Movable platform control method and device, movable platform and storage medium

Abstract

The invention discloses a control method and device of a movable platform, the movable platform and a storage medium. The method comprises: in response to recognizing that a plurality of feasible channels exist in a to-be-explored area around a movable platform, determining the number of idle parking spaces around each feasible channel based on environmental information collected by a sensor carried by the movable platform (202); determining at least one target feasible channel from the plurality of feasible channels based on the number of idle parking spaces around each feasible channel (204); and controlling the movable platform to move in the to-be-explored area along the at least one target feasible channel to search for at least one idle berth along the way (206). Through the mode, the exploration efficiency that the movable platform moves in the to-be-explored area to search the idle berths along the way is improved, so that the movable platform can more efficiently and quickly explore the appropriate idle berths.

Description

Mobile platform control method, device, mobile platform and storage medium Technical Field

[0001] The embodiments of the present application relate to the field of mobile platform control technology, and more specifically, to a mobile platform control method, device, mobile platform, and storage medium. Background Art

[0002] With the development of technology, various types of mobile platforms can achieve autonomous movement without manual user control to complete certain specific tasks. For example, self-driving vehicles, autonomous flying aircraft, and some autonomously navigating intelligent robots can all move autonomously to certain environmental functional areas without user control to complete specific tasks. For example, they can automatically move to environmental functional areas such as berths and charging stations to complete tasks such as parking and charging. However, the existing solutions for the autonomous movement of mobile platforms to complete specific tasks are not effective. Therefore, there is a need to provide a more effective solution to better enable the autonomous movement of mobile platforms within an environmental area to more efficiently complete specific tasks within the area.

[0003] Summary of the Invention

[0004] In view of this, the present application provides a movable platform control method, device, movable platform and storage medium.

[0005] According to a first aspect of the present application, a method for controlling a movable platform is provided, the method comprising:

[0006] In response to identifying that a plurality of feasible passages exist in the to-be-explored area around the movable platform, determining the number of free berths around each of the feasible passages based on environmental information collected by sensors carried by the movable platform;

[0007] determining at least one target feasible channel from the plurality of feasible channels based on the number of free berths around each of the feasible channels;

[0008] The movable platform is controlled to move along the target feasible channel in the area to be explored to search for vacant berths along the way.

[0009] According to a second aspect of the present application, a method for controlling a movable platform is provided, the method comprising:

[0010] In response to identifying that a plurality of feasible pathways exist in the to-be-explored area around the movable platform, determining, based on environmental information collected by sensors carried by the movable platform, descriptive information of the surrounding environment of each of the feasible pathways;

[0011] The description information includes at least one of the following information: the distribution of free berths around the feasible channel, the overlap rate between the feasible channel and the historical motion trajectory of the movable platform, and the passable length of the feasible channel;

[0012] Determining at least one target feasible path from the plurality of feasible paths based on the description information;

[0013] The movable platform is controlled to move along the target feasible channel in the area to be explored to search for vacant berths along the way.

[0014] According to a third aspect of the present application, a control device for a mobile platform is provided, the device comprising a processor, a memory, and a computer program stored in the memory and executable by the processor. When the processor executes the computer program, the following steps may be implemented:

[0015] In response to identifying that a plurality of feasible passages exist in the to-be-explored area around the movable platform, determining the number of free berths around each of the feasible passages based on environmental information collected by sensors carried by the movable platform;

[0016] determining at least one target feasible channel from the plurality of feasible channels based on the number of free berths around each of the feasible channels;

[0017] The movable platform is controlled to move along the target feasible channel in the area to be explored to search for vacant berths along the way.

[0018] According to a fourth aspect of the present application, a control device for a mobile platform is provided, the device comprising a processor, a memory, and a computer program stored in the memory and executable by the processor. When the processor executes the computer program, the following steps may be implemented:

[0019] In response to identifying that a plurality of feasible pathways exist in the to-be-explored area around the movable platform, determining, based on environmental information collected by sensors carried by the movable platform, descriptive information of the surrounding environment of each of the feasible pathways;

[0020] The description information includes at least one of the following information: the distribution of free berths around the feasible channel, the overlap rate between the feasible channel and the historical motion trajectory of the movable platform, and the passable length of the feasible channel;

[0021] Determining at least one target feasible path from the plurality of feasible paths based on the description information;

[0022] The movable platform is controlled to move along the target feasible channel in the area to be explored to search for vacant berths along the way.

[0023] According to a fifth aspect of the present application, a movable platform is provided, which includes the movable platform control device mentioned in the third aspect and / or fourth aspect.

[0024] According to a sixth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed, the method mentioned in the first aspect and / or the second aspect is implemented.

[0025] By applying the solution provided in this application, when it is identified that there are multiple feasible channels in the area to be explored around the movable platform, the sensors carried by the movable platform can be used to collect surrounding environmental information, and at least one target feasible channel can be automatically determined from the multiple feasible channels without user operation, thereby improving the exploration efficiency of the movable platform in moving in the area to be explored to search for idle berths along the way, so that the movable platform can explore suitable idle berths more efficiently and quickly.

[0026] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0028] FIG1 is a schematic diagram of an application scenario of an embodiment of the present application.

[0029] FIG2 is a flow chart of a method for controlling a movable platform according to an embodiment of the present application.

[0030] FIG3 is a schematic diagram of determining multiple feasible channels in the speed direction according to an embodiment of the present application.

[0031] FIG4 is a schematic diagram of identifying the number of vacant berths from the description information of a signboard according to an embodiment of the present application.

[0032] FIG5 is a schematic diagram of accumulated experience data during the exploration process of a mobile platform according to an embodiment of the present application.

[0033] FIG6 is a schematic diagram of determining an area to be explored based on a target position according to an embodiment of the present application.

[0034] FIG. 7 is a schematic diagram of controlling a movable platform to return to a target marking position according to an embodiment of the present application.

[0035] FIG8 is a schematic diagram of a movable platform according to an embodiment of the present application escaping from a dead end.

[0036] FIG9 is a schematic diagram of the logical structure of a movable platform control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0038] With technological advancements, various types of mobile platforms can achieve autonomous movement without manual user control to complete specific tasks. For example, self-driving vehicles, autonomous aircraft, and some autonomously navigating intelligent robots can all autonomously move to functional areas in the environment without user control to complete specific tasks. For example, they can automatically move to parking spaces, charging stations, and other functional areas in the environment to complete tasks such as parking and charging. However, existing solutions for enabling mobile platforms to autonomously move to complete specific tasks are ineffective.

[0039] In scenarios without user control, one way to improve the effectiveness of a mobile platform's autonomous movement to complete specific tasks is for the mobile platform to use pre-built maps to assist in achieving autonomous movement to complete specific tasks.

[0040] For example, using a vehicle as an example of a mobile platform, consider automated parking in a parking lot. Current parking solutions include memory parking, which requires the user to first drive through the parking lot, pre-map the area they've driven through, and create a memory route. When the vehicle re-enters the neighborhood of the memory route and successfully locates itself, it can then cruise along the memory route, find a parking space, and park. This approach requires the vehicle to have driven through the parking lot and pre-established a memory route. It's suitable for frequent parking lots or those with fixed parking spaces. However, it has limitations for first-time users, unfamiliar parking lots, and infrequently visited parking lots. Another approach builds on memory parking by integrating crowdsourced maps generated by vehicle manufacturers' users within the parking lot. This allows the vehicle to navigate the parking lot, find a parking space, and park based on the crowdsourced map. However, crowdsourced maps currently rely on the vehicle manufacturer and the activities of the manufacturer's users. Another approach involves navigating, finding a parking space, and automatically parking in parking lots with complete maps or modified parking facilities. However, this method also relies on parking lot maps. The construction and maintenance costs of parking lot map drawing and updating or parking lot restructuring are relatively high, and the coverage area is small. At the current stage, only a small number of parking lots in first-tier cities support it.

[0041] However, there are some scenarios where the mobile platform may not be able to obtain valid map information of the current movement area. For example, the mobile platform cannot obtain a map of an area when it first arrives at the area, or the mobile platform can obtain a map of the area, but the map of the area is incomplete, or the mobile platform moves to a certain location with the help of the map and finds that there is no map of the area ahead. At present, for such areas where there is no map, mobile platforms are usually unable to achieve long-distance autonomous movement, and often require users to manually control it, which is still not smart and convenient enough. For example, taking vehicle parking as an example, currently, users are usually required to manually drive the vehicle to a vacant parking space in the parking lot before automatic parking can be achieved. It is impossible for the vehicle to move autonomously in the parking lot from the entrance of the parking lot to automatically find a vacant parking space and park.

[0042] To enable autonomous movement of a mobile platform within an area to search for specific environmental functional areas such as vacant parking spaces, one approach is to use sensors on the mobile platform to collect environmental information and, based on this information, control the mobile platform to perform indiscriminate exploratory movement within the area to search for vacant parking spaces. In this exploratory movement scenario, the mobile platform is often inefficient because it needs to constantly explore and repeatedly adjust its movement path based on environmental information, requiring a long time to find an vacant parking space. Therefore, it is necessary to provide an effective solution to enable the mobile platform to autonomously move within the area to be explored to search for vacant parking spaces along the way, thereby more efficiently completing specific tasks.

