Path planning method, device, electronic equipment and system

Abstract

The invention discloses a path planning method, device, electronic equipment and system, relates to the technical field of computers, and can improve the working efficiency of vehicles in a storage yard. The method comprises the steps that when it is determined that target operation to be executed by a target vehicle is operation in a first operation area, the target vehicle is planned to drive into a target storage yard through an operation lane, and parking is conducted at an operation position in a first parking area of the operation lane to execute the target operation. And after the target operation is executed, driving to the first driving lane in the first lane changing area of the operation lane in a lane changing manner and driving away from the target storage yard. Or when it is determined that the target operation to be executed by the target vehicle is the operation in the second operation area, planning the target vehicle to drive into the target storage yard through the first driving lane, and driving to the operation lane in the second lane changing area of the first driving lane in a lane changing mode. And then, parking at an operation position in a second parking area of the operation lane to execute the target operation, and driving away from the target storage yard through the operation lane.

Description

[0001] This application claims priority to a Chinese patent application filed with the State Intellectual Property Office on November 3, 2023, with application number 202311458487.3 and application name “A method, system, device and storage medium for unmanned vehicle path planning”, all contents of which are incorporated by reference in this application. Technical Field

[0002] The present application relates to the field of computer technology, and in particular to a path planning method, device, electronic device and system. Background Art

[0003] Currently, in the process of transshipping a large number of containers stacked in the container yard of the port, different vehicles are planned with different work positions (i.e., the parking positions for vehicles to load and unload containers), and each vehicle is planned with a corresponding driving route, so that each vehicle drives from outside the yard to the planned work position according to the preset driving route to load and unload containers, and then drives away from the yard.

[0004] However, due to the large scope of the yard, the large number of workstations, and the close distance between multiple workstations, the spacing between adjacent workstations does not meet the requirements for vehicle lane changes. When multiple vehicles are planned to enter the yard to load and unload containers at the same time, the driving paths planned for multiple vehicles are complex and intertwined, causing vehicles to cut in and traffic jams. Once vehicles cut in and traffic jams occur, the vehicles will not be able to drive to the designated workstations, and the operation will be interrupted. It will need to rely on manual intervention, remote control, task reassignment and other measures to solve the problem, which greatly reduces the operation efficiency of the yard. Therefore, the current operation efficiency of vehicles in the yard is low. Summary of the invention

[0005] The present application provides a path planning method, device, electronic equipment and system, which can improve the operating efficiency of vehicles in a storage yard.

[0006] In the first aspect, a path planning method is provided, which is applied to a path planning system. The method may include: first determining a target operation to be performed by a target vehicle in a target yard, wherein the target yard includes: a first operation area and a second operation area, and the target yard is configured with an operation lane and a first driving lane, and the operation lane is a lane close to the operation area, and the operation lane is located between the first driving lane and the operation area, and the target yard also includes a lane change area, and the lane change area is located in the middle of the first driving lane and the operation lane, and the first driving lane has the same starting direction as the operation lane. When it is determined that the target operation to be performed by the target vehicle is an operation in the first operation area, the target vehicle can be planned to enter through the starting point of the operation lane, and after entering the target yard, the target vehicle stops at the operation position in the first parking area of ​​the operation lane to perform the target operation. Further, after performing the target operation, the target vehicle changes lanes in the first lane change area of ​​the operation lane to drive to the first driving lane, and leaves the target yard through the end of the first driving lane. Wherein, the first parking area is located between the starting point of the operation lane and the first position point, and the first lane change area is used for the target vehicle to leave the first parking area. Alternatively, when it is determined that the target operation to be performed by the target vehicle is an operation in the second operation area, the target vehicle can be planned to enter through the starting point of the first driving lane, and after entering the target storage yard, change lanes in the second lane change area of ​​the first driving lane to drive to the operation lane. Then, the target vehicle stops at the operation position in the second parking area of ​​the operation lane to perform the target operation, and after completing the target operation, leaves the target storage yard through the end point of the operation lane. The second lane change area is used for the target vehicle to enter the second parking area from the first driving lane, and the second parking area is located between the second position point and the end point of the operation lane, and the distance between the second position point and the starting point is greater than the distance between the first position point and the starting point.

[0007] By the above method, when the operations to be performed by different vehicles are different operation areas in the first operation area and the second operation area in the target yard, different driving paths are planned so that the vehicle operating in the first operation area enters the target yard through the starting point of the operation lane, stops at the operation position in the first parking area of ​​the operation lane to perform the operation, then changes lanes in the first lane change area of ​​the operation lane to drive to the first driving lane, and leaves the target yard through the end of the first driving lane; or, the vehicle operating in the second operation area enters the target yard through the starting point of the first driving lane, changes lanes in the second lane change area of ​​the first driving lane to drive to the operation lane, stops at the operation position in the second parking area of ​​the operation lane to perform the operation, and then leaves the target yard through the end of the operation lane. By setting the starting point of the second lane change area of ​​the first driving lane closer to the starting point of the lane than the starting point of the first lane change area of ​​the operation lane, the vehicles will not block each other when changing lanes, and corresponding parking areas are set for different operation areas in the target yard to perform the operation, so that when the vehicle stops for operation, it will not hinder the driving of other vehicles. Thereby, the operation efficiency of the vehicles in the yard can be improved.

[0008] In one possible design, when the target operation is an operation within the first operation area, the method further includes: when there are other vehicles parked at the operation position in the first parking area to perform the operation, the target vehicle can be planned to park and wait at an empty operation position in the first parking area.

[0009] In this way, when there are other vehicles parked at the work positions in the first parking area to perform work, the target vehicle performing work in the first work area can park and wait at an empty work position in the first parking area, so that the work of the target vehicle can be performed after the other vehicles have completed their work. In this way, the vehicles can perform work in the same work area in an orderly manner, thereby improving the work efficiency of the vehicles in the yard.

[0010] In another possible design, when the target operation is an operation in the second operation area, the method further includes: when there are other vehicles parked at the operation position in the second parking area to perform the operation, the target vehicle can be planned to park and wait at an empty operation position in the second parking area; or the target vehicle can be planned to park and wait in the third parking area of ​​the first driving lane. The third parking area is located between the starting point of the first driving lane and the third position point, and the distance between the third position point and the starting point is less than the distance between the first position point and the starting point.

