Methods, devices, equipment and storage media for lane change path planning of sprinkler trucks

Abstract

A method, apparatus, device, and storage medium for lane-change path planning of a sprinkler truck, relating to the field of sprinkler truck technology, includes: determining a target lane based on acquired road condition information or boundary attributes on the left side of the road, wherein the road condition information includes intersection turning information, and the boundary attributes include physical boundary attributes and water-passing boundary attributes; determining whether a lane change is needed based on the target lane and a preset driving route; if a lane change is needed, calculating the lane-change path based on the target lane. This solves the problem that related technologies do not consider the operational requirements of sprinkler trucks to cover all target road surfaces with as little water and as short a driving distance as possible, thus failing to minimize workload and conserve water resources. This application can further reduce the workload of sprinkler trucks and conserve water resources.

Description

Technical Field

[0001] This application relates to the field of sprinkler truck technology, specifically to a method, device, equipment, and storage medium for lane change path planning of sprinkler trucks. Background Technology

[0002] With the development of artificial intelligence technology, the level of intelligence in sanitation operation products is also increasing, giving rise to high-tech products such as automated cleaning robots and driverless sanitation vehicles. Related technologies use high-precision maps for route planning of water trucks, a method applicable to a wide range of vehicle types. However, conventional route planning methods do not consider the operational needs of water trucks to cover all target road surfaces with minimal water usage and short travel distances, failing to minimize workload and conserve water resources. Therefore, there is an urgent need for a method to reduce the workload of water trucks and conserve water resources consumed during their operation. Summary of the Invention

[0003] This application provides a lane-change path planning method, device, equipment, and storage medium for a sprinkler truck, which can solve the technical problem in the prior art that does not take into account the operational needs of sprinkler trucks to cover all target road surfaces with the least amount of water and the shortest travel distance, and thus cannot minimize workload and save water resources to the greatest extent.

[0004] In a first aspect, embodiments of this application provide a lane-changing path planning method for a sprinkler truck, the method comprising:

[0005] The target lane is determined based on the obtained road condition information or the boundary attributes on the left side of the road. The road condition information includes intersection turning information, and the boundary attributes include physical boundary attributes and waterway boundary attributes.

[0006] Determine whether a lane change is necessary based on the target lane and the preset driving route;

[0007] If it is determined that a lane change is necessary, the lane change path is calculated based on the target lane.

[0008] In conjunction with the first aspect, in one implementation, calculating the lane-changing path based on the target lane includes:

[0009] Based on the current lane and target lane of the water truck, determine the coordinates of the first position and the coordinates of the second position;

[0010] The lane change path is calculated based on the coordinates of the first position and the coordinates of the second position.

[0011] In conjunction with the first aspect, in one implementation, after calculating the lane-changing path based on the target lane, the method further includes:

[0012] According to the preset sampling ratio, obtain the reference lateral offset of each sampling interval point on the lane change path;

[0013] An evaluation function is constructed based on the reference lateral offset, the preset weight coefficient, and the preset lateral offset.

[0014] The evaluation function is transformed into a standard evaluation function by pre-setting the P matrix and the Q matrix;

[0015] The standard evaluation function is solved using the OSQP solver to calculate the smooth lane change path.

[0016] In conjunction with the first aspect, in one implementation, determining the target lane based on the acquired road condition information or the boundary attributes of the left side of the road includes:

[0017] Determine if there is an intersection within the first preset distance in front of the sprinkler truck;

[0018] If it is determined that there is no intersection within the first preset distance in front of the sprinkler truck, the target lane is determined based on the obtained boundary attributes on the left side of the road.

[0019] If it is determined that there is an intersection within the first preset distance in front of the sprinkler truck, the target lane is determined based on the obtained intersection turning information.

[0020] In conjunction with the first aspect, in one implementation, determining the target lane based on the acquired boundary attributes of the left side of the road includes:

[0021] If the obtained boundary attribute on the left side of the road is an entity boundary attribute, then the middle lane is determined to be the target lane;

[0022] If the obtained boundary attribute on the left side of the road is a water-passing boundary attribute, then the first lane on the left is determined to be the target lane.

