A method, device, equipment and medium for generating an autonomous driving cruise path

Abstract

The present invention relates to the technical field of autonomous cruise, and provides a method for generating an autonomous cruise path. The method includes: obtaining cruise route data; performing image processing on the cruise route data to generate cruise directed graph data; performing depth-first traversal processing on the cruise directed graph data according to the starting position of the target vehicle to generate minimum spanning tree graph data; performing screening processing on the sum of weights in the branch paths of the minimum spanning tree graph data to generate a branch path with the largest sum of weights; sending the branch path with the largest sum of weights to a path storage module to generate a first cruise path; generating a target cruise path according to the first cruise path and the floor of the parking lot to be reached; and sending the target cruise path to an autonomous driving control module to generate an autonomous cruise path. The present invention can solve the parking problem of users when driving into an underground parking lot in daily life.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving cruise technology, and specifically to a method, device, equipment and medium for generating an autonomous driving cruise path. Background Art

[0002] As the construction industry develops rapidly, the technology of autonomous driving is also developing rapidly. Autonomous driving is increasingly being used in various scenarios. As roads become more and more complex, especially in large shopping malls and super-large underground parking lots, drivers are increasingly demanding to find vacant parking spaces through autonomous driving. However, existing parking solutions cannot help users reach designated floors or parking areas through autonomous driving. Summary of the Invention

[0003] In view of the above-mentioned shortcomings of the prior art, the present invention provides a method, device, equipment and medium for generating an autonomous driving cruise path to solve the above-mentioned technical problems.

[0004] The present invention provides a method for generating an automatic driving cruise path, comprising:

[0005] Get cruise route data;

[0006] performing image processing on the cruise route data to generate cruise directed graph data;

[0007] Performing a depth-first traversal process on the cruise directed graph data according to the starting position of the target vehicle to generate minimum tree graph data;

[0008] Performing screening processing on the sum of weights in the branch paths in the minimum tree diagram data to generate a branch path with the largest sum of weights;

[0009] Sending the branch path with the largest sum of weights to a path storage module to generate a first cruise path;

[0010] generating a target cruising path according to the first cruising path and the floor of the parking lot to be reached; and

[0011] The target cruise path is sent to the automatic driving control module to generate an automatic driving cruise path.

[0012] In one embodiment of the present invention, the step of obtaining cruise route data includes:

[0013] Get the number of floors in the parking lot;

[0014] A cruising range is selected according to the floors of the parking lot, and cruising route data is generated.

[0015] In an embodiment of the present invention, the cruise route data includes road information of the parking lot, connection relationship information between roads in the parking lot, and the total number of parking spaces on both sides of each road.

[0016] In an embodiment of the present invention, the step of generating a target cruise path according to the first cruise path and the floor of the parking lot to be reached includes:

[0017] Judging whether the vehicle is on the floor of the parking lot to be reached according to the first cruise path;

[0018] If the vehicle is on the floor of the parking lot to be reached, then use the first cruise path as the target cruise path;

[0019] If the vehicle is not on the floor of the parking lot to be reached, then use the terminal path of the first cruise path as the cruise starting point of the upper or lower floor and input it into the data management module, use the passage entering the upper or lower floor of the parking lot as the cruise end point of the upper or lower floor and input it into the data management module, generate a second cruise path, and send the second cruise path to the path storage module for accumulation until the vehicle is on the floor of the parking lot to be reached. Use the exit road on the reached floor as the root node of the minimum spanning tree, generate a cruise path according to the root node of the minimum spanning tree, and send the cruise path to the path storage module. At this time, splice all the cruise paths in the path storage module to generate the target cruise path.

[0020] In an embodiment of the present invention, if the vehicle is not on the floor of the parking lot to be reached, the generation order of the target cruise path follows the principle of the smallest difference between the floor where the vehicle is located and the cruise floor, so as to help the user reach the parking area in less time.

[0021] In an embodiment of the present invention, the cruise range includes multiple floors of the parking lot or a certain area of a floor of the parking lot.

[0022] In an embodiment of the present invention, the cruise range is determined through a human-machine interaction interface.

