless communication method can be Bluetooth, RFID, NFC, ZIGBEE, WIFI, IrDA, microwave, 2G / 3G / 4G / 5G, etc.

[0065] In one embodiment, as Figure 2 shown, a path planning method for an AGV is provided. Taking the method applied to the Figure 1 terminal 102 as an example, the method includes the following steps:

[0066] S202, obtain the driving path of each vehicle. Wherein, the driving path includes: a plurality of driving stations of the vehicle. Generally, the driving path can be the driving path planned by the vehicle, which can include: the driving stations passed by the vehicle, the starting driving station of the vehicle, and the ending driving station of the vehicle. As Figure 3 shown, the path formed between A1 and A7 can be the driving path, or the path formed between A1 - A8 - A7 can also be the driving path. A1 to A7 can be driving stations. A1 can be the starting driving station, A7 can be the ending driving station, and A2 to A6 can be the stations passed by the driving path. It can be understood that the driving path can be selected and set according to different requirements. In some embodiments of the present disclosure, the vehicle can refer to an AGV vehicle or other vehicles that can perform autonomous driving according to the planned path. The driving path of the vehicle can be pre - set in the vehicle or determined by the controller in the vehicle according to the starting point, ending point of the vehicle and the driving stations of the vehicle in the driving map.

[0067] Specifically, communicate with each vehicle to obtain the driving path of the vehicle in each vehicle. The driving path can be one or multiple.

[0068] S204, determine the driving conflict stations in the driving paths between the conflicting vehicles according to the driving paths of the conflicting vehicles.

[0069] Wherein, the conflicting vehicles include: vehicles with conflicting driving paths. The driving conflict station can be a station passed by both conflicting vehicles.

[0070] Specifically, when there are the same driving stations in the driving path of the vehicle, it can be determined that there is a path conflict between the vehicles with the same driving stations, and then the driving conflict stations can be determined according to the multiple driving stations in the driving paths of the conflicting vehicles.

[0071] S206, determine the yielding stations corresponding to the conflicting vehicles according to the driving conflict stations and the driving stations in the driving path.

[0072] Wherein, the yielding station can be a station where the conflicting vehicles avoid conflicts. When there is a path conflict, when controlling the conflicting vehicles to drive to the yielding station, path conflicts can be avoided.

[0073] Specifically, one or more stations before the driving conflict station in the driving path can be selected as the yielding stations, or stations in the driving paths of other vehicles can be selected as the yielding stations according to certain rules.

[0074] S208. Determine the conflict-free driving path of the conflict vehicle at least according to the driving path of the conflict vehicle, the driving conflict station, and the yielding station.

[0075] Among them, the conflict-free driving path generally can be a path where there will be no path conflict when the conflict vehicle drives along this driving path.

[0076] Specifically, in some embodiments of the present disclosure, the conflict vehicles can be two vehicles. Therefore, only one of the two conflict vehicles needs to determine the conflict-free driving path to avoid path conflicts between the conflict vehicles. Among the two conflict vehicles, the vehicle for determining the conflict-free driving path can be selected according to certain rules, such as priority or other methods. The driving path of the conflict vehicle is re-determined according to the driving stations, the driving conflict station, and the yielding station in the driving path of the conflict vehicle to obtain the conflict-free driving path.

[0077] In some exemplary embodiments, continue with Figure 3 as an example for illustration.

[0078] For example, if A4 is the driving conflict station and A3 and A2 are the yielding stations, the conflict-free driving path can be: A1 - A2 - A3 - A2 - A3 - A4 - A5 - A6 - A7. By driving between A2 and A3, a conflict with another conflict vehicle at A4 can be avoided. It can be understood that the above is only for illustrative purposes and does not represent the actual situation.

[0079] In some other exemplary embodiments, when there is one yielding station, for example:

[0080] The driving path of vehicle A is: A1 -> A2 -> A3 -> A5 -> A6 -> A7 -> A9;

[0081] The driving path of vehicle B can be: A9 -> A7 -> A6 -> A4 -> A5 -> A3 -> A2 -> A1;

[0082] Then there are two conflict intervals (intervals composed of multiple consecutive driving conflict stations) between vehicle A and vehicle B: (1) A6 -> A7 -> A9, (2) A1 -> A2 -> A3 -> A5.

[0083] Vehicle A travels from A1 to A9. Vehicle A is first in the second conflict zone, and vehicle B is first in the first conflict zone. Therefore, vehicle A will wait at station A5, which is the previous station before the first conflict zone (this station can be the yielding station for vehicle A), until vehicle B exits the first conflict zone (i.e., when it enters station A4). Then vehicle A is woken up to continue running. Vehicle B will yield at station A4, which is the previous station before the second conflict zone (this station can be the yielding station for vehicle B). When vehicle A exits the second conflict zone, that is, when it enters A6, vehicle B is woken up to drive into A5 to continue running. This resolves the conflict between vehicle A and vehicle B.