[0043] Unlike solutions that automatically control a mobile platform to dock in a target berth after identifying multiple identified berths, the present invention considers that when a mobile platform conducts exploratory movement within an area and reaches the intersection of multiple feasible pathways, such as an intersection, the selection of pathways is particularly critical, as it is closely related to the efficiency of the search for berths. If a reasonable feasible pathway can be selected, such as one with a high probability of finding the target berth near the feasible pathway, the efficiency of the mobile platform's search for berths within the unexplored area can be greatly improved, allowing the target berth to be found efficiently and quickly within the unexplored area.

[0044] Based on this, an embodiment of the present application provides a control method for a movable platform. As shown in Figure 1, when it is detected that there are multiple feasible channels (such as feasible channels 1 to 4 in the figure) in the area to be explored around the movable platform, the sensor carried by the movable platform can be used to collect the surrounding environmental information, and then the description information of each feasible channel can be determined based on the environmental information, wherein the description information can be various types of information describing the characteristics of each feasible channel, for example, it can be various types of information describing whether the feasible channel has been traveled, the number of environmental functional areas on the feasible channel, or whether the feasible channel is a dead end, the length of the traversable distance of the feasible channel, and so on. Among them, these description information can be used to assist the movable platform to efficiently and quickly find suitable environmental functional areas during the movement along the target feasible channel, thereby improving the exploration efficiency of the environmental functional areas in the area to be explored. When the movable platform moves to the intersection, the description information of each feasible channel in the intersection can be determined based on the environmental information collected by the sensor, and the better target feasible channel that can quickly find the suitable environmental functional area is selected based on the description information, thereby greatly improving the exploration efficiency of the movable platform in the area to be explored.

[0045] In some scenarios, the mobile platform control method of the embodiment of the present application can be executed by the mobile platform, for example, it can be executed by a control device built into the mobile platform, and the control device can be a processor or a chip. In some scenarios, the mobile platform control method of the embodiment of the present application can also be executed by a control device connected to the mobile platform, and the control device can also be a cloud server, various mobile terminals (for example, mobile phones), etc. The mobile platform can send the collected environmental information to the control device, and the control device determines the target feasible channel and generates a control instruction for controlling the movement of the mobile platform, and then returns it to the mobile platform. In some scenarios, the mobile platform control method of the embodiment of the present application can also be that some steps are executed by the mobile platform, and some steps are executed by the control device connected to the mobile platform. The specific steps can be flexibly set based on actual needs, and the embodiment of the present application does not impose any restrictions.

[0046] The movable platform in the embodiment of the present application can be a movable device such as a vehicle, an aircraft, a ship, an intelligent robot, etc. The movable platform can be a manned movable platform or an unmanned movable platform. Optionally, the movable platform includes a load for performing operations, and the load can be another movable platform, a shooting device, a robotic arm, a hanging system, a spraying system, etc. The embodiment of the present application does not specifically limit the type of load. Optionally, the movable platform is equipped with a sensor for collecting environmental information, wherein the sensor can be a single / binocular camera, a laser radar, a millimeter wave radar, etc., which is not limited in the embodiment of the present application.

[0047] In some embodiments, the vehicle may include an autonomous vehicle, a manually driven vehicle, or a vehicle with a human and a machine. Optionally, the vehicle may be used in one or more scenarios, such as a passenger vehicle, a logistics vehicle, or a sanitation vehicle. The above is merely illustrative and should not be construed as limiting the embodiments of this application.

[0048] In some embodiments, the aircraft may include a rotary-wing aircraft, such as a quadrotor, a hexacopter, or an octorotor, or a fixed-wing aircraft, or a combination of a rotary-wing aircraft and a fixed-wing aircraft. Optionally, the aircraft may include an unmanned aerial vehicle. The above is merely illustrative, and the embodiments of this application do not specifically limit the type of aircraft.

[0049] Any description of a vehicle in this application may apply to any movable object, such as any vehicle. In addition, the methods and devices disclosed in this application in the context of ground motion may also be applicable to other types of motion, such as motion in the air, on / under water, or in space.

[0050] In some scenarios, the area to be explored in the embodiments of the present application may be an area where the movable platform can move autonomously, and the area to be explored may be an area where the movable platform has moved or an area where it has not moved. For example, the movable platform moves to an intersection, and each feasible channel at the intersection may be an area to be explored. In some scenarios, the area to be explored in the embodiments of the present application may also refer to an area where the movable platform has not moved, for example, the movable platform moves to an intersection, and the channel for turning left at the intersection is the channel that the movable platform has traveled, so the area to be explored may be a feasible channel other than the channel for turning left.

[0051] The feasible channel in the embodiment of the present application refers to the channel on which the movable platform can travel. The environmental functional areas in the embodiment of the present application can be various areas such as berths, charging spaces, passenger drop-off spaces, exits, entrances, elevator entrances, car wash areas, etc.

[0052] In some embodiments, the descriptive information may include at least one of the following information: the distribution of free berths around the feasible channel, the overlap rate between the feasible channel and the historical motion trajectory of the movable platform, and the traversable length of the feasible channel. For example, the target feasible channel can be determined based on only one type of descriptive information, or the target feasible channel can be determined by combining multiple types of the above information. For example, in some scenarios, scoring criteria can be set for each type of descriptive information. For example, the number of free berths within different ranges corresponds to different scores. The overlap rate between the feasible channel and the historical motion trajectory of the movable platform within different ranges corresponds to different scores. The feasible channel length within different ranges corresponds to different scores. Then, a weight can be set for the score of each type of descriptive information based on its importance. For each feasible channel, a corresponding score can be determined based on the three types of descriptive information mentioned above, and a final score for each feasible channel can be obtained based on the weight and score of each type of descriptive information. The target feasible channel is then selected based on the score. For example, the feasible channel with the highest score is selected as the target feasible channel.

[0053] In some embodiments, the description information may be the distribution of free berths, and the control method of the movable platform may be used to control the movable platform to move autonomously within the area to automatically and efficiently search for free berths along the way. In this scenario, as shown in FIG2 , the method may include the following steps:

[0054] S202: In response to identifying that multiple feasible passages exist in the area to be explored around the movable platform, determining the number of free berths around each feasible passage based on environmental information collected by sensors carried by the movable platform;

[0055] In step S202, the movable platform can collect surrounding environment information through the sensors carried by it, and identify whether there are multiple feasible channels in the exploration area of ​​the movable platform based on the environmental information. If so, the number of vacant berths around each feasible channel can be determined by collecting environmental information through the sensors carried by the movable platform. The environmental information can be various types of information such as road markings, road facilities, traffic signs, landmark buildings, static / dynamic obstacles, etc. Optionally, the identification of the existence of multiple feasible channels in the area to be explored around the movable platform can be the online perception and identification of the existence of multiple feasible channels by the movable platform. Optionally, the movable platform can obtain map information related to the feasible channels, and then based on the positioning information of the movable platform, it can be determined that there are multiple feasible channels around the current movable platform.

[0056] S204, determining at least one target feasible channel from the plurality of feasible channels based on the number of vacant berths around each feasible channel;

[0057] In step S204, after determining the number of free berths around each feasible channel, at least one target feasible channel can be determined from the multiple feasible channels based on the number of free berths. In some embodiments, there are multiple target feasible channels, and the number of free berths around the multiple target feasible channels is greater than the number of free berths around other feasible channels. That is, the movable platform can select multiple feasible channels as target feasible channels. For example, feasible channel 1 and feasible channel 2 with a larger number of free berths around the feasible channels can be used as target feasible channels. Optionally, the above two target feasible channels can be prioritized, and the movable platform can be controlled to move in order on the multiple target feasible channels according to the priority order. In some embodiments, the number of free berths around the target feasible channel is greater than the number of free berths around other feasible channels in the multiple feasible channels.

[0058] A channel with a large number of available berths is selected as the target feasible channel. This increases the number of available berths available to the mobile platform during movement along the target feasible channel, and increases the probability of finding a suitable or suitable berth that meets actual needs. It's also worth noting that in some practical scenarios, the number of available berths around each feasible channel changes in real time based on environmental factors. For example, at the current moment, eight available berths are detected around feasible channel A and three around feasible channel B. As the mobile platform moves along feasible channel A, over time, the number of available berths may change due to other mobile platforms leaving occupied berths or entering available berths. For example, there may still be nine available berths around feasible channel A, while only one is left around feasible channel B. Therefore, selecting a feasible channel with a large number of available berths as the target feasible channel can also, to a certain extent, reduce the possibility of failing to find a suitable available berth near that feasible channel due to real-time environmental changes.

[0059] S206: Control the movable platform to move along at least one target feasible channel in the area to be explored to search for an idle berth along the way.

[0060] In step S206, after determining the target feasible channel, the movable platform can be controlled to move along at least one target feasible channel in the area to be explored to search for idle berths, that is, the movable platform can perform exploratory movements in the target feasible channel based on the collected environmental information and search for idle berths around the target feasible channel.

[0061] In this embodiment, when it is identified that there are multiple feasible channels in the area to be explored around the movable platform, the sensors carried by the movable platform can be used to collect surrounding environmental information. Without user operation, at least one target feasible channel is automatically determined from the multiple feasible channels based on the number of free berths around the feasible channel, thereby improving the exploration efficiency of the movable platform in moving in the area to be explored to search for free berths along the way, and enabling the movable platform to explore suitable free berths more efficiently and quickly.

