Automobile pipeline path planning method, device, equipment and storage medium

Abstract

The present application discloses a method, device, equipment and storage medium for automobile pipeline path planning, and relates to the technical field of automobile pipeline path planning. The present application comprises: obtaining physical environment information according to the in-cabin layout environment, obtaining a pipeline planning model according to the pipeline performance target and the pipeline planning boundary, planning the pipeline path based on the pipeline planning model, obtaining initial pipeline information, optimizing the initial pipeline information, obtaining target pipeline information, generating a pipeline file according to the target pipeline information, introducing vehicle performance parameters into the pipeline design, proposing an improved firefly algorithm combined with chaotic simulated annealing, obtaining a good layout effect by using the optimization algorithm, providing a reliable reference for designers, being able to significantly shorten the design cycle of automobile pipelines, and being able to more efficiently use the vehicle layout space.

Description

Technical Field

[0001] The present application relates to the technical field of automobile pipeline path planning, and in particular to an automobile pipeline path planning method, device, equipment and storage medium. Background Art

[0002] In the current automotive pipeline design process, pipeline design mainly relies on engineers to manually adjust parameters to adjust the pipeline path to meet the layout requirements of the vehicle, the process requirements of pipeline manufacturing, the performance requirements of the vehicle, etc. This method has low efficiency, long cycle, and low automation. When designing pipelines through modeling, a spatial model is usually constructed and optimized to obtain an updated three-dimensional model of the pipeline system. This method is prone to fall into local optimality, resulting in the generated pipeline not being the global optimal pipeline, resulting in repeated calculations, and also failing to connect the surrounding components and the impact of performance on the pipeline, so that the obtained pipeline is not the global optimal pipeline. Therefore, an efficient and automated pipeline path planning method is a technical problem that urgently needs to be solved.

[0003] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of this application is to provide a method, device, equipment and storage medium for automobile pipeline path planning, aiming to solve the technical problems that the existing technology is prone to fall into local optimality during pipeline design, or does not consider the impact of the performance of surrounding components on pipeline layout.

[0005] To achieve the above objectives, the present application proposes a method for planning a vehicle pipeline path, the method comprising:

[0006] Obtain physical environment information based on the cabin layout environment;

[0007] Obtaining a pipeline planning model according to the pipeline performance target and the pipeline planning boundary;

[0008] Planning the pipeline path based on the pipeline planning model to obtain initial pipeline information, and optimizing the initial pipeline information to obtain target pipeline information;

[0009] A pipeline file is generated according to the target pipeline information.

[0010] In one embodiment, the step of obtaining physical environment information according to the cabin layout environment includes:

[0011] Modeling is performed based on the cabin layout environment to obtain the vehicle layout environment;

[0012] Determining a vehicle layout boundary according to the vehicle layout environment;

[0013] The physical environment information is determined according to the coordinates of the boundary of the whole vehicle layout.

[0014] In one embodiment, the step of modeling according to the cabin layout environment to obtain the whole vehicle layout environment includes:

[0015] Modeling the cabin layout environment, rasterizing the cabin layout environment, and obtaining a rasterized cabin layout diagram;

[0016] Determine the environment range and obstacle area in the raster layout diagram of the cabin;

[0017] Determine the grid granularity of the obstacle according to the proportion of the area where the obstacle is located relative to the environmental range;

[0018] The whole vehicle layout environment is obtained according to the environmental information and the grid granularity.

[0019] In one embodiment, before the step of obtaining the pipeline planning model according to the pipeline performance target and the pipeline planning boundary, the method further includes:

[0020] Obtain performance simulation results based on thermodynamic simulation results and safety simulation results;

[0021] Determining pipeline performance targets according to the performance simulation results;

[0022] A pipeline planning boundary is obtained according to the physical environment information and the performance simulation result.