[0084] In the above path planning method for AGVs, by obtaining the driving paths of each vehicle, and then based on the driving paths of each vehicle, the driving conflict stations between vehicles can be determined, and the stations where there are conflicts between vehicles can be identified. The yielding stations are determined according to the driving stations and the secondary conflict stations of driving. The conflict-free driving paths of the vehicles are re-planned through the yielding stations. It can avoid the paths of the vehicles from conflicting, thus affecting the work of the vehicles. When there are multiple conflict segments, it can also be processed in the above manner, without locking up the vehicles and stopping their work, and without reducing the operating efficiency of the vehicles.

[0085] In one embodiment, as Figure 4 shown, the driving stations include: the driving end station. At least based on the driving paths of the conflicting vehicles, the driving conflict stations, and the yielding stations, determining the conflict-free driving paths of the conflicting vehicles includes:

[0086] S302, in response to the first driving end station being in the second driving path, or the second vehicle among the conflicting vehicles driving into the driving conflict station, determine that the first vehicle among the conflicting vehicles yields.

[0087] S304, according to the driving path of the first vehicle and the yielding station, determine the conflict-free driving path of the first vehicle.

[0088] Wherein, the first driving end station is the driving end station of the first vehicle among the conflicting vehicles, and the second driving path is the driving path of the second driving vehicle among the conflicting vehicles.

[0089] Specifically, let's assume that conflicting vehicle A is the first vehicle and conflicting vehicle B is the second vehicle. If conflicting vehicle A's destination is within the path of conflicting vehicle B, or if conflicting vehicle B has already entered a conflicting point, then if conflicting vehicle B yields, the yielding point for conflicting vehicle B may be at the destination of conflicting vehicle A. This situation could potentially lead to a conflict between conflicting vehicles A and B. Therefore, conflicting vehicle A can be determined as the yielding vehicle and forced to yield. A conflict-free path for conflicting vehicle A can be determined based on its path and yielding point.

[0090] In some exemplary embodiments, for example, if the travel path of conflicting vehicle A is S1-S2-S3 and the travel path of conflicting vehicle B is S0-S3-S5, then conflicting vehicle A's destination S3 is within the travel path of conflicting vehicle B. If S3 is the travel conflict point, conflicting vehicle A can be determined to be the yielding vehicle. Alternatively, when conflicting vehicle B enters S3, conflicting vehicle A can be determined to be the yielding vehicle. The yielding point can be S2, and the conflict-free travel path of conflicting vehicle A can be S1-S2. After waiting for a period of time at S2 and then passing S3, conflicting vehicle A can move to S3 to avoid the conflict.

[0091] In some implementations, a yield list can be set up and a detection thread can be used to resolve conflicts. For example, a yield list can be set up for each vehicle, typically storing yield stations. This list is then compared with a determined conflict source, which can be the vehicle involved in the conflict. The detection thread can calculate the yield list and conflict source. If there is no conflict with the conflict source (possibly due to an incorrect conflict source setting), the conflict source in the yield list is cleared. If the conflict source for the vehicle is empty (indicating that yielding is not necessary), the yield stations are cleared. If the vehicle is in the yield state (i.e., the vehicle is yielding), the vehicle is woken up and continues operation.

[0092] In this embodiment, the relationship between the driving paths of different conflicting vehicles, or whether the conflicting vehicles enter the driving conflict station, is used to determine the vehicle that gives way, and then determine the conflict-free driving path of the vehicle that gives way. This ensures that after the vehicle that gives way is determined, the vehicle that gives way travels along the conflict-free driving path to avoid conflict with another conflicting vehicle, and the vehicle will not be locked or stop working.

[0093] In one embodiment, Figure 5 As shown, the determining of the conflict-free driving path of the conflicting vehicles based at least on the driving paths, driving conflict stations, and yield stations of the conflicting vehicles further includes:

[0094] S402. In response to none of the conflicting vehicles driving into the driving conflict site, determine the yielding vehicle among the conflicting vehicles according to the pre-set priorities of the conflicting vehicles and the priorities of the driving paths of the conflicting vehicles.

[0095] S404. Determine the conflict-free driving path of the yielding vehicle according to the driving path and the yielding site of the yielding vehicle.

[0096] Among them, the priority of the conflicting vehicle can be determined according to the importance of the goods transported by the vehicle. The priority of the driving path can generally be determined according to the priority of the conflicting vehicle or the driving conflict site in the current driving path. For example, if the goods transported by the vehicle are relatively important, the priority of the vehicle can be determined to be higher and it needs to be transported first, and the driving path corresponding to the vehicle can usually also be determined to have a higher priority. Or, if there are multiple driving conflict sites between the current driving path and the driving paths of other vehicles, the driving path can be determined to have a lower priority. It can be understood that the above determination of the priorities of the conflicting vehicles and the driving paths is only for illustrative purposes, and those skilled in the art can flexibly determine the priorities of the conflicting vehicles and the driving paths according to the actual application scenarios. In some embodiments of the present disclosure, the specific determination methods of the priorities of the conflicting vehicles and the driving paths are not shown.

