Vehicle guiding method and system based on path planning
By considering the adaptability of the vehicle turning radius and speed in the three-dimensional model, the path is dynamically adjusted to avoid the problem of scratching the vehicle at narrow inflection points, while maintaining the time efficiency of the path, the vehicle guidance path in the prior art is not adapted to the vehicle characteristics. The problem.
Patent Information
- Application Number
- CN202411591709.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-08
- Publication Date
- 2025-02-18
AI Technical Summary
In the existing three-dimensional model, the adaptability of the vehicle turning radius and speed at the inflection point was not considered, which caused side scraping problems when the vehicle passed through at a high speed at a narrow inflection point, and reduced speed to avoid scratching and causing path failure. The best time.
By obtaining vehicle-related data in path planning, establishing a three-dimensional model, determining the initial optimal path, and checking the difference between the inflection point size and the vehicle turning radius in the path. If the difference is less than the threshold, it will be replaced with a path with a short time; otherwise, whether to replace the path is determined based on the weighted sum value to ensure the time efficiency of the path and the safe passage of the vehicle.
It effectively avoids the problem of side scratching of the vehicle at narrow inflection points, while ensuring the time efficiency of the path and avoiding the non-optimal path problems caused by excessive speed reduction.
Smart Images
Figure CN119469183A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field of vehicle guidance, and in particular relates to a vehicle guidance method and system based on path planning. Background Art
[0002] As one of the important applications of vehicle-road cooperative technology, vehicle guidance is closely related to people's lives. Traditional vehicle guidance methods mostly rely on two-dimensional drawings and manual scheduling, which makes it difficult to reflect the vehicle's operating status and site space changes in real time, resulting in low scheduling efficiency and prone to collisions and congestion. Applying three-dimensional technologies such as BIM to the field of vehicle guidance can provide new solutions for vehicle scheduling, path planning, and traffic relief.
[0003] At present, when guiding vehicles in a three-dimensional model, the adaptability of the vehicle's turning radius and speed at the turning points is not considered; for example, when the vehicle is guided on the optimal path planned according to time, some turning points of the planned path cannot allow vehicles with a larger radius to pass, and when the vehicle has a large turning radius, passing through some narrow turning points at high speed will cause scratches on the side of the vehicle; while the scratch problem at narrow turning points can be avoided by reducing the speed, the increase in time caused by the speed reduction will result in the current path not being the time-optimal path, reducing the efficiency of vehicle planning in vehicle guidance. Summary of the invention
[0004] In order to solve the above problems, the present invention proposes a vehicle guidance method and system based on path planning. In the present invention, when there is a situation in the initial optimal path where the difference between the turning point size and the vehicle turning radius is less than a first threshold value, the optimal path is replaced with a path with the second shortest time, thereby avoiding the problem that there are turning points in the planned path that cannot allow vehicles with a larger radius to pass; on this basis, the differences between all turning point sizes and the vehicle turning radius in the initial optimal path are uniformly dimensioned and weighted summed with the vehicle speed. If the value of the weighted sum is less than a second threshold value, the optimal path is replaced with a path with the second shortest time, otherwise, the initial optimal path is used as the vehicle guidance path; the turning point size and the vehicle speed are comprehensively considered, and on the basis of avoiding the current path being a non-optimal path due to excessive speed reduction and ensuring a better time, the problem of vehicle side scratches caused by passing through a narrow turning point is allowed to be solved by speed reduction.