[0062] Furthermore, it's worth noting that if there are more free berths around the target feasible path, there will be more free berths available for the mobile platform to search and select while moving along the target feasible path. This means that there's a higher probability of finding free berths around the target feasible path that are more suitable or more in line with actual needs, allowing the mobile platform to quickly find and dock in free berths while moving along the target path. This improves the efficiency of the mobile platform's search for free berths along the unexplored area, allowing it to more efficiently and quickly find suitable free berths. Conversely, if the target feasible path is not chosen and other feasible paths are selected instead, the probability of finding a suitable free berth along the other feasible paths is lower. As a result, the mobile platform may not be able to find a viable free berth even after traversing the entire other feasible path. The mobile platform will need to further explore the unexplored area to find a free berth, which takes a long time and can easily miss the target free berth, resulting in a lower efficiency for the mobile platform's search for free berths along the unexplored area.

[0063] In some embodiments, when detecting whether there are multiple feasible channels in the area to be explored around the movable platform, it can be detected whether there are multiple feasible channels in the area to be explored around the movable platform in the direction of the speed. For example, as shown in Figure 3, the feasible channels in the direction of the speed of the movable platform are feasible channels 1 to 3. For feasible channel 4, the movable platform has already traveled through it, indicating that the exploration has been completed, but no vacant berth has been explored, so it can be ignored. Considering that the movable platform can plan the motion path based on the environmental information collected by the sensor during autonomous movement, so as to move within the area to be explored. On the other hand, the user may also manipulate the movable platform based on his own judgment, such as considering factors such as work requirements, safety or effectiveness, to control the motion path of the movable platform, that is, the movable platform may also receive the user's operation instructions. For example, in an autonomous driving scenario where a user is also in the car, when the vehicle arrives at an intersection, the vehicle can determine the target feasible channel based on the descriptive information of each feasible channel. At the same time, the user may also, based on his or her own judgment, operate the vehicle's set operating components, such as at least one of the driving status switch button, light pole, brake pedal, accelerator and steering wheel, to control the vehicle to drive in a feasible channel in a certain direction, that is, manually select a feasible channel for the vehicle.

[0064] In some embodiments, to avoid conflicts between the two types of commands in the aforementioned scenario and to improve user experience, user commands can optionally be prioritized. When receiving user commands, these commands are given priority. Therefore, if multiple feasible paths are detected for the movable platform's motion direction, a determination can be made as to whether a user command has been received. If so, the movable platform can be directly controlled to move along the feasible path indicated by the user command.

[0065] In some embodiments, if no operation instruction is received from the user, the description information of the surrounding environment of each feasible channel is determined based on the environmental information collected by the sensor, at least one target feasible channel is determined from multiple feasible channels according to the description information, and a motion control instruction is generated. The motion control instruction is used to control the movable platform to move along the target feasible channel in the area to be explored.

[0066] Of course, in some scenarios, in order to screen out a target feasible channel that better meets the needs, if a user's operation instruction is received, at least one target feasible channel can be determined from multiple feasible channels by combining the user's operation instruction and the description information of each feasible channel determined by the mobile platform. For example, if the feasible channel indicated by the user's operation instruction is consistent with the feasible channel selected based on the description information, the selected feasible channel can be directly used as the target feasible channel. If the two are inconsistent, a prompt can be issued to the user to allow the user to choose whether to move along the feasible channel indicated by the user's operation instruction or the feasible channel selected based on the description information.

[0067] In some embodiments, when determining at least one target feasible channel from multiple feasible channels, in addition to the number of vacant berths on each feasible channel, it can also be further determined in combination with one or more of the following information: the distribution of environmental functional areas around each feasible channel, the overlap rate of each feasible channel with the historical motion trajectory of the movable platform, and the passable length of each feasible channel.

[0068] In some embodiments, environmental functional areas include one or more of the following: charging stations, drop-off stations, exits, and entrances. For example, when a mobile platform determines a target feasible channel among multiple feasible channels, in addition to considering the distribution of available parking spaces around the feasible channel, the distribution of other types of environmental functional areas can also be combined to more intelligently select the target feasible channel, ensuring that the parking spaces found along the way are more reasonable and further improving the user experience. For example, taking the mobile platform as a vehicle, when searching for an available parking space, the vehicle can automatically explore a charging location to meet the vehicle's charging needs. Alternatively, the vehicle can automatically park near specific locations, such as elevator entrances, user parking spaces, and environmental entrances and exits, to enable users to leave the vehicle to their destination or return to the vehicle more quickly and conveniently. Therefore, the target feasible channel can be selected based on information such as the presence of charging stations, drop-off stations, elevator entrances, or other convenient entrances and exits around each feasible channel.

[0069] In some embodiments, when the presence of environmental functional areas is detected around multiple feasible channels, the number of environmental functional areas determined around the target feasible channel is greater than the number of environmental functional areas around other feasible channels in the multiple feasible channels. This allows for a more efficient and rapid exploration of environmental functional areas that are more suitable or more in line with actual needs during movement along the target feasible channel. For example, the target feasible channel may have more charging stations around it than other feasible channels, allowing the mobile platform to quickly search for suitable charging stations while moving along the feasible channel. For example, the target feasible channel may have more elevator entrances around it than other feasible channels, allowing the mobile platform to park at an unoccupied berth near the feasible channel. This allows users to choose from more elevator entrances near the berth, making it easier for users to select a more suitable elevator entrance to reach their destination or quickly reach the berth from any elevator entrance.

[0070] In some embodiments, a functional environmental area exists around the identified target feasible passage, while no functional environmental area exists around other feasible passages. For example, a passenger drop-off location exists around the target feasible passage, so the movable platform can be parked at a vacant berth near the drop-off location, allowing the user to quickly find the movable platform nearby when returning to the drop-off location.

[0071] Furthermore, considering that the feasible channels that the mobile platform has already moved through are often channels where the mobile platform has not found an idle berth or has not found an idle berth that meets the user's needs. To prevent the mobile platform from repeatedly moving through feasible channels without idle berths, which would affect exploration efficiency, when determining at least one target feasible channel from multiple feasible channels, the overlap rate between each feasible channel and the historical motion trajectory of the mobile platform can be further combined to determine the target channel. If a feasible channel is detected to have a high overlap rate with the historical motion trajectory of the mobile platform, it indicates that the feasible channel is likely to be a feasible channel that the mobile platform has traveled through. Therefore, other feasible channels other than this feasible channel can be preferentially selected.

[0072] In some embodiments, the target feasible channel does not overlap with the historical motion trajectory of the movable platform, that is, the target feasible channel is a channel that the movable platform has not traveled.

[0073] Alternatively, in some embodiments, in order to prevent the movable platform from returning to an area that has been explored before when moving along the target feasible channel, the target feasible channel may also be a channel that does not point to an area that has been explored by the movable platform. That is, when moving along the target feasible channel, the movable platform will no longer move to an area that has been explored by the movable platform, thereby avoiding the movable platform from repeatedly exploring an area that has been explored, thereby improving exploration efficiency.

[0074] In addition, when the movable platform moves in the area to be explored, it is usually hoped that the movable platform does not move into a dead end, or enters a passage blocked by a large obstacle, or enters a narrow passage that the movable platform cannot pass through, etc. The above scenarios may cause the movable platform to be trapped in the passage, resulting in a long time to escape, etc., which greatly affects the efficiency of exploration. Therefore, in some embodiments, when determining at least one target feasible passage from multiple feasible passages, the target feasible passage can be selected in combination with the passability of each feasible passage. For example, the passability of the target passage finally selected meets the preset conditions.

[0075] In some embodiments, to more intuitively determine the passability of a target feasible channel, the passability can also be directly measured using the passability length of the target feasible channel. A longer feasible channel has a better passability, i.e., the passability length of the target feasible channel ultimately selected is greater than the passability lengths of other feasible channels among the multiple feasible channels.

[0076] Of course, when actually selecting a target feasible channel, the target feasible channel may be one that satisfies only one of the above conditions, or may satisfy multiple or all of the above conditions at the same time, and can be flexibly set based on actual needs. For example, for a scenario where the area to be explored is an area where the movable platform has moved and has not moved autonomously in a map-free scenario, the target feasible channel can be determined by combining the distribution of environmental functional areas around each feasible channel, the overlap rate of each feasible channel with the historical movement trajectory of the movable platform, and the passable length of each feasible channel. For a scenario where the area to be explored is an area where the movable platform has not moved, the target feasible channel can be determined by combining the distribution of environmental functional areas around each feasible channel and the passable length of each feasible channel.

[0077] When the movable platform finds an empty parking space in the area to be explored, in some scenarios, the user may want the movable platform to dock directly at the empty parking space. Of course, there are also some scenarios where the user may temporarily change the intention to dock the movable platform at an empty parking space and issue a new task for it. For example, taking the automatic parking scenario as an example, when the user drives the vehicle to the entrance of the parking lot, the vehicle's automatic exploration parking function can be triggered. After triggering this function, the vehicle can move autonomously in the area to be explored in the above manner to search for an empty parking space. The user can then get off the vehicle to handle things. When the vehicle finds an empty parking space, the user may have finished handling things and needs to drive home directly. At this time, if the vehicle parks directly at the empty parking space, it may take time to drive out of the empty parking space, wasting the vehicle's energy consumption. In addition, there are also some scenarios where the vacant parking spaces searched by the mobile platform may not meet the user's expectations. For example, the currently found vacant parking space is far away from the elevator entrance, and the user needs to walk a long distance from the elevator entrance to reach the parking space. If the mobile platform is parked directly at the parking space, it will reduce the user's parking experience.