[0023] The present invention also provides a device for generating an autonomous driving cruise path, and the device includes:

[0024] A data acquisition module for acquiring cruise route data;

[0025] An image processing module for performing image processing on the cruise route data to generate cruise directed graph data;

[0026] A depth-first traversal module for performing a depth-first traversal process on the cruise directed graph data according to the starting position of the target vehicle to generate minimum spanning tree graph data;

[0027] A path screening module for screening the sum of weights in the branch paths in the minimum spanning tree graph data to generate a branch path with the largest sum of weights;

[0028] A path storage module for updating and storing the cruise path;

[0029] A path generation module for generating a target cruise path according to the first cruise path and the floor of the parking lot to be reached; and

[0030] An automatic driving control module for generating an automatic driving cruise path according to the target cruise path and controlling the vehicle to achieve automatic driving.

[0031] The present invention also provides an electronic device, which includes:

[0032] One or more processors;

[0033] A storage device for storing one or more programs, which when executed by the one or more processors, cause the electronic device to implement the method for generating an automatic driving cruise path as described in any one of the above.

[0034] The present invention also provides a computer-readable storage medium, characterized in that a computer program is stored thereon, which when executed by a processor of a computer, causes the computer to execute the method for generating an automatic driving cruise path as described in any one of the above.

[0035] Advantages of the present invention: The present invention constructs a directed graph through the road information in the parking lot, performs a depth-first traversal process on the directed graph, and generates an automatic driving cruise path by generating a minimum spanning tree graph, which can help users reach the parking areas on the specified floors and in the specified areas through automatic driving, and solve the parking problem of users when driving into the underground parking lot daily.

[0036] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. In the drawings:

[0038] Figure 1 It is a schematic diagram of the implementation environment of the method for generating an autonomous driving cruise path shown in an exemplary embodiment of the present application;

[0039] Figure 2 It is a flowchart of the method for generating an autonomous driving cruise path shown in an exemplary embodiment of the present application;

[0040] Figure 3 is Figure 2 It is a flowchart of step S210 in the shown embodiment in an exemplary embodiment;

[0041] Figure 4 It is a schematic diagram of the minimum spanning tree of the method for generating an autonomous driving cruise path shown in an exemplary embodiment of the present application;

[0042] Figure 5 is Figure 2 It is a flowchart of step S260 in the shown embodiment in an exemplary embodiment;

[0043] Figure 6 It is a schematic diagram of the target cruise path of the parking lot of the method for generating an autonomous driving cruise path shown in an exemplary embodiment of the present application;

[0044] Figure 7 It shows a schematic diagram of the structure of a computer system of an electronic device suitable for implementing the embodiments of the present application. Detailed implementation manners

[0045] The following will describe the implementation manners of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for explaining the present invention, rather than for limiting the protection scope of the present invention.

[0046] It should be noted that the drawings provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. Therefore, only the components related to the present invention are shown in the drawings, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, number, and ratio of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0047] In the following description, numerous specific details are explored to provide a more thorough explanation of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring the embodiments of the present invention.

[0048] First, it should be noted that autonomous cruise is a technology that points to the critical path of a destination and is a process of controlling the movement of objects such as processes, vehicles, and pedestrians from one location to another. In a broader sense, autonomous cruise can refer to any skill or study involving determining position and direction. The embodiments of the present application relate to the field of autonomous cruise and are used to control the position change process of objects such as vehicles and pedestrians to move from one location to another along a planned path. During the autonomous cruise process, an image of the road conditions within a specific cruise range in the parking lot is constructed. However, the one-way access connecting roads between the exits and each floor in the parking lot are not added as nodes to the map to ensure that the generated road path can cover the roads within the cruise range to the greatest extent. In other application scenarios, the autonomous cruise path for the object can be set according to the actual situation, and the embodiments of the present application do not limit this.