[0005] In order to achieve the above object, the present invention is implemented through the following technical solutions:
[0006] In a first aspect, the present invention provides a vehicle guidance method based on path planning, comprising:
[0007] Obtain vehicle-related data;
[0008] According to the acquired vehicle-related data, a vehicle model is established in a preset parking lot three-dimensional model;
[0009] According to the current speed of the vehicle, all paths from the starting point to the end point of the vehicle in the three-dimensional model are arranged for the purpose of time optimization, and the path with the shortest time is determined as the initial optimal path; in the three-dimensional model, the sizes of all turning points of the initial optimal path are determined; and the turning radius of the vehicle is determined through the vehicle model;
[0010] If the difference between the inflection point size and the vehicle turning radius in the initial optimal path is less than the first threshold, the optimal path is replaced with a path with the second shortest time; otherwise, the difference between all inflection point sizes and the vehicle turning radius in the initial optimal path and the vehicle speed are uniformly dimensioned and weighted summed. If the weighted sum value is less than the second threshold, the optimal path is replaced with a path with the second shortest time, otherwise, the initial optimal path is used as the vehicle guidance path;
[0011] Determine whether there is a conflict between the running trajectories of the vehicles on the vehicle guidance path. If so, adjust the path; otherwise, do not adjust;
[0012] Guide the vehicle to travel on the vehicle guidance path.
[0013] Furthermore, the optimal path is obtained through the A* algorithm according to the layout of the parking lot and the starting position of the vehicle; when the distance to the destination is preset, the weight of the estimated cost of the node distance to the end point is reduced.
[0014] Furthermore, the turning radius of the vehicle is equal to the ratio of the wheelbase to the sine of the maximum turning angle.
[0015] Furthermore, the value W of the weighted sum is:
[0016] W=αβ∑(NR) i +γδV
[0017] β=β0+MY
[0018] γ=γ0-M+Y
[0019] Among them, α and γ are dimension unification coefficients; β and γ are weights; β0 and γ0 are initial weights; M is the inflection point adjustment value, for every two inflection points added to the optimal path, M increases by a preset value, on the contrary, for every two inflection points reduced on the optimal path, M decreases by a preset value; Y is the inflection point adjustment value, for every 10m / s increase in vehicle speed, Y increases by a preset value, on the contrary, for every 10m / s decrease in vehicle speed, Y decreases by a preset value; N is the inflection point size, you can select the maximum value allowed for the vehicle to pass at the inflection point; R is the vehicle turning radius; V is the vehicle speed.
[0020] Furthermore, the time it takes for the vehicle to reach the obstacle is determined based on the distance between the vehicle and the obstacle, as well as the vehicle speed; it is determined whether the distance is less than a set distance threshold, whether the vehicle speed exceeds a set speed threshold, and whether the time it takes for the vehicle to reach the obstacle is less than a set time threshold. If one of the conditions is met, it is determined that the vehicle is at risk of collision and the path is adjusted.
[0021] Furthermore, the path in the three-dimensional model is smoothed, the path points of the parking lot are fitted into a smooth curve, and obstacles are added for collision detection; according to the collision detection results, the vehicle trajectory entity is moved or changed to eliminate the collision conflict; and the paths of each entity are repeatedly adjusted in the three-dimensional model until there is no conflict.
[0022] In a second aspect, the present invention further provides a vehicle guidance system based on path planning, comprising:
[0023] The data acquisition module is configured to: obtain vehicle-related data;
[0024] The model building module is configured to: build a vehicle model in a preset parking lot three-dimensional model according to the acquired vehicle-related data;
[0025] The path arrangement module is configured to: arrange all paths from the vehicle start point to the end point in the three-dimensional model according to the current speed of the vehicle and with the purpose of time optimization, and determine the path with the shortest time as the initial optimal path; determine the size of all turning points of the initial optimal path in the three-dimensional model; and determine the turning radius of the vehicle through the vehicle model;
[0026] The vehicle guidance path determination module is configured to: if the difference between the inflection point size and the vehicle turning radius in the initial optimal path is less than a first threshold, then the optimal path is replaced with a path with the second shortest time; otherwise, the difference between all inflection point sizes and the vehicle turning radius in the initial optimal path and the vehicle speed are uniformly dimensioned and weighted summed, and if the value of the weighted sum is less than a second threshold, then the optimal path is replaced with a path with the second shortest time, otherwise, the initial optimal path is used as the vehicle guidance path;
[0027] The collision detection module is configured to: determine whether there is a conflict between the running trajectories of the vehicles on the vehicle guidance path, and if so, adjust the path, otherwise, do not adjust;
[0028] The vehicle guidance module is configured to guide the vehicle to travel on a vehicle guidance path.