[0023] In one embodiment, the steps of planning the pipeline path based on the pipeline planning model to obtain initial pipeline information, and optimizing the initial pipeline information to obtain target pipeline information include:

[0024] Determining population parameters of the pipeline planning model;

[0025] generating an initial population based on a roulette algorithm and the population parameters, and initial pipeline information according to the initial population;

[0026] Obtaining an individual fitness value according to the population parameter and the initial pipeline information;

[0027] Iterate the initial pipeline information, and update the corresponding individual position in the initial pipeline information according to the fitness value to obtain an updated individual position;

[0028] Determining the fitness value of the updated individual position, and determining the elite individual according to the fitness value;

[0029] Evolving the elite individuals to obtain an intermediate optimal pipeline path;

[0030] When the number of iterations reaches the maximum number of iterations, the intermediate optimal pipeline paths are sorted and the global optimal pipeline path is output;

[0031] The global optimal pipeline path is output as target pipeline information.

[0032] In one embodiment, the step of generating an initial population based on the roulette algorithm and the population parameters and generating initial pipeline information according to the initial population includes:

[0033] Generate an initial population based on the roulette algorithm and the population parameters, perform validity detection on individuals of the initial population, and obtain detection results;

[0034] When the detection result is an invalid individual, return to the step of generating the initial population based on the roulette algorithm and the population parameters, regenerate a new individual, and detect the new individual, and when the detection result is a valid individual, replace the invalid individual with the valid individual;

[0035] Initial pipeline information is obtained according to the valid individuals.

[0036] In one embodiment, the step of evolving the elite individuals to obtain the intermediate optimal pipeline path includes:

[0037] Sorting the fitness values ​​of the elite individuals, and obtaining an elite individual sequence according to the sorting result;

[0038] Iterate according to the elite individual sequence to obtain an intermediate iteration result;

[0039] An increment of the intermediate iteration result is calculated, and when the increment satisfies a preset increment, the intermediate iteration result is output as an intermediate optimal pipeline path.

[0040] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle pipeline path planning device, the vehicle pipeline path planning device comprising:

[0041] An environment confirmation module is used to obtain physical environment information based on the cabin layout environment;

[0042] A pipeline planning module, used to obtain a pipeline planning model according to the pipeline performance target and the pipeline planning boundary;

[0043] A planning optimization module, used to plan the pipeline path based on the pipeline planning model to obtain initial pipeline information, and optimize the initial pipeline information to obtain target pipeline information;

[0044] The planning output module is used to generate a pipeline file according to the target pipeline information.

[0045] In addition, to achieve the above-mentioned purpose, the present application also proposes an automobile pipeline path planning device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the automobile pipeline path planning method as described above.

[0046] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the automobile pipeline path planning method described above are implemented.

[0047] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the automobile pipeline path planning method described above are implemented.

[0048] One or more technical solutions proposed in the present application have at least the following technical effects: obtaining physical environment information according to the cabin layout environment, obtaining a pipeline planning model according to the pipeline performance target and the pipeline planning boundary, planning the pipeline path based on the pipeline planning model to obtain initial pipeline information, and optimizing the initial pipeline information to obtain target pipeline information, generating a pipeline file according to the target pipeline information, introducing vehicle performance parameters into the pipeline design, proposing an improved firefly algorithm combined with chaos simulated annealing, and obtaining a good layout effect by using the optimization algorithm, providing a reliable reference for designers, which can significantly shorten the design cycle of automobile pipelines and more efficiently use the vehicle layout space. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0050] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0051] Figure 1 A flow chart of the first embodiment of the automobile pipeline path planning method of the present application;

[0052] Figure 2 A schematic diagram of an algorithm flow chart provided for an embodiment of a method for planning a vehicle pipeline path in the present application;

[0053] Figure 3 A schematic diagram of a simplified process flow of a method for planning a vehicle pipeline path provided in Example 2 of the present application;

[0054] Figure 4 This is a schematic diagram of the module structure of the automobile pipeline path planning device according to an embodiment of the present application;

[0055] Figure 5 Schematic diagram of the device structure of the hardware operating environment involved in the automobile pipeline path planning method in the embodiment of the present application.