[0078] To avoid the aforementioned issues, in some embodiments, upon detecting that the mobile platform has reached a vacant parking spot, a prompt may be issued to the user, informing them that the mobile platform has found a vacant parking spot and allowing them to confirm whether they wish to dock there. If the user confirms their intention, the platform may proceed to dock there. If a user cancels the request, the mobile platform may be directed to move away from the vacant parking spot and execute the newly assigned task. For example, in the aforementioned parking scenario, the vehicle may be directed to the parking lot exit so that the user can return home. Alternatively, the mobile platform may be directed to move away from the vacant parking spot and search for a new vacant parking spot that better meets the user's expectations or is more reasonable.

[0079] Of course, the same applies to other types of functional service areas, such as charging stations, entrances and exits, and passenger drop-off areas. For example, after the mobile platform finds a functional service area within the area to be explored, a prompt message can be sent to the user. If the user confirms the request, a control instruction is generated, which instructs the mobile platform to travel to the environmental functional area to complete the preset service, such as driving to a charging station to charge the mobile platform. If the user cancels the request, the mobile platform can be controlled to leave the vicinity of the functional service area.

[0080] Of course, when the mobile platform moves within the unexplored area to search for an available berth, there may be a scenario where no berth is found within the unexplored area. Therefore, in some embodiments, if the mobile platform fails to find an available berth within the unexplored area, the mobile platform can be controlled to move to and remain in a specific area within the unexplored area based on environmental information collected by sensors. The specific area may be an area where movable objects are less likely to be present, allowing the mobile platform to temporarily dock and avoid affecting the movement of other movable objects.

[0081] In some embodiments, the number of movable objects around the specific area is less than a preset number, or the number of movable objects passing through the specific area per unit time is less than a preset number. The movable objects may be pedestrians and / or other movable platforms.

[0082] For example, taking the automatic parking scenario as an example, in some scenarios, the user may only need to park for a short time. Therefore, if the vehicle does not find an empty parking space in the parking lot, the vehicle can be controlled to find an area with fewer vehicles and / or pedestrians (movable objects) in the parking lot, or an area with less traffic and / or pedestrian flow, so that the vehicle can be parked temporarily.

[0083] Of course, in some embodiments, if the mobile platform does not find an available parking space within the area to be explored, it can also determine information about environmental functional areas outside the area to be explored and control the mobile platform to move to that environmental functional area. For example, in an automated parking scenario, if no available parking space is found in the parking lot, the vehicle can be controlled to move to a nearby area where car wash services or charging services are available, so that the vehicle can automatically move to these areas to complete the car wash or charging services.

[0084] In some scenarios, the user is not on the mobile platform while the mobile platform autonomously moves in the unexplored area to search for an available berth, that is, the user is far away from the mobile platform. To enable the user to remotely control the mobile platform, the mobile platform can communicate with the user's mobile terminal (e.g., a mobile phone). The user can remotely send information about environmental functional areas outside the unexplored area to the mobile platform through the mobile terminal and remotely control the mobile platform to move to the environmental functional area.

[0085] In some embodiments, the number of available parking spaces around each feasible path can be determined based on descriptions of markers identified from environmental information. For example, as shown in FIG4 , a parking lot typically has signs indicating the number of available parking spaces currently remaining in each area. Therefore, the vehicle can identify the number of available parking spaces from images of the signs captured by the sensor and determine the number of available parking spaces around each feasible path based on the number of available parking spaces.

[0086] In some embodiments, when determining the number of vacant parking spaces around each feasible passage, a marker may be identified based on environmental information. The marker may include a marking line and / or a marking device, which can be used to identify the parking space. The location and number of environmental functional areas around each feasible passage can then be determined based on the identified marker. For example, in a parking lot, parking spaces are typically marked by parking lines. Therefore, a vehicle can identify these parking lines from environmental information collected by sensors, determine parking spaces based on the parking lines, and count the number of parking spaces around each feasible passage.

[0087] In some embodiments, the environmental function area around each passable road is identified based on the environmental information collected by the sensors, and the distribution information of the environmental function area around each passable road is determined based on the identified environmental function area. In some embodiments, the mobile platform can identify markers based on the environmental information collected by the sensors, and determine the distribution information of the environmental function area around each passable road based on the distribution information of the environmental function area represented by the identified markers. In some embodiments, while the mobile platform is moving in the area to be explored, the environmental information collected by the sensors can be used to construct a map of the explored area. The mobile platform can determine the distribution information of the environmental function area around each passable road based on the environmental information collected by the sensors and the constructed map.

[0088] In some embodiments, the environmental information can be environmental information collected at historical and / or current times during the mobile platform's movement within the area to be explored. For example, as shown in FIG5 , while the mobile platform is moving within the area to be explored, it can collect environmental information about the surroundings through sensors. Based on this environmental information, the mobile platform can analyze the surrounding environment, mark previously explored passages, mark dead ends, and collect statistics on available parking spaces, charging ports, drop-off areas, entrances and exits, and other environmental functional areas around the currently available passage. This empirical data can then be recorded to assist the mobile platform in efficiently searching for available parking spaces. For example, as shown in FIG5 , environmental information can be continuously collected during movement, and this empirical data can then be continuously updated based on the environmental information. When the mobile platform reaches an intersection, it can determine the number of available parking spaces and other environmental functional areas around each available passage based on the environmental information collected at the current moment, determine whether each available passage leads to an unexplored area based on the environmental information collected at the current moment, or determine the passability of each available passage based on the environmental information collected at the current moment, thereby completing the screening of target available passages. At the same time, the historical accumulated experience data can also be combined to complete the screening of target feasible channels to obtain more accurate screening results.

[0089] By continuously extracting and storing some experiential information from the collected environmental information to assist the mobile platform in efficiently searching for functional areas of the environment during the movement of the mobile platform, and using it to guide the mobile platform in selecting and planning the motion path, the exploration efficiency of the mobile platform can be further improved.

[0090] In some embodiments, the area to be explored may be an area within a preset distance range of a target location, wherein the target location may be determined based on location information obtained by a user operation command, or based on preset location information detected by environmental information, or a combination of both types of information. For example, in an automated parking scenario, as shown in FIG6 , a user may want to find an available parking space near an elevator entrance. Thus, the user may enter “elevator entrance” on the interactive interface of the mobile platform, or the user may enter “elevator entrance” through a control device of the mobile platform, or the user may enter “elevator entrance” through a voice command. Upon receiving the target location indicated by the user command (e.g., “elevator entrance”), the mobile platform may automatically explore the parking area to find the elevator entrance. Once the elevator entrance is found, the area within a preset distance range of the elevator entrance is designated as the area to be explored, for example, an area within 300 meters of the elevator entrance, to search for an available parking space within the area to be explored. The preset distance may be pre-set based on actual needs. Alternatively, if the user wants to find an available parking space on the underground first floor of the parking lot, the user can also enter "underground first floor" so that the vehicle will use the underground first floor as the area to be explored and search for an available parking space in that area.

[0091] In some embodiments, certain specific types of locations can be pre-set as target locations, such as elevator entrances and parking lot entrances. During the movement of the movable platform, if the collected environmental information identifies these preset locations, the area within a certain distance of the preset location can be automatically designated as the area to be explored. For example, in an automatic parking scenario, when the vehicle recognizes that it has reached the parking lot entrance through the collected environmental information, the exploration parking mode can be automatically activated, and the area within a certain distance of the parking lot entrance can be designated as the area to be explored, and the vehicle can autonomously move within the area to search for an available parking space.

[0092] In some embodiments, the movable platform may also generate area restriction information, where the area restriction information is used to restrict an area to be explored by the movable platform.

[0093] In some embodiments, after determining the area to be explored of the mobile platform, it is possible to detect whether the mobile platform has entered the area to be explored. If so, it is possible to further determine whether the mobile platform can obtain map information of the area to be explored. If the map information cannot be obtained, the above-mentioned step of determining the number of free berths or other types of environmental functional areas around each feasible channel based on the environmental information collected by the sensors onboard the mobile platform is performed, that is, the step of exploring within the exploration area to search for free berths or other types of environmental functional areas is performed. The inability to obtain map information of the area to be explored includes any of the following situations: the inability to obtain a map of the area to be explored, the incomplete map of the area to be explored, or the discovery that the mobile platform has no map after moving along the obtained map for a distance.

[0094] Of course, in some embodiments, before executing the aforementioned step of exploring the area to be explored to search for free parking spaces or other types of environmental functional areas, a prompt message may be provided to the user to allow the user to determine whether to enter the aforementioned exploration mode. If a user confirmation operation is detected, the exploration mode is entered, i.e., the steps of determining the number of free parking spaces or other types of environmental functional areas in multiple feasible pathways around the movable platform based on environmental information collected by sensors on the movable platform, and selecting a target feasible pathway are executed.

[0095] In some embodiments, if it is determined that the movable platform can obtain map information of the area to be explored, the movable platform can be assisted in moving and searching for an empty berth directly based on the map information.

[0096] In one embodiment, if a pre-planned movement route recorded by a mobile platform is available after detecting that the mobile platform has entered an area to be explored, the mobile platform may be controlled to move along the route to search for an environmental functional area surrounding the route. If the mobile platform fails to find an environmental functional area while moving along the pre-planned movement route, the mobile platform may be controlled to enter an exploration mode to autonomously search for an environmental functional area. The pre-planned movement route may be determined based on the mobile platform's historical movement trajectory.