[0011] In this way, when there are other vehicles parked at the work positions in the second parking area to perform work, the target vehicle performing work in the second work area can park and wait at an empty work position in the second parking area; or park and wait in the third parking area of ​​the first driving lane, so that after other vehicles have completed their work, the target vehicle can enter the second parking area to perform work. In this way, vehicles can perform work in the same work area in an orderly manner, improving the work efficiency of vehicles in the yard.

[0012] In another possible design, the second operation area includes: a first sub-operation area and a second sub-operation area, and the second parking area includes: a first sub-area, a second sub-area and a third sub-area, wherein the first sub-area and the third sub-area are parking areas, and the second sub-area is a lane change area; the method further includes: when the target operation is an operation in the first sub-operation area, the target vehicle can be planned to enter through the starting point of the first driving lane, and after entering the target yard, change lanes in the second lane change area of ​​the first driving lane to drive to the operation lane. Further, the target operation is performed at the operation position in the first sub-area, and after the target operation is performed, the vehicle changes lanes in the second sub-area to drive to the first driving lane, so as to leave the target yard through the end of the first driving lane. Among them, the first sub-area is located between the second position point and the fourth position point of the operation lane, and the distance between the second position point and the starting point is less than the distance between the fourth position point and the starting point, and the second sub-area is located between the fourth position point and the fifth position point of the operation lane, and the distance between the fifth position point and the starting point is greater than the distance between the fourth position point and the starting point, and the second sub-area is used for the target vehicle to leave the first sub-area.

[0013] In another possible design, the method further includes: when the target operation is an operation in the second sub-operation area, the target vehicle can be planned to enter through the starting point of the first driving lane, and change lanes in the third lane change area of ​​the first driving lane to drive to the working lane. Further, the target operation is performed at the working position in the third sub-area of ​​the working lane, and after the target operation is performed, the target yard is driven out through the end of the working lane. Among them, the third lane change area is used for the target vehicle to enter the third sub-area from the first driving lane, and the third lane change area is located between the sixth position point and the fifth position point of the first driving lane, and the distance between the sixth position point and the starting point is less than the distance between the fourth position point and the starting point, and the third sub-area is located between the fifth position point and the end point of the working lane.

[0014] In this way, when the target yard includes more working areas, more parking areas can be further planned on the lanes, so that when different vehicles are to perform operations in different working areas in the target yard, different driving paths can be planned. By setting the starting point of the second sub-area of ​​the first driving lane closer to the starting point of the lane than the starting point of the third lane-changing area of ​​the working lane, vehicles will not block each other when changing lanes, and corresponding parking areas are set for different working areas in the target yard to perform operations, so that when vehicles park for operations, they will not hinder the driving of other vehicles. This can improve the operating efficiency of vehicles in the yard.

[0015] In another possible design, the method further includes: when there are other vehicles parked at the work position in the first sub-area to perform work, the target vehicle can be planned to park and wait at an idle work position in the first sub-area; or the target vehicle can be planned to park and wait in the third parking area of ​​the first driving lane. The third parking area is located between the starting point of the first driving lane and the third position point, and the distance between the third position point and the starting point is less than the distance between the first position point and the starting point.

[0016] In this way, when there are other vehicles parked at the work positions in the first sub-area to perform work, the target vehicle to perform work in the first sub-area can park and wait at an empty work position in the first sub-area; or park and wait in the third parking area of ​​the first driving lane, so that after other vehicles have completed their work, the target vehicle can enter the first sub-area to perform work. In this way, vehicles can perform work in the same work area in an orderly manner, improving the work efficiency of vehicles in the yard.

[0017] In another possible design, the method further includes: when there are other vehicles parked at the work position in the third sub-area to perform work, the target vehicle can be planned to park and wait at an idle work position in the third sub-area; or the target vehicle can be planned to park and wait in the third parking area of ​​the first driving lane. The third parking area is located between the starting point of the first driving lane and the third position point, and the distance between the third position point and the starting point is less than the distance between the first position point and the starting point.

[0018] In this way, when there are other vehicles parked at the work position in the third sub-area to perform work, the target vehicle performing work in the second sub-area can park and wait at an empty work position in the third sub-area; or park and wait in the third parking area of ​​the first driving lane, so that after other vehicles have completed their work, the target vehicle can enter the third sub-area to perform work. In this way, vehicles can perform work in the same work area in an orderly manner, improving the work efficiency of vehicles in the yard.

[0019] In another possible design, the target yard is also equipped with a second driving lane, and there is a first driving lane between the second driving lane and the working lane, and the second driving lane has the same starting direction as the working lane, and the second working area includes: a first sub-working area and a second sub-working area, and the second parking area includes: a first sub-area, a second sub-area and a third sub-area, and the first sub-area and the third sub-area are parking areas, and the second sub-area is a lane change area; the method also includes: when the target operation is an operation in the second sub-working area, the target vehicle can be planned to enter through the starting point of the second driving lane, and after entering the target yard, change lanes in the fourth lane change area of ​​the second driving lane to drive to the working lane. Then, the target operation is performed at the working position in the third sub-area of ​​the working lane, and after completing the target operation, the target yard is driven away from the target yard through the end of the working lane. Among them, the fourth lane change area is used for the target vehicle to enter the third sub-area from the second driving lane, and the fourth lane change area is located between the sixth position point and the fifth position point of the second driving lane, and the distance between the sixth position point and the starting point is less than the distance between the fourth position point and the starting point.

[0020] In this way, when the target yard includes more driving lanes and more working areas, more parking areas can be further planned on the lanes, so that when different vehicles are to perform operations in different working areas in the target yard, different driving paths can be planned. By setting the starting point of the fourth lane change area of ​​the second driving lane closer to the starting point of the lane than the starting point of the second sub-area of ​​the working lane, vehicles will not block each other when changing lanes, and corresponding parking areas are set for different working areas in the target yard to perform operations, so that when vehicles park for operations, they will not hinder the driving of other vehicles. This can improve the operating efficiency of vehicles in the yard.

[0021] In a second aspect, a path planning device is provided, and the path planning device includes: a processing module.