[0029] In a third aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle guidance method based on path planning described in the first aspect.
[0030] In a fourth aspect, the present invention further provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein when the processor executes the program, the steps of the vehicle guidance method based on path planning described in the first aspect are implemented.
[0031] In a fifth aspect, the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the vehicle guidance method based on path planning described in the first aspect are implemented.
[0032] Compared with the prior art, the present invention has the following beneficial effects:
[0033] In the present invention, according to the current speed of the vehicle, with the purpose of optimizing time, all paths from the starting point to the end point of the vehicle in the three-dimensional model are arranged, and the path with the shortest time is determined as the initial optimal path; if the difference between the turning point size and the vehicle turning radius in the initial optimal path is less than a first threshold value, the optimal path is replaced with a path with the second shortest time, thereby avoiding the problem that the planned path does not allow vehicles with a larger radius to pass the turning point; on this basis, the difference between all turning point sizes and the vehicle turning radius in the initial optimal path is unified in dimension and weighted summed with the vehicle speed, and if the value of the weighted sum is less than a second threshold value, the optimal path is replaced with a path with the second shortest time, otherwise, the initial optimal path is used as the vehicle guidance path; the turning point size and the vehicle speed are comprehensively considered, and on the basis of avoiding the current path being a non-optimal path due to excessive speed reduction and ensuring a better time, the problem of vehicle side scratches caused by passing through a narrow turning point is allowed to be solved by speed reduction. BRIEF DESCRIPTION OF THE DRAWINGS
[0034] The drawings in the specification that constitute a part of this embodiment are used to provide a further understanding of this embodiment. The schematic embodiments of this embodiment and their descriptions are used to explain this embodiment and do not constitute improper limitations on this embodiment.
[0035] Figure 1 is a flow chart of the method of embodiment 1 of the present invention;
[0036] Figure 2 A three-dimensional model diagram of a parking lot according to Embodiment 1 of the present invention;
[0037] Figure 3 The entity diagram of changing the vehicle trajectory of embodiment 1 of the present invention;
[0038] Figure 4 This is the vehicle route planning diagram of Example 1 of the present invention. DETAILED DESCRIPTION
[0039] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0040] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.
[0041] Embodiment 1:
[0042] like Figure 1 As shown, this embodiment provides a vehicle guidance method based on path planning, which realizes the entity of vehicle running trajectory through three-dimensional modeling and real-time data analysis, adjusts vehicle position, running speed and route planning in combination with time and space information, and improves the accuracy and efficiency of vehicle scheduling. The specific steps are:
[0043] S1. Basic data collection and modeling:
[0044] S1.1. According to the actual situation of the parking lot, clarify the boundaries of the parking lot, including the size, shape, terrain and buildings of the parking lot.
[0045] S1.2. Based on the original site plan, collect key information such as parking lot road location, vehicle parking area and parking space location to form a new site plan.
[0046] S1.3. Data such as vehicle flow, parking space occupancy and vehicle speed are collected in real time through cameras, infrared sensors and other equipment installed at key locations in the parking lot, and transmitted to the data processing unit via the wireless network.
[0047] S1.4. Using BIM technology, a three-dimensional model is established with the new site plan as the XY plane and time as the Z axis. The three-dimensional model includes static elements such as the parking lot road location, vehicle parking area and parking space location, as well as dynamic elements such as vehicle running trajectory.
[0048] As an integrated digital modeling tool and method, BIM technology realizes digital management and collaborative work throughout the project process by creating and managing digital information models of construction projects. With the continuous development of this technology, its application in the fields of construction, transportation, etc. is becoming more and more extensive. In the field of vehicle guidance, the application of BIM technology provides a new solution for vehicle scheduling, route planning, traffic relief, etc.
[0049] Through the use of BIM technology to accurately model the parking lot, combined with the Internet of Things, big data and other technologies, real-time monitoring of parking space information can be achieved, accurate navigation of vehicle parking can be realized, the time of looking for parking spaces can be reduced, and the overall operational efficiency of the parking lot can be improved. BIM technology can be used to simulate and analyze traffic flow and design reasonable vehicle guidance routes.
