Path planning algorithm-based flight path management method and system

Abstract

The application relates to the field of artificial intelligence, and provides a path planning algorithm-based flight path management method and system. The method comprises the following steps: determining a starting node and a terminal node from an unsorted road segment node set, calculating a flight path distance, and generating a first distance set. Next, the nearest node of the starting node is found, the deviation angle is calculated, and thus the nearest node is determined. Then, the starting node is taken as a previous node, the first shortest flight path is removed from the first distance set and stored in a flight path sequence. Next, the second distance set is traversed to find the nearest node of an updated node. Finally, the unsorted road segment node set is traversed, the result is added to a node sequence, the second distance set is added to the flight path sequence, and the terminal node is reached. The final flight path sequence is a flight path management result. The technical effect of achieving autonomous decision and optimization function through the path planning algorithm, intelligently managing the flight path, improving the management quality, and then improving the management efficiency is achieved.

Description

Technical Field

[0001] This application relates to the field of artificial intelligence, and in particular to a path management method and system based on path planning algorithms. Background Technology

[0002] With the rapid development of the aerospace industry, path planning has become an important technical means and is widely used in the mission planning and management of various aerospace vehicles.

[0003] Traditional trajectory planning methods focus solely on optimizing flight paths, neglecting the influence of various factors in aerospace mission planning and management. During aerospace mission planning and management, the efficiency and accuracy of trajectory planning algorithms fluctuate significantly due to factors such as the uncertainty of the flight environment and the complexity of flight missions, thus affecting the effectiveness and reliability of aerospace mission planning and management.

[0004] Furthermore, traditional trajectory management methods suffer from high computational complexity and long processing times. During the planning process, the algorithm only performs massive calculations and searches on the path data, without considering the connectivity between nodes, making it difficult to meet the needs of efficient and reliable aerospace mission planning and management.

[0005] In summary, existing track management methods suffer from low efficiency and low reliability. Summary of the Invention

[0006] Therefore, it is necessary to provide a path management method and system based on path planning algorithms that can solve the problems of low efficiency and low reliability in the existing technology.

[0007] A path management method based on path planning algorithms, including:

[0008] Based on the city map, an unsorted set of road segment nodes is obtained. The unsorted road segment node set is extracted without replacement to determine the start node and the end node. The driving direction is determined based on the start node and the end node.

[0009] Obtain all track distances from the starting node to the unsorted set of road segment nodes, and generate a first distance set;

[0010] Based on the first distance set, determine the nearest node of the starting node, obtain the first shortest path of the starting node and the nearest node, calculate the deviation angle between the first driving direction of the first shortest path and the driving direction of the starting node and the ending node, and determine the nearest node when the deviation angle is less than a preset deviation angle threshold.

[0011] The starting node is assigned the previous node, the first shortest track is removed from the first distance set and stored in the current track sequence, the nearest node is assigned the update node, the first distance set is assigned the second distance set, the second distance set is traversed, and the nearest node of the update node is determined.

[0012] Traverse the set of unsorted road segment nodes, add the unsorted road segment nodes to the current node sequence, add the second distance set to the current track sequence, until the termination node is reached, and use the current track sequence as the track management result.

[0013] A trajectory management system based on a path planning algorithm, the system comprising:

[0014] Driving direction acquisition module: Based on the city map, obtain an unsorted set of road segment nodes, extract them without replacement from the unsorted set of road segment nodes, determine the start node and the end node, and determine the driving direction based on the start node and the end node;

[0015] The module for obtaining the first distance set: obtains all track distances from the starting node to the unsorted set of road segment nodes, and generates the first distance set;

[0016] The nearest node acquisition module: Based on the first distance set, determine the nearest node of the starting node, acquire the first shortest track of the starting node and the nearest node, calculate the deviation angle between the first driving direction of the first shortest track and the driving direction of the starting node and the ending node, and determine the nearest node when the deviation angle is less than a preset deviation angle threshold.

[0017] The module for obtaining the nearest node of the updated node: assigns the starting node as the previous node, moves the first shortest track out of the first distance set and stores it in the current track sequence, assigns the nearest node as the updated node, assigns the first distance set to the second distance set, traverses the second distance set, and determines the nearest node of the updated node;

[0018] The module for obtaining track management results traverses the set of unsorted road segment nodes, adds the unsorted road segment nodes to the current node sequence, adds the second distance set to the current track sequence, until the termination node is reached, and uses the current track sequence as the track management result.