[0097] Specifically, when neither of the two conflicting vehicles drives into the driving conflict site, there is no need to determine whether the driving end site of one conflicting vehicle falls into the driving path of the other conflicting vehicle at this time. Therefore, it is necessary to determine the yielding conflicting vehicle between the two conflicting vehicles. The priority corresponding to each of the two conflicting vehicles and the priority of the driving path of each conflicting vehicle can be determined to determine the vehicle that needs to yield among the two conflicting vehicles. For example, the conflicting vehicle with a lower priority of the conflicting vehicle and the driving path can be determined as the yielding vehicle. Then, the conflict-free driving path of the yielding vehicle can be determined according to the driving path of the yielding vehicle and its corresponding yielding site, and the subsequent yielding vehicle drives according to the conflict-free driving path to avoid path conflicts.

[0098] In some exemplary embodiments, for example, the driving path of conflicting vehicle A is S1 - S2 - S3 - S4. The priority of conflicting vehicle A is the first level, and its corresponding driving path is also the first level. The driving path of conflicting vehicle B is S0 - S3 - S5. The priority of conflicting vehicle B is the second level, and its corresponding driving path is the first level. If neither conflicting vehicle A nor conflicting vehicle B has entered the driving conflict site S3. Then, according to the priorities of the conflicting vehicles and the priorities of their corresponding driving paths, it can be determined that conflicting vehicle B is the yielding vehicle. Then the conflict - free driving path of conflicting vehicle B can be S1. Wait at S1 for a period of time. After conflicting vehicle A passes through S3, then drive into S3 and S5 in sequence.

[0099] In this embodiment, through the priorities of the conflicting vehicles and the priorities of their driving paths, it is possible to determine that the conflicting vehicle with a lower priority is the yielding vehicle, enabling the yielding vehicle to re - determine its conflict - free driving path. It can ensure that the conflicting vehicle with a higher priority travels along its original driving path and does not reduce the working efficiency of the conflicting vehicle with a higher priority.

[0100] In one embodiment, as Figure 6 shown, determining the conflict - free driving path of the conflicting vehicle based on at least the driving path of the conflicting vehicle, the driving conflict site, and the yielding site further includes:

[0101] S502, in response to both conflicting vehicles driving into the driving conflict site, determine the yielding vehicle among the conflicting vehicles according to the yielding site closest to the conflicting vehicle and the weight value of the driving path corresponding to when the conflicting vehicle drives into the driving conflict site determined in advance.

[0102] S504, control the yielding vehicle to drive to the yielding site closest to the conflicting vehicle.

[0103] S506, determine the conflict - free driving path of the yielding vehicle according to the driving path of the yielding vehicle and the yielding site.

[0104] Among them, the weight value can generally be determined according to the proportion representing the priority of the driving path. For example, if there are more driving conflict sites with the driving paths of other vehicles in the driving path, or if the driving distance of the driving path is longer, then the corresponding weight value is relatively lower. This weight value can be determined according to the driving distance, driving conflict sites, the angle required for driving rotation, etc.

[0105] Specifically, when both conflicting vehicles have entered the driving conflict site, it can be determined that a conflict has occurred between the two vehicles. At this time, both conflicting vehicles may stop working. Therefore, it is necessary to determine the yielding vehicle among the two vehicles according to the weight values of the driving paths of the two conflicting vehicles when they travel to the conflict site. Usually, the yielding vehicle can be determined according to the conflicting vehicle corresponding to the driving path with a lower weight value, so as to ensure that the conflicting vehicle corresponding to the driving path with a higher weight value can complete the task first. In some other cases, the conflicting vehicle corresponding to the driving path with a higher weight value can also be determined as the yielding vehicle, so as to ensure that the conflicting vehicle corresponding to the driving path with a lower weight value can complete the task faster, or complete the task at the same time as the yielding vehicle, so as to improve the overall work efficiency. When both vehicles have entered the driving conflict site, it is necessary to control the yielding vehicle to drive into the nearest yielding site, and start the other conflicting vehicle, so as to quickly resolve the conflict that both conflicting vehicles have entered the driving conflict site. When the yielding vehicle drives into the yielding site, because the driving path has changed, it is necessary to re-determine the driving path of the yielding vehicle, that is, determine the conflict-free driving path of the yielding vehicle.