[0022] The above-mentioned processing module is used to determine the target operation to be performed by the target vehicle in the target yard. The target yard includes: a first operation area and a second operation area. The target yard is configured with an operation lane and a first driving lane. The operation lane is a lane close to the operation area. There is an operation lane between the first driving lane and the operation area. The target yard also includes a lane changing area. The lane changing area is located in the middle of the first driving lane and the operation lane. The first driving lane has the same starting direction as the operation lane.

[0023] The above-mentioned processing module is also used to plan the target vehicle to enter through the starting point of the working lane and park at the working position in the first parking area of ​​the working lane to perform the target operation when the target operation is an operation in the first working area, and to change lanes to the first driving lane in the first lane changing area of ​​the working lane and leave through the end point of the first driving lane. The first parking area is located between the starting point of the working lane and the first position point. The first lane changing area is used for the target vehicle to leave the first parking area.

[0024] Alternatively, the above-mentioned processing module is also used to plan the target vehicle to enter through the starting point of the first driving lane, change lanes in the second lane changing area of ​​the first driving lane to the working lane, and park at the working position in the second parking area of ​​the working lane to perform the target operation and leave through the end point of the working lane when the target operation is an operation in the second working area. The second lane changing area is used for the target vehicle to enter the second parking area from the first driving lane, and the second parking area is located between the second position point and the end point of the working lane, and the distance between the second position point and the starting point is greater than the distance between the first position point and the starting point.

[0025] In one possible design, the target operation is an operation within the first operation area; the above-mentioned processing module is also used to plan the target vehicle to park and wait at an idle work position in the first parking area when there are other vehicles parked at the work position in the first parking area to perform operations.

[0026] In another possible design, the target operation is an operation within the second operation area; the above-mentioned processing module is also used to plan the target vehicle to park and wait at an idle work position in the second parking area when there are other vehicles parked at the work position in the second parking area to perform operations.

[0027] Alternatively, the above-mentioned processing module is also used to plan the target vehicle to park and wait in the third parking area of ​​the first driving lane when there are other vehicles parked at the work position in the second parking area to perform work, and the third parking area is located between the starting point of the first driving lane and the third position point, and the distance between the third position point and the starting point is smaller than the distance between the first position point and the starting point.

[0028] In another possible design, the second working area includes: a first sub-working area and a second sub-working area, and the second parking area includes: a first sub-area, a second sub-area and a third sub-area, the first sub-area and the third sub-area are parking areas, and the second sub-area is a lane changing area; the above-mentioned processing module is also used to plan the target vehicle to enter through the starting point of the first driving lane, and change lanes to the working lane in the second lane changing area of ​​the first driving lane when the target operation is an operation in the first sub-working area, and to park at the working position in the first sub-area to perform the target operation, and change lanes to the first driving lane in the second sub-area, and leave through the end point of the first driving lane, the first sub-area is located between the second position point and the fourth position point of the working lane, and the distance between the second position point and the starting point is less than the distance between the fourth position point and the starting point, the second sub-area is located between the fourth position point and the fifth position point of the working lane, and the distance between the fifth position point and the starting point is greater than the distance between the fourth position point and the starting point, and the second sub-area is used for the target vehicle to leave the first sub-area.

[0029] In another possible design, the above-mentioned processing module is also used to plan the target vehicle to enter through the starting point of the first driving lane, change lanes in the third lane changing area of ​​the first driving lane to the working lane, and stop at the working position in the third sub-area of ​​the working lane to perform the target operation and leave through the end point of the working lane when the target operation is an operation in the second sub-operating area. The third lane changing area is used for the target vehicle to enter the third sub-area from the first driving lane. The third lane changing area is located between the sixth position point and the fifth position point of the first driving lane. The distance between the sixth position point and the starting point is less than the distance between the fourth position point and the starting point. The third sub-area is located between the fifth position point and the end point of the working lane.

[0030] In another possible design, the processing module is also used to plan the target vehicle to stop and wait at an idle work position in the first sub-area when there are other vehicles parked at the work position to perform work in the first sub-area.

[0031] Alternatively, the above-mentioned processing module is also used to plan the target vehicle to park and wait in the third parking area of ​​the first driving lane when there are other vehicles parked at the work position in the first sub-area to perform work, and the third parking area is located between the starting point of the first driving lane and the third position point, and the distance between the third position point and the starting point is smaller than the distance between the first position point and the starting point.

[0032] In another possible design, the processing module is also used to plan the target vehicle to stop and wait at an idle work position in the third sub-area when there are other vehicles parked at the work position to perform work in the third sub-area.

[0033] Alternatively, the above-mentioned processing module is also used to plan the target vehicle to stop and wait in the third parking area of ​​the first driving lane when there are other vehicles parked at the work position in the third sub-area to perform work, and the third parking area is located between the starting point of the first driving lane and the third position point, and the distance between the third position point and the starting point is smaller than the distance between the first position point and the starting point.

[0034] In another possible design, the target yard is also configured with a second driving lane, and there is a first driving lane between the second driving lane and the working lane, the second driving lane and the working lane have the same starting direction, the second working area includes: a first sub-working area and a second sub-working area, and the second parking area includes: a first sub-area, a second sub-area and a third sub-area, the first sub-area and the third sub-area are parking areas, and the second sub-area is a lane changing area; the above-mentioned processing module is also used to plan the target vehicle to enter through the starting point of the second driving lane when the target operation is an operation in the second sub-working area, and change lanes to the working lane in the fourth lane changing area of ​​the second driving lane, and to park at the working position in the third sub-area of ​​the working lane to perform the target operation, and leave through the end point of the working lane, the fourth lane changing area is used for the target vehicle to enter the third sub-area from the second driving lane, the fourth lane changing area is located between the sixth position point and the fifth position point of the second driving lane, and the distance between the sixth position point and the starting point is less than the distance between the fourth position point and the starting point.

[0035] According to a third aspect, an electronic device is provided, comprising a memory and a processor, wherein the memory is coupled to the processor; the memory is used to store computer program code, wherein the computer program code comprises computer instructions; when the computer instructions are executed by the processor, the electronic device executes the method described in the first aspect and any possible design thereof.

[0036] In a fourth aspect, a cluster of electronic devices is provided, comprising at least one electronic device, each electronic device comprising a processor and a memory; the processor of at least one electronic device is used to execute instructions stored in the memory of at least one electronic device, so that the cluster of electronic devices executes the method described in the first aspect and any possible design thereof.