[0049] Figure 1 It is a schematic diagram of the implementation environment of the method for generating an autonomous cruise path shown in an exemplary embodiment of the present application. As Figure 1 shown, through the search engine installed on the intelligent terminal 110, the number of floors in the parking lot and the area information of each floor can be collected to obtain cruise route data. Then, image processing, depth-first traversal processing, and screening processing are sequentially performed on the cruise route data respectively to obtain the branch path with the largest total weight, that is, the sum of the parking spaces on both sides of this path is the largest. Then, the branch path with the largest total weight is sent to the storage module to obtain the first cruise path. According to the first cruise path and the floor of the parking lot to be reached, the target cruise path is obtained. Finally, the target cruise path is sent to the autonomous driving control module to generate an autonomous cruise path. The autonomous cruise path is input into the server 120 to complete the display of the autonomous cruise path. Among them, Figure 1 the intelligent terminal 110 shown can be a smart phone, a smart car, a tablet computer, a laptop computer, or any terminal device that supports the installation of a search engine, but is not limited thereto. Figure 1The server 120 shown is a server, which can be, for example, an independent display screen, a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms. There is no limitation here either. The intelligent terminal 110 can communicate with the server 120 through wireless networks such as 3G (third-generation mobile information technology), 4G (fourth-generation mobile information technology), 5G (fifth-generation mobile information technology), etc. There is no limitation here either. Since the current parking solution cannot help users reach the designated floor or the parking area in the designated area through autonomous driving. To solve these problems, the embodiments of the present application respectively propose a method for generating an autonomous driving cruise path, an apparatus for generating an autonomous driving cruise path, an electronic device, and a computer-readable storage medium. These embodiments will be described in detail below.

[0050] Please refer to Figure 2 , Figure 2 is a flowchart of a method for generating an autonomous driving cruise path shown in an exemplary embodiment of the present application. This method can be applied to Figure 1 the implementation environment shown, and is specifically executed by the service terminal 120 in this implementation environment. It should be understood that this method can also be applicable to other exemplary implementation environments and be specifically executed by devices in other implementation environments. This embodiment does not limit the implementation environment applicable to this method.

[0051] As Figure 2 described, in an exemplary embodiment, the method for generating an autonomous driving cruise path at least includes steps S210 to S270, which are introduced in detail as follows:

[0052] Step S210: Obtain cruise route data.

[0053] Step S220: Perform image processing on the cruise route data to generate cruise directed graph data.

[0054] Step S230: Perform a depth-first traversal process on the cruise directed graph data according to the starting position of the target vehicle to generate minimum spanning tree data.

[0055] Step S240: Screen the sum of weights in the branch paths in the minimum spanning tree data to generate a branch path with the largest sum of weights.

[0056] Step S250: Send the branch path with the largest sum of weights to the path storage module to generate a first cruise path.

[0057] Step S260: Generate a target cruise path according to the first cruise path and the floor of the parking lot to be reached.

[0058] Step S270: Send the target cruise path to the automatic driving control module to generate an automatic driving cruise path.

[0059] As Figure 3 shown, in an exemplary embodiment, when step S210 is executed, cruise route data is acquired. Specifically, step S210 may include steps S211 to S212, which are introduced in detail as follows:

[0060] Step S211: Acquire the number of floors of the parking lot.

[0061] Step S212: Select a cruise range according to the floors of the parking lot and generate cruise route data.

[0062] In an exemplary embodiment, the number of floors of the parking lot can be searched by the search engine of the intelligent terminal 110. After the search engine searches for the floor information of the parking lot, it feeds back to the user through the man-machine interaction interface, and the user can select the required cruise range through the man-machine interaction interface. Among them, when the cruise range includes multiple floors, the vehicle will cruise from the floor where the vehicle is located and cruise through the floors closest to the floor where the vehicle is located in sequence. The cruise route data may include road information of the parking lot, connection relationship information between roads in the parking lot, and the total number of parking spaces on both sides of each road.

[0063] As Figure 2 shown, in an exemplary embodiment, when step S220 is executed, image processing is performed on the cruise route data to generate cruise directed graph data. Specifically, when generating the cruise directed graph data, the one-way connection channel roads between the parking lot exit and each floor are not added to the cruise directed graph to ensure that the generated path can cover the roads in the cruise area to the greatest extent.

[0064] As Figure 2 shown, in an exemplary embodiment, when step S230 is executed, depth-first traversal processing is performed on the cruise directed graph data according to the starting position of the target vehicle to generate minimum spanning tree graph data. Specifically, the depth-first traversal includes the Tarjan algorithm, and the Tarjan algorithm can be used to solve strongly connected components, necessary points, necessary edges, etc. of the cruise directed graph. Among them, when there is no connection relationship between the child node and the parent node of the minimum spanning tree graph, the depth-first traversal will terminate when backtracking the child node.