[0106] In some exemplary embodiments, for example, the driving path of conflicting vehicle A is S1 - S2 - S3 - S4. The driving path of conflicting vehicle B is S0 - S3 - S5. Both conflicting vehicle A and conflicting vehicle B have driven into the S3 conflict site. Taking the yielding vehicle as conflicting vehicle A as an example, the nearest yielding site corresponding to conflicting vehicle A can be S2. Conflicting vehicle A can be controlled to drive back to S2 to avoid conflicts with conflicting vehicle B at S3. Then, re-plan the driving path of conflicting vehicle A to obtain the conflict-free driving path of conflicting vehicle A.

[0107] In this embodiment, when both conflicting vehicles drive into the driving conflict site, in order to avoid the locking of the conflicting vehicles, which may lead to inoperability, the final yielding conflicting vehicle can be determined according to the weight values of the driving paths, and the yielding conflicting vehicle is controlled to drive into the yielding site to resolve the conflict and avoid the locking and stoppage of the conflicting vehicles.

[0108] In one embodiment, as Figure 7 shown, the obtaining of the driving path of each vehicle includes:

[0109] S602, obtain a regional map, where the regional map includes: a plurality of sites.

[0110] S604, determine the driving starting site and the driving ending site of the vehicle in the regional map; [[ID= nineteen]]

[0111] S606. Determine at least one driving route for each vehicle based on the driving starting station, the driving ending station, and multiple stations in the area map.

[0112] Among them, the area map can usually be the area map where the vehicle operates, which includes multiple stations that the vehicle passes by or stops at, or the starting station and the destination (ending) station of the vehicle. The format of the area map can be in formats such as smap, xmap, etc.

[0113] Specifically, obtain the area map imported from a third-party device. Usually, multiple stations that can be stopped at or driven through are marked in the area map. According to the preset destination of each vehicle and the current location of the vehicle, determine the driving starting station and the driving ending station of the vehicle in the area map. The at least one driving route for each vehicle can be determined through a recursive search algorithm or other path planning algorithms based on the driving starting station, the driving ending station, and multiple stations in the area map. Continuing with Figure 3 as an example, A1 can be the driving starting station, and A7 can be the driving ending station. Then, according to the stations in the map, two driving routes can be determined, namely A1 to A7 and A1 - A8 - A7.

[0114] In this embodiment, through the driving starting station, the driving ending station, and multiple stations in the area map, multiple different driving routes can be determined, and thus a selection can be made among different driving routes, which can avoid path conflicts.

[0115] In one embodiment, determining the yielding station corresponding to the conflicting vehicle according to the driving conflict station and the driving stations in the driving route includes at least one of the following:

[0116] Determine the yielding station corresponding to the conflicting vehicle according to the driving stations in the driving route of the conflicting vehicle before the driving conflict station;

[0117] Determine the yielding station corresponding to the conflicting vehicle according to the stations in the area map that are outside the driving stations of the conflicting vehicle and have no path conflicts with other vehicles.

[0118] Specifically, the yielding station corresponding to the conflicting vehicle can be determined according to one or more driving stations before the driving conflict station in the driving route of the conflicting vehicle. The yielding station can also be determined according to the stations in the area map that are outside the driving stations of the conflicting vehicle and have no path conflicts with other vehicles. If there is none, the vehicle parking station can be the yielding station, where each vehicle has its own dedicated parking point, and this parking point can be the vehicle parking station.

[0119] In some exemplary embodiments, such asFigure 8 As shown, S1 - S7 are driving paths, S8, S9, and S10 are stations outside the driving stations, and station S9 is a station without conflicts with other vehicles. Taking station S4 as an example of a driving conflict station, the corresponding yielding stations can be S3, S2, and S1. In some preferred embodiments, the yielding station can be S3, which can improve the speed of vehicle yielding. The yielding station can also be station S9.

[0120] In this embodiment, by different ways of determining the yielding station, different yielding stations can be determined. Furthermore, when determining a conflict - free path, there can be multiple choices, which can avoid vehicle deadlocks and thus prevent the vehicle from stopping running.

[0121] In one embodiment, as Figure 9 shown, the method of determining at least one driving path for each vehicle according to the driving starting station, the driving ending station, and multiple stations in the regional map includes:

[0122] S702, according to the driving starting station, the driving ending station, and multiple stations in the regional map, and using a recursive search algorithm, determine multiple driving paths for each vehicle;

[0123] S704, according to the distance traveled by the vehicle in multiple driving paths and the number of driving conflict stations between vehicles, determine the weight value corresponding to each driving path;

[0124] S706, according to the weight value corresponding to each driving path, determine at least one driving path for each vehicle.

[0125] Among them, the recursive search algorithm is usually a basic computer algorithm, and its idea is to traverse all possibilities to find path connectivity. Generally, the farther the distance traveled, the lower the weight value. The more the number of driving conflict points, the lower the weight value.