[0037] In a fifth aspect, a computer-readable storage medium is provided, which includes computer program instructions. When the computer program instructions are executed by an electronic device cluster, the electronic device cluster executes the method described in the first aspect and any possible design thereof.

[0038] In a sixth aspect, a computer program product comprising instructions is provided, and when the instructions are executed by an electronic device cluster, the electronic device cluster executes the method as described in the first aspect and any possible design thereof.

[0039] In a seventh aspect, a path planning system is provided, which includes an electronic device, a storage yard, and a vehicle, and the path planning system executes the method described in the first aspect and any possible design method thereof.

[0040] It can be understood that the beneficial effects that can be achieved by the path planning device described in the second aspect and any possible design thereof, the electronic device described in the third aspect and any possible design thereof, the path planning system described in the fourth aspect, the computer storage medium described in the fifth aspect, and the computer program product described in the sixth aspect can be referred to as the beneficial effects in the first aspect and any possible design thereof, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic diagram of an application scenario of a path planning method provided in this application;

[0042] Figure 2 Provided for this application Figure 1 A schematic diagram of a specific application scenario involved in the illustrated embodiment;

[0043] Figure 3 A schematic diagram of a path conflict scenario provided for this application;

[0044] Figure 4 Provided for this application Figure 3 Schematic diagrams of various specific scenarios involved in the illustrated embodiments;

[0045] Figure 5 A schematic diagram of the system architecture of a path planning method provided in this application;

[0046] Figure 6 A schematic diagram of a path planning method provided in this application;

[0047] Figure 7 A schematic diagram of an application scenario of a path planning method provided in this application;

[0048] Figure 8 A schematic diagram of an application scenario of another path planning method provided in this application;

[0049] Fig. 9 A schematic diagram of an application scenario of another path planning method provided in this application;

[0050] Fig.10A schematic diagram of an application scenario of another path planning method provided in this application;

[0051] Fig.11 A schematic diagram of an application scenario of another path planning method provided in this application;

[0052] Fig.12 A schematic diagram of an application scenario of another path planning method provided in this application;

[0053] Fig.13 A schematic diagram of the composition of a path planning device provided in this application;

[0054] Fig.14 A schematic diagram of the composition of a path planning system provided in this application;

[0055] Fig.15 A schematic diagram of the structure of an electronic device provided in this application;

[0056] Fig.16 A schematic diagram of an electronic device cluster provided for this application;

[0057] Fig.17 A schematic diagram of a connection method between electronic device clusters provided in this application. DETAILED DESCRIPTION

[0058] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0059] In this application, the character " / " generally indicates that the objects before and after are in an "or" relationship. For example, A / B can be understood as A or B.

[0060] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this embodiment, unless otherwise specified, "plurality" means two or more.

[0061] In addition, the terms "including" and "having" and any variations thereof mentioned in the description of this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or modules is not limited to the listed steps or modules, but may optionally include other steps or modules that are not listed, or may optionally include other steps or modules that are inherent to these processes, methods, products or devices.

[0062] In addition, in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present concepts in a specific way.

[0063] like Figure 1 As shown in the figure, it is a common port container yard (yard) determinant layout, including 6 yards in the port (i.e., 1B yard, 2B yard, 3B yard, 4B yard, 5B yard and 6B yard in the figure), each yard includes multiple bays, the bays are arranged in columns, and a container is placed on each bay. Each yard can also include a yard container gantry crane (yard crane), referred to as yard crane. The yard container gantry crane can be used to load and unload containers on the bays onto vehicles (such as artificial intelligence robot of transportation (ART)).

[0064] like Figure 2 As shown, each yard is also equipped with a working lane and a passing lane for vehicles to travel or park. The position where the container loading and unloading bridge of the yard is located (i.e. the position where the vehicle parks to perform operations) can be called the working position.

[0065] Since the work positions are not fixed, different vehicles are used to perform work at different positions. The container loading and unloading bridges in the yard need to move frequently, and the vehicle path planning must also change with the changes in the work positions. This is one of the main reasons for the generation of multiple staggered paths for vehicles. In addition, the work positions are closely connected, and the spacing between adjacent work positions cannot meet the lane change during vehicle driving. Therefore, the two vehicles working next to each other will affect the driving path of the following vehicle. In addition, the task scheduling system for all yards (i.e., 1B yard, 2B yard, 3B yard, 4B yard, 5B yard and 6B yard) is basically balanced, but for a single yard, the task of dispatching vehicles to work is random. From the perspective of path planning, this randomness cannot achieve completely reliable path pre-planning (reservation / pre-occupancy).

[0066] Therefore, vehicles going to different bays of the same yard to perform operations have complex and intertwined paths, and there may be multiple conflicting paths at the same time. Figure 3 As shown, there will be a conflict between the path of the vehicle that has completed the operation and changes lanes to exit the lane, the path of the vehicle going from the working lane to the working position, and the path of the vehicle that changes lanes from the driving lane to enter the working position, resulting in vehicle changes and traffic jams.

[0067] Specifically, the paths of multiple vehicles are complex and intertwined, and there is no coordination between vehicles. Based on the first-come, first-served principle, from the perspective of a single vehicle, driving at the best of its ability often easily leads to blocking each other and traffic jams. Figure 4 As shown, in case one, vehicle No. 1 401 goes to bay No. 1 402 to perform work through the working lane, and is blocked by vehicle No. 2 403 that is performing work while driving in the working lane. Alternatively, as in case two, when vehicle No. 1 401 leaves the yard, if it drives straight out of the yard through the working lane, it is blocked by vehicle No. 2 403 that is performing work, and if it changes lanes to drive out of the yard, it is blocked by vehicle No. 3 404 that is waiting to perform work. Alternatively, as in case three, vehicle No. 1 401 enters the yard through the driving lane, and changes lanes to bay No. 1 402 of the working lane to perform work, and is blocked by vehicle No. 2 403 that is performing work. Alternatively, as in case four, vehicle No. 1 401 enters the yard through the driving lane, and is blocked by vehicle No. 3 404 that is driving on the driving lane, or is blocked by vehicle No. 2 403 that is performing work on the working lane. Or, as in case 5, vehicle 401 passes through the work lane and changes to the driving lane, vehicle 403 passes through the driving lane and changes to the work lane, or a vehicle cuts off another vehicle. Once a vehicle cuts off another vehicle or a traffic jam occurs in the yard, the vehicle cannot drive to the designated location for operation, and the operation will be interrupted. It is necessary to rely on manual intervention, remote control of the vehicle, task reassignment and other measures to solve the vehicle congestion, which will greatly reduce the operation efficiency of the vehicles in the yard.

