Path planning method and device, equipment and storage medium

Abstract

Embodiments of the present application disclose a path planning method, device and equipment and a storage medium. The method comprises: obtaining a sub-target graph corresponding to an environment grid map; wherein the sub-target graph comprises a sub-target set and an edge set connecting each sub-target; updating the sub-target graph according to a starting cell and / or an ending cell to obtain an updated sub-target graph; determining an initial path based on the updated sub-target graph; wherein the initial path is composed of a plurality of sub-targets in the updated sub-target graph; determining a sub-path between two adjacent sub-targets in the initial path to obtain a target path. The path planning method provided by the embodiments of the present application can improve the efficiency and accuracy of path planning by determining the path between the starting cell and the ending cell based on the updated sub-target graph.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of path planning, in particular to a path planning method, device, equipment and storage medium. BACKGROUND

[0002] Global path planning in the field of automobiles has become one of the problems that are concerned in the automobile industry. Global path planning based on a grid map is one of the most basic and important research directions in this field. Existing global path planning algorithms based on a grid map are mainly divided into two categories: traditional path planning algorithms and intelligent path planning algorithms. The intelligent path planning algorithms have problems such as low search efficiency and being easy to fall into local optimum, and the traditional path planning algorithms have problems such as large amount of calculation and limited search speed. SUMMARY

[0003] Embodiments of the present application provide a path planning method, device, equipment and storage medium, which can improve the efficiency and accuracy of path planning.

[0004] In a first aspect, embodiments of the present application provide a path planning method, comprising:

[0005] obtaining a sub-target graph corresponding to an environment grid map; wherein the sub-target graph comprises a sub-target set and an edge set connecting each sub-target; the sub-target is a cell in the environment grid map satisfying a first set condition; and a path between two sub-targets at both ends of an edge in the edge set satisfies a second set condition;

[0006] updating the sub-target graph according to a starting cell and / or an ending cell to obtain an updated sub-target graph;

[0007] determining an initial path based on the updated sub-target graph; wherein the initial path is composed of a plurality of sub-targets in the updated sub-target graph;

[0008] determining a sub-path between two adjacent sub-targets in the initial path to obtain a target path.

[0009] In a second aspect, embodiments of the present application further provide a path planning device, comprising:

[0010] a sub-target graph obtaining module configured to obtain a sub-target graph corresponding to an environment grid map; wherein the sub-target graph comprises a sub-target set and an edge set connecting each sub-target; the sub-target is a cell in the environment grid map satisfying a first set condition; and a path between two sub-targets at both ends of an edge in the edge set satisfies a second set condition;

[0011] an updating module, configured to update the sub-target graph according to the start cell and / or the end cell, to obtain an updated sub-target graph;

[0012] an initial path determining module, configured to determine an initial path based on the updated sub-target graph; wherein the initial path is composed of a plurality of sub-targets in the updated sub-target graph;

[0013] a target path obtaining module, configured to determine a sub-path between two adjacent sub-targets in the initial path, to obtain a target path.

[0014] In a third aspect, an electronic device is provided, which includes at least one processor, and a memory connected with the at least one processor in communication;

[0015] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the path planning method.

[0016] In a fourth aspect, a computer readable storage medium is provided, which stores computer instructions for enabling a processor to implement the path planning method.

[0017] Embodiments of the present application disclose a path planning method, device, equipment and storage medium. A sub-target graph corresponding to an environment grid map is obtained; wherein the sub-target graph includes a sub-target set and an edge set connecting each sub-target; a sub-target is a cell in the environment grid map satisfying a first set condition; a path between two sub-targets at two ends of an edge in the edge set satisfies a second set condition; the sub-target graph is updated according to a start cell and / or an end cell, to obtain an updated sub-target graph; an initial path is determined based on the updated sub-target graph; wherein the initial path is composed of a plurality of sub-targets in the updated sub-target graph; a sub-path between two adjacent sub-targets in the initial path is determined, to obtain a target path. The path planning method provided in embodiments of the present application determines a path between a start cell and an end cell based on an updated sub-target graph, which can improve the efficiency and accuracy of path planning. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a flowchart of a path planning method in embodiment one of the present application;

[0019] Figure 2 is an example diagram of an environment grid map in embodiment one of the present application;

[0020] Figure 3is a structural schematic diagram of a path planning device in Embodiment Two of the present application;

[0021] Figure 4 is a structural schematic diagram of an electronic device in Embodiment Three of the present application. DETAILED DESCRIPTION

[0022] The present application will be further described in conjunction with the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, but not all the structures.