[0050] S1.5. Add details to the 3D model, such as road markings, parking space numbers, and lane lines, and optimize the details, including adjusting color, texture, light and shadow effects, to make it realistic and beautiful.
[0051] S2. Vehicle information entry and route planning:
[0052] S2.1. Draw the top-down size or working radius of the construction vehicle in proportion on the new site plan as required.
[0053] S2.2. First determine whether the parking lot the vehicle is entering is above ground or underground, then determine the specific location of the parking lot, and preliminarily plan the parking route for the vehicle based on the new site plan layout. Use the A* algorithm f(n)=g(n)+h(n), where g(n) is the actual cost of node n from the starting point, h(n) is the estimated cost of node n from the end point, and f(n) is the comprehensive priority of node n; node n can represent the intermediate destination or final destination that the vehicle wants to reach.
[0054] The contents of the A* algorithm include: Initialization: Create two lists, open_set (open list) for storing nodes to be checked, and close_set (closed list) for storing checked nodes. Add the starting point to the open_set (open list) and set its g value to 0. The h and f values are calculated according to the heuristic function. Loop search: select the node with the smallest f value from open_set as the current node; if the current node is the end point, the algorithm ends and the path is constructed by backtracking the parent node; if the current node is not the end point, remove it from open_set and add it to close_set; traverse all the adjacent nodes of the current node: if the adjacent node is in close_set, ignore it; if the adjacent node is not in open_set, calculate its g value, h value and f value, add it to open_set, and set the current node as its parent node; if the adjacent node is already in open_set, but the path to it through the current node has a smaller g value, update its g value and f value, and reset the parent node to the current node. Repeat the loop search part until the end point is found or open_set is empty.
[0055] According to the layout of the parking lot and the starting position of the vehicle, the best path to the target parking space is calculated, including the starting point, the end point, etc. When planning the path, the vehicle dynamics constraints are considered, the turning radius of the vehicle, the speed at which the vehicle reaches a certain turning point, and the layout of the parking lot are considered to ensure that the generated path is feasible in practice.
[0056] S2.2.1. The vehicle model is described by state and input, i.e. S = f(s, u). Where s is the state and u is the input. Discretize the control space and state space of the vehicle model. Control space sampling involves giving the system different inputs for a certain period of time T, while state space sampling involves selecting two states and finding the input control (u, T) between them. The path is obtained through the state transfer equation (such as s' = As + Bu) and dynamic constraints are considered, where A and B are fitting parameters.
[0057] S2.2.2. The turning radius R of the vehicle can be calculated by the formula R = L / sinα, where L is the wheelbase and α is the maximum turning angle. When generating a path, check each possible turning point in combination with the layout of the parking lot and the current path to ensure that the turning radius of the vehicle does not exceed the actual allowable value at that point.
[0058] S2.2.3. The current path of the vehicle is combined with the current vehicle speed, taking into account factors such as obstacles in the parking lot, to ensure that the vehicle can travel at a safe speed when reaching each turning point.
[0059] Specifically, when the vehicle has a large turning radius, passing through some narrow turning points at high speed will cause scratches on the side of the vehicle; the scratches at narrow turning points can be avoided by reducing the speed, but the increase in time caused by the reduction in speed will cause the current path to not be the time-optimal path, reducing the efficiency of vehicle planning in vehicle guidance.