[0019] The aforementioned path planning-based trajectory management method and system obtains an unsorted set of road segment nodes from a city map, determines the start and end nodes, and then determines the driving direction based on the start and end nodes. It acquires all trajectory distances from the start node to the unsorted set of road segment nodes, generating a first distance set. Based on the first distance set, it determines the nearest node to the start node and obtains the first shortest trajectory between the start node and the nearest node. It calculates the deviation angle between the first driving direction of the first shortest trajectory and the driving directions of the start and end nodes; when the deviation angle is less than a preset deviation angle threshold, it determines the nearest node. It then assigns the start node as the previous node, removes the first shortest trajectory from the first distance set, stores it in the current trajectory sequence, assigns the nearest node as the update node, and assigns the first distance set as the second distance set. The algorithm iterates through the second distance set to determine the nearest node to the update node. Finally, it iterates through the unsorted set of road segment nodes, adding unsorted road segment nodes to the current node sequence and the second distance set to the current trajectory sequence, until the end node is reached. The current trajectory sequence is then used as the trajectory management result. This method can ensure the accuracy and efficiency of path planning, thereby improving the efficiency and reliability of track management.

[0020] The above description is merely an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, specific embodiments of this application are given below. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart illustrating a path planning algorithm-based trajectory management method in one embodiment.

[0023] Figure 2 This is a schematic diagram of the process of determining the nearest node of the starting node based on the first distance set in a path planning algorithm-based trajectory management method in one embodiment.

[0024] Figure 3 This is a structural block diagram of a path planning algorithm-based trajectory management system in one embodiment.

[0025] The attached diagram shows the following modules: Module 1 for obtaining the driving direction, Module 2 for obtaining the first distance set, Module 3 for obtaining the nearest node, Module 4 for obtaining the nearest node of the updated node, and Module 5 for obtaining the track management result. Detailed Implementation

[0026] This application provides a path planning algorithm-based trajectory management method, which solves the technical problems of low efficiency and low reliability in the prior art.

[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0028] It should be noted that the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or modules that are not explicitly listed or that are inherent to such process, method, product, or device.

[0029] Example 1

[0030] like Figure 1 As shown, this application provides a trajectory management method based on a path planning algorithm, the method comprising:

[0031] Based on the city map, an unsorted set of road segment nodes is obtained. The unsorted road segment node set is extracted without replacement to determine the start node and the end node. The driving direction is determined based on the start node and the end node.

[0032] Obtain all track distances from the starting node to the unsorted set of road segment nodes, and generate a first distance set;

[0033] In this embodiment, the unsorted set of road segment nodes is extracted to determine the travel direction of aerospace vehicles, laying the groundwork for obtaining the first distance set. The set of road segment nodes refers to the set of start and end points of all possible road segments in a path planning problem. For example, in a waterway planning problem, each intersection of waterways can be considered a road segment node. In trajectory management, the set of road segment nodes is the foundation of path planning algorithms, which analyze and calculate the relationships between these nodes to find the optimal path. The first distance set refers to the set of trajectory distances from the starting node to all nodes in the unsorted set of road segment nodes. For each unsorted road segment node, its trajectory distance to the starting node is calculated, and these distance values ​​are stored in the first distance set. This invention determines the starting and ending nodes by extracting them from this set without replacement, determines the travel direction based on the positional relationship between the starting and ending nodes, filters and judges the starting node and the unsorted set of road segment nodes, obtains their trajectory distances, and thus generates the first distance set. This series of operations provided the necessary data support for subsequent trajectory planning, improving the efficiency and reliability of trajectory management.

[0034] Based on the first distance set, determine the nearest node of the starting node, obtain the first shortest path of the starting node and the nearest node, calculate the deviation angle between the first driving direction of the first shortest path and the driving direction of the starting node and the ending node, and determine the nearest node when the deviation angle is less than a preset deviation angle threshold.