[0023] In conjunction with the first aspect, in one implementation, determining the target lane based on the acquired intersection turning information includes:

[0024] If the obtained intersection turning information is left turn, then the left turn lane is determined as the target lane;

[0025] If the obtained intersection turning information is a right turn, then the target lane is determined to be the right turn lane;

[0026] If the obtained intersection turning information is straight ahead, then the target lane is determined to be a straight ahead lane;

[0027] If the obtained intersection turning information indicates a U-turn, then the target lane is determined to be the U-turn lane.

[0028] In conjunction with the first aspect, in one implementation, calculating the lane-changing path based on the coordinates of the first position and the coordinates of the second position includes:

[0029] The lane change path is calculated using a preset high-precision map and a preset path planning algorithm, with the coordinates of the first position as the starting point and the coordinates of the second position as the ending point.

[0030] Secondly, embodiments of this application provide a lane-changing path planning device for a sprinkler truck, the sprinkler truck lane-changing path planning device comprising:

[0031] The first determining module is used to determine the target lane based on the acquired road condition information or the boundary attributes on the left side of the road, wherein the road condition information includes intersection turning information and the boundary attributes include physical boundary attributes and waterway boundary attributes.

[0032] The second determining module is used to determine whether a lane change is needed based on the target lane and the preset driving route;

[0033] The calculation module is used to calculate the lane change path based on the target lane if it is determined that a lane change is required.

[0034] Thirdly, embodiments of this application provide a lane-changing path planning device for a sprinkler truck, characterized in that the lane-changing path planning device for the sprinkler truck includes a processor, a memory, and a lane-changing path planning program for the sprinkler truck stored in the memory and executable by the processor, wherein when the lane-changing path planning program for the sprinkler truck is executed by the processor, the steps of the lane-changing path planning method for the sprinkler truck as described above are implemented.

[0035] Fourthly, embodiments of this application provide a computer-readable storage medium, characterized in that the computer-readable storage medium stores a lane-changing path planning program for a sprinkler truck, wherein when the lane-changing path planning program for the sprinkler truck is executed by a processor, it implements the steps of the lane-changing path planning method for the sprinkler truck as described above.

[0036] The beneficial effects of the technical solution provided in this application include at least the following: determining the target lane based on acquired road condition information or the boundary attributes on the left side of the road, wherein the road condition information includes intersection turning information, and the boundary attributes include physical boundary attributes and water-passage boundary attributes; determining whether a lane change is needed based on the target lane and a preset driving route; and if a lane change is needed, calculating the lane change path based on the target lane. This solves the technical problem in related technologies that do not consider the operational requirements of water trucks to cover all target road surfaces with as little water and as short a driving distance as possible, thus failing to minimize workload and conserve water resources to the greatest extent. This application provides a lane change path planning method for water trucks, which can further reduce the workload of water trucks and conserve water resources. Attached Figure Description

[0037] Figure 1 This is a flowchart illustrating an embodiment of the lane-changing path planning method for a sprinkler truck according to this application.

[0038] Figure 2 For this application Figure 1 A detailed flowchart of step S10;

[0039] Figure 3 This is a schematic diagram of the functional modules of an embodiment of the lane change path planning device for a sprinkler truck according to this application.

[0040] Figure 4 This is a schematic diagram of the hardware structure of the lane change path planning device for the sprinkler truck involved in the embodiments of this application. Detailed Implementation

[0041] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0042] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0043] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0044] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0045] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0046] First, some of the technical terms used in this application will be explained to help those skilled in the art understand this application.

[0047] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0048] In one aspect, embodiments of this application provide a method for lane-changing path planning for a sprinkler truck.

[0049] In one embodiment, reference is made to Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the lane-changing path planning method for the water sprinkler truck according to this application. Figure 1 As shown, the lane-changing path planning method for sprinkler trucks includes:

[0050] Step S10: Determine the target lane based on the obtained road condition information or the boundary attributes on the left side of the road, wherein the road condition information includes intersection turning information, and the boundary attributes include physical boundary attributes and waterway boundary attributes.

[0051] As an example, if an intersection is detected within a preset distance ahead of the sprinkler truck, the target lane is determined based on the intersection's turning information. If no intersection is detected within the preset distance ahead of the sprinkler truck, the target lane is determined based on the boundary attributes of the left side of the road. The road condition information can be obtained from images captured by a preset onboard camera, and the boundary attributes of the left side of the road can be obtained from images captured by a preset camera on the left side of the sprinkler truck.