[0097] For example, in the case of automated parking, a memory parking solution currently exists. This solution automatically records the route a vehicle has driven through a parking lot, creating a memory route. The vehicle can then follow this memory route to search for an available parking space the next time it drives along the memory route. If the vehicle fails to find an available parking space along the memory route, it can enter exploration mode, searching for an available parking space within the area to be explored using the methods described above. Optionally, the vehicle can enter exploration mode and complete the map information for the memory parking session.

[0098] Of course, in some scenarios, if the mobile platform finds that the map is incomplete and cannot obtain the map of a certain sub-area while moving in the area to be explored based on the pre-acquired map, the mobile platform can also be automatically controlled to enter the above-mentioned exploration mode, and use the above-mentioned method to explore the area to be explored and search for empty berths.

[0099] In some scenarios, after the movable platform enters the above-mentioned exploration mode, if it finds that it has moved to an area where a map can be obtained during movement, it can also exit the above-mentioned exploration mode and then directly search for an empty berth in the area based on the map.

[0100] In some embodiments, when the movable platform is detected to have reached the boundary of the unexplored area, another unexplored area may be determined, and the movable platform may be controlled to move to the other unexplored area to search for an available berth. The other unexplored area may be a larger area that includes the original unexplored area, or may be another area that does not overlap with the original unexplored area.

[0101] In some embodiments, when it is detected that the movable platform has moved to the boundary of the area to be explored, the movable platform can be controlled to move in the opposite direction based on the historical movement path and / or road structure information, or the movable platform can be controlled to move in the opposite direction along the historical movement path. That is, the movable platform can continue to move in the original area to be explored to search for an empty berth. Optionally, the reverse movement includes turning around or reversing. The historical movement path represents that the movable platform has already moved, which can ensure the movement safety of the movable platform to a certain extent. The movable platform can move along the historical movement path, or along a newly planned path until an empty berth is found, wherein the newly planned path is replanned based on the road structure information perceived by the movable platform. Considering that other movable platforms may leave the berth during the movement of the movable platform, thereby freeing up the berth, the movable platform can be controlled to move repeatedly in the area to be explored until a berth is found. Alternatively, if no vacant parking space can be found in the area to be explored, the movable platform may continue to move repeatedly in the area to be explored until a specified time has passed, until the user takes over the movable platform again, that is, the user begins to manually control the movable platform. This method can also be used as an optional method for the movable platform to stay in the area to be explored for a specific period of time even if it cannot be docked.

[0102] In some embodiments, when it is detected that the movable platform moves to the boundary of the area to be explored, the movable platform may be controlled to stop moving. For example, the movable platform may exit the exploration mode and the user may take over the movable platform.

[0103] In some embodiments, when it is detected that the movable platform moves to the boundary of the target area, a prompt message may also be issued to show the user the above-mentioned modes (re-exploring in another exploration area, continuing to explore in the original exploration area, exiting the exploration mode and being taken over by the user). After obtaining the user's selection operation, the movement of the movable platform is controlled according to the mode selected by the user's selection operation.

[0104] In some embodiments, while the movable platform is moving in the area to be explored, a mark position can be determined from the surrounding environment of the movable platform. After detecting a control instruction generated based on the user's control operation, the movable platform can be controlled based on the control instruction to move the movable platform from the resting position to the target mark position. The mark position can be a certain type of position, for example, an elevator entrance, an entrance, or other position that the user may need to use later. These mark positions can be recorded while the movable platform is moving in the area to be explored. When the user wants the movable platform to move to a certain mark position (i.e., the target mark position), a control instruction can be input to the movable platform so that the movable platform can move from the resting position to the target mark position.

[0105] In some embodiments, preset locations detected based on environmental information can be identified as marked locations. For example, a user can pre-set the type of marked location, such as an elevator entrance, an entrance, or an exit. During the movement of the movable platform, if these marked locations are identified based on the collected environmental information, the information of these marked locations can be recorded. The marked location information can include the location information of the marked location and the path information leading to the marked location.

[0106] In some embodiments, the position indicated by the user through the operating component (interactive interface, button, direction bar, etc. on the movable platform or the control device of the movable platform) can also be determined as the mark position. For example, during the movement of the movable platform, a map of the area where the movement has taken place can be constructed based on the collected environmental information and displayed to the user. The user can operate (for example, select or click) on the map on the display screen of the control device to indicate the mark position, and then the information of the mark position indicated by the user can be recorded. In some embodiments, as shown in Figure 7, after the user inputs an instruction to control the movable platform to move to the target mark position, the movable platform can be controlled to move from the rest position to the target mark position based on the environmental information and the historical movement trajectory of the movable platform. During the movable movement, the historical movement trajectory and road structure information of the movable platform can be recorded, and then the movable platform can be controlled to return to the target mark position based on the historical movement trajectory and road structure information, which can improve the efficiency of the movable platform returning to the target mark position. Among them, the road structure information includes road topology information such as road boundaries and intersection information.

[0107] For example, in an automated parking scenario, after the vehicle reaches the parking lot entrance, the user can exit the vehicle and switch the vehicle to the aforementioned exploration mode. The user can then instruct the vehicle to search for an available parking space within 300 meters of an elevator entrance. The vehicle will then autonomously explore the parking lot, searching for the elevator entrance. Once it finds the elevator entrance, it will identify the area within 300 meters as a target area and search for available parking spaces within that area. During the exploration process, it can record elevator entrances it passes along the way. Simultaneously, the vehicle can automatically construct a map of the explored area based on the collected environmental information and then display the map to the user through the user's mobile phone interface. When the user needs to use the vehicle again, they can select an elevator entrance on the map using the control device and remotely control the vehicle to that entrance, allowing them to proceed to the entrance and board. Since the vehicle can pre-record its historical driving routes, it can combine these routes to reach the elevator entrance, making it more efficient and quicker. The aforementioned reverse recall function allows the vehicle to be easily and accurately recalled to a specific location.

[0108] In some embodiments, during the movement of the mobile platform, the passability of the passage in the direction of the mobile platform's current speed can be determined based on environmental information collected by sensors and the state information of the mobile platform. If the passability falls below a preset condition, the mobile platform can be controlled to move in the opposite direction to the nearest intersection. For example, if the direction of the mobile platform's speed leads to a dead end, a narrow passage, or an obstacle blocking the passage, making it impossible for the mobile platform to pass, the mobile platform can be controlled to move in the opposite direction to the nearest intersection to avoid being trapped in the current passage.

[0109] In some embodiments, as shown in FIG8 , the movable platform may encounter scenarios such as moving into a dead end during its movement. In order to quickly escape from a predicament, the movement path of the movable platform may be recorded during its movement. When it is detected that there is no feasible passage in the area to be explored around the movable platform, that is, when the movable platform enters a dead end, the movable platform may be controlled to move in the opposite direction along the recorded movement path to escape from the dead end.

[0110] In some embodiments, while a mobile platform is moving within an unexplored area, a map of the unexplored area can be generated based on environmental information collected by sensors. Generating a map based on this collected environmental information during exploration facilitates subsequent guidance of the mobile platform within the unexplored area based on the constructed map, thereby improving navigation efficiency. Alternatively, the constructed map information can be shared, for example, by uploading it to the cloud for storage and update, allowing other mobile platforms to access this information through the cloud.

[0111] In some embodiments, after constructing a map of the area to be explored based on the collected environmental information, this constructed map can be fused with other maps to generate a fused map. This fused map can then be used by the mobile platform to autonomously navigate back to the area to be explored. For example, in scenarios where a map of the area to be explored already exists but is incomplete, the newly constructed map can be used to supplement the original map to make it more complete. Alternatively, the newly constructed map can be used to update the original map, ensuring that the map is updated promptly to reflect the latest road conditions.

[0112] In some scenarios, while the mobile platform is moving along a target feasible path in the unexplored area, if the environment surrounding the mobile platform is detected to meet a preset environment and / or the mobile platform's motion state is detected to meet a preset motion state, a prompt message may be generated to prompt the user. Preset environments may include at least one of the following: a narrow space, an intersection, a dead end, an environment entrance, an environment exit, a turn, an uphill slope, a downhill slope, a pothole, a convex pothole, or a toll booth. Preset motion states may include at least one of the following: driving against traffic, yielding, etc.

[0113] Taking a vehicle as an example, there are scenarios where the user is manually controlling the vehicle or remotely controlling the vehicle. In these situations, prompts can be provided to the user based on collected environmental information and the detected vehicle's motion state to assist with safe driving. For example, a prompt can be provided to the user if the vehicle is detected entering a dead end or a confined space, or if the user is driving in an illegal manner, ensuring compliance and safe driving.

[0114] In some embodiments, the mobile platform can establish a communication connection with a mobile terminal, allowing the user to control the mobile platform through the mobile terminal. For example, upon detecting an information acquisition operation by the user on the mobile terminal, the mobile platform's status information can be sent to the mobile terminal. In some embodiments, upon detecting a motion control operation by the user on the mobile terminal, the mobile platform can be controlled to move.

[0115] In addition, the present application also provides a method for controlling a movable platform, the method comprising:

[0116] Detect whether there are multiple feasible channels in the area to be explored around the movable platform; determine the description information of the surrounding environment of each feasible channel based on the environmental information collected by the sensor carried by the movable platform; determine at least one target feasible channel from the multiple feasible channels based on the description information, and generate a motion control instruction, wherein the motion control instruction is used to instruct the movable platform to move along the target feasible channel in the area to be explored.