[0065] As Figure 2As shown, in an exemplary embodiment, when step S240 is executed, that is, the sum of the weights in the branch paths of the minimum spanning tree data is screened to generate the branch path with the largest sum of weights. Specifically, when the sum of the weights of other branch paths is greater than the sum of the weights of the branch paths that have undergone depth-first traversal, it indicates that there are many parking spaces in this parking layer that have not been searched. Then, the minimum spanning tree will be subjected to multiple depth-first traversals to obtain all possible branch paths. Finally, all the branch paths will be screened to generate a branch path with the largest sum of weights, so as to be able to drive along the route with the most parking spaces and facilitate finding a suitable parking space as soon as possible.

[0066] As Figure 2 shown, in an exemplary embodiment, when step S250 is executed, that is, the branch path with the largest sum of weights is sent to the path storage module to generate the first cruise path. Specifically, the path storage module can store and update the cruise path in real time.

[0067] As Figure 2 、 Figure 4 and Figure 5 shown, in an exemplary embodiment, when step S260 is executed, that is, the target cruise path is generated according to the first cruise path and the floor of the parking lot to be reached. Specifically, step S260 may include step S261, which is introduced in detail as follows:

[0068] Step S261: Determine whether the vehicle is located on the floor of the parking lot to be reached according to the first cruise path. If the vehicle is located on the floor of the parking lot to be reached, the first cruise path is used as the target cruise path. If the vehicle is not located on the floor of the parking lot to be reached, the terminal path of the first cruise path is input into the data management module as the cruise starting point of the upper or lower layer, and the access road to the upper or lower layer of the parking lot is input into the data management module as the cruise end point of the upper or lower layer to generate the second cruise path, and the second cruise path is sent to the path storage module for accumulation until the vehicle is located on the floor of the parking lot to be reached. The escape road on the reached floor is used as the root node of the minimum spanning tree, and the cruise path is generated according to the root node of the minimum spanning tree and sent to the path storage module. At this time, all the cruise paths in the path storage module are spliced to generate the target cruise path.

[0069] In an exemplary embodiment, when the vehicle reaches the parking floor that needs to be reached according to the continuously accumulated cruise path, the path storage module will update the cruise path within the cruise range in real time and generate a cruise path for the floor where the vehicle is located for cruising. Among them, when the vehicle is not on the floor of the parking lot that needs to be reached, the order of the target cruise path follows the principle of the smallest difference between the floor where the vehicle is located and the cruise floor, so as to help the user reach the parking area in less time. The data management module can be used to provide the data model definition and access method of the road data of the parking lot required for the vehicle cruise mode by the search engine. For example, when the vehicle is located on the second basement floor of the parking lot, the generation order of the target cruise path is the second basement floor, the third basement floor, and the first basement floor. First, the cruise path A of the second basement floor will be generated according to the vehicle's location. When no vacant parking spaces are found in the cruise path A, the path storage module will use the terminal path of the cruise path A as the cruise starting point of the third basement floor and send the cruise starting point to the data management module. The path storage module will use the access channel B3 to the third basement floor as the cruise end point and send the cruise end point to the data management module. Finally, the data management module will generate the cruise path to the third basement floor and feedback the cruise path to the third basement floor to the path storage module. When the vehicle reaches the third basement floor, the exit road L3 of the third basement floor will be used as the root node of the minimum spanning tree, and the cruise path C of the third basement floor will be generated according to the root node of the minimum spanning tree. When no vacant parking spaces are found in the cruise path C, the path storage module will use the terminal path of the cruise path C as the cruise starting point of the first basement floor and send the cruise starting point to the data management module. The path storage module will use the access channel B1 to the first basement floor as the cruise end point and send the cruise end point to the data management module. Finally, the data management module will generate the cruise path to the first basement floor and feedback the cruise path to the first basement floor to the path storage module. When the vehicle reaches the first basement floor, the exit road L1 of the first basement floor will be used as the root node of the minimum spanning tree, and the cruise path D of the first basement floor will be generated according to the root node of the minimum spanning tree. Finally, the path storage module will splice the cruise path A, the cruise path B, the cruise path C, and the cruise path D to generate the target cruise path.