[0056] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0057] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0058] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0059] The main solution of the embodiment of the present application is: obtaining physical environment information according to the cabin layout environment, obtaining a pipeline planning model according to the pipeline performance target and the pipeline planning boundary, planning the pipeline path based on the pipeline planning model to obtain initial pipeline information, optimizing the initial pipeline information to obtain target pipeline information, and generating a pipeline file according to the target pipeline information.

[0060] In this embodiment, for ease of description, the following description is made by taking the identification of the automobile pipeline path planning device as the execution subject.

[0061] Since the existing technology mainly relies on engineers to manually adjust parameters to adjust the path of the pipeline to meet the layout requirements of the whole vehicle, the process requirements of pipeline manufacturing, the performance requirements of the whole vehicle, etc., this method has low efficiency, long cycle, and low automation. When designing pipelines through modeling, a spatial model is usually constructed and optimized to obtain an updated three-dimensional model of the pipeline system. This method is prone to fall into local optimality, resulting in the generated pipeline not being the global optimal pipeline, resulting in repeated calculations, and at the same time, the surrounding components and the impact of performance on the pipeline are not linked, so that the obtained pipeline is not the global optimal pipeline.

[0062] The present application provides a solution that introduces vehicle performance parameters into pipeline design, proposes an improved firefly algorithm combined with chaotic simulated annealing, and obtains good layout effects using the optimization algorithm, providing a reliable reference for designers, which can significantly shorten the design cycle of automobile pipelines and more efficiently utilize the vehicle layout space, which is of great significance to improving pipeline design.

[0063] It can be seen from the above embodiments that the present application obtains physical environment information according to the in-cabin layout environment, obtains a pipeline planning model according to the pipeline performance target and the pipeline planning boundary, plans the pipeline path based on the pipeline planning model, obtains initial pipeline information, optimizes the initial pipeline information, obtains target pipeline information, generates a pipeline file according to the target pipeline information, introduces vehicle performance parameters into the pipeline design, proposes an improved firefly algorithm combined with chaos simulated annealing, and obtains good layout effects using the optimization algorithm, providing designers with a reliable reference, which can significantly shorten the design cycle of automobile pipelines and more efficiently use the vehicle layout space.

[0064] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, an automobile pipeline path planning device, etc. The following takes the automobile pipeline path planning device as an example to illustrate this embodiment and the following embodiments.

[0065] Based on this, the embodiment of the present application provides a method for planning a vehicle pipeline path, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the automobile pipeline path planning method of the present application.

[0066] In this embodiment, the automobile pipeline path planning method includes steps S10 to S40:

[0067] Step S10, obtaining physical environment information according to the cabin layout environment.

[0068] It should be noted that the cabin layout environment is the space in the car used to carry pipelines and their components, and reasonable allocation is required in this space so that the pipelines and other components can work efficiently.

[0069] It can be understood that the physical environment information includes the boundaries of the cabin layout environment, as well as the location information, size information and other related information of the components or cabin structures in the cabin layout environment that may interfere with the pipeline layout.

[0070] In a specific implementation, when the physical environment information is obtained according to the in-cabin layout environment, the in-cabin layout environment can be modeled through CATIA software to determine the boundary information of the in-cabin layout environment and the position and size information of the components in the in-cabin space, etc. By digitizing the in-cabin layout environment into three-dimensional data, the position information of each part thereof is reflected in the three-dimensional modeling, thereby determining the physical environment information in the cabin.

[0071] Exemplarily, the step of obtaining physical environment information according to the cabin layout environment includes:

[0072] Modeling is performed based on the cabin layout environment to obtain the vehicle layout environment;

[0073] Determining a vehicle layout boundary according to the vehicle layout environment;

[0074] The physical environment information is determined according to the coordinates of the boundary of the whole vehicle layout.