[0117] In addition, the present application also provides a method for controlling a movable platform, the method comprising:

[0118] During the movement of the movable platform, environmental information collected by the sensors carried by the movable platform is obtained; based on the environmental information, it is detected whether there are multiple feasible channels in the movement direction of the movable platform; if it is detected that there are multiple feasible channels, it is determined whether a user operation instruction is received; if no user operation instruction is received, description information of the surrounding environment of each feasible channel is determined based on the environmental information; based on the description information, at least one target passable road is determined from the multiple passable roads, and a motion control instruction is generated, wherein the motion control instruction is used to instruct the movable platform to move along the target feasible channel in the area to be explored.

[0119] In addition, the present application also provides a method for controlling a movable platform, the method comprising:

[0120] In response to identifying the presence of multiple feasible pathways in the area to be explored around the movable platform, descriptive information of the surrounding environment of each feasible pathway is determined based on environmental information collected by sensors carried by the movable platform; wherein the descriptive information includes at least one of the following information: a distribution of vacant berths around the feasible pathway, a coincidence rate between the feasible pathway and the historical motion trajectory of the movable platform, and a traversable length of the feasible pathway;

[0121] Determining at least one target feasible path from the plurality of feasible paths based on the description information;

[0122] The movable platform is controlled to move along the target feasible channel in the area to be explored to search for vacant berths along the way.

[0123] In some embodiments, before determining at least one target feasible path from the plurality of feasible paths based on the description information, the method further includes:

[0124] Determine whether a user operation instruction is received, wherein the operation instruction is used to instruct the movable platform to move in the area to be explored; if the user operation instruction is not received, perform an operation of determining at least one target feasible channel from the multiple feasible channels based on the description information.

[0125] In some embodiments, the target feasible channel meets one or more of the following conditions:

[0126] There are multiple target feasible channels, and the number of vacant berths around the multiple target feasible channels is greater than the number of vacant berths around the other feasible channels;

[0127] The number of free berths around the target feasible channel is greater than the number of free berths around other feasible channels among the multiple feasible channels;

[0128] The target feasible channel does not point to an area that has been explored by the movable platform;

[0129] The traversable length of the target feasible channel is greater than the traversable lengths of other feasible channels among the multiple feasible channels.

[0130] In some embodiments, the description information further includes the distribution of environmental functional areas around the feasible channel, and the environmental functional areas include one or more of the following: charging position, passenger drop-off position, exit, and entrance.

[0131] In some embodiments, the method further comprises:

[0132] When detecting that the movable platform has moved to the vicinity of an empty berth, a prompt message is sent to the user;

[0133] In response to a cancel operation by the user, the movable platform is controlled to move away from the vicinity of the vacant berth.

[0134] In some embodiments, the method further comprises:

[0135] If no vacant berths are found in the area to be explored, perform any of the following operations:

[0136] Identify a specific area within the area to be explored based on the environmental information, and control the movable platform to move to the specific area and stay there; or

[0137] Determine information about an environmental functional area outside the area to be explored, and control the movable platform to move to the environmental functional area.

[0138] In some embodiments, the number of movable objects around the specific area is less than a preset number; and / or the information of the environmental functional area outside the area to be explored is determined based on a user's remote control operation.

[0139] In some embodiments, the method further includes: upon detecting that the movable platform moves to a boundary of the area to be explored, performing any one of the following operations:

[0140] determining another area to be explored, and controlling the movable platform to move to the another area to be explored to search for an empty berth; or

[0141] controlling the movable platform to move in the reverse direction along the historical motion path; or,

[0142] The movable platform is controlled to stop moving.

[0143] The specific details of the above movable platform control method refer to the description of the above embodiment and will not be repeated here.

[0144] It is not difficult to understand that the solutions described in the above embodiments can be combined when there is no conflict, and they are not listed one by one in the embodiments of this application.

[0145] Furthermore, an embodiment of the present application also provides a control device for a mobile platform, as shown in FIG9 . The device includes a processor 91, a memory 92, and a computer program stored in the memory 92 and executable by the processor 91. When the processor 91 executes the computer program, the following steps can be implemented:

[0146] In response to identifying that a plurality of feasible passages exist in the to-be-explored area around the movable platform, determining the number of free berths around each of the feasible passages based on environmental information collected by sensors carried by the movable platform;

[0147] Based on the number of free berths around each of the feasible channels, at least one target feasible channel is determined from the multiple feasible channels; and the movable platform is controlled to move along the target feasible channel in the area to be explored to search for free berths along the way.

[0148] In some embodiments, there are multiple target feasible channels, and the number of free berths around the multiple target feasible channels is greater than the number of free berths around other feasible channels.

[0149] In some embodiments, the number of free berths around the target feasible channel is greater than the number of free berths around other feasible channels among the multiple feasible channels.

[0150] In some embodiments, before determining at least one target feasible path from the plurality of feasible paths, the processor is further configured to:

[0151] determining whether a user operation instruction is received, wherein the operation instruction is used to instruct the movable platform to move in the area to be explored;

[0152] If the user operation instruction is not received, an operation of determining at least one target feasible path from the multiple feasible paths is performed.

[0153] In some embodiments, the step of the processor determining at least one target feasible path from the plurality of feasible paths comprises:

[0154] At least one target feasible path is determined from the plurality of feasible paths based on one or more of the following information:

[0155] The distribution of environmental functional areas around each feasible channel, the overlap rate between each feasible channel and the historical motion trajectory of the movable platform, and the traversable length of each feasible channel.

[0156] In some embodiments, the environmental functional area includes one or more of the following: a charging position, a passenger drop-off position, an exit, and an entrance.

[0157] In some embodiments, the target feasible channel does not point to an area that has been explored by the movable platform, and / or the traversable length of the target feasible channel is greater than the traversable lengths of other feasible channels among the multiple feasible channels.

[0158] In some embodiments, the processor is further configured to:

[0159] When detecting that the movable platform has moved to the vicinity of an empty berth, a prompt message is sent to the user;

[0160] In response to a cancel operation by the user, the movable platform is controlled to move away from the vicinity of the vacant berth.

[0161] In some embodiments, the processor is further configured to:

[0162] If no vacant berths are found in the area to be explored, perform any of the following operations:

[0163] Identify a specific area within the area to be explored based on the environmental information, and control the movable platform to move to the specific area and stay there; or

[0164] Determine information about an environmental functional area outside the area to be explored, and control the movable platform to move to the environmental functional area.

[0165] In some embodiments, the number of movable objects around the specific area is less than a preset number; and / or,

[0166] The information of the environmental functional area outside the to-be-explored area is determined based on the user's remote control operation.

[0167] In some embodiments, the number of vacant berths around each of the feasible channels is determined based on descriptions of markers identified from environmental information.

[0168] In some embodiments, the processor is further configured to:

[0169] An area within a preset distance range of a target location is determined as the area to be explored, wherein the target location is determined based on one or more of the following information:

[0170] The location information obtained based on the user operation instruction and the preset location information detected based on the environmental information.

[0171] In some embodiments, the processor is further configured to:

[0172] If it is detected that the movable platform enters the area to be explored, determining whether the movable platform can obtain map information of the area to be explored;

[0173] If the map information cannot be obtained, the step of determining the number of free berths around each feasible channel based on the environmental information collected by the sensors carried by the movable platform is performed.

[0174] In some embodiments, the processor is further configured to:

[0175] Upon detecting that the movable platform has moved to the boundary of the area to be explored, any of the following operations is performed:

[0176] determining another area to be explored, and controlling the movable platform to move to the another area to be explored to search for an empty berth; or

[0177] controlling the movable platform to move in the reverse direction along the historical motion path; or,

[0178] The movable platform is controlled to stop moving.

[0179] In some embodiments, the processor is further configured to:

[0180] During the movement of the movable platform in the area to be explored, determining a marker position from the surrounding environment of the movable platform;

[0181] A control instruction is generated in response to a user's control operation, wherein the control instruction is used to instruct the movable platform to move from a resting position to a target mark position.

[0182] In some embodiments, the marker position is determined based on:

[0183] A preset position detected based on the environmental information is determined as the marked position, and / or a position indicated by a user through an operating component is determined as the marked position.

[0184] In some embodiments, the processor is further configured to:

[0185] Recording the movement path of the movable platform;

[0186] If it is detected that there is no feasible passage in the area to be explored around the movable platform, the movable platform is controlled to travel in the reverse direction along the recorded motion path.

[0187] In some embodiments, the processor is further configured to:

[0188] During the movement of the movable platform in the area to be explored, a map of the area to be explored is generated based on the environmental information collected by the sensor.

[0189] In some embodiments, the processor is further configured to:

[0190] During the movement of the movable platform along the target feasible channel in the to-be-explored area, if it is detected that the environment around the movable platform satisfies a preset environment and / or it is detected that the movement state of the movable platform satisfies a preset movement state, prompt information is generated.

[0191] The specific details of how the movable platform control device controls the movement of the movable platform are described in the above method embodiment and will not be repeated here.

[0192] The present application also provides a control device for a mobile platform, as shown in FIG9 . The device includes a processor 91, a memory 92, and a computer program stored in the memory 92 and executable by the processor 91. When the processor 91 executes the computer program, the following steps can be implemented:

[0193] In response to identifying that a plurality of feasible pathways exist in the to-be-explored area around the movable platform, determining, based on environmental information collected by sensors carried by the movable platform, descriptive information of the surrounding environment of each of the feasible pathways;

[0194] The description information includes at least one of the following information: the distribution of free berths around the feasible channel, the overlap rate between the feasible channel and the historical motion trajectory of the movable platform, and the passable length of the feasible channel;

[0195] Determining at least one target feasible path from the plurality of feasible paths based on the description information;

[0196] The movable platform is controlled to move along the target feasible channel in the area to be explored to search for vacant berths along the way.