[0035] In this embodiment, the nearest node to the starting node is obtained by analyzing the acquired first distance set, and based on this, the nearest node is determined through in-depth analysis. The nearest node refers to the unsorted road segment node closest to the starting node. By comparing the distance values ​​in the first distance set, the position of the nearest node can be determined. The first shortest track refers to the shortest track from the starting node to the nearest node. By obtaining the nearest node, the optimal path near the starting node can be determined, thus forming the first shortest track. The deviation angle refers to the angle between the travel direction of the first shortest track and the travel directions of the starting and ending nodes. The deviation angle is an indicator used to measure whether the first shortest track conforms to the overall travel direction. The first shortest track of the starting node and the nearest node is obtained from the first distance set, and the deviation angle between the first travel direction of the first shortest track and the travel directions of the starting and ending nodes is calculated. When the deviation angle is less than a preset deviation angle threshold, the nearest node is determined, thereby providing necessary data support for subsequent track planning and improving the efficiency and reliability of track management.

[0036] Furthermore, such as Figure 2As shown, this application provides the first distance set to determine the nearest node to the starting node, and the method further includes:

[0037] Two first distances are extracted from the first distance set and their distance values ​​are compared. The first distance with the shorter distance value is stored. Then, the other first distance is extracted and compared with the stored first distance to generate a comparison result.

[0038] Traverse the first distance set, select the first distance with the shortest distance value in the comparison results, and determine the end node of the first distance as the nearest node.

[0039] Preferably, the nearest node to the starting node is determined based on a first distance set generated from unsorted road segment nodes. The end node refers to a node in the unsorted road segment node set that is identified as the nearest node during the traversal of the first distance set. The system terminal extracts two first distances from the first distance set, compares them, stores the shorter distance value, and then compares it with the other first distance to generate a comparison result. After traversing the entire first distance set, the first distance with the shortest distance value in the comparison results is selected, and the end node of this first distance is determined as the nearest node. Multiple traversals and comparisons are performed to select the most suitable shortest first distance, thereby improving the reliability of track management.

[0040] Furthermore, this application provides a method for extracting two first distances from the first distance set and comparing their distance values, which further includes:

[0041] Perform distance value serialization processing on the first distance set to generate a first distance value sequence;

[0042] Extract the first distance from the first distance value sequence, and verify it with the first shortest distance of the nearest node. If the distance value of the first distance is less than the first shortest distance, reassign the value of the nearest node.

[0043] When the first distance is equal to the distance value of the first shortest distance, the nearest node is determined.

[0044] Optionally, distance value serialization refers to the process of arranging a series of distance values ​​in a specific order. To improve the efficiency of obtaining the nearest node and enhance the filtering speed of the first distance set, the system terminal first determines the serialization rules, then extracts distance values ​​according to the serialization rules, and finally performs serialization operations and stores the serialization results. This achieves the serialization of each distance value in the first distance set, thereby reducing the time and resource consumption for searching and calculation, and achieving the technical effect of high-efficiency track management. The system terminal extracts the first distance in the generated first distance value sequence and then verifies it with the first shortest distance of the nearest node. When the distance value of the first distance is less than the first shortest distance, the nearest node is reassigned; when the first distance is equal to the distance value of the first shortest distance, the nearest node is determined. This process further refines the method for determining the nearest node. Through comparison and verification, the goal of finding the optimal path in the first distance set is achieved, improving the efficiency of track management.

[0045] Furthermore, this application provides a method for determining the nearest node when the first distance is equal to the first shortest distance, which further includes:

[0046] If the end node of the first distance is not the nearest node in the comparison result, then the deviation angle of the second driving direction of the first distance and the driving direction of the start node and the end node is calculated to generate the second deviation angle.

[0047] When the second deviation angle is less than the preset deviation angle threshold, update the nearest node.

[0048] Optionally, the nearest node is determined when the first distance equals the first shortest distance. The second deviation angle refers to the angle between the second travel direction of the first distance and the travel directions of the starting and ending nodes. When determining the nearest node, if the end node of the first distance is not the nearest node in the comparison results, the system terminal calculates the angle between the second travel direction of the first distance and the travel directions of the starting and ending nodes to obtain the second deviation angle. When the second deviation angle is less than the deviation angle threshold pre-designed by industry professionals, the nearest node is updated. The entire process ensures that the selected track conforms to the overall travel direction. By comparing it with the pre-designed deviation angle threshold, the time and resource consumption for searching and calculation can be reduced, further obtaining the optimal path, thereby improving the efficiency and reliability of track management.

[0049] The starting node is assigned the previous node, the first shortest track is removed from the first distance set and stored in the current track sequence, the nearest node is assigned the update node, the first distance set is assigned the second distance set, the second distance set is traversed, and the nearest node of the update node is determined.