[0070] As Figure 2 shown, in an exemplary embodiment, when step S270 is executed, that is, the target cruise path is sent to the automatic driving control module to generate an automatic driving cruise path. Specifically, when the vehicle automatically drives to the terminal of the automatic driving cruise path, the target cruise path in the path storage module will be automatically cleared and the automatic cruise mode will be exited to facilitate the next cruise.

[0071] Figure 6 is a schematic structural diagram of a device for generating an automatic driving cruise path shown in an exemplary embodiment of the present application. This device can be applied in Figure 1in the illustrated implementation environment, and is specifically configured in the intelligent terminal 110 and the server 120. This device can also be applied to other exemplary implementation environments and is specifically configured in other devices. This embodiment does not limit the implementation environment in which the device is used.

[0072] The device for generating an autonomous driving cruise path may include a data acquisition module 310, an image processing module 320, a depth traversal module 330, a path screening module 340, a path storage module 350, a path generation module 360, and an autonomous driving control module 370.

[0073] In an exemplary embodiment, the data acquisition module 310 can be used to acquire cruise route data. It should be noted that the acquisition of cruise route data can include first acquiring the number of floors of the parking lot, and then selecting the cruise range according to the floors of the parking lot to generate cruise route data. Among them, the number of floors of the parking lot can be obtained by searching with the search engine of the intelligent terminal 110. After the search engine obtains the floor information of the parking lot, it is fed back to the user through the human-computer interaction interface, and the user can select the required cruise range through the human-computer interaction interface. Among them, when the cruise range includes multiple floors, the vehicle will cruise from the floor where the vehicle is located, and sequentially cruise the floors closest to the floor where the vehicle is located. The cruise route data can include road information of the parking lot, connection relationship information between roads in the parking lot, and the total number of parking spaces on both sides of each road.

[0074] In an exemplary embodiment, the image processing module 320 can be used to perform image processing on the cruise route data to generate cruise directed graph data. Specifically, when generating the cruise directed graph data, the one-way connection channel roads between the parking lot exit and each floor will not be added to the cruise directed graph to ensure that the generated path can cover the roads in the cruise area to the greatest extent.

[0075] In an exemplary embodiment, the depth traversal module 330 can be used to perform a depth-first traversal process on the cruise directed graph data according to the starting position of the target vehicle to generate minimum spanning tree data. Specifically, the depth-first traversal includes the Tarjan algorithm, and the Tarjan algorithm can be used to solve the strongly connected components, necessary points, and necessary edges of the cruise directed graph. Among them, when there is no connection relationship between the child node and the parent node of the minimum spanning tree, the depth-first traversal will terminate when backtracking the child node.

[0076] In an exemplary embodiment, the path screening module 340 can be used to perform screening processing on the sum of weights in the branch paths of the minimum spanning tree data to generate a branch path with the largest sum of weights. Specifically, when the sum of weights of other branch paths is greater than the sum of weights of the branch paths that have undergone depth-first traversal, it indicates that there are more parking spaces in this parking layer that have not been searched. Then, multiple depth-first traversals will be performed on this minimum spanning tree to obtain all possible branch paths. Finally, screening processing will be performed on all the branch paths to generate a branch path with the largest sum of weights, so as to be able to drive along the route with the most parking spaces and facilitate finding a suitable parking space as soon as possible.

[0077] In an exemplary embodiment, the path storage module 350 can be used to update and store the cruise path.