[0052] Step S20: Determine whether a lane change is necessary based on the target lane and the preset driving route;

[0053] If the target lane is consistent with the preset driving route, then it is determined that no lane change is required; if the target lane is inconsistent with the preset driving route, then it is determined that a lane change is required.

[0054] Step S30: If it is determined that a lane change is needed, calculate the lane change path based on the target lane.

[0055] The starting point of the lane change path is determined based on the current lane of the sprinkler truck, and the ending point of the lane change path is determined based on the target lane. Then, the lane change path is calculated based on the starting point and the ending point of the lane change path.

[0056] Specifically, calculating the lane-changing path based on the target lane includes: determining the coordinates of a first position and the coordinates of a second position based on the current lane of the sprinkler truck and the target lane.

[0057] The lane change path is calculated based on the coordinates of the first position and the coordinates of the second position.

[0058] As an example, if the target lane is determined based on the boundary attributes of the left side of the road, the position of the sprinkler truck at the moment the target lane is determined is taken as the first position, which is the starting point of the lane-changing path. The coordinates of the first position are then obtained, including both lateral and longitudinal coordinates. Next, the lateral coordinates of the midpoint of the target lane are obtained, and the difference between the lateral coordinates of the first position and the lateral coordinates of the midpoint of the target lane is calculated. This difference represents the lateral displacement distance of the sprinkler truck's lane-changing path. Finally, the preset steering angle of the sprinkler truck is... and the obtained lateral displacement distance Substitute into the first preset formula The longitudinal displacement distance L is calculated. The position perpendicular to the first position within the target lane is designated as the second position, which is the endpoint of the lane change path. The coordinates of the second position are obtained. Finally, the lane change path is determined based on the path planning algorithm, the coordinates of the first position, and the coordinates of the second position. The path planning algorithm includes various existing path planning algorithms, such as the RRT algorithm and the A* algorithm.

[0059] If the target lane is determined based on intersection turning information within a preset distance ahead of the sprinkler truck, then the second position is taken as the location of the second preset distance behind the intersection within the target lane. This second position represents the endpoint of the lane change path. The coordinates of the second position are then obtained, including both lateral and longitudinal coordinates. Next, the difference between the lateral coordinates of the midpoint of the sprinkler truck's current lane and the lateral coordinates of the second position is calculated; this difference represents the lateral displacement distance. Finally, the preset turning angle of the sprinkler truck is... and the obtained lateral displacement distance Substitute into the first preset formula The longitudinal displacement distance L is calculated. The first position is the vertical distance from the second position within the lane where the sprinkler truck is currently located, and the coordinates of the first position are then obtained. Finally, the lane-changing path is obtained based on the path planning algorithm, the coordinates of the first position, and the coordinates of the second position. The path planning algorithm includes various existing path planning algorithms, such as the RRT algorithm and the A* algorithm. Changing lanes to the target lane using the above method allows the sprinkler truck to enter the target turning lane when approaching the intersection. This prevents the sprinkler truck from entering the target turning lane too early, which would prevent it from completely covering the target road surface with water, and also prevents the sprinkler truck from starting the lane change too late, which would prevent it from completing the lane change before reaching the predetermined intersection.

[0060] Specifically, after calculating the lane-changing path based on the target lane, the process further includes:

[0061] According to a preset sampling ratio, obtain the reference lateral offset of each sampling interval point on the lane change path; construct an evaluation function based on the reference lateral offset, preset weight coefficient, and preset lateral offset; transform the evaluation function into a standard evaluation function using a preset P matrix and a preset Q matrix; solve the standard evaluation function using an OSQP solver to calculate the smooth lane change path.

[0062] The reference lateral offset of each sampling interval point on the lane change path is obtained based on the lane change path; based on the reference lateral offset... Preset weighting coefficients Target lateral offset Construct an evaluation function, where the path evaluation function is: Among them, the evaluation function for driving close to the line is: The comfort evaluation function is The evaluation function that approximates the endpoint is:

[0063] Then, the P matrix and Q matrix are constructed to transform the evaluation function into a standard quadratic programming evaluation function, and constraints are set. Finally, the OSQP solver is used to solve the standard quadratic programming evaluation function to obtain a smooth lane-changing path.

[0064] Specifically, calculating the lane change path based on the coordinates of the first position and the coordinates of the second position includes: using the coordinates of the first position as the starting point of the lane change path and the coordinates of the second position as the ending point of the lane change path, and calculating the lane change path using a preset high-precision map and a preset path planning algorithm.