[0075] It should be noted that the vehicle layout environment refers to the layout information of the components of the current vehicle, which can reflect physical information such as the position relationship and size relationship between the components.

[0076] In the specific implementation, CATIA modeling is performed according to the cabin layout environment to establish a three-dimensional model of the surrounding environment of the vehicle layout and the pipeline layout. Based on the existing vehicle environment, the vehicle layout boundary is determined, and secondary modeling is performed through CATIA to obtain the layout boundary coordinates and determine the boundary three-dimensional physical environment.

[0077] Exemplarily, the step of modeling according to the in-cabin layout environment to obtain the whole vehicle layout environment includes:

[0078] Modeling the cabin layout environment, rasterizing the cabin layout environment, and obtaining a rasterized cabin layout diagram;

[0079] Determine the environment range and obstacle area in the raster layout diagram of the cabin;

[0080] Determine the grid granularity of the obstacle according to the proportion of the area where the obstacle is located relative to the environmental range;

[0081] The whole vehicle layout environment is obtained according to the environmental information and the grid granularity.

[0082] It should be noted that the grid layout diagram of the cabin refers to dividing the various areas in the cabin in the form of a grid, that is, dividing the entire cabin environment into several grid blocks.

[0083] It can be understood that grid granularity refers to the size or fineness of the grid unit. When the grid granularity is small, it means that the size of the grid unit is smaller, which can more accurately represent and describe the research object or data, but the amount of data will be larger, and the complexity of processing and analysis will also increase.

[0084] In a specific implementation, when modeling the cabin layout environment, the cabin layout environment can be gridded to obtain a cabin gridded layout map, and then the range size and obstacle ratio of the cabin layout environment can be determined according to the cabin gridded layout map, and the grid granularity l can be determined according to the range size and obstacle ratio of the cabin layout environment. grid , and based on the environmental information and grid granularity l grid Get the whole vehicle layout environment.

[0085] Step S20, obtaining a pipeline planning model according to the pipeline performance target and the pipeline planning boundary.

[0086] It should be noted that the pipeline planning model is obtained by training the improved firefly algorithm based on chaotic simulated returns. It can determine the spatial optimal path of the pipeline according to the physical boundaries of the vehicle pipeline and the performance constraints of the vehicle environment.

[0087] In a specific implementation, before obtaining the planning model according to the pipeline performance target and the pipeline planning boundary, it also includes: obtaining performance simulation results according to the thermodynamic simulation results and the safety simulation results; determining the pipeline performance target according to the performance simulation results; and obtaining the pipeline planning boundary according to the physical environment information and the performance simulation results. Specifically, according to the performance simulation results such as the thermodynamic simulation results and the safety simulation results, the layout performance environment requirements are determined, and the boundary of the pipeline planning is determined by combining the obtained physical boundary with the performance environment.

[0088] Step S30, planning the pipeline path based on the pipeline planning model to obtain initial pipeline information, and optimizing the initial pipeline information to obtain target pipeline information.

[0089] It should be noted that the initial pipeline information refers to the pipeline path obtained by initializing the pipeline planning model. The initial pipeline information needs to be optimized before the target pipeline information can be obtained, where the target pipeline information corresponds to the global optimal solution in the pipeline planning model.