[0126] Specifically, the recursive search algorithm can be used to find connected paths among the driving starting station, the driving ending station, and multiple stations in the regional map. The connected paths can be one or more, and then multiple driving paths for each vehicle can be determined. Then, according to the corresponding driving distance in each driving path, the number of driving conflict points in each driving path, etc., the weight value corresponding to each driving path in each vehicle can be determined. The driving paths can be sorted according to the size of the weight value, and then one or more driving paths with higher weight value rankings can be obtained. It can be understood that the number of driving paths can be selected according to different situations. Generally, 10 driving paths with higher weight values can be selected. For example, a driving path without driving conflict stations can be found among the 10 driving paths to avoid conflicts.

[0127] In one embodiment, the obtaining of the regional map includes:

[0128] In response to the regional map being larger than a preset regional range, the regional map is split according to multiple sites in the regional map to obtain multiple split regional maps;

[0129] The determining of multiple driving paths for each vehicle according to the driving start site, the driving end site, and multiple sites in the regional map, and using a recursive search algorithm includes:

[0130] Obtaining connection sites between the split regional maps;

[0131] According to the driving start site, the driving end site, multiple sites in the split regional maps, and the connection sites, and using a recursive search algorithm, determine multiple driving paths for each vehicle.

[0132] Specifically, when the regional map is too large, additional computing resources of the terminal device will be consumed or occupied during recursive search. Therefore, when the regional map is larger than the preset regional range, the regional map can be divided according to the sites in the regional map to obtain multiple split regional maps. The division can be performed according to the number of sites, and each split regional map obtained contains a certain preset number of sites. After the map is split, the process of determining the driving path can be as follows: First, use the recursive search algorithm to determine multiple driving paths of the vehicle in the first split regional map based on the driving start site, multiple sites in the first split regional map, and the connection point between the first split regional map and the second split regional map. And so on, until the driving paths in all split regional maps are determined, and finally, the driving paths in all split maps are combined to determine multiple driving paths for each vehicle finally.

[0133] In some exemplary embodiments, as Figure 10 shown, A, B, C, and D are four split regional maps, where there are 3 sites in each split regional map. The sites in A are: S1, S2, S3. The sites in B are S5, S6, S7. The sites in C are S9, S10, S11. The sites in D are S13, S14, and S15. Among them, S4 is the connection site between A and B. S8 is the connection site between B and C. S12 is the connection site between C and D. S1 is the driving start site, and S15 is the driving end site. First, determine the driving path in A, and then determine the driving paths in B, C, and D. In the embodiments of the present disclosure, only one driving path is used as an example for illustration. According to the driving paths in A, B, C, and D, the final driving path can be determined, for example Figure 10 S1-S15 in

[0134] In this embodiment, when the regional map is too large, the regional map can be split to reduce the resource consumption of the computer, thereby improving the speed of determining the driving path of the vehicle.

[0135] In one embodiment, as Figure 11 shown, first, the regional map can be obtained, and it is determined whether the regional map exceeds a pre-set regional range. If it exceeds, it can be determined that the current regional map is too large and needs to be split into multiple split regions. Then, the split region where the current vehicle is located is obtained, and the split region where the driving end point is located is obtained. If the split regions are the same or the current regional map does not exceed the pre-set regional range, all stations in the current region can be traversed, and multiple driving paths can be determined according to the current position of the vehicle and the driving end point station. If the split regions are different, it is necessary to determine the split regions passed through to reach the driving end point station, and determine the connection points between the split regions. Then, according to the connection point, the current position of the vehicle, and the driving end point station, the driving paths in the multiple split regions are determined, and the final multiple driving paths are determined according to the driving paths in the multiple split regions. After determining the multiple driving paths, the weight value corresponding to each driving path can be determined according to the driving distance, driving conflict stations, the angle that needs to be rotated during driving, etc., and at least one optimal driving path can be determined according to the weight value. The optimal driving path is usually the driving path with the shortest driving distance or the fewest conflict stations.

[0136] In one embodiment, as Figure 12As shown, it is possible to detect whether there is a conflict in the driving paths of two vehicles within a certain time interval. If there is a conflict between two vehicles (taking vehicle A and vehicle B as an example), a yielding plan is determined. If there is no conflict, the vehicle travels along the driving path until it reaches the driving end station. The yielding plan specifically includes: determining whether the driving end station of vehicle A is on the driving path of vehicle B. If it is, the yielding station is determined, and vehicle A yields, or if vehicle B has already entered the driving conflict station, vehicle A yields. Plan a conflict-free driving route for vehicle A, and vehicle A travels to the driving end station of vehicle A through the conflict-free driving path while vehicle B travels normally. If not, determine whether the driving end station of vehicle B is on the driving path of vehicle A. If it is, the yielding station is determined, and vehicle B yields, or if vehicle A has already entered the driving conflict station, vehicle B yields. Plan a conflict-free driving route for vehicle B, and vehicle B travels to the driving end station of vehicle B through the conflict-free driving path while vehicle A travels normally. If neither vehicle A nor vehicle B has entered the driving conflict station, the priority is determined, and based on the priority, vehicle A or vehicle B is determined as the yielding vehicle. If vehicle A is the yielding vehicle, vehicle A determines the yielding station and plans a conflict-free driving route. If vehicle B is the yielding vehicle, vehicle B determines the yielding station and plans a conflict-free driving route. If vehicle A and vehicle B enter the driving conflict station, vehicle A or vehicle B is determined as the yielding vehicle according to the weight value of the corresponding driving path and enters the yielding station. Plan a conflict-free driving route for the yielding vehicle.