[0065] As an example, the first step is to load, parse, and process map data. Parsing the map data allows us to obtain the topology and attribute information of the road network. We then select the start and end points of the lane-changing path on the map; the start point is the first location, and the end point is the second location. These two points become the key points for path planning. Based on the start and end points, a search algorithm is used to find an optimal path on the map. The search algorithm can be chosen according to different needs; commonly used algorithms include the A* algorithm and Dijkstra's algorithm. After finding the optimal path, it needs to be planned and optimized. The goal of the planning is to ensure that vehicles can safely travel from the start point to the end point, adhering to traffic rules and restrictions, such as maintaining a safe distance from vehicles in front and behind when changing lanes, and avoiding consecutive lane changes.

[0066] In this embodiment, a target lane is determined based on acquired road condition information or boundary attributes on the left side of the road. The road condition information includes intersection turning information, and the boundary attributes include physical boundary attribute information and water boundary attribute information. Whether a lane change is needed is determined based on the target lane and a preset driving route. If a lane change is determined, the lane change path is calculated based on the target lane. This solves the problem in related technologies that do not consider the operational requirements of water trucks to cover all target road surfaces with as little water and as short a driving distance as possible, thus failing to minimize workload and conserve water resources. This embodiment provides a method to reduce the workload of water trucks and conserve water resources.

[0067] Furthermore, in one embodiment, reference is made to Figure 2 , Figure 2 For this application Figure 1 A detailed flowchart of step S10. (See attached diagram.) Figure 2 As shown, determining the target lane based on the acquired road condition information or the boundary attributes on the left side of the road includes:

[0068] Step S11: Determine whether there is an intersection within the first preset distance in front of the sprinkler truck;

[0069] As an example, it can be determined whether there is an intersection within a first preset distance ahead of the sprinkler truck based on the obtained road condition information, or based on the preset driving route.

[0070] Step S12: If it is determined that there is no intersection within the first preset distance in front of the sprinkler truck, then the target lane is determined based on the obtained boundary attributes on the left side of the road;

[0071] As an example, if it is determined that there is no intersection within the first preset distance in front of the sprinkler truck, and the obtained boundary attribute of the left side of the road is a physical boundary attribute, then the middle lane is determined as the target lane; if the boundary attribute of the left side of the road is a water passage boundary attribute, then the first lane on the left is determined as the target lane.

[0072] Specifically, determining the target lane based on the obtained boundary attributes of the left side of the road includes: if the obtained boundary attributes of the left side of the road are entity boundary attributes, then the middle lane is determined as the target lane; if the obtained boundary attributes of the left side of the road are water passage boundary attributes, then the first lane on the left is determined as the target lane.

[0073] As an example, if the boundary attribute on the left side of the road is a solid boundary attribute, and the water truck is traveling in the middle lane, the spray devices on both sides of the truck can cover the oncoming lane with lower water pressure. If the boundary attribute on the left side of the road is a water-permeable boundary attribute, and the water truck is traveling in the first lane on the left, because the left side of the road is a water-permeable boundary, the truck can directly spray water onto the oncoming and incoming lanes without having to turn back to spray the oncoming lanes. This greatly saves the workload and water resources of the water truck.

[0074] Step S13: If it is determined that there is an intersection within the first preset distance in front of the sprinkler truck, the target lane is determined based on the obtained intersection turning information.

[0075] The intersection turning information can be obtained based on the preset driving route. If the obtained intersection turning information is left turn, then the target lane is the left turn lane. Determining the target lane based on the intersection turning information is mainly to make it easier for the sprinkler truck to perform subsequent turning operations.

[0076] Specifically, determining the target lane based on the obtained intersection turning information includes: if the obtained intersection turning information is a left turn, then the left turn lane is determined as the target lane; if the obtained intersection turning information is a right turn, then the target lane is determined as a right turn lane; if the obtained intersection turning information is straight, then the target lane is determined as a straight lane; if the obtained intersection turning information is a U-turn, then the target lane is determined as a U-turn lane.

[0077] As an example, if the obtained intersection turning information is left turn, then the water truck plans a lane change path with the left turn lane as the target lane, and enters the left turn lane according to the lane change path; if the obtained intersection turning information is right turn, then the water truck plans a lane change path with the right turn lane as the target lane, and enters the right turn lane according to the lane change path; if the obtained intersection turning information is straight, then the water truck plans a lane change path with the straight lane as the target lane, and enters the straight lane according to the lane change path; if the obtained intersection turning information is U-turn, then the water truck plans a lane change path with the U-turn lane as the target lane, and enters the U-turn lane according to the lane change path.