[0197] In some embodiments, before determining at least one target feasible path from the plurality of feasible paths based on the description information, the processor is further configured to:

[0198] determining whether a user operation instruction is received, wherein the operation instruction is used to instruct the movable platform to move in the area to be explored;

[0199] If the user operation instruction is not received, an operation of determining at least one target feasible channel from the multiple feasible channels based on the description information is performed.

[0200] In some embodiments, the target feasible channel meets one or more of the following conditions:

[0201] There are multiple target feasible channels, and the number of vacant berths around the multiple target feasible channels is greater than the number of vacant berths around the other feasible channels;

[0202] The number of free berths around the target feasible channel is greater than the number of free berths around other feasible channels among the multiple feasible channels;

[0203] The target feasible channel does not point to an area that has been explored by the movable platform;

[0204] The traversable length of the target feasible channel is greater than the traversable lengths of other feasible channels among the multiple feasible channels.

[0205] In some embodiments, the description information further includes the distribution of environmental functional areas around the feasible channel, and the environmental functional areas include one or more of the following: charging position, passenger drop-off position, exit, and entrance.

[0206] In some embodiments, the processor is further configured to:

[0207] When detecting that the movable platform has moved to the vicinity of an empty berth, a prompt message is sent to the user;

[0208] In response to a cancel operation by the user, the movable platform is controlled to move away from the vicinity of the vacant berth.

[0209] In some embodiments, the processor is further configured to:

[0210] If no vacant berths are found in the area to be explored, perform any of the following operations:

[0211] Identify a specific area within the area to be explored based on the environmental information, and control the movable platform to move to the specific area and stay there; or

[0212] Determine information about an environmental functional area outside the area to be explored, and control the movable platform to move to the environmental functional area.

[0213] In some embodiments, the number of movable objects around the specific area is less than a preset number; and / or,

[0214] The information of the environmental functional area outside the to-be-explored area is determined based on the user's remote control operation.

[0215] In some embodiments, the processor is further configured to:

[0216] Upon detecting that the movable platform has moved to the boundary of the area to be explored, any of the following operations is performed:

[0217] determining another area to be explored, and controlling the movable platform to move to the another area to be explored to search for an empty berth; or

[0218] controlling the movable platform to move in the reverse direction along the historical motion path; or,

[0219] The movable platform is controlled to stop moving.

[0220] The specific details of how the movable platform control device controls the movement of the movable platform are described in the above method embodiment and will not be repeated here.

[0221] Accordingly, embodiments of the present application further provide a movable platform, comprising the movable platform control device described in any of the above embodiments. The movable platform may be a movable device such as a vehicle, aircraft, ship, or intelligent robot. The movable platform may be a manned or unmanned movable platform.

[0222] Accordingly, an embodiment of the present application further provides a computer storage medium, in which a program is stored. When the program is executed by a processor, the method in any of the above embodiments is implemented.

[0223] The embodiments of the present application may take the form of a computer program product implemented on one or more storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code. Computer-usable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs or other data. Examples of computer storage media include but are not limited to: phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0224] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to the partial description of the method embodiments. The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without expending creative work.

[0225] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also includes elements that are inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a..." does not exclude the presence of other identical elements in the process, method, article or device that includes the element.

[0226] The above is a detailed introduction to the methods and devices provided in the embodiments of the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the methods and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. A control method for a movable platform, characterized in that: The method comprises: In response to identifying that there are multiple feasible passages in the to-be-explored area around the movable platform, determining the number of free berths around each of the feasible passages based on environmental information collected by a sensor carried by the movable platform; Determining at least one target feasible channel from the plurality of feasible channels based on the number of free berths around each of the feasible channels; The movable platform is controlled to move along at least one of the target feasible channels in the area to be explored to search for vacant berths along the way.

2. The method according to claim 1, characterized in that: There are multiple target feasible channels, and the number of free berths around the multiple target feasible channels is greater than the number of free berths around other feasible channels.

3. The method according to claim 1, characterized in that The number of free berths around the target feasible channel is greater than the number of free berths around other feasible channels among the multiple feasible channels.

4. The method according to claim 1, characterized in that Before determining at least one target feasible path from the plurality of feasible paths, the method further includes: Determining whether a user operation instruction is received, wherein the operation instruction is used to instruct the movable platform to move in the area to be explored; If the user operation instruction is not received, an operation of determining at least one target feasible channel from the multiple feasible channels is performed.

5. The method according to claim 1, characterized in that: Determining at least one target feasible path from the plurality of feasible paths comprises: At least one target feasible path is determined from the multiple feasible paths based on one or more of the following information: The distribution of the environmental functional areas around each feasible channel, the overlap rate between each feasible channel and the historical motion trajectory of the movable platform, and the passable length of each feasible channel.

6. The method according to claim 5, characterized in that The environmental functional area includes one or more of the following: charging position, passenger disembarkation position, exit, and entrance.

7. The method according to claim 1, characterized in that The target feasible channel does not point to an area that has been explored by the movable platform, and / or the traversable length of the target feasible channel is greater than the traversable lengths of other feasible channels among the multiple feasible channels.

8. The method according to claim 1, characterized in that The method further comprises: When detecting that the movable platform moves to the vicinity of an idle berth, a prompt message is sent to the user; In response to a cancel operation by the user, the movable platform is controlled to move away from the vicinity of the vacant berth.

9. The method according to claim 1, characterized in that: The method further comprises: If no vacant berth is found in the area to be explored, perform any of the following operations: Identify a specific area within the area to be explored based on the environmental information, and control the movable platform to move to the specific area and stay there; or, Determine information about an environmental functional area outside the area to be explored, and control the movable platform to move to the environmental functional area.

10. The method according to claim 9, characterized in that: in, The number of movable objects around the specific area is less than a preset number; and / or, The information of the environmental functional area outside the to-be-explored area is determined based on the user's remote control operation.

11. The method according to claim 1, characterized in that: The number of free berths around each of the feasible channels is determined based on the description of the markers identified from the environmental information.

12. The method according to claim 1, characterized in that The method further comprises: An area within a preset distance range of the target position is determined as the area to be explored, wherein the target position is determined based on one or more of the following information: The location information obtained based on the user operation instruction and the preset location information detected based on the environmental information.

13. The method according to claim 1, characterized in that The method further comprises: If it is detected that the movable platform enters the area to be explored, determining whether the movable platform can obtain map information of the area to be explored; If the map information cannot be obtained, the step of determining the number of free berths around each of the feasible channels based on the environmental information collected by the sensors carried by the movable platform is performed.

14. The method according to claim 1, characterized in that The method further comprises: When it is detected that the movable platform moves to the boundary of the area to be explored, any of the following operations is performed: determining another area to be explored, and controlling the movable platform to move to the another area to be explored to search for an idle berth; or Controlling the movable platform to move in the reverse direction along the historical movement path; or, The movable platform is controlled to stop moving.

15. The method according to claim 1, characterized in that The method further comprises: During the movement of the movable platform in the to-be-explored area, determining a marking position from the surrounding environment of the movable platform; A control instruction is generated in response to a control operation of a user, wherein the control instruction is used to instruct the movable platform to move from a resting position to a target marking position.

16. The method according to claim 15, characterized in that The marker position is determined based on the following method: A preset position detected based on the environmental information is determined as the marked position, and / or a position indicated by a user through an operating component is determined as the marked position.

17. The method according to claim 1, characterized in that The method further comprises: Recording the movement path of the movable platform; If it is detected that there is no feasible passage in the area to be explored around the movable platform, the movable platform is controlled to travel in the reverse direction along the recorded motion path.

18. The method according to claim 1, characterized in that The method further comprises: When the movable platform moves in the area to be explored, a map of the area to be explored is generated based on the environmental information collected by the sensor.

19. The method according to claim 1, characterized in that The method further comprises: During the movement of the movable platform along the target feasible channel in the to-be-explored area, if it is detected that the environment around the movable platform satisfies a preset environment and / or it is detected that the movement state of the movable platform satisfies a preset movement state, prompt information is generated.

20. A control method for a movable platform, characterized in that: The method comprises: In response to identifying that there are multiple feasible passages in the to-be-explored area around the movable platform, based on environmental information collected by a sensor carried by the movable platform, determining description information of the surrounding environment of each of the feasible passages; The description information includes at least one of the following information: the distribution of free berths around the feasible channel, the overlap rate between the feasible channel and the historical motion trajectory of the movable platform, and the passable length of the feasible channel; Determining at least one target feasible channel from the multiple feasible channels based on the description information; The movable platform is controlled to move along the target feasible channel in the area to be explored to search for vacant berths along the way.

21. The method according to claim 20, characterized in that Before determining at least one target feasible channel from the multiple feasible channels based on the description information, the method further includes: Determining whether a user operation instruction is received, wherein the operation instruction is used to instruct the movable platform to move in the area to be explored; If the user operation instruction is not received, an operation of determining at least one target feasible channel from the multiple feasible channels based on the description information is performed.