[0078] In an exemplary embodiment, the path generation module 360 can be used to generate a target cruise path according to the first cruise path and the floor of the parking lot to be reached. When the vehicle reaches the parking floor to be reached according to the continuously accumulated cruise path, the path storage module will update the cruise path within the cruise range in real time and generate a cruise path for the floor where the vehicle is located for cruising. Among them, when the vehicle is not located on the floor of the parking lot to be reached, the order of the target cruise path follows the principle of the smallest difference between the floor where the vehicle is located and the cruising floor, so as to help the user reach the parking area in less time. The data management module can be used to provide the data model definition and access method of the road data of the parking lot required by the vehicle cruise mode for the search engine. For example, when the vehicle is located on the second basement floor of the parking lot, the generation order of the target cruise path is the second basement floor, the third basement floor, and the first basement floor. First, the cruise path A on the second basement floor will be generated according to the vehicle's location. When no available parking space is found in the cruise path A, the path storage module will use the terminal path of the cruise path A as the cruise starting point for the third basement floor and send the cruise starting point to the data management module. The path storage module will use the access road B3 to the third basement floor as the cruise end point and send the cruise end point to the data management module. Finally, the data management module will generate the cruise path to the third basement floor and feedback the cruise path to the third basement floor to the path storage module. When the vehicle reaches the third basement floor, the exit road L3 on the third basement floor will be used as the root node of the minimum spanning tree, and the cruise path C on the third basement floor will be generated according to the root node of the minimum spanning tree. When no available parking space is found in the cruise path C, the path storage module will use the terminal path of the cruise path C as the cruise starting point for the first basement floor and send the cruise starting point to the data management module. The path storage module will use the access road B1 to the first basement floor as the cruise end point and send the cruise end point to the data management module. Finally, the data management module will generate the cruise path to the first basement floor and feedback the cruise path to the first basement floor to the path storage module. When the vehicle reaches the first basement floor, the exit road L1 on the first basement floor will be used as the root node of the minimum spanning tree, and the cruise path D on the first basement floor will be generated according to the root node of the minimum spanning tree. Finally, the path storage module will splice the cruise path A, the cruise path B, the cruise path C, and the cruise path D to generate the target cruise path.

[0079] In an exemplary embodiment, the autonomous driving control module 370 can be used to generate an autonomous driving cruise path according to the target cruise path and control the vehicle to achieve autonomous driving. Specifically, when the vehicle autonomously drives to the terminal of the autonomous driving cruise path, the target cruise path in the path storage module will be automatically cleared and the automatic cruise mode will be exited to facilitate the next cruise.

[0080] It should be noted that the device for generating an autonomous driving cruise path provided in the above embodiments and the method for generating an autonomous driving cruise path provided in the above embodiments belong to the same concept. The specific manners in which each module and unit perform operations have been described in detail in the method embodiments, and will not be elaborated herein. In practical applications, the device for generating an autonomous driving cruise path provided in the above embodiments may, according to needs, allocate the above functions to different functional modules, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited herein either.

[0081] Embodiments of the present application further provide an electronic device, including: one or more processors; a storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the method for generating an autonomous driving cruise path provided in each of the above embodiments.

[0082] Figure 7 The structural schematic diagram of a computer system of an electronic device suitable for implementing the embodiments of the present application is shown. It should be noted that Figure 7 The computer system 1200 of the electronic device shown is only an example and should not impose any limitations on the functions and usage scopes of the embodiments of the present application.

[0083] As Figure 7As shown, computer system 700 includes a Central Processing Unit (CPU) 701, which can perform various appropriate actions and processes according to the program stored in the Read-Only Memory (ROM) 702 or the program loaded from the storage section 708 into the Random Access Memory (RAM) 703, such as executing the methods described in the above embodiments. In the RAM 703, various programs and data required for system operation are also stored. The CPU 701, ROM 702, and RAM 703 are connected to each other via a bus 704. An Input / Output (I / O) interface 705 is also connected to the bus 704. The following components are connected to the I / O interface 705: an input section 706 including a keyboard, a mouse, etc.; an output section 707 including, for example, a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), etc. and speakers, etc.; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I / O interface 705 as needed. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 710 as needed so that the computer program read from it can be installed into the storage section 708 as needed.

[0084] Specifically, according to the embodiments of the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments of the present application include a computer program product that includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication section 709, and / or installed from the removable medium 711. When the computer program is executed by the Central Processing Unit (CPU) 701, various functions defined in the system of the present application are executed.

[0085] It should be noted that the computer-readable medium shown in the embodiments of the present application can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable computer program. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0086] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. Among them, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the above-mentioned module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order from that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, and the combination of blocks in the block diagram or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0087] The units involved in the embodiments described in this application can be implemented in software or in hardware, and the described units can also be provided in a processor. Among them, the names of these units do not, in some cases, constitute a limitation on the unit itself.

[0088] Another aspect of this application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor of the computer, the computer is caused to execute the method for generating an autonomous driving cruise path as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiments, or may exist separately without being assembled into the electronic device.

[0089] Another aspect of this application also provides a computer program product or a computer program. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method for generating an autonomous driving cruise path provided in the above various embodiments.