[0078] In this embodiment, the method determines whether there is an intersection within the first preset distance in front of the sprinkler truck. If there is no intersection within the first preset distance, the target lane is determined based on the obtained boundary attributes of the left side of the road. If there is an intersection within the first preset distance, the target lane is determined based on the obtained intersection turning information. This solves the problem that related technologies do not consider the operational requirements of sprinkler trucks to cover all target road surfaces with as little water and as short a travel distance as possible, thus failing to minimize workload and save water resources. This embodiment provides a method for determining the target lane of a sprinkler truck, which can reduce the workload of sprinkler trucks and save water resources.

[0079] Secondly, embodiments of this application also provide a lane-changing path planning device for a sprinkler truck.

[0080] In one embodiment, reference is made to Figure 3 , Figure 3 This is a functional module diagram of an embodiment of the lane-changing path planning device for a sprinkler truck according to this application. Figure 3 As shown, the lane-changing path planning device for the water sprinkler truck includes:

[0081] The first determining module 01 is used to determine the target lane based on the acquired road condition information or the boundary attributes on the left side of the road, wherein the road condition information includes intersection turning information and the boundary attributes include physical boundary attributes and waterway boundary attributes.

[0082] The second determining module 02 is used to determine whether a lane change is needed based on the target lane and the preset driving route;

[0083] The calculation module 03 is used to calculate the lane change path based on the target lane if it is determined that a lane change is required.

[0084] Furthermore, in one embodiment, the first determining module 01 is further configured to:

[0085] Determine if there is an intersection within the first preset distance in front of the sprinkler truck;

[0086] If it is determined that there is no intersection within the first preset distance in front of the sprinkler truck, the target lane is determined based on the obtained boundary attributes on the left side of the road.

[0087] If it is determined that there is an intersection within the first preset distance in front of the sprinkler truck, the target lane is determined based on the obtained intersection turning information.

[0088] Furthermore, in one embodiment, the calculation module 03 is used for:

[0089] Based on the current lane and target lane of the water truck, determine the coordinates of the first position and the coordinates of the second position;

[0090] The lane change path is calculated based on the coordinates of the first position and the coordinates of the second position.

[0091] The functions of each module in the lane change path planning device of the above-mentioned sprinkler truck correspond to the steps in the embodiment of the lane change path planning method of the above-mentioned sprinkler truck, and their functions and implementation processes will not be described in detail here.

[0092] Thirdly, embodiments of this application provide a lane change path planning device for a sprinkler truck. The lane change path planning device for a sprinkler truck can be a device with data processing capabilities, such as a personal computer (PC), a laptop computer, or a server.

[0093] Reference Figure 4 , Figure 4 This is a schematic diagram of the hardware structure of the lane change path planning device for a sprinkler truck involved in an embodiment of this application. In this embodiment, the lane change path planning device for the sprinkler truck may include a processor, a memory, a communication interface, and a communication bus.

[0094] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0095] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces used for interconnecting components within the lane-changing path planning equipment of the sprinkler truck, as well as interfaces used for interconnecting the sprinkler truck's lane-changing path planning equipment with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0096] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0097] The processor can be a general-purpose processor, which can call the lane change path planning program for the sprinkler truck stored in the memory and execute the lane change path planning method for the sprinkler truck provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the lane change path planning program for the sprinkler truck is called can be referred to the various embodiments of the lane change path planning method for the sprinkler truck in this application, and will not be repeated here.

[0098] Those skilled in the art will understand that Figure 4 The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0099] Fourthly, embodiments of this application also provide a readable storage medium.

[0100] The present application has a readable storage medium storing a lane change path planning program for a water truck, wherein when the lane change path planning program for the water truck is executed by a processor, the steps of the lane change path planning method for the water truck described above are implemented.

[0101] The method implemented when the lane change path planning program of the sprinkler truck is executed can be referred to in the various embodiments of the lane change path planning method of the sprinkler truck in this application, and will not be repeated here.