[0068] To this end, the present application provides a path planning method that can be applied to the process of vehicles performing operations in a yard. The method can be applied to electronic devices including: a yard management system, a task scheduling system, a yard crane operation system, and an unmanned vehicle fleet system.

[0069] The yard management system is used to manage bays. Bays in the yard are first organized in a determinant layout (other organizational methods are also possible, such as: stacking area division, high-low layer division, etc.), and numbered in ascending order from north to south by identifiers (they can also be numbered from south to north, or in descending order, or in random order, but the bay identifier must be unique so that it can be uniquely determined which operating position it is). The yard management system is also used to manage the planned operating lanes and driving lanes (a single yard generally plans one operating lane and one driving lane), and manage the configured yard bridges (a single yard generally has two yard bridges) to implement double-line operations.

[0070] Specifically, when dual-line operations are implemented in the yard, the human-machine interface of the yard management system needs to be configured. The main purpose is to divide the bays included in the yard into different operating areas (such as low-bay operating areas and high-bay operating areas, also known as the first operating area and the second operating area), as well as lane change areas. After the configuration is completed, the configuration information will be synchronously distributed to the task scheduling system, yard crane operation system and unmanned vehicle fleet system.

[0071] It should be noted that the low-bay operation area (or the first operation area) can be understood as the area starting from the lane starting point (the starting points of the operation lane and the driving lane are the same, and can be collectively referred to as the lane starting point) to a certain bay position in the middle area of ​​the yard (for example, bay position No. 45) (when the bay positions are arranged in sequence from the lane starting point to the lane end point, the bay position range can be [1-45]; the high-bay operation area (or the second operation area) can be understood as the area starting from a certain bay position in the middle area of ​​the yard (for example, bay position No. 55) to the lane end point (the end points of the operation lane and the driving lane are the same, and can be collectively referred to as the lane end point) (when the bay positions are arranged in sequence from the lane starting point to the lane end point, the bay position range can be [55-100]; then the area with a bay position range of [46-54] can be the lane change area, located between the low-bay operation area and the high-bay operation area, and meets the driving distance for the vehicle to change lanes.

[0072] Optionally, the range of the low-bay operation area (or the first operation area) may also be the area from bay position No. 10 to a bay position in the middle area of ​​the yard (for example, bay position No. 45) (when the bay positions are arranged in sequence from the start point of the lane to the end point of the lane, the bay position range may be [10-45]; the range of the high-bay operation area (or the second operation area) may also be the area from a bay position in the middle area of ​​the yard (for example, bay position No. 55) to bay position No. 90 (when the bay positions are arranged in sequence from the start point of the lane to the end point of the lane, the bay position range may be [55-90]; that is, the yard includes a portion of bay positions that are not used for operations.

[0073] Optionally, the length of the lane change area may be determined based on Formula 1:

[0074]

[0075] Where w is the lane width, θ is the lane change angle, δ is the length of the crab move, l v Reserve distance for the straight ahead crab walk. The length of the lane changing area determined based on Formula 1 can meet the lane changing distance of the vehicle, and minimize the length of the lane changing area to increase the range of the operating area.

[0076] The task scheduling system is used to assign work tasks in the yard to vehicles. It needs to follow the above-mentioned yard partition configuration, select the work of the destination bay from the yard, assign it to the vehicle, and schedule it. For example: for vehicle No. 1, it needs to be dispatched to bay No. 10 of the yard for work, then the destination is within the range of bays [1-45], which belongs to the low bay work area (or the first work area); or for vehicle No. 2, it needs to be dispatched to bay No. 60 of the yard for work, then the destination is within the range of bays [55-100], which belongs to the high bay work area (or the second work area).

[0077] The yard crane operation system also needs to follow the above-mentioned yard partition configuration, dispatch the operation tasks in the yard to the vehicle based on the task scheduling system, determine the corresponding bay, and dispatch the yard crane equipment to the corresponding bay for operation. For example: if the No. 1 yard crane is a yard crane in the low-bay operation area, then the No. 1 yard crane is scheduled to operate within the range of bays [1-45], and the No. 2 yard crane is a yard crane in the high-bay operation area, then the No. 2 yard crane is scheduled to operate within the range of bays [55-100].

[0078] The unmanned vehicle fleet system is in the form of a cloud platform. It is used to plan conflict-free driving routes for vehicles based on the tasks and corresponding bays assigned by the task scheduling system, follow the zoning configuration of the yard, and control the vehicles to drive to the corresponding bays to perform operations.

[0079] refer to Figure 5The path planning method provided in the embodiment of the present application can be applied to an implementation environment including electronic equipment, a storage yard, and vehicles. Figure 5 As shown, the implementation environment may include an electronic device 501, a yard 502, and a vehicle 503. The electronic device 501 includes a yard management system, a task scheduling system, a yard crane operation system, and an unmanned vehicle fleet system; the user controls each system to perform corresponding operation tasks by operating the electronic device 501, and controls the yard container loading and unloading bridge and the vehicle 503 in the yard 502 to perform corresponding operations.

[0080] In a possible design, the electronic device 501 includes a processor and a transmitter, and the processor is configured to support the electronic device 501 to perform the corresponding functions in the above method. The transmitter is used to support the communication between the electronic device 501 and the yard 502 and the vehicle 503, and send the instruction information involved in the above method to the yard 502 and the vehicle 503. The electronic device 501 may also include a memory, which is used to couple with the processor and store the necessary program instructions and data of the electronic device 501. The electronic device 501 may also include a receiver, which is used to receive a request message sent by a user, or operation information fed back by the yard 502 and the vehicle 503.

[0081] Exemplarily, the electronic device 501 in the embodiment of the present application may be a server (or server group), and the electronic device 501 has the function of implementing the above method. The function may be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions, and the modules may be software and / or hardware.