22. The method according to claim 20, characterized in that The target feasible channel meets one or more of the following conditions: There are multiple target feasible channels, and the number of free berths around the multiple target feasible channels is greater than the number of free berths around other feasible channels; The number of free berths around the target feasible channel is greater than the number of free berths around other feasible channels among the multiple feasible channels; The target feasible channel does not point to an area that has been explored by the movable platform; The traversable length of the target feasible channel is greater than the traversable lengths of other feasible channels among the multiple feasible channels.

23. The method according to claim 20, characterized in that The description information also includes the distribution of environmental functional areas around the feasible channel, and the environmental functional areas include one or more of the following: charging position, passenger drop-off position, exit, and entrance.

24. The method according to claim 20, characterized in that The method further comprises: When detecting that the movable platform moves to the vicinity of an idle berth, a prompt message is sent to the user; In response to a cancel operation by the user, the movable platform is controlled to move away from the vicinity of the vacant berth.

25. The method according to claim 20, characterized in that The method further comprises: If no vacant berth is found in the area to be explored, perform any of the following operations: Identify a specific area within the area to be explored based on the environmental information, and control the movable platform to move to the specific area and stay there; or, Determine information about an environmental functional area outside the area to be explored, and control the movable platform to move to the environmental functional area.

26. The method according to claim 25, characterized in that: in, The number of movable objects around the specific area is less than a preset number; and / or, The information of the environmental functional area outside the to-be-explored area is determined based on the user's remote control operation.

27. The method according to claim 20, characterized in that The method further comprises: When it is detected that the movable platform moves to the boundary of the area to be explored, any of the following operations is performed: determining another area to be explored, and controlling the movable platform to move to the another area to be explored to search for an idle berth; or Controlling the movable platform to move in the reverse direction along the historical movement path; or, The movable platform is controlled to stop moving.

28. A control device for a movable platform, characterized in that: The device includes a processor, a memory, and a computer program stored in the memory and executable by the processor. When the processor executes the computer program, the following steps can be implemented: In response to identifying that there are multiple feasible passages in the to-be-explored area around the movable platform, determining the number of free berths around each of the feasible passages based on environmental information collected by a sensor carried by the movable platform; Determining at least one target feasible channel from the plurality of feasible channels based on the number of free berths around each of the feasible channels; The movable platform is controlled to move along the target feasible channel in the area to be explored to search for vacant berths along the way.

29. The device according to claim 28, characterized in that There are multiple target feasible channels, and the number of free berths around the multiple target feasible channels is greater than the number of free berths around other feasible channels.

30. The device according to claim 28, characterized in that The number of free berths around the target feasible channel is greater than the number of free berths around other feasible channels among the multiple feasible channels.

31. The device according to claim 28, characterized in that Before determining at least one target feasible path from the plurality of feasible paths, the processor is further configured to: Determining whether a user operation instruction is received, wherein the operation instruction is used to instruct the movable platform to move in the area to be explored; If the user operation instruction is not received, an operation of determining at least one target feasible channel from the multiple feasible channels is performed.

32. The device according to claim 28, characterized in that The step of the processor determining at least one target feasible path from the multiple feasible paths comprises: Determine at least one target from the multiple feasible channels based on one or more of the following information: Viable channels: The distribution of the environmental functional areas around each feasible channel, the overlap rate between each feasible channel and the historical motion trajectory of the movable platform, and the passable length of each feasible channel.

33. The device according to claim 28, characterized in that The environmental functional area includes one or more of the following: charging position, passenger disembarkation position, exit, and entrance.

34. The device according to claim 28, characterized in that The target feasible channel does not point to an area that has been explored by the movable platform, and / or the traversable length of the target feasible channel is greater than the traversable lengths of other feasible channels among the multiple feasible channels.

35. The device according to claim 28, characterized in that The processor is further configured to: When detecting that the movable platform moves to the vicinity of an idle berth, a prompt message is sent to the user; In response to a cancel operation by the user, the movable platform is controlled to move away from the vicinity of the vacant berth.

36. The device according to claim 28, characterized in that The processor is further configured to: If no vacant berth is found in the area to be explored, perform any of the following operations: Identify a specific area within the area to be explored based on the environmental information, and control the movable platform to move to the specific area and stay there; or, Determine information about an environmental functional area outside the area to be explored, and control the movable platform to move to the environmental functional area.

37. The device according to claim 36, characterized in that: in, The number of movable objects around the specific area is less than a preset number; and / or, wherein the information of the environmental functional area outside the to-be-explored area is determined based on a remote control operation of a user.

38. The device according to claim 28, characterized in that The number of free berths around each of the feasible channels is determined based on the description of the markers identified from the environmental information.

39. The device according to claim 28, characterized in that The processor is further configured to: An area within a preset distance range of the target position is determined as the area to be explored, wherein the target position is determined based on one or more of the following information: The location information obtained based on the user operation instruction and the preset location information detected based on the environmental information.

40. The device according to claim 28, characterized in that The processor is further configured to: If it is detected that the movable platform enters the area to be explored, determining whether the movable platform can obtain map information of the area to be explored; If the map information cannot be obtained, the step of determining the number of free berths around each of the feasible channels based on the environmental information collected by the sensors carried by the movable platform is performed.

41. The device according to claim 28, characterized in that The processor is further configured to: When it is detected that the movable platform moves to the boundary of the area to be explored, any of the following operations is performed: determining another area to be explored, and controlling the movable platform to move to the another area to be explored to search for an idle berth; or Controlling the movable platform to move in the reverse direction along the historical movement path; or, The movable platform is controlled to stop moving.

42. The device according to claim 28, characterized in that The processor is further configured to: During the movement of the movable platform in the to-be-explored area, determining a marking position from the surrounding environment of the movable platform; A control instruction is generated in response to a control operation of a user, wherein the control instruction is used to instruct the movable platform to move from a resting position to a target marking position.

43. The device according to claim 42, characterized in that The marker position is determined based on the following method: A preset position detected based on the environmental information is determined as the marked position, and / or a position indicated by a user through an operating component is determined as the marked position.

44. The device according to claim 28, characterized in that The processor is further configured to: Recording the movement path of the movable platform; If it is detected that there is no feasible passage in the area to be explored around the movable platform, the movable platform is controlled to travel in the reverse direction along the recorded motion path.

45. The device according to claim 28, characterized in that The processor is further configured to: When the movable platform moves in the area to be explored, a map of the area to be explored is generated based on the environmental information collected by the sensor.

46. ​​The device according to claim 28, characterized in that The processor is further configured to: During the movement of the movable platform along the target feasible channel in the to-be-explored area, if it is detected that the environment around the movable platform satisfies a preset environment and / or it is detected that the movement state of the movable platform satisfies a preset movement state, prompt information is generated.

47. A control device for a movable platform, characterized in that: The device includes a processor, a memory, and a computer program stored in the memory and executable by the processor. When the processor executes the computer program, the following steps can be implemented: In response to identifying that there are multiple feasible passages in the to-be-explored area around the movable platform, based on environmental information collected by a sensor carried by the movable platform, determining description information of the surrounding environment of each of the feasible passages; The description information includes at least one of the following information: the distribution of free berths around the feasible channel, the overlap rate between the feasible channel and the historical motion trajectory of the movable platform, and the passable length of the feasible channel; Determining at least one target feasible channel from the multiple feasible channels based on the description information; The movable platform is controlled to move along the target feasible channel in the area to be explored to search for vacant berths along the way.

48. The device according to claim 47, characterized in that Before determining at least one target feasible path from the plurality of feasible paths based on the description information, the processor is further configured to: Determining whether a user operation instruction is received, wherein the operation instruction is used to instruct the movable platform to move in the area to be explored; If the user operation instruction is not received, executing The operation of determining at least one target feasible path among the feasible paths.

49. The device according to claim 47, characterized in that The target feasible channel meets one or more of the following conditions: There are multiple target feasible channels, and the number of free berths around the multiple target feasible channels is greater than the number of free berths around other feasible channels; The number of free berths around the target feasible channel is greater than the number of free berths around other feasible channels among the multiple feasible channels; The target feasible channel does not point to an area that has been explored by the movable platform; The traversable length of the target feasible channel is greater than the traversable lengths of other feasible channels among the multiple feasible channels.

50. The device according to claim 47, characterized in that The description information also includes the distribution of environmental functional areas around the feasible channel, and the environmental functional areas include one or more of the following: charging position, passenger drop-off position, exit, and entrance.

51. The device according to claim 47, characterized in that The processor is further configured to: When detecting that the movable platform moves to the vicinity of an idle berth, a prompt message is sent to the user; In response to a cancel operation by the user, the movable platform is controlled to move away from the vicinity of the vacant berth.

52. The device according to claim 47, characterized in that The processor is further configured to: If no vacant berth is found in the area to be explored, perform any of the following operations: Identify a specific area within the area to be explored based on the environmental information, and control the movable platform to move to the specific area and stay there; or, Determine information about an environmental functional area outside the area to be explored, and control the movable platform to move to the environmental functional area.

53. The device according to claim 52, characterized in that: in, The number of movable objects around the specific area is less than a preset number; and / or, The information of the environmental functional area outside the to-be-explored area is determined based on the user's remote control operation.

54. The device according to claim 47, characterized in that The processor is further configured to: upon detecting that the movable platform moves to a boundary of the area to be explored, perform any of the following operations: determining another area to be explored, and controlling the movable platform to move to the another area to be explored to search for an idle berth; or Controlling the movable platform to move in the reverse direction along the historical movement path; or, The movable platform is controlled to stop moving.

55. A movable platform, characterized in that: The movable platform comprises a device as described in any one of claims 28-54.

56. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 27 is implemented.

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