[0137] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0138] Based on the same inventive concept, an embodiment of the present disclosure also provides an AGV path planning device for implementing the above-mentioned AGV path planning method. The solution provided by this device for solving problems is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the AGV path planning device provided below can refer to the limitations on the AGV path planning method in the above text and will not be repeated here.

[0139] In one embodiment, as Figure 13As shown, a path planning device 800 for an AGV is provided, including: a path acquisition module 802, a conflict site determination module 804, a yielding site determination module 806, and a path planning module 808, where:

[0140] The path acquisition module 802 is configured to acquire the driving paths of each vehicle, where the driving paths include: multiple driving sites of the vehicle;

[0141] The conflict site determination module 804 is configured to determine the driving conflict sites in the driving paths between conflict vehicles according to the driving paths of the conflict vehicles, where the conflict vehicles include: vehicles with path conflicts;

[0142] The yielding site determination module 806 is configured to determine the yielding sites corresponding to the conflict vehicles according to the driving conflict sites and the driving sites in the driving paths;

[0143] The path planning module 808 is configured to determine the conflict-free driving paths of the conflict vehicles at least according to the driving paths, driving conflict sites, and yielding sites of the conflict vehicles.

[0144] In an embodiment of the device, the driving site includes: a driving end site, and the path planning module 808 includes: a yielding vehicle determination module, configured to determine that the first vehicle among the conflict vehicles yields in response to the first driving end site being in the second driving path, or the second vehicle among the conflict vehicles driving into the driving conflict site;

[0145] A path planning sub-module, configured to determine the conflict-free driving path of the first vehicle according to the driving path and yielding site of the first vehicle;

[0146] Wherein, the first driving end site is the driving end site of the first vehicle among the conflict vehicles, and the second driving path is the driving path of the second driving vehicle among the conflict vehicles.

[0147] In an embodiment of the device, the yielding vehicle determination module is further configured to determine the yielding vehicle among the conflict vehicles according to the pre-set priorities of the conflict vehicles and the priorities of the driving paths of the conflict vehicles in response to none of the conflict vehicles driving into the driving conflict site.

[0148] The path planning sub-module is further configured to determine the conflict-free driving path of the yielding vehicle according to the driving path and yielding site of the yielding vehicle.

[0149] In one embodiment of the device, the yielding vehicle determination module is further configured to, in response to all conflicting vehicles driving into the driving conflict site, determine the yielding vehicle among the conflicting vehicles according to the yielding site closest to the conflicting vehicles and the weight value of the driving path corresponding to when the conflicting vehicles drive into the driving conflict site determined in advance.

[0150] The path planning module 808 further includes: a control module configured to control the yielding vehicle to drive to the yielding site closest to the conflicting vehicle.

[0151] The path planning sub-module is further configured to determine a conflict-free driving path of the yielding vehicle according to the driving path of the yielding vehicle and the yielding site.

[0152] In one embodiment of the device, the path acquisition module 802 includes: a map acquisition module configured to acquire a regional map, where the regional map includes: a plurality of sites;

[0153] A driving site acquisition module configured to determine a driving start site and a driving end site of the vehicle in the regional map;

[0154] A driving path determination module configured to determine at least one driving path of each vehicle according to the driving start site, the driving end site, and the plurality of sites in the regional map.

[0155] In one embodiment of the device, the yielding site determination module 806 includes: a first determination module configured to determine the yielding site corresponding to the conflicting vehicle according to the driving sites in the driving path of the conflicting vehicle before the driving conflict site;

[0156] A second determination module configured to determine the yielding site corresponding to the conflicting vehicle according to the sites in the regional map that are outside the driving sites of the conflicting vehicle and have no path conflicts with other vehicles.

[0157] In one embodiment of the device, the driving path determination module includes: an algorithm search module configured to determine multiple driving paths of each vehicle according to the driving start site, the driving end site, and the plurality of sites in the regional map and by using a recursive search algorithm.

[0158] A weight value determination module configured to determine the weight value corresponding to each driving path according to the distance traveled by the vehicle in the multiple driving paths and the number of driving conflict sites between the vehicles.

[0159] A driving path determination sub-module configured to determine at least one driving path of each vehicle according to the weight value corresponding to each driving path.