[0060] Based on this, in this implementation, according to the current speed of the vehicle, with the purpose of time optimization, all paths from the starting point to the end point of the vehicle in the three-dimensional model are arranged, and the path with the shortest time is determined as the initial optimal path; if the difference between the turning point size and the vehicle turning radius in the initial optimal path is less than the first threshold, the optimal path is replaced with the path with the second shortest time, avoiding the problem that the planned path does not allow vehicles with larger radius to pass the turning point; on this basis, the difference between the turning point size and the vehicle turning radius in the initial optimal path is uniformly dimensioned and weighted summed with the vehicle speed, and the weighted sum value W is:
[0061] W=αβ∑(NR) i +γδV
[0062] β=β0+MY
[0063] γ=γ0-M+Y
[0064] Among them, α and γ are dimension - unified coefficients, which eliminate the units of the dimension difference and vehicle speed, so that the dimension and vehicle speed are transformed into scalars; β and γ are weights, and β + γ = 1; β0 and γ0 are initial weights. For example, when the number of inflection points is 3 and the speed is 60 m / s, β0 and γ0 are 0.5 respectively; M is the inflection - point adjustment value, with an initial value of 0, - 0.4 < M < 0.4. For every two additional inflection points on the optimal path, M increases by 0.1 until it reaches 0.4 and then remains unchanged. On the contrary, for every two fewer inflection points on the optimal path, M decreases by 0.1 until it reaches - 0.4 and then remains unchanged; Y is the inflection - point adjustment value, with an initial value of 0, - 0.4 < Y < 0.4. For every 10 m / s increase in vehicle speed, Y increases by 0.1 until it reaches 0.4 and then remains unchanged. On the contrary, for every 10 m / s decrease in vehicle speed, Y decreases by 0.1 until it reaches - 0.4 and then remains unchanged; N is the inflection - point size, which can be selected as the maximum value allowed for the vehicle to pass at the inflection point; R is the vehicle turning radius; V is the vehicle speed.
[0065] The weights β and γ are adjusted in real - time according to the data of the inflection points on the optimal path and the vehicle speed. The basis for judgment can be considered preferentially according to the actual situation, improving the reliability of judgment, so as to ensure the safety and efficiency of vehicle guidance to the greatest extent.
[0066] If the value of the weighted sum is less than the second threshold, the optimal path is replaced with the path with the second - shortest time. Otherwise, the initial optimal path is used as the vehicle guidance path; Considering the inflection - point size and vehicle speed comprehensively, on the basis of avoiding the current path becoming a non - optimal path due to excessive speed reduction and ensuring a relatively optimal time, it is allowed to solve the problem of vehicle side scraping caused by passing through narrow inflection points by reducing the speed. The specific settings of all thresholds in this embodiment can be determined and adjusted according to the actual situation and will not be elaborated here.
[0067] In this embodiment, when approaching the target node, the weight of h(n) is reduced to search for the optimal path more carefully. Other paths are synchronously displayed for comparison with the optimal path, and the paths reaching the end point are listed. Combining real - time information, the A* algorithm can cope with the dynamic changes in the parking lot.
[0068] S3. Trajectory substantiation and collision detection:
[0069] S3.1. According to the routes and running speeds of each vehicle, entities are stretched and established in the three - dimensional model to substantiate the running trajectories.
[0070] S3.2. Conduct model entity collision detection to check whether there are conflicts between vehicle running trajectories and find out the collision conflict positions.
[0071] Using the geometric model method, by calculating the distance s between the vehicle and the obstacle, the vehicle speed v, and the time t = s / v for the vehicle to reach the obstacle is preliminarily calculated. If the distance s is less than the set threshold or the vehicle speed v exceeds the set threshold, or the time t for the vehicle to reach the obstacle is less than the set threshold, the vehicle is at risk of collision.
[0072] S4. Trajectory adjustment and optimization:
[0073] S4.1. According to the collision detection results, move or change the vehicle trajectory entity to eliminate the collision conflict.
[0074] S4.2. Repeatedly adjust the paths of each entity in the three-dimensional model until there is no conflict, then intercept the coordinate plane on the same time axis to display the vehicle distribution at that time point.
[0075] S4.3. Use a smoothing algorithm based on fitting to smooth the path in the BIM model. The smoothed path based on the fitting solution is far away from the path points of the planned path, resulting in a shorter curve. Through fitting technology, the path points of the parking lot are fitted into a smooth curve, and obstacle avoidance is added to ensure that the smoothed path is both practical and safe. At the same time, unnecessary turns are reduced according to actual conditions.
[0076] S5. Dynamic adjustment and real-time monitoring:
[0077] S5.1. If a new vehicle enters, the space gaps in the three-dimensional model can be observed first, and a new three-dimensional trajectory can be created directly to avoid the existing trajectory.