[0023] Embodiment One

[0024] Figure 1 A flow chart of a path planning method provided for Embodiment One of the present application, the present embodiment can be applicable to the case of planning a path, the method can be executed by a path planning device, which can be realized in the form of software and / or hardware, and can be realized by an electronic device, which can be a mobile terminal, a PC terminal or a server, etc. Specifically, the method comprises the following steps:

[0025] S110, obtaining a sub-target graph corresponding to the environment grid map.

[0026] The sub-target graph comprises a sub-target set and an edge set connecting the sub-targets; the sub-target is a cell in the environment grid map satisfying a first set condition; the path between the two ends of the edge in the edge set satisfies a second set condition.

[0027] The environment grid map can be understood as a grid map obtained by gridding the environment map in which the intelligent vehicle works, in the grid map, the blocking state of each cell is blocked or unblocked, and each cell can have 8 moving directions, including four straight line moving directions: east, south, west and north (symbolized as E, S, W and N), and four diagonal line moving directions: northwest, northeast, southwest and southeast (symbolized as NW, NE, SW and SE), each diagonal line movement is the result of combination of two orthogonal straight line movements. For example, Figure 2 is an example of an environment grid map in the present embodiment, as shown in Figure 2 the black cells represent blocked, and the white cells represent unblocked, each cell comprises E, S, W, N, NW, NE, SW and SE, S represents the actual cell, and T represents the terminal cell. The scheme of the present embodiment is to determine a shortest path between S and T.

[0028] The sub-target graph can be understood as an undirected graph, which can be represented as G S = (VS E S ), wherein V S represents a sub-target set, E S is an edge set connecting each sub-target.

[0029] The first set condition includes: the cell is not blocked, the cell adjacent to the cell in a first moving direction is not blocked, the cell adjacent to the cell in a second moving direction is not blocked, and the cell adjacent to the cell in a third moving direction is blocked. The first moving direction and the second moving direction are perpendicular to each other, and the third moving direction forms an angle of 45 degrees with the first moving direction and the second moving direction. For example, the first moving direction is represented as The second moving direction is represented as The third moving direction can be represented as For a cell s, if s satisfies: is blocked, and and are not blocked, the cell s is a sub-target.

[0030] The second set condition is that there is a shortest path between two sub-targets in the grid map, and the shortest path does not contain other sub-targets.

[0031] In this embodiment, if there is a path with a length of h between two cells, the two cells are h-reachable; if there is a shortest path between two h-reachable cells, the two cells are safe-h-reachable; if the shortest path between two safe-h-reachable cells does not contain a sub-target, the two cells are direct-h-reachable. That is, in this embodiment, the second set condition is that the two sub-targets are direct-h-reachable. If the two sub-targets are direct-h-reachable, an edge is added between the two sub-targets.

[0032] In S120, the sub-target map is updated according to the starting cell and / or the ending cell, and an updated sub-target map is obtained.

[0033] The starting cell can be understood as a cell where the starting point is located, and the ending cell can be understood as a cell where the ending point is located. Updating the sub-target map according to the starting cell and / or the ending cell can be understood as adding the starting cell and the ending cell as sub-targets to the sub-target map.

[0034] Specifically, the manner of updating the sub-target graph based on the start cell and / or the end cell can be: if the start cell belongs to the sub-target graph and the end cell does not belong to the sub-target graph, updating the sub-target graph based on the end cell; if the start cell does not belong to the sub-target graph and the end cell belongs to the sub-target graph, updating the sub-target graph based on the start cell; if neither the start cell nor the end cell belongs to the sub-target graph, updating the sub-target graph based on the start cell and the end cell. If both the start cell and the end cell belong to the sub-target graph, the sub-target graph does not need to be updated.

[0035] In this embodiment, the manner of updating the sub-target graph based on the start cell can be: determining a sub-target in the sub-target graph that satisfies a second set condition as a first sub-target; setting an edge between the start cell and the first sub-target to obtain a first newly added edge set; adding the start cell to the sub-target set and adding the first newly added edge set to the edge set to obtain an updated sub-target graph.