[0090] In a specific implementation, when planning the pipeline path based on the pipeline planning model, obtaining the initial pipeline information, and optimizing the initial pipeline information to obtain the target pipeline information, it is possible to determine the population parameters of the pipeline planning model; generate an initial population based on a roulette algorithm and the population parameters, and obtain the initial pipeline information of the initial population; obtain the fitness value of the individual according to the population parameters and the initial pipeline information; iterate the initial pipeline information, and update the corresponding individual position in the initial pipeline information according to the fitness value to obtain the updated individual position; determine the fitness value of the updated individual position, and determine the elite individual according to the fitness value; evolve the elite individual to obtain the intermediate optimal pipeline path; when the number of iterations reaches the maximum number of iterations, sort the intermediate optimal pipeline path and output the global optimal pipeline path; and output the global optimal pipeline path as the target pipeline information to achieve the implementation. Wherein, when generating the initial population based on the roulette algorithm and the population parameters, according to the initial pipeline information of the initial population, the initial population is generated based on the roulette algorithm and the population parameters, and the individuals of the initial population are tested for validity to obtain a test result; when the test result is an invalid individual, return to the step of generating the initial population based on the roulette algorithm and the population parameters, regenerate a new individual, and test the new individual, and when the test result is a valid individual, replace the invalid individual with the valid individual; and obtain the initial pipeline information according to the valid individual. When evolving the elite individuals to obtain the intermediate optimal pipeline path, iterate according to the elite individual sequence to obtain the intermediate iteration result; calculate the increment of the intermediate iteration result, and when the increment meets the preset increment, output the intermediate iteration result as the intermediate optimal pipeline path.

[0091] Specifically: refer to Figure 2 , Figure 2 The figure is a schematic diagram of the algorithm flow. The parameters of the pipeline planning model are initialized, where the parameters of the improved firefly algorithm are initialized, including at least the firefly population size m, the maximum attraction β0, the initial light absorption coefficient γ0, the iteration step α, the initial annealing temperature T=T0, the local search length Loop, the number of elite fireflies h, the chaos control variable θ, the three weight coefficients A, B, C of the fitness function, and the maximum number of iterations maxIteration. The initial population is generated based on the roulette method, and each generated individual represents a feasible path. When initializing the firefly population, attention should be paid to the validity of the individual. If it is an invalid individual, it needs to be regenerated. There are two criteria for judging the validity of fireflies. One is whether the path passes through the obstacle grid, and the other is to judge whether there is a detour path. The fitness value and luminous brightness of each firefly individual are calculated. According to the weight coefficient of the fitness function, the fitness of the individual is calculated and used as the luminous brightness of the individual. The calculation formula (1) is:

[0092]

[0093] It can be seen that the larger the fitness value, the higher the luminous brightness.

[0094] Where f1 represents the path length. In the grid map, the length of the global path planning refers to the sum of the segment distances of all free grids passed on the way from the starting grid to the end grid. For the path P = (p0, p1, p2, ..., p n+1 ), p0 represents the starting point of path planning, p1~p n is the waypoint, p n+1 is the end point; where (x i y i )、(x i+1 ,y i+1 ) represent the path nodes p i 、p i+1 In the coordinates of the grid map, it can be seen from the above formula that the smaller f1 is, the shorter the path length is.

[0095] Initialize the current iteration number t = 0 and start the iteration process. Fireflies attract each other through brightness to complete the position update. In the population, fireflies with low brightness approach fireflies with higher brightness through formula (2). This method adopts a dimension-by-dimension update strategy for position update: start the update from the low dimension, first save the original position of the current dimension, and if the updated current dimension position is valid, replace the original position with the updated dimension position. If the updated dimension position is invalid, regenerate the position information of the dimension through formula (2). If the dimension position update fails to reach the maximum number of times, the original position of the dimension is retained and the position update of the next dimension is performed.

[0096] x i (t+1)=x i (t)+β ij ·(x j (t)-x i (t))+α·(rand1-0.5) (2)

[0097] Where: x i (t+1) represents the position of firefly i after t+1 iterations, x i (t) and x j (t) are the positions of fireflies i and j after t iterations respectively; α represents the step size of each iteration, and the value range of α is usually [0,1], and rand1 obeys the Gaussian distribution on [0,1]; β ij is the relative attraction between fireflies, as shown in formula (3).

[0098]

[0099] where: β0 represents the relative attraction between firefly i and firefly j at a distance r ij = 0, usually taken as 1, and the attraction is the largest at this time.