[0078] S5.2. By continuously monitoring the vehicle's running trajectory, the system can promptly detect anomalies or potential risks, such as sensor failure, vehicle deviation from trajectory, etc.
[0079] S5.3. If there are site changes or temporary vehicle situations on site, the site boundary conditions can be modified and the three-dimensional trajectory can be directly changed. Steps S3.2, S4.1 and S4.2 can be repeated to update the vehicle plan in real time.
[0080] S6. System expansion and application:
[0081] The method in this embodiment is not only applicable to parking lot vehicle scheduling, but also can be used for traffic relief planning. The site boundaries are replaced with original roads, temporary closed areas, and temporary roads, and the model is established according to the above steps.
[0082] Embodiment 2:
[0083] This embodiment provides a vehicle guidance system based on path planning, including:
[0084] The data acquisition module is configured to: obtain vehicle-related data;
[0085] The model building module is configured to: build a vehicle model in a preset parking lot three-dimensional model according to the acquired vehicle-related data;
[0086] The path arrangement module is configured to: arrange all paths from the vehicle start point to the end point in the three-dimensional model according to the current speed of the vehicle and with the purpose of time optimization, and determine the path with the shortest time as the initial optimal path; determine the size of all turning points of the initial optimal path in the three-dimensional model; and determine the turning radius of the vehicle through the vehicle model;
[0087] The vehicle guidance path determination module is configured to: if the difference between the inflection point size and the vehicle turning radius in the initial optimal path is less than a first threshold, then the optimal path is replaced with a path with the second shortest time; otherwise, the difference between all inflection point sizes and the vehicle turning radius in the initial optimal path and the vehicle speed are uniformly dimensioned and weighted summed, and if the value of the weighted sum is less than a second threshold, then the optimal path is replaced with a path with the second shortest time, otherwise, the initial optimal path is used as the vehicle guidance path;
[0088] The collision detection module is configured to: determine whether there is a conflict between the running trajectories of the vehicles on the vehicle guidance path, and if so, adjust the path, otherwise, do not adjust;
[0089] The vehicle guidance module is configured to guide the vehicle to travel on a vehicle guidance path.
[0090] The working method of the system is the same as the vehicle guidance method based on path planning in Example 1, and will not be repeated here.
[0091] Embodiment 3:
[0092] This embodiment provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps of the vehicle guidance method based on path planning described in Example 1 are implemented.
[0093] Embodiment 4:
[0094] This embodiment provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor. When the processor executes the program, the steps of the vehicle guidance method based on path planning described in Example 1 are implemented.
[0095] Embodiment 5:
[0096] This embodiment provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the vehicle guidance method based on path planning described in Example 1 are implemented.
[0097] The above description is only a preferred embodiment of the present embodiment and is not intended to limit the present embodiment. For those skilled in the art, the present embodiment may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present embodiment shall be included in the protection scope of the present embodiment.
Claims
1. A vehicle guidance method based on path planning, characterized in that: include: Obtain vehicle-related data; According to the acquired vehicle-related data, a vehicle model is established in a preset parking lot three-dimensional model; According to the current speed of the vehicle, all paths from the starting point to the end point of the vehicle in the three-dimensional model are arranged with the goal of optimizing time, and the path with the shortest time is determined as the initial optimal path; In the three-dimensional model, determining the sizes of all turning points of the initial optimal path; and determining the turning radius of the vehicle through the vehicle model; If the difference between the inflection point size and the vehicle turning radius in the initial optimal path is less than the first threshold, the optimal path is replaced with a path with the second shortest time; Otherwise, the difference between the size of all turning points and the turning radius of the vehicle in the initial optimal path is uniformly dimensioned and weighted summed with the vehicle speed. If the value of the weighted sum is less than the second threshold, the optimal path is replaced with a path with the second shortest time. Otherwise, the initial optimal path is used as the vehicle guidance path. Determine whether there is a conflict between the running trajectories of the vehicles on the vehicle guidance path. If so, adjust the path; otherwise, do not adjust; Guide the vehicle to travel on the vehicle guidance path.