[0160] In one embodiment of the device, the map acquisition module includes: a splitting module, configured to, in response to the regional map being larger than a preset regional range, split the regional map according to multiple sites in the regional map to obtain multiple split regional maps. The driving path determination module is further configured to obtain connection sites between the split regional maps; and determine multiple driving paths for each vehicle according to the driving start site, the driving end site, multiple sites in the split regional maps, and the connection sites, and by using a recursive search algorithm.

[0161] Each module in the above AGV path planning device can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor in the computer device in the form of hardware or be independent of the processor, or can be stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above respective modules.

[0162] In one embodiment, a computer device is provided. The computer device can be a server, and its internal structure diagram can be as Figure 14 shown. The computer device includes a processor, a memory, and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data such as driving paths and driving conflict sites. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements an AGV path planning method.

[0163] Those skilled in the art can understand that Figure 14 the structure shown in

[0164] is only a block diagram of some structures related to the solution of the present disclosure, and does not constitute a limitation on the computer device to which the solution of the present disclosure is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have a different component layout.

[0165] In one embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, it implements the steps in any of the above method embodiments.

[0166] In one embodiment, a computer program product is provided, including a computer program which, when executed by a processor, implements the steps in any of the above method embodiments.

[0167] Those of ordinary skill in the art can understand that all or part of the processes in the above method embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the above method embodiments. Among them, any reference to a memory, database, or other medium used in the embodiments provided by the present disclosure can include at least one of non-volatile and volatile memories. Non-volatile memories can include read-only memory (ROM), magnetic tapes, floppy disks, flash memories, optical memories, high-density embedded non-volatile memories, resistive random access memories (ReRAM), magnetoresistive random access memories (MRAM), ferroelectric random access memories (FRAM), phase change memories (PCM), graphene memories, etc. Volatile memories can include random access memory (RAM) or external cache memories, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided by the present disclosure can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided by the present disclosure can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, etc., without limitation.

[0168] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0169] The above-described embodiments merely represent several implementation manners of the present disclosure. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present disclosure. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present disclosure, several modifications and improvements can still be made, and these all fall within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the appended claims.

Claims

1. A path planning method for an AGV, characterized in that, The method includes: Obtaining the driving path of each vehicle, where the driving path includes multiple driving stops of the vehicle; Determining the driving conflict stops in the driving paths between the conflicting vehicles according to the driving paths of the conflicting vehicles, where the conflicting vehicles include those with conflicting driving paths; Determining the yielding stops corresponding to the conflicting vehicles according to the driving conflict stops and the driving stops in the driving paths, including: When there are a first conflict interval and a second conflict interval in the driving path of the conflicting vehicle, taking the driving stop before the first conflict interval as the first yielding stop and taking the driving stop before the second conflict interval as the second yielding stop, where both the first conflict interval and the second conflict interval are intervals composed of multiple consecutive driving conflict stops; Determining the conflict-free driving paths of the conflicting vehicles at least according to the driving paths of the conflicting vehicles, the driving conflict stops and the yielding stops, including: In response to the conflicting vehicles all driving into the driving conflict stops, determining the yielding vehicles among the conflicting vehicles according to the yielding stop closest to the conflicting vehicles and the weight value of the driving path corresponding to when the conflicting vehicles drive into the driving conflict stops determined in advance; Controlling the yielding vehicles to drive to the yielding stop closest to the conflicting vehicles; Determining the conflict-free driving paths of the yielding vehicles according to the driving paths of the yielding vehicles and the yielding stops; Wherein, the determining the conflict-free driving paths of the conflicting vehicles at least according to the driving paths of the conflicting vehicles, the driving conflict stops and the yielding stops further includes: When the driving path of the first vehicle includes a second conflict interval and a first conflict interval passed in sequence, and the driving path of the second vehicle includes a first conflict interval and a second conflict interval passed in sequence, in response to the first vehicle being in the second conflict interval and the second vehicle being in the first conflict interval, controlling the first vehicle to stop at the first yielding stop until the second vehicle drives out of the first conflict interval, waking up the first vehicle to continue running, and then continuing to control the second vehicle to stop at the second yielding stop until the first vehicle drives out of the second conflict interval, and waking up the second vehicle to continue running.

2. The method according to claim 1, wherein The driving stop includes a driving end stop, and the determining the conflict-free driving paths of the conflicting vehicles at least according to the driving paths of the conflicting vehicles, the driving conflict stops and the yielding stops includes: In response to the first driving end stop being in the second driving path, or the second vehicle among the conflicting vehicles driving into the driving conflict stops, determining that the first vehicle among the conflicting vehicles yields; Determining the conflict-free driving path of the first vehicle according to the driving path and the yielding stop of the first vehicle; Wherein, the first driving end stop is the driving end stop of the first vehicle among the conflicting vehicles, and the second driving path is the driving path of the second driving vehicle among the conflicting vehicles.