[0050] In this embodiment, the starting node is assigned the previous node, the first shortest path is removed from the first distance set and stored in the current path sequence, the nearest node is assigned the update node, and the first distance set is assigned the second distance set. Then, the second distance set is traversed to determine the nearest node to the update node. Through the above operations, the nearest node is continuously updated and the second distance set is traversed to re-obtain the optimal path, thereby gradually constructing the optimal path sequence and improving the reliability of path management.

[0051] Furthermore, the method of traversing the second distance set to determine the nearest node to the updated node further includes:

[0052] When the first shortest path includes the unsorted segment node, the nearest node is initialized and the nearest node of the starting node is updated;

[0053] Assign the first distance to the nearest node as the first shortest path, traverse the unsorted road segment nodes until the first shortest path does not include the unsorted road segment nodes.

[0054] Preferably, when the first shortest path includes unsorted segment nodes, the nearest node is initialized, and the nearest node of the starting node is updated. Then, the first distance of the nearest node is assigned to the first shortest path, and the unsorted segment nodes are traversed until the first shortest path no longer includes unsorted segment nodes. By initializing the nearest node and updating the nearest node of the starting node, the search for the optimal path can be restarted. Simultaneously, by assigning the first distance of the nearest node to the first shortest path, information about the already found optimal path can be preserved, providing a basis for subsequent traversal and comparison. This process reduces the time and resource consumption for searching and computation, thereby improving the efficiency and reliability of path management.

[0055] Furthermore, the method of traversing the second distance set to determine the nearest node to the updated node further includes:

[0056] The first distance set and the second distance set are compared. If the distance value between the unsorted road segment node and the starting node in the unsorted road segment node set is greater than the distance value between the unsorted road segment node and the previous node, then the unsorted road segment node is extracted and the shortest path is pre-assigned.

[0057] Compare the distances between the first shortest path and the shortest path between the unsorted segment node and the previous node to determine the nearest node.

[0058] Preferably, the first distance set and the second distance set are compared. If the distance between an unsorted road segment node and the starting node in the unsorted road segment node set is greater than the distance between the unsorted road segment node and the previous node, then this unsorted road segment node is extracted and pre-assigned a shortest path value. Then, the distance between the first shortest path and the shortest path distance between the unsorted road segment node and the previous node is compared to determine the nearest node. Through comparison and filtering, paths that conform to the overall driving direction can be retained, while paths with significant deviations can be excluded, thereby improving the efficiency and reliability of path management. This process reduces the time and resource consumption for searching and computation, provides necessary data support for subsequent path planning, and the finally determined nearest node will be used in subsequent path planning to achieve the optimal path planning result.

[0059] Traverse the set of unsorted road segment nodes, add the unsorted road segment nodes to the current node sequence, add the second distance set to the current track sequence, until the termination node is reached, and use the current track sequence as the track management result.

[0060] By traversing the set of unsorted road segment nodes, each unsorted road segment node is added to the current node sequence, and the second distance set is added to the current track sequence, until the terminal node is reached. Finally, the current track sequence is output as the track management result. The entire process outputs the optimal track planning result for use by subsequent navigation and control systems. By traversing the set of unsorted road segment nodes and constructing the track management result, optimal track planning can be achieved, improving the accuracy and efficiency of track planning. At the same time, this process also reduces the time and resource consumption for search and computation, improves the efficiency and reliability of track management, and provides necessary data support for subsequent navigation and control systems.

[0061] In summary, the embodiments of this application have at least the following technical effects:

[0062] This embodiment of the application determines the travel direction of the aerospace vehicle and the nearest node to the starting node. It calculates the deviation angle between the travel direction of the first shortest trajectory and the travel directions of the starting and ending nodes, compares it with the first distance in the first distance set, and then calculates the second deviation angle using the second travel direction of the first distance and the travel directions of the starting and ending nodes, thereby updating the nearest node. The first shortest trajectory is removed from the first distance set and stored in the current trajectory sequence. Then, based on the previous node, the updated node, and the second distance set, the nearest node to the updated node is determined. Unsorted road segment nodes are then added to the current node sequence, and the second distance set is added to the current trajectory sequence, yielding the trajectory management result, thus achieving optimal trajectory planning. By comparing the first and second distance sets, trajectories with large deviations can be eliminated, retaining those that conform to the overall travel direction, thereby improving the accuracy and efficiency of trajectory planning. Simultaneously, by traversing the unsorted road segment node set and constructing the trajectory management result, the time and resource consumption for searching and calculation can be reduced, providing necessary data support for subsequent navigation and control systems. The final output of trajectory management results can be used in actual navigation and control processes to find an optimal, unoccupied path for the flight missions performed by aerospace vehicles, enabling them to complete their missions with minimal cost or time. These technological effects collectively achieve intelligent trajectory planning, improving the accuracy and efficiency of trajectory planning and solving the problems of low efficiency and low reliability in trajectory management.