[0082] In a possible implementation, the yard management system, the task scheduling system, the yard bridge operation system and the unmanned vehicle fleet system may include a receiver and a processor, wherein the receiver is configured to support the system to receive messages or information from the electronic device 501 or the user terminal. The processor control system executes a corresponding response according to the message or information received by the receiver.

[0083] Exemplarily, the electronic device 501 in the embodiment of the present application can be a tablet computer, a desktop, a laptop, a handheld computer, a notebook computer, an ultra-mobile personal computer (UMPC), a netbook, a personal digital assistant (PDA), an augmented reality (AR)\virtual reality (VR) device, etc. The embodiment of the present application does not impose any special restrictions on the specific form of the device.

[0084] The execution subject of the path planning method provided in the present application may be a central processing unit (CPU) in an electronic device, or a control module in an electronic device, or an application program in the electronic device.

[0085] The technical solution provided in the embodiment of the present application can be applied to the above implementation environment. The implementation environment described in the embodiment of the present application is to more clearly illustrate the technical solution of the embodiment of the present application, and does not constitute a limitation on the technical solution provided in the embodiment of the present application. It is known to those skilled in the art that with the evolution of the implementation environment, the technical solution provided in the embodiment of the present application is also applicable to similar technical problems.

[0086] The methods in the following embodiments can all be implemented in an electronic device having the above implementation environment. In the following embodiments, the execution subject of the path planning method provided by the present application is an electronic device as an example to illustrate the methods in the embodiments of the present application.

[0087] The present application embodiment provides a path planning method, such as Figure 6 As shown, the path planning method may include S601-S603.

[0088] S601. The electronic device determines a target operation to be performed by a target vehicle in a target yard.

[0089] Among them, the target yard includes: a first working area and a second working area. The target yard is equipped with a working lane and a first driving lane. The working lane is a lane close to the working area. There is a working lane between the first driving lane and the working area. The target yard also includes a lane changing area. The lane changing area is located in the middle of the first driving lane and the working lane. The first driving lane has the same starting direction as the working lane.

[0090] It should be noted that, here, the target yard includes two yard cranes (such as the No. 1 yard crane and the No. 2 yard crane), the target yard includes one working lane and one driving lane (i.e., the first driving lane), and the bays included in the target yard are divided into two working areas (i.e., the first working area and the second working area) as an example for exemplary description. Among them, the No. 1 yard crane is used to perform operations in the first working area, and the No. 2 yard crane is used to perform operations in the second working area.

[0091] A possible implementation method is to determine the operating area to which the position (ie, operating position) corresponding to the target operation to be executed belongs based on the target operation to be executed assigned by the task scheduling system to the target vehicle.

[0092] S602. When the target operation is an operation within the first operation area, the target vehicle is planned to enter through the starting point of the operation lane, and to park at the operation position in the first parking area of ​​the operation lane to perform the target operation, and to change lanes to the first driving lane in the first lane change area of ​​the operation lane, and to leave through the end point of the first driving lane.

[0093] The first parking area is located between the starting point and the first position point of the working lane, the first lane changing area is used for the target vehicle to leave the first parking area, and the first lane changing area is located between the first position point and the second position point of the working lane.

[0094] For example, Figure 7 As shown, for a target vehicle that is heading to the first operating area of ​​the target yard to perform an operation, for example, the operating position is position 21, the vehicle can be planned to enter the target yard from the starting point of the operating lane, park at the operating position in the first parking area between the starting point of the operating lane and the first position point to perform the target operation, and after completing the target operation, leave the target yard from the end of the first driving lane based on the planned path. The planned path is shown by the arrow in the figure, where the vehicle changes lanes in the first lane change area to the first driving lane, and leaves the target yard through the first driving lane.

[0095] It should be noted that the target vehicle changes lanes to the first driving lane in the first lane change area, and leaves the target yard through the end of the first driving lane. It can leave the target yard smoothly from the first driving lane without being affected by vehicles performing operations in the second operation area.

[0096] Optionally, when the target operation to be performed by the target vehicle is an operation within the first operation area, the No. 1 field bridge used to perform the operation within the first operation area will go to the corresponding bay to perform the target operation.

[0097] In one possible implementation, the target operation is an operation in the first operation area. When there are other vehicles parked at the operation positions in the first parking area to perform the operation, the target vehicle is planned to park and wait at an idle operation position in the first parking area.

[0098] It can be understood that if there is a vehicle parked in the first parking area to perform operations in the first working area, the target vehicle needs to stop and wait after entering the first parking area. After other vehicles have completed the operations and left, the field crane performing operations in the first working area can perform the operations corresponding to the target vehicle.

[0099] One possible implementation method is that after the unmanned fleet system plans a driving path for the target vehicle based on the target operation of the target vehicle, the driving path will be sent to the target vehicle, so that the target vehicle drives into the target yard based on the planned driving path to perform the target operation.

[0100] S603. When the target operation is an operation in the second operation area, the target vehicle is planned to enter through the starting point of the first driving lane, change lanes in the second lane change area of ​​the first driving lane to the operation lane, and park at the operation position in the second parking area of ​​the operation lane to perform the target operation and leave through the end point of the operation lane.

[0101] Among them, the second lane changing area is used for the target vehicle to enter the second parking area from the first driving lane. The second parking area is located between the second position point and the end point of the working lane, and the distance between the second position point and the starting point is greater than the distance between the first position point and the starting point. The second lane changing area is located between the third position point and the second position point of the first driving lane, and the distance between the third position point and the starting point is less than the distance between the first position point and the starting point.

[0102] For example, Figure 8 As shown in the figure, for a target vehicle that is heading to the second working area of ​​the target yard to perform work, for example, the working position is the No. 71 bay, the vehicle can be planned to enter the target yard from the starting point of the first driving lane, change lanes in the second lane-changing area of ​​the first driving lane to the working lane, stop at the working position in the second parking area of ​​the working lane to perform the target work, and leave through the end of the working lane. The planned path is shown by the arrow in the figure, changing lanes in the second lane-changing area to the working lane, and after performing the target work in the second parking area, leaving the target yard through the working lane.

[0103] It should be noted that the target vehicle changes lanes to the working lane in the second lane change area, and may not be affected by the vehicles performing the operation in the first operation area, and may smoothly leave the target yard after performing the target operation in the working lane.