3. The method according to claim 1, wherein Determining the conflict-free driving path of the conflict vehicle according to at least the driving path, driving conflict site and yielding site of the conflict vehicle further includes: In response to none of the conflict vehicles driving into the driving conflict site, determining the yielding vehicle among the conflict vehicles according to the preset priorities of the conflict vehicles and the priorities of the driving paths of the conflict vehicles; Determining the conflict-free driving path of the yielding vehicle according to the driving path and yielding site of the yielding vehicle.

4. The method according to claim 1, wherein The obtaining of the driving path of each vehicle includes: Obtaining a regional map, where the regional map includes: multiple sites; Determining the driving start site and driving end site of the vehicle in the regional map; Determining at least one driving path of each vehicle according to the driving start site, driving end site and multiple sites in the regional map.

5. The method according to claim 4, wherein Determining the yielding site corresponding to the conflict vehicle according to the driving conflict site and the driving sites in the driving path includes at least one of the following: Determining the yielding site corresponding to the conflict vehicle according to the driving sites in the driving path of the conflict vehicle before the driving conflict site; Determining the yielding site corresponding to the conflict vehicle according to the sites in the regional map that are outside the driving sites of the conflict vehicle and have no path conflicts with other vehicles.

6. The method according to claim 4, wherein The determining of at least one driving path of each vehicle according to the driving start site, driving end site and multiple sites in the regional map includes: Determining multiple driving paths of each vehicle according to the driving start site, driving end site and multiple sites in the regional map and using a recursive search algorithm; Determining the weight value corresponding to each driving path according to the driving distance of the vehicle in the multiple driving paths and the number of driving conflict sites between the vehicles; Determining at least one driving path of each vehicle according to the weight value corresponding to each driving path.

7. The method according to claim 6, characterized in that, The obtaining of the regional map includes: In response to the regional map being larger than a preset regional range, splitting the regional map according to the multiple sites in the regional map to obtain multiple split regional maps; The determining of multiple driving paths of each vehicle according to the driving start site, driving end site and multiple sites in the regional map and using a recursive search algorithm includes: Obtaining the connection sites between the split regional maps; Determining multiple driving paths of each vehicle according to the driving start site, driving end site, multiple sites in the split regional maps and the connection sites and using a recursive search algorithm.

8. A path planning device for an AGV, characterized in that, The device includes: A path obtaining module, configured to obtain the driving path of each vehicle, where the driving path includes: multiple driving sites of the vehicle; A conflict site determining module, configured to determine the driving conflict sites in the driving paths between the conflict vehicles according to the driving paths of the conflict vehicles, where the conflict vehicles include: vehicles with path conflicts; A yielding site determining module, configured to determine the yielding site corresponding to the conflict vehicle according to the driving conflict site and the driving sites in the driving path; A path planning module, configured to determine a conflict-free driving path of the conflicting vehicle based on at least the driving path, driving conflict sites, and yielding sites of the conflicting vehicle, including: A yielding vehicle determination module, configured to, in response to all of the conflicting vehicles driving into the driving conflict sites, determine the yielding vehicle among the conflicting vehicles according to the yielding site closest to the conflicting vehicle and the weight value of the driving path corresponding to when the conflicting vehicle drives into the driving conflict site determined in advance; A control module, configured to control the yielding vehicle to drive to the yielding site closest to the conflicting vehicle; A path planning sub-module, configured to determine a conflict-free driving path of the yielding vehicle according to the driving path of the yielding vehicle and the yielding site; Wherein, the yielding site determination module is further configured to, when there are a first conflict interval and a second conflict interval in the driving path of the conflicting vehicle, use the driving site before the first conflict interval as the first yielding site and the driving site before the second conflict interval as the second yielding site, and both the first conflict interval and the second conflict interval are intervals composed of multiple consecutive driving conflict sites; The path planning module is configured to, when the driving path of the first vehicle includes a second conflict interval and a first conflict interval passed in sequence, and the driving path of the second vehicle includes a first conflict interval and a second conflict interval passed in sequence, in response to the first vehicle being in the second conflict interval and the second vehicle being in the first conflict interval, control the first vehicle to stop at the first yielding site until the second vehicle drives out of the first conflict interval, wake up the first vehicle to continue running, and continue to control the second vehicle to stop at the second yielding site until the first vehicle drives out of the second conflict interval, and then wake up the second vehicle to continue running.

9. The device according to claim 8, wherein The driving site includes: a driving end site, and the yielding vehicle determination module is further configured to, in response to the first driving end site being in the second driving path or the second vehicle among the conflicting vehicles driving into the driving conflict site, determine that the first vehicle among the conflicting vehicles yields; The path planning sub-module is further configured to determine a conflict-free driving path of the first vehicle according to the driving path and yielding site of the first vehicle; Wherein, the first driving end site is the driving end site of the first vehicle among the conflicting vehicles, and the second driving path is the driving path of the second driving vehicle among the conflicting vehicles.

10. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

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