[0100] Calculate the new solution after position update and update the brightness of the firefly. Select the top h elite fireflies with the highest brightness in the population and initialize the chain length L = 0. Use the chaotic sequence formula (4) to generate the new solution of the elite firefly x k of

[0101]

[0102] where, represents the chaotic state value of firefly i in the k - th dimensional search space after N evolutions, θ is the control variable, and θ ∈ [1, 4].

[0103] Calculate the increment of the new solution of If the Metropolis criterion is satisfied, accept the new solution; otherwise, retain the original solution. The current chain length L is incremented by 1. If L < Loop, generate the new solution of the elite firefly again according to formula (4); otherwise, the current iteration number t is incremented by 1, and the annealing temperature T and the adaptive light absorption coefficient γ0 are updated. If the current iteration number t < maxIteration, perform the position update again by the mutual attraction of the firefly individuals through brightness; otherwise, sort the current population according to the luminous brightness and output the global optimal pipeline path to obtain the target pipeline information.

[0104] Step S40, generate a pipeline file according to the said target pipeline information.

[0105] It should be noted that the pipeline file refers to the readable file that transforms the target pipeline information into pipeline layout after the output of the target pipeline information, and the pipeline layout can be carried out according to the pipeline file.

[0106] In the specific implementation, after obtaining the target pipeline information, the pipeline information can be output by calling the pipeline through CATIA secondary development, and the pipeline file can be directly generated and then output, enabling engineers to carry out pipeline layout according to this pipeline file.

[0107] The improved firefly algorithm proposed in the present invention has the following advantages. First, an adaptive light absorption coefficient is introduced, and a dynamically adjusted light absorption coefficient is used to improve the global search capability of the algorithm in the early stage and improve the optimization accuracy in the later stage; second, a local search operator combining the ideas of chaos optimization and simulated annealing is introduced into the algorithm flow. For the top-ranked elite fireflies, a chaotic sequence with strong local mining ability is first used to generate a new solution, and then the new solution is accepted with a certain probability according to the idea of ​​simulated annealing, thereby increasing the algorithm's local search and ability to jump out of the local optimum.

[0108] The present embodiment provides a method for planning a pipeline path for an automobile, which obtains physical environment information according to the in-cabin layout environment, obtains a pipeline planning model according to the pipeline performance target and the pipeline planning boundary, plans the pipeline path based on the pipeline planning model, obtains initial pipeline information, optimizes the initial pipeline information, obtains target pipeline information, generates a pipeline file according to the target pipeline information, introduces vehicle performance parameters into the pipeline design, proposes an improved firefly algorithm combined with chaotic simulated annealing, obtains a good layout effect by using the optimization algorithm, provides a reliable reference for designers, can significantly shorten the design cycle of automobile pipelines, and can more efficiently use the vehicle layout space.

[0109] For example, in order to help understand the implementation process of the automobile pipeline path planning method obtained by combining this embodiment with the above-mentioned embodiment 1, please refer to Figure 3 , Figure 3 A brief flow chart of an automobile pipeline path planning method is provided, specifically: by modeling the cabin environment, a corresponding environmental model is constructed, physical boundaries and performance boundaries are determined from the environmental model, and according to the physical boundaries and performance boundaries, a pipeline planning model is constructed on the basis of the environmental model, and an optimal solution is obtained, and finally pipelines can be produced according to the optimal solution and the pipelines can be arranged.

[0110] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the automobile pipeline path planning method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0111] This application also provides a vehicle pipeline path planning device, please refer to Figure 4 , the automobile pipeline path planning device comprises:

[0112] The environment confirmation module 10 is used to obtain physical environment information according to the cabin layout environment;

[0113] A pipeline planning module 20, used to obtain a pipeline planning model according to the pipeline performance target and the pipeline planning boundary;

[0114] A planning optimization module 30 is used to plan the pipeline path based on the pipeline planning model to obtain initial pipeline information, and optimize the initial pipeline information to obtain target pipeline information;

[0115] The planning output module 40 is used to generate a pipeline file according to the target pipeline information.