[0036] The first sub-target can be one or more. Specifically, first determine a sub-target that is direct-h-reachable between the start cell in the sub-target graph as a first sub-target, then set an edge between the multiple first sub-targets and the start cell to obtain multiple first newly added edges, which form a first newly added edge set, and finally add the start cell as a sub-target to the sub-target set and add the first newly added edge set to the edge set to obtain an updated sub-target graph, thereby adding the start cell to the sub-target graph.

[0037] In this embodiment, the manner of updating the sub-target graph based on the end cell can be: determining a sub-target in the sub-target graph that satisfies a second set condition as a second sub-target; setting an edge between the end cell and the second sub-target to obtain a second newly added edge set; adding the end cell to the sub-target set and adding the second newly added edge set to the edge set to obtain an updated sub-target graph.

[0038] The second sub-target can be one or more. Specifically, first determine a sub-target that is direct-h-reachable between the end cell in the sub-target graph as a second sub-target, then set an edge between the multiple second sub-targets and the end cell to obtain multiple second newly added edges, which form a second newly added edge set, and finally add the end cell as a sub-target to the sub-target set and add the second newly added edge set to the edge set to obtain an updated sub-target graph, thereby adding the end cell to the sub-target graph.

[0039] S130, determining an initial path based on the updated sub-target graph.

[0040] The initial path is composed of a plurality of sub-targets in the updated sub-target graph.

[0041] In this embodiment, after obtaining the updated sub-target graph, it is first determined according to the updated sub-target graph whether the second set condition is met between the start cell and the end cell, i.e., whether the start cell and the end cell are direct-h-reachable, and if so, the shortest path corresponding thereto is directly taken as the target path. If not, the operation of S130 is performed.

[0042] Specifically, the way of determining the initial path based on the updated sub-target graph can be: starting from the start cell and / or the end cell, performing path search in the updated sub-target graph to obtain the initial path.

[0043] In this embodiment, the initial path can be obtained by starting from the start cell and performing path search in the updated sub-target graph using a set shortest path search algorithm; or, the initial path can be obtained by starting from the end cell and performing path search in the updated sub-target graph using a set shortest path search algorithm; or, the initial path can be obtained by starting from the start cell and the end cell at the same time and performing path search in the updated sub-target graph using a set bidirectional shortest path search algorithm.

[0044] The shortest path search algorithm can be a heuristic search algorithm, for example, A* search algorithm. The process of starting from the start cell and the end cell at the same time and performing path search in the updated sub-target graph using a set bidirectional shortest path search algorithm can be: the start cell and the end cell simultaneously treat each other as the end cell, and search towards each other according to the shortest path search algorithm, when they meet, stop iteration, and respectively trace back to their own parent nodes to obtain the path.

[0045] S140, determine the sub-path between adjacent two sub-targets in the initial path to obtain the target path.

[0046] The initial path is composed of a plurality of sub-targets, i.e., is divided into multiple segments by the plurality of sub-targets, and each segment is represented as (S i , S i+1 , S i represents the i-th sub-target.

[0047] Specifically, the way of determining the sub-path between adjacent two sub-targets in the initial path to obtain the target path can be: performing path search between each adjacent two sub-targets in the initial path to obtain a plurality of sub-paths; and splicing the plurality of sub-paths to obtain the target path.

[0048] The path search algorithm of depth-first search can be used between the two adjacent sub-targets to obtain a sub-path between the two adjacent sub-targets.

[0049] The technical scheme of the embodiment obtains a sub-target graph corresponding to the environment grid map, wherein the sub-target graph comprises a sub-target set and an edge set connecting the sub-targets, the sub-target is a cell in the environment grid map satisfying a first set condition, and a path between two sub-targets at two ends of an edge in the edge set satisfies a second set condition; the sub-target graph is updated according to a start cell and / or an end cell to obtain an updated sub-target graph; an initial path is determined based on the updated sub-target graph, wherein the initial path is composed of a plurality of sub-targets in the updated sub-target graph; and a sub-path between two adjacent sub-targets in the initial path is determined to obtain a target path. The path planning method provided in the embodiment can improve the efficiency and accuracy of path planning by determining the path between the start cell and the end cell based on the updated sub-target graph.

[0050] Embodiment two

[0051] Figure 3 is a structural schematic diagram of a path planning device provided in the embodiment two, as shown in the figure, the device comprises: Figure 3

[0052] The sub-target graph acquisition module 310 is configured to obtain a sub-target graph corresponding to the environment grid map, wherein the sub-target graph comprises a sub-target set and an edge set connecting the sub-targets, the sub-target is a cell in the environment grid map satisfying a first set condition, and a path between two sub-targets at two ends of an edge in the edge set satisfies a second set condition.