[0102] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0103] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0104] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for planning a lane-changing path for a water sprinkling vehicle, characterized by, The lane changing path planning method of the water spraying vehicle comprises the following steps: determining a target lane according to obtained road condition information or boundary attribute of a left side of a road, wherein the road condition information comprises intersection turning information, and the boundary attribute comprises a solid boundary attribute and a water passing boundary attribute; the step of determining the target lane according to the obtained road condition information or the boundary attribute of the left side of the road comprises the following steps: determining whether there is an intersection within a first preset distance in front of the water spraying vehicle; if it is determined that there is no intersection within the first preset distance in front of the water spraying vehicle, determining the target lane according to the obtained boundary attribute of the left side of the road; if it is determined that there is an intersection within the first preset distance in front of the water spraying vehicle, determining the target lane according to obtained intersection turning information; determining whether lane changing is needed according to the target lane and a preset driving route; if it is determined that lane changing is needed, calculating a lane changing path according to the target lane.

2. The lane-changing path planning method for a water sprinkling vehicle according to claim 1, wherein the step of calculating the lane changing path according to the target lane comprises the following steps: determining coordinates of a first position and coordinates of a second position according to obtained current lane of the water spraying vehicle and the target lane; calculating the lane changing path according to the coordinates of the first position and the coordinates of the second position.

3. The lane change path planning method for a water sprinkling vehicle according to claim 1, wherein after the step of calculating the lane changing path according to the target lane, the method further comprises the following steps: obtaining a reference lateral offset of each sampling interval point on the lane changing path according to a preset sampling ratio; constructing an evaluation function according to the reference lateral offset, a preset weight coefficient and a preset lateral offset; transforming the evaluation function into a standard evaluation function through a preset P matrix and a preset Q matrix; solving the standard evaluation function by using an osqp solver to calculate a smooth lane changing path.

4. The lane change path planning method for a water sprinkling vehicle according to claim 1, wherein the step of determining the target lane according to the obtained boundary attribute of the left side of the road comprises the following steps: if the obtained boundary attribute of the left side of the road is a solid boundary attribute, determining a middle lane as the target lane; if the obtained boundary attribute of the left side of the road is a water passing boundary attribute, determining a first lane on the left side as the target lane.

5. The lane change path planning method for a water sprinkling vehicle according to claim 1, wherein the step of determining the target lane according to the obtained intersection turning information comprises the following steps: if the obtained intersection turning information is left turning, determining a left turning lane as the target lane; if the obtained intersection turning information is right turning, determining a right turning lane as the target lane; if the obtained intersection turning information is straight going, determining a straight going lane as the target lane; if the obtained intersection turning information is U-turning, determining a U-turn lane as the target lane.

6. The lane change path planning method for a water sprinkling vehicle according to claim 2, wherein the step of calculating the lane changing path according to the coordinates of the first position and the coordinates of the second position comprises the following steps: taking the coordinates of the first position as coordinates of a starting point of the lane changing path and the coordinates of the second position as coordinates of an end point of the lane changing path, and calculating the lane changing path through a preset high-definition map and a preset path planning algorithm.

7. A lane change path planning device for a water sprinkling vehicle, characterized by comprising: the lane changing path planning device of the water spraying vehicle comprises the following steps: a first determining module configured to determine a target lane according to obtained road condition information or boundary attribute of a left side of a road, wherein the road condition information comprises intersection turning information, and the boundary attribute comprises a solid boundary attribute and a water passing boundary attribute; The method comprises the following steps: determining whether there is an intersection within a first preset distance in front of the water truck; if it is determined that there is no intersection within the first preset distance in front of the water truck, determining a target lane according to the obtained boundary attribute of the left side of the road; if it is determined that there is an intersection within the first preset distance in front of the water truck, determining a target lane according to the obtained intersection turning information; a second determination module configured to determine whether lane changing is needed according to the target lane and a preset driving route; a calculation module configured to calculate a lane changing path according to the target lane if it is determined that lane changing is needed.

8. A lane-changing path planning device for a water sprinkling vehicle, characterized by, The lane changing path planning device of the water truck comprises a processor, a memory, and a water truck lane changing path planning program stored in the memory and executable by the processor, wherein the water truck lane changing path planning program is executed by the processor to implement the steps of the water truck lane changing path planning method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a water truck lane changing path planning program, wherein the water truck lane changing path planning program is executed by the processor to implement the steps of the water truck lane changing path planning method according to any one of claims 1 to 6.

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