[0116] The automobile pipeline path planning device provided by the present application adopts the automobile pipeline path planning method in the above embodiment, which can solve the technical problems that the prior art is prone to fall into local optimum during pipeline design, or does not consider the impact of the performance of surrounding components on pipeline layout. Compared with the prior art, the beneficial effects of the automobile pipeline path planning device provided by the present application are the same as the beneficial effects of the automobile pipeline path planning method provided by the above embodiment, and the other technical features of the automobile pipeline path planning device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0117] The present application provides an automobile pipeline path planning device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the automobile pipeline path planning method in the above-mentioned embodiment one.

[0118] Reference below Figure 5 , which shows a schematic diagram of the structure of an automobile pipeline path planning device suitable for implementing the embodiment of the present application. The automobile pipeline path planning device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5 The automobile pipeline path planning device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0119] like Figure 5As shown, the automobile pipeline path planning device may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the automobile pipeline path planning device are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the automobile pipeline path planning device to communicate wirelessly or wired with other devices to exchange data. Although the figure shows an automobile pipeline path planning device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0120] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0121] The automobile pipeline path planning device provided by the present application adopts the automobile pipeline path planning method in the above embodiment, which can solve the technical problems that the prior art is prone to fall into local optimum during pipeline design, or does not consider the impact of the performance of surrounding components on pipeline layout. Compared with the prior art, the beneficial effects of the automobile pipeline path planning device provided by the present application are the same as the beneficial effects of the automobile pipeline path planning method provided by the above embodiment, and the other technical features in the automobile pipeline path planning device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0122] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0123] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0124] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the automobile pipeline path planning method in the above-mentioned embodiment.

[0125] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media 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 or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0126] The computer-readable storage medium may be included in the automobile pipeline path planning device; or may exist independently without being assembled into the automobile pipeline path planning device.

[0127] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the automobile pipeline path planning device, the automobile pipeline path planning device:

[0128] Obtain physical environment information based on the cabin layout environment;

[0129] Obtaining a pipeline planning model according to the pipeline performance target and the pipeline planning boundary;

[0130] Planning the pipeline path based on the pipeline planning model to obtain initial pipeline information, and optimizing the initial pipeline information to obtain target pipeline information;

[0131] A pipeline file is generated according to the target pipeline information.

[0132] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0133] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0134] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0135] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned automobile pipeline path planning method, and can solve the technical problems that the prior art is prone to fall into local optimality during pipeline design, or does not consider the impact of the performance of surrounding components on pipeline layout. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the automobile pipeline path planning method provided by the above-mentioned embodiment, and will not be repeated here.

[0136] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned automobile pipeline path planning method when executed by a processor.

[0137] The computer program product provided by the present application can solve the technical problems that the prior art is prone to fall into local optimum during pipeline design, or does not consider the impact of the performance of surrounding components on pipeline layout. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the automobile pipeline path planning method provided by the above embodiment, and will not be repeated here.

[0138] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for planning a vehicle pipeline path, characterized in that: The automobile pipeline path planning method comprises: Obtain physical environment information based on the cabin layout environment; A pipeline planning model is obtained according to pipeline performance targets and pipeline planning boundaries; Planning the pipeline path based on the pipeline planning model to obtain initial pipeline information, and optimizing the initial pipeline information to obtain target pipeline information; Generate a pipeline file according to the target pipeline information; The steps of planning the pipeline path based on the pipeline planning model to obtain initial pipeline information, and optimizing the initial pipeline information to obtain target pipeline information include: Determining population parameters of the pipeline planning model; generating an initial population based on a roulette algorithm and the population parameters, and initial pipeline information according to the initial population; Obtaining an individual fitness value according to the population parameter and the initial pipeline information; Iterate the initial pipeline information, and update the corresponding individual position in the initial pipeline information according to the fitness value to obtain an updated individual position; Determining the fitness value of the updated individual position, and determining the elite individual according to the fitness value; Evolving the elite individuals to obtain an intermediate optimal pipeline path; When the number of iterations reaches the maximum number of iterations, the intermediate optimal pipeline paths are sorted and the global optimal pipeline path is output; The global optimal pipeline path is output as target pipeline information.