[0104] Optionally, when the target operation to be performed by the target vehicle is an operation within the second operation area, the No. 2 field bridge used to perform the operation within the second operation area will go to the corresponding bay to perform the target operation.

[0105] In one possible case, the first lane changing area and the second lane changing area can be collectively referred to as the lane changing area. The first lane changing area and the second lane changing area are not specifically divided. The lane changing area is located in the middle of the working lane and the driving lane. The lane changing area spans the working lane and the driving lane, so that the target vehicle can change the lane of the vehicle through the lane changing area. In this case, the first lane changing area and the second lane changing area can be regarded as part of the lane changing area.

[0106] Furthermore, in one possible case, combined with Figure 8As shown, the starting position of the second lane changing area is earlier than the starting position of the first lane changing area, and the distance by which the starting position of the second lane changing area is earlier than the starting position of the first lane changing area can be determined based on the length of the vehicle (generally the length of the vehicle). This is to avoid the situation of overtaking or traffic jam when vehicles in the working lane and the first driving lane travel side by side and change lanes in the lane changing area.

[0107] In one possible implementation, the target operation is an operation in the second operation area. When there are other vehicles parked at the operation positions in the second parking area to perform the operation, the target vehicle is planned to park and wait at an idle operation position in the second parking area.

[0108] Alternatively, when there are other vehicles parked at the work position in the second parking area to perform work, the target vehicle is planned to park and wait in the third parking area in the first driving lane. The third parking area is located between the starting point of the first driving lane and the third position point, and the distance between the third position point and the starting point is smaller than the distance between the first position point and the starting point.

[0109] It can be understood that if there is a vehicle parked in the second parking area to perform operations in the second work area, the target vehicle needs to stop and wait after entering the second parking area (or the third parking area). After other vehicles have completed the operations and left, the field crane performing operations in the second work area can perform the operations corresponding to the target vehicle.

[0110] In another possible implementation, if the stockpile includes only one working lane, there is no need to divide the bays in the stockpile into multiple working areas. Vehicles performing work enter the stockpile from the working lane and perform work. When there are vehicles performing work on the working lane, other vehicles need to stop and wait behind the vehicle performing work.

[0111] In another possible implementation, when the target yard is large, the target yard may include three (or more) yard bridges. In this case, the second operation area includes: a first sub-operation area and a second sub-operation area, and the second parking area includes: a first sub-area, a second sub-area and a third sub-area, the first sub-area and the third sub-area are parking areas, and the second sub-area is a lane change area.

[0112] It should be noted that the length of a large ocean-going ship is about 400 meters, and that of a small ship is less than 200 meters. For the construction of the yard corresponding to the port berth, the lane length is generally less than 300 meters. If the lane of the yard is too long, it will lead to a large single-circuit mileage, and the vehicle will take a detour, affecting the operating efficiency. In addition, the current vehicle size in the yard is about 16-18 meters, and the length of the lane change area can be set at about 50 meters. The yard site (calculated based on the length of the yard of 300 meters) removes a lane change area, and the operating length of the two yard cranes is 125 meters. In addition, there are some boundary constraints at both ends of the actual site. After full consideration, the operating length of a single yard crane is about 80-100 meters. If the length of the yard lane is less than 300 meters, the number of yard cranes that can actually be accommodated may be only one.

[0113] For example, Fig. 9 As shown, when the target yard is large (for production, the length is greater than 300 meters), the target yard may include three yard bridges, and the bays included in the target yard may be divided into three operating areas (i.e., the first operating area includes bays [1-30], the first sub-operating area includes bays [31-65], and the second sub-operating area includes bays [66-100]). The first yard bridge is used to perform operations in the first operating area, the second yard bridge is used to perform operations in the first sub-operating area, and the third yard bridge is used to perform operations in the second sub-operating area.

[0114] A possible implementation method is that, when the target operation is an operation within the first sub-operation area, the target vehicle is planned to enter through the starting point of the first driving lane, and change lanes in the second lane changing area of ​​the first driving lane to the working lane, and stop at the working position in the first sub-area to perform the target operation, and change lanes in the second sub-area to the first driving lane, and leave through the end point of the first driving lane.

[0115] Among them, the first sub-area is located between the second position point and the fourth position point of the working lane, the distance between the second position point and the starting point is smaller than the distance between the fourth position point and the starting point, the second sub-area is located between the fourth position point and the fifth position point of the working lane, the distance between the fifth position point and the starting point is larger than the distance between the fourth position point and the starting point, and the second sub-area is used for the target vehicle to leave the first sub-area.

[0116] For example, Fig.10As shown, for a target vehicle going to the first sub-operation area of ​​the target yard to perform an operation, for example, the operation position is position 41, the vehicle can be planned to enter the target yard from the starting point of the first driving lane, wherein the planned path is shown by the arrow in the figure, the vehicle changes lanes in the second lane-changing area of ​​the first driving lane to the operation lane, then stops at the operation position in the first sub-area to perform the target operation, and changes lanes in the second sub-area to the first driving lane, and leaves through the end point of the first driving lane.

[0117] It should be noted that the target vehicle changes lanes to the working lane in the second lane-changing area, and after completing the target operation in the first sub-area, changes lanes to the first driving lane through the second sub-area, and leaves the target yard through the end point of the first driving lane. It can smoothly leave the target yard from the first driving lane without being affected by vehicles performing operations in the first working area and vehicles performing operations in the second sub-working area.

[0118] Optionally, when the target operation performed by the target vehicle is an operation within the first sub-operation area, the No. 2 field bridge used to perform the operation within the first sub-operation area will go to the corresponding bay to perform the target operation.

[0119] In a possible implementation, when there are other vehicles parked at the work position in the first sub-area to perform work, the target vehicle is planned to park and wait at an idle work position in the first sub-area.

[0120] Alternatively, when there are other vehicles parked at the work position in the first sub-area to perform work, the target vehicle is planned to park and wait in the third parking area of ​​the first driving lane, and the third parking area is located between the starting point of the first driving lane and the third position point, and the distance between the third position point and the starting point is smaller than the distance between the first position point and the starting point.