[0053] The update module 320 is configured to update the sub-target graph according to the start cell and / or the end cell to obtain an updated sub-target graph.

[0054] The initial path determination module 330 is configured to determine an initial path based on the updated sub-target graph, wherein the initial path is composed of a plurality of sub-targets in the updated sub-target graph.

[0055] The target path acquisition module 340 is configured to determine a sub-path between two adjacent sub-targets in the initial path to obtain a target path.

[0056] Optionally, the update module 320 is further configured to:

[0057] if the start cell belongs to the sub-target graph and the end cell does not belong to the sub-target graph, the sub-target graph is updated based on the end cell;

[0058] ​If the start cell does not belong to the sub-target graph and the end cell belongs to the sub-target graph, the sub-target graph is updated based on the start cell;

[0059] If the start cell and the end cell do not belong to the sub-target graph, the sub-target graph is updated based on the start cell and the end cell.

[0060] Optionally, the updating module 320 is further configured to:

[0061] determine the start cell and a sub-target in the sub-target graph satisfying a second set condition as a first sub-target;

[0062] set an edge between the start cell and the first sub-target to obtain a first newly added edge set;

[0063] add the start cell to a sub-target set and add the first newly added edge set to an edge set to obtain an updated sub-target graph.

[0064] Optionally, the updating module 320 is further configured to:

[0065] determine the end cell and a sub-target in the sub-target graph satisfying the second set condition as a second sub-target;

[0066] set an edge between the end cell and the second sub-target to obtain a second newly added edge set;

[0067] add the end cell to the sub-target set and add the second newly added edge set to the edge set to obtain the updated sub-target graph.

[0068] Optionally, the initial path determining module 330 is further configured to:

[0069] start path searching in the updated sub-target graph from the start cell and / or the end cell to obtain an initial path.

[0070] Optionally, the initial path determining module 330 is further configured to:

[0071] start path searching in the updated sub-target graph from the start cell and the end cell by using a set bidirectional shortest path searching algorithm to obtain the initial path.

[0072] Optionally, the target path obtaining module 340 is further configured to:

[0073] start path searching between every two adjacent sub-targets in the initial path to obtain a plurality of sub-paths;

[0074] splice the plurality of sub-paths to obtain a target path.

[0075] Optionally, the first setting condition comprises: the cell is unblocked, a cell adjacent to the cell in a first moving direction is unblocked, a cell adjacent to the cell in a second moving direction is unblocked, and a cell adjacent to the cell in a third moving direction is blocked; wherein the first moving direction and the second moving direction are perpendicular to each other, and the third moving direction forms an angle of 45 degrees with the first moving direction and the second moving direction; and the second setting condition is that there is a shortest path between two sub-targets in the grid map, and the shortest path does not contain other sub-targets.

[0076] The device described above can perform the method provided by all the foregoing embodiments of the application, and has the corresponding function modules and advantages of performing the method. Technical details not described in detail in the embodiment can be referred to the method provided by all the foregoing embodiments of the application.

[0077] Embodiment three

[0078] Figure 4 A structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the applications described and / or claimed in this document.

[0079] As shown in Figure 4 The electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is in communication with the at least one processor 11, wherein the memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0080] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0081] The processor 11 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the path planning method.

[0082] In some embodiments, the path planning method can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded onto the RAM 13 and executed by the processor 11, one or more steps of the path planning method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the path planning method by any other appropriate means, such as by means of firmware.

[0083] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0084] Computer programs for implementing the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer program, when executed, enables the functions / acts specified in the flowcharts and / or block diagrams to be implemented. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a standalone software package and partially on a remote machine or entirely on a remote machine or server.

[0085] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0086] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0087] The systems and techniques described herein can be implemented in a computing system that includes a back end component, e.g., as a data server, or that includes a middleware component, e.g., an application server, or that includes a front end component, e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described herein, or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication, e.g., a communication network. Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0088] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0089] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be performed in parallel, in series, or in a different order, and the present disclosure is not limited in this regard.