2. The method according to claim 1, characterized in that The step of obtaining physical environment information according to the cabin layout environment includes: Modeling is performed based on the cabin layout environment to obtain the vehicle layout environment; Determining a vehicle layout boundary according to the vehicle layout environment; The physical environment information is determined according to the coordinates of the boundary of the whole vehicle layout.

3. The method according to claim 2, characterized in that The step of modeling the interior layout environment to obtain the entire vehicle layout environment comprises: Modeling the cabin layout environment, rasterizing the cabin layout environment, and obtaining a rasterized cabin layout diagram; Determine the environment range and obstacle area in the raster layout diagram of the cabin; Determine the grid granularity of the obstacle according to the proportion of the area where the obstacle is located relative to the environmental range; The whole vehicle layout environment is obtained according to the environmental information and the grid granularity.

4. The method according to claim 1, characterized in that Before the step of obtaining the pipeline planning model according to the pipeline performance target and the pipeline planning boundary, the method further includes: Obtain performance simulation results based on thermodynamic simulation results and safety simulation results; Determining pipeline performance targets according to the performance simulation results; A pipeline planning boundary is obtained according to the physical environment information and the performance simulation result.

5. The method according to claim 1, characterized in that The step of generating an initial population based on the roulette algorithm and the population parameters and the initial pipeline information of the initial population comprises: Generate an initial population based on the roulette algorithm and the population parameters, perform validity detection on individuals of the initial population, and obtain detection results; When the detection result is an invalid individual, returning to the step of generating the initial population based on the roulette algorithm and the population parameters, regenerating a new individual, and detecting the new individual, and when the detection result is a valid individual, replacing the invalid individual with the valid individual; Initial pipeline information is obtained according to the valid individuals.

6. The method according to claim 1, characterized in that The step of evolving the elite individuals to obtain the intermediate optimal pipeline path comprises: Sorting the fitness values ​​of the elite individuals, and obtaining an elite individual sequence according to the sorting result; Iterate according to the elite individual sequence to obtain an intermediate iteration result; An increment of the intermediate iteration result is calculated, and when the increment satisfies a preset increment, the intermediate iteration result is output as an intermediate optimal pipeline path.

7. An automobile pipeline path planning device, characterized in that: The device comprises: An environment confirmation module is used to obtain physical environment information based on the cabin layout environment; A pipeline planning module, used to obtain a pipeline planning model according to the pipeline performance target and the pipeline planning boundary; A planning optimization module, used to plan the pipeline path based on the pipeline planning model to obtain initial pipeline information, and optimize the initial pipeline information to obtain target pipeline information; A planning output module, used to generate a pipeline file according to the target pipeline information; The steps of planning the pipeline path based on the pipeline planning model to obtain initial pipeline information, and optimizing the initial pipeline information to obtain target pipeline information include: Determining population parameters of the pipeline planning model; generating an initial population based on a roulette algorithm and the population parameters, and initial pipeline information according to the initial population; Obtaining an individual fitness value according to the population parameter and the initial pipeline information; Iterate the initial pipeline information, and update the corresponding individual position in the initial pipeline information according to the fitness value to obtain an updated individual position; Determining the fitness value of the updated individual position, and determining the elite individual according to the fitness value; Evolving the elite individuals to obtain an intermediate optimal pipeline path; When the number of iterations reaches the maximum number of iterations, the intermediate optimal pipeline paths are sorted and the global optimal pipeline path is output; The global optimal pipeline path is output as target pipeline information.

8. An automobile pipeline path planning device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the automobile pipeline path planning method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the automobile pipeline path planning method according to any one of claims 1 to 6 are implemented.

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