[0090] The above embodiments are only used to exemplarily illustrate the principles and effects of the present invention, rather than to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A method for generating an automatic driving cruise path, characterized in that, The method includes: Obtaining cruise route data; Performing image processing on the cruise route data to generate cruise directed graph data; Performing a depth-first traversal process on the cruise directed graph data according to the starting position of the target vehicle to generate minimum spanning tree data; Performing a screening process on the sum of weights in the branch paths of the minimum spanning tree data to generate a branch path with the largest sum of weights, where the branch path with the largest sum of weights refers to the branch path with the largest sum of parking spaces on both sides of the path; Sending the branch path with the largest sum of weights to the path storage module to generate a first cruise path; Generating a target cruise path according to the first cruise path and the floor of the parking lot to be reached, including determining whether the vehicle is located on the floor of the parking lot to be reached according to the first cruise path. If the vehicle is not located on the floor of the parking lot to be reached, the generation order of the target cruise path follows the principle of the smallest difference between the floor where the vehicle is located and the cruise floor, so as to help the user reach the parking area in less time; And sending the target cruise path to the automatic driving control module to generate an automatic driving cruise path.

2. The method for generating an automatic driving cruise path according to claim 1, wherein The step of obtaining cruise route data includes: Obtaining the number of floors of the parking lot; Selecting a cruise range according to the floors of the parking lot to generate cruise route data.

3. The method for generating an autonomous driving cruise path according to claim 1, wherein The cruise route data includes road information of the parking lot, connection relationship information between roads in the parking lot, and the total number of parking spaces on both sides of each road.

4. The method for generating an automatic driving cruise path according to claim 1, wherein The step of generating a target cruise path according to the first cruise path and the floor of the parking lot to be reached includes: If the vehicle is located on the floor of the parking lot to be reached, using the first cruise path as the target cruise path; If the vehicle is not located on the floor of the parking lot to be reached, using the terminal path of the first cruise path as the cruise starting point for the upper or lower floor and inputting it into the data management module, using the access road to the upper or lower floor of the parking lot as the cruise end point for the upper or lower floor and inputting it into the data management module to generate a second cruise path, and sending the second cruise path to the path storage module for accumulation until the vehicle is located on the floor of the parking lot to be reached. Using the exit road on the reached floor as the root node of the minimum spanning tree, generating a cruise path according to the root node of the minimum spanning tree, and sending the cruise path to the path storage module. At this time, splicing all the cruise paths in the path storage module to generate the target cruise path.

5. The method for generating an automatic driving cruise path according to claim 2, wherein The cruise range includes multiple floors of the parking lot or a certain area of a floor of the parking lot.

6. The method for generating an autonomous driving cruise path according to claim 5, wherein The cruise range is determined through a human-machine interaction interface.

7. An apparatus for generating an autonomous driving cruise path, characterized in that, The device includes: A data acquisition module for obtaining cruise route data; An image processing module for performing image processing on cruise route data to generate cruise directed graph data; A depth traversal module for performing a depth-first traversal process on cruise directed graph data according to the starting position of the target vehicle to generate minimum spanning tree data; A path screening module for screening and processing the sum of weights in the branch paths of the minimum spanning tree data to generate a branch path with the largest sum of weights, where the branch path with the largest sum of weights refers to the branch path with the largest sum of parking spaces on both sides of the path; A path storage module for updating and storing the cruise path; A path generation module for generating a target cruise path according to the first cruise path and the floor of the parking lot to be reached, including judging whether the vehicle is located on the floor of the parking lot to be reached according to the first cruise path. If the vehicle is not located on the floor of the parking lot to be reached, the generation order of the target cruise path follows the principle of the smallest difference between the floor where the vehicle is located and the cruise floor, so as to help the user reach the parking area in less time; and An automatic driving control module for generating an automatic driving cruise path according to the target cruise path and controlling the vehicle to achieve automatic driving.

8. An electronic device, characterized in that, The electronic device includes: One or more processors; A storage device for storing one or more programs, which when executed by the one or more processors, cause the electronic device to implement the method for generating an automatic driving cruise path according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, A computer program is stored thereon, which when executed by a processor of a computer, causes the computer to execute the method for generating an automatic driving cruise path according to any one of claims 1 to 6.

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