2. A vehicle guidance method based on path planning as claimed in claim 1, characterized in that: Through the A* algorithm, the optimal path is obtained according to the layout of the parking lot and the starting position of the vehicle; when the distance to the destination is preset, the weight of the estimated cost of the node distance to the end point is reduced.
3. A vehicle guidance method based on path planning as claimed in claim 1, characterized in that: The vehicle turning radius is equal to the ratio of the wheelbase to the sine of the maximum turning angle.
4. A vehicle guidance method based on path planning as claimed in claim 1, characterized in that: The value W of the weighted sum is: W=αβ∑(N-R) i +γδV β=β0+MY γ=γ0-M+Y Among them, α and γ are dimension unification coefficients; β and γ are weights; β0 and γ0 are initial weights; M is the inflection point adjustment value, for every two inflection points added to the optimal path, M increases by a preset value, on the contrary, for every two inflection points reduced on the optimal path, M decreases by a preset value; Y is the inflection point adjustment value, for every 10m / s increase in vehicle speed, Y increases by a preset value, on the contrary, for every 10m / s decrease in vehicle speed, Y decreases by a preset value; N is the inflection point size, you can select the maximum value allowed for the vehicle to pass at the inflection point; R is the vehicle turning radius; V is the vehicle speed.
5. A vehicle guidance method based on path planning as claimed in claim 1, characterized in that: The time it takes for the vehicle to reach the obstacle is determined based on the distance between the vehicle and the obstacle, as well as the vehicle speed. The time it takes for the vehicle to reach the obstacle is determined by judging whether the distance is less than a set distance threshold, whether the vehicle speed exceeds a set speed threshold, and whether the time it takes for the vehicle to reach the obstacle is less than a set time threshold. If one of the conditions is met, the vehicle is judged to be at risk of collision and the path is adjusted.
6. A vehicle guidance method based on path planning as claimed in claim 5, characterized in that: Smooth the path in the 3D model, fit the path points of the parking lot into a smooth curve, and add obstacles for collision detection; according to the collision detection results, move or change the vehicle track entity to eliminate the collision conflict; Repeatedly adjust the paths of each entity in the 3D model until there is no conflict.
7. A vehicle guidance system based on path planning, characterized in that: include: The data acquisition module is configured to: obtain vehicle-related data; The model building module is configured to: build a vehicle model in a preset parking lot three-dimensional model according to the acquired vehicle-related data; The path arrangement module is configured to: arrange all paths from the vehicle's starting point to the end point in the three-dimensional model according to the vehicle's current speed and with the goal of optimizing the time, and determine the path with the shortest time as the initial optimal path; In the three-dimensional model, determining the sizes of all turning points of the initial optimal path; and determining the turning radius of the vehicle through the vehicle model; The vehicle guidance path determination module is configured to: if there is a situation in which the difference between the inflection point size and the vehicle turning radius in the initial optimal path is less than a first threshold, then replace the optimal path with a path with the second shortest time; Otherwise, the difference between the size of all turning points and the turning radius of the vehicle in the initial optimal path is uniformly dimensioned and weighted summed with the vehicle speed. If the value of the weighted sum is less than the second threshold, the optimal path is replaced with a path with the second shortest time. Otherwise, the initial optimal path is used as the vehicle guidance path. The collision detection module is configured to: determine whether there is a conflict between vehicle running trajectories on the vehicle guidance path, and if so, adjust the path, otherwise, do not adjust; The vehicle guidance module is configured to guide the vehicle to travel on a vehicle guidance path.
8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the vehicle guidance method based on path planning as described in any one of claims 1 to 6 are implemented.
9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that: When the processor executes the program, the steps of the vehicle guidance method based on path planning as described in any one of claims 1-6 are implemented.
10. A computer program product, characterized in that The computer program product includes a computer program, and when the computer program is executed by a processor, the steps of the vehicle guidance method based on path planning as described in any one of claims 1 to 6 are implemented.