[0063] Example 2

[0064] Based on the same inventive concept as the path planning algorithm-based trajectory management method in the foregoing embodiments, such as Figure 3 As shown, this application provides a trajectory management system based on a path planning algorithm. The system and method embodiments in this application are based on the same inventive concept. The system includes:

[0065] Driving direction acquisition module 1: The driving direction acquisition module 1 is used to acquire an unsorted set of road segment nodes based on a city map, extract them without replacement from the unsorted set of road segment nodes, determine the start node and the end node, and determine the driving direction based on the start node and the end node.

[0066] First distance set acquisition module 2: The first distance set acquisition module 2 is used to acquire all track distances from the starting node to the unsorted road segment node set, and generate a first distance set;

[0067] The nearest node acquisition module 3 is used to determine the nearest node of the starting node based on the first distance set, acquire the first shortest track of the starting node and the nearest node, calculate the deviation angle between the first driving direction of the first shortest track and the driving direction of the starting node and the ending node, and determine the nearest node when the deviation angle is less than a preset deviation angle threshold.

[0068] The module 4 for obtaining the nearest node of the updated node is used to assign the starting node to the previous node, move the first shortest track out of the first distance set and store it in the current track sequence, assign the nearest node to the updated node, assign the first distance set to the second distance set, traverse the second distance set, and determine the nearest node of the updated node.

[0069] Track management result acquisition module 5: The track management result acquisition module 5 is used to traverse the unsorted road segment node set, add the unsorted road segment nodes to the current node sequence, add the second distance set to the current track sequence, until the termination node is reached, and take the current track sequence as the track management result.

[0070] Furthermore, the nearest node acquisition module 3 is used to perform the following method:

[0071] The acquisition parameters are analyzed to obtain the acquisition distance and focal length.

[0072] Two first distances are extracted from the first distance set and their distance values ​​are compared. The first distance with the shorter distance value is stored. Then, the other first distance is extracted and compared with the stored first distance to generate a comparison result.

[0073] Traverse the first distance set, select the first distance with the shortest distance value in the comparison results, and determine the end node of the first distance as the nearest node.

[0074] Furthermore, the nearest node acquisition module 3 is used to perform the following method:

[0075] Perform distance value serialization processing on the first distance set to generate a first distance value sequence;

[0076] Extract the first distance from the first distance value sequence, and verify it with the first shortest distance of the nearest node. If the distance value of the first distance is less than the first shortest distance, reassign the value of the nearest node.

[0077] When the first distance is equal to the distance value of the first shortest distance, the nearest node is determined.

[0078] Furthermore, the nearest node acquisition module 3 is used to perform the following method:

[0079] If the end node of the first distance is not the nearest node in the comparison result, then the deviation angle of the second driving direction of the first distance and the driving direction of the start node and the end node is calculated to generate the second deviation angle.

[0080] When the second deviation angle is less than the preset deviation angle threshold, update the nearest node.

[0081] Furthermore, the module 4 for obtaining the nearest node of the updated node is used to perform the following method:

[0082] When the first shortest path includes the unsorted segment node, the nearest node is initialized and the nearest node of the starting node is updated;

[0083] Assign the first distance to the nearest node as the first shortest path, traverse the unsorted road segment nodes until the first shortest path does not include the unsorted road segment nodes.

[0084] Furthermore, the module 4 for obtaining the nearest node of the updated node is used to perform the following method:

[0085] The first distance set and the second distance set are compared. If the distance value between the unsorted road segment node and the starting node in the unsorted road segment node set is greater than the distance value between the unsorted road segment node and the previous node, then the unsorted road segment node is extracted and the shortest path is pre-assigned.

[0086] Compare the distances between the first shortest path and the shortest path between the unsorted segment node and the previous node to determine the nearest node.

[0087] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. Furthermore, specific embodiments have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in a different order than that shown in the embodiments and still achieve the desired result. Additionally, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0088] The above description is only a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

[0089] This specification and accompanying drawings are merely illustrative examples of this application and are intended to cover any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from its scope. Therefore, if such modifications and modifications fall within the scope of this application and its equivalents, this application intends to include such modifications and modifications.