[0090] The specific embodiments described above are not intended to limit the scope of the present disclosure. Those skilled in the art will understand that various modifications, combinations, sub-combinations, and alternatives can be made to the specific embodiments without departing from the spirit and principles of the present disclosure. Any further modifications, equivalents, and / or alternatives come within the scope of the present disclosure as recited by the claims.

Claims

1. A path planning method characterized by, The method comprises: acquiring a sub-target graph corresponding to an environment grid map; wherein the sub-target graph comprises a sub-target set and an edge set connecting each sub-target; the sub-target is a cell in the environment grid map that meets a first set condition; a path between two sub-targets at the two ends of an edge in the edge set meets a second set condition; updating the sub-target graph according to a starting cell and / or an ending cell to obtain an updated sub-target graph; determining an initial path based on the updated sub-target graph; wherein the initial path is composed of a plurality of sub-targets in the updated sub-target graph; determining a sub-path between two adjacent sub-targets in the initial path to obtain a target path; wherein updating the sub-target graph according to the starting cell and / or the ending cell comprises: if the starting cell belongs to the sub-target graph and the ending cell does not belong to the sub-target graph, updating the sub-target graph based on the ending cell; if the starting cell does not belong to the sub-target graph and the ending cell belongs to the sub-target graph, updating the sub-target graph based on the starting cell; if neither the starting cell nor the ending cell belongs to the sub-target graph, updating the sub-target graph based on the starting cell and the ending cell; wherein updating the sub-target graph based on the starting cell comprises: determining the starting cell and a sub-target in the sub-target graph that meets the second set condition as a first sub-target; setting an edge between the starting cell and the first sub-target to obtain a first newly added edge set; adding the starting cell to the sub-target set and adding the first newly added edge set to the edge set to obtain an updated sub-target graph; the first set condition comprises: a cell is not blocked, a cell adjacent to the cell in a first moving direction is not blocked, a cell adjacent to the cell in a second moving direction is not blocked, and a cell adjacent to the cell in a third moving direction is blocked; wherein the first moving direction and the second moving direction are perpendicular to each other, and the third moving direction forms an angle of 45 degrees with the first moving direction and the second moving direction; the second set condition is that there is a shortest path between two sub-targets in the grid map, and the shortest path does not contain other sub-targets.

2. The method of claim 1, wherein, updating the sub-target graph based on the ending cell comprises: determining the ending cell and a sub-target in the sub-target graph that meets the second set condition as a second sub-target; setting an edge between the ending cell and the second sub-target to obtain a second newly added edge set; adding the ending cell to the sub-target set and adding the second newly added edge set to the edge set to obtain an updated sub-target graph.

3. The method of claim 1, wherein, determining an initial path based on the updated sub-target graph comprises: starting from the starting cell and / or the ending cell to perform path search in the updated sub-target graph to obtain an initial path.

4. The method of claim 2, wherein, The path search is performed in the updated sub-target graph starting from the start cell and / or the end cell to obtain an initial path, including: The path search is performed in the updated sub-target graph starting from the start cell and the end cell by using a set bidirectional shortest path search algorithm to obtain an initial path.

5. The method of claim 1, wherein, The sub-paths between adjacent two sub-targets in the initial path are determined to obtain a target path, including: The path search is performed between each adjacent two sub-targets in the initial path to obtain a plurality of sub-paths; The plurality of sub-paths are spliced to obtain a target path.

6. A route planning apparatus for executing the route planning method according to any one of claims 1 to 5, characterized by The method comprises the following steps: A sub-target graph acquisition module is configured to acquire a sub-target graph corresponding to an environment grid map; wherein the sub-target graph comprises a sub-target set and an edge set connecting each sub-target; the sub-target is a cell in the environment grid map satisfying a first set condition; the path between the two ends of the edge in the edge set satisfies a second set condition; An update module is configured to update the sub-target graph according to a start cell and / or an end cell to obtain an updated sub-target graph; An initial path determination module is configured to determine an initial path based on the updated sub-target graph; wherein the initial path is composed of a plurality of sub-targets in the updated sub-target graph; A target path acquisition module is configured to determine the sub-paths between adjacent two sub-targets in the initial path to obtain a target path.

7. An electronic device, comprising: The electronic device comprises at least one processor and a memory connected in communication with the at least one processor; The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the path planning method in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to execute the path planning method in any one of claims 1-5 when executed. The computer readable storage medium stores computer instructions for enabling the processor to execute the path planning method in any one of claims 1-5 when executed.

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