Claims

1. A trajectory management method based on path planning algorithm, characterized in that, The method includes: Based on the city map, an unsorted set of road segment nodes is obtained. The unsorted road segment node set is extracted without replacement to determine the start node and the end node. The driving direction is determined based on the start node and the end node. Obtain all track distances from the starting node to the unsorted set of road segment nodes, and generate a first distance set; Based on the first distance set, determine the nearest node of the starting node, obtain the first shortest path of the starting node and the nearest node, calculate the deviation angle between the first driving direction of the first shortest path and the driving direction of the starting node and the ending node, and determine the nearest node when the deviation angle is less than a preset deviation angle threshold. The starting node is assigned the previous node, the first shortest track is removed from the first distance set and stored in the current track sequence, the nearest node is assigned the update node, the first distance set is assigned the second distance set, the second distance set is traversed, and the nearest node of the update node is determined. Traverse the set of unsorted road segment nodes, add the unsorted road segment nodes to the current node sequence, add the second distance set to the current track sequence, until the termination node is reached, and use the current track sequence as the track management result.

2. The method as described in claim 1, characterized in that, The method for determining the nearest node to the starting node based on the first distance set includes: Two first distances are extracted from the first distance set and their distance values ​​are compared. The first distance with the shorter distance value is stored. Then, the other first distance is extracted and compared with the stored first distance to generate a comparison result. Traverse the first distance set, select the first distance with the shortest distance value in the comparison results, and determine the end node of the first distance as the nearest node.

3. The method as described in claim 2, characterized in that, The method further includes: Perform distance value serialization processing on the first distance set to generate a first distance value sequence; Extract the first distance from the first distance value sequence, and verify it with the first shortest distance of the nearest node. If the distance value of the first distance is less than the first shortest distance, reassign the value of the nearest node. When the first distance is equal to the distance value of the first shortest distance, the nearest node is determined.

4. The method as described in claim 3, characterized in that, When the first distance equals the distance value of the first shortest distance, the nearest node is determined, and the method includes: If the end node of the first distance is not the nearest node in the comparison result, then the deviation angle of the second driving direction of the first distance and the driving direction of the start node and the end node is calculated to generate the second deviation angle. When the second deviation angle is less than the preset deviation angle threshold, update the nearest node.

5. The method as described in claim 1, characterized in that, The method further includes: When the first shortest path includes the unsorted segment node, the nearest node is initialized and the nearest node of the starting node is updated; Assign the first distance to the nearest node as the first shortest path, traverse the unsorted road segment nodes until the first shortest path does not include the unsorted road segment nodes.

6. The method as described in claim 1, characterized in that, The method further includes: The first distance set and the second distance set are compared. If the distance value between the unsorted road segment node and the starting node in the unsorted road segment node set is greater than the distance value between the unsorted road segment node and the previous node, then the unsorted road segment node is extracted and the shortest path is pre-assigned. Compare the distances between the first shortest path and the shortest path between the unsorted road segment node and the previous node to determine the nearest node.

7. A trajectory management system based on path planning algorithm, characterized in that, The system includes: Driving direction acquisition module: Based on the city map, obtain an unsorted set of road segment nodes, extract them without replacement from the unsorted set of road segment nodes, determine the start node and the end node, and determine the driving direction based on the start node and the end node; The module for obtaining the first distance set: obtains all track distances from the starting node to the unsorted set of road segment nodes, and generates the first distance set; The nearest node acquisition module: Based on the first distance set, determine the nearest node of the starting node, acquire the first shortest track of the starting node and the nearest node, calculate the deviation angle between the first driving direction of the first shortest track and the driving direction of the starting node and the ending node, and determine the nearest node when the deviation angle is less than a preset deviation angle threshold. The module for obtaining the nearest node of the updated node: assigns the starting node as the previous node, moves the first shortest track out of the first distance set and stores it in the current track sequence, assigns the nearest node as the updated node, assigns the first distance set to the second distance set, traverses the second distance set, and determines the nearest node of the updated node; The module for obtaining track management results traverses the set of unsorted road segment nodes, adds the unsorted road segment nodes to the current node sequence, adds the second distance set to the current track sequence, until the termination node is reached, and uses the current track sequence as the track management result.

Images