[0121] It can be understood that if there is a vehicle parked in the first sub-area to perform operations in the first sub-operation area, the target vehicle needs to stop and wait after entering the third parking area. After other vehicles have completed the operations and left, the field crane performing operations in the first sub-operation area can perform the operations corresponding to the target vehicle.

[0122] A possible implementation method is that when the target operation is an operation within the second sub-operation area, the target vehicle is planned to enter through the starting point of the first driving lane, change lanes to the working lane in the third lane change area of ​​the first driving lane, and stop at the working position in the third sub-area of ​​the working lane to perform the target operation and leave through the end point of the working lane.

[0123] Among them, the third lane changing area is used for the target vehicle to enter the third sub-area from the first driving lane. The third lane changing area is located between the sixth position point and the fifth position point of the first driving lane, and the distance between the sixth position point and the starting point is smaller than the distance between the fourth position point and the starting point. The third sub-area is located between the fifth position point and the end point of the working lane, and the distance between the sixth position point and the starting point is larger than the distance between the second position point and the starting point.

[0124] For example, Fig.11 As shown in the figure, for a target vehicle that is going to the second sub-operation area of ​​the target yard to perform an operation, for example, the operation position is position 82, the vehicle can be planned to enter the target yard from the starting point of the first driving lane, wherein the planned path is shown by the arrow in the figure, the vehicle changes lanes in the third lane change area of ​​the first driving lane to the operation lane, then stops at the operation position in the third sub-area to perform the target operation, and leaves the target yard through the end point of the operation lane.

[0125] It should be noted that the target vehicle changes lanes to the working lane in the third lane-changing area, and after completing the target operation in the third sub-area, it leaves the target yard through the working lane, and can smoothly leave the target yard from the working lane without being affected by vehicles performing operations in the first operating area and vehicles performing operations in the first sub-operating area.

[0126] Optionally, when the target operation performed by the target vehicle is an operation within the second sub-operation area, the No. 3 field bridge used to perform the operation within the second sub-operation area will go to the corresponding bay to perform the target operation.

[0127] In a possible implementation, when there are other vehicles parked at the work position in the third sub-area to perform work, the target vehicle is planned to park and wait at an idle work position in the third sub-area.

[0128] Alternatively, when there are other vehicles parked at the work position in the third sub-area to perform work, the target vehicle is planned to park and wait in the third parking area of ​​the first driving lane. The third parking area is located between the starting point of the first driving lane and the third position point, and the distance between the third position point and the starting point is smaller than the distance between the first position point and the starting point.

[0129] It can be understood that if there is a vehicle parked in the third sub-area to perform operations in the second sub-operation area, the target vehicle needs to stop and wait after entering the third parking area or the third sub-area. After other vehicles have completed the operation and left, the field crane performing operations in the second sub-operation area can perform the corresponding operations of the target vehicle.

[0130] Further, combined with Fig.11As shown, the starting position of the third lane changing area is earlier than the starting position of the second sub-area, and the distance by which the starting position of the third lane changing area is earlier than the starting position of the second sub-area can be determined based on the length of the vehicle (generally the length of the vehicle). This is to avoid the situation of overtaking or traffic jam when vehicles in the working lane and the first driving lane travel side by side and change lanes in the lane changing area.

[0131] In another possible implementation, the target yard is further configured with a second driving lane, a first driving lane exists between the second driving lane and the working lane, the second driving lane and the working lane have the same starting direction, the second working area includes: a first sub-working area and a second sub-working area, the second parking area includes: a first sub-area, a second sub-area and a third sub-area, the first sub-area and the third sub-area are parking areas, and the second sub-area is a lane changing area.

[0132] A possible implementation method is that, when the target operation is an operation within the second sub-operation area, the target vehicle is planned to enter through the starting point of the second driving lane, and change lanes to the working lane in the fourth lane changing area of ​​the second driving lane, and stop at the working position in the third sub-area of ​​the working lane to perform the target operation, and leave through the end point of the working lane. The fourth lane changing area is used for the target vehicle to enter the third sub-area from the second driving lane. The fourth lane changing area is located between the sixth position point and the fifth position point of the second driving lane. The distance between the sixth position point and the starting point is smaller than the distance between the fourth position point and the starting point, and the distance between the sixth position point and the starting point is larger than the distance between the second position point and the starting point.

[0133] For example, Fig.12 As shown in the figure, for a target vehicle that is going to the second sub-operation area of ​​the target yard to perform an operation, for example, the operation position is position 82, the vehicle can be planned to enter the target yard from the starting point of the second driving lane, wherein the planned path is shown by the arrow in the figure, the vehicle changes lanes in the fourth lane change area of ​​the second driving lane to the operation lane, then stops at the operation position in the third sub-area to perform the target operation, and leaves the target yard through the end point of the operation lane.

[0134] It should be noted that the target vehicle changes lanes to the working lane in the fourth lane-changing area, and after completing the target operation in the third sub-area, it leaves the target yard through the working lane. It can leave the target yard smoothly from the working lane without being affected by vehicles performing operations in the first operating area and vehicles performing operations in the first sub-operating area.

[0135] In a possible implementation, when there are other vehicles parked at the work position in the third sub-area to perform work, the target vehicle is planned to park and wait at an idle work position in the third sub-area.

[0136] Alternatively, when there are other vehicles parked at the work position in the third sub-area to perform work, the target vehicle is planned to be in the fourth parking area of ​​the second driving lane. The fourth parking area is located between the starting point of the second driving lane and the sixth position point, and the distance between the sixth position point and the starting point is smaller than the distance between the fourth position point and the starting point.

[0137] It can be understood that if there is a vehicle parked in the third sub-area to perform operations in the second sub-operation area, the target vehicle needs to stop and wait after entering the third sub-area or the fourth parking area. After other vehicles have completed the operation and left, the field crane performing operations in the second sub-operation area can perform the corresponding operations of the target vehicle.

[0138] Further, combined with Fig.12 As shown, the starting position of the fourth lane changing area is earlier than the starting position of the second sub-area, and the distance by which the starting position of the fourth lane changing area is earlier than the starting position of the second sub-area can be determined based on the length of the vehicle (generally the length of the vehicle). This is to avoid the situation of overtaking or traffic jam when vehicles in the working lane and the first driving lane travel side by side and change lanes in the lane changing area.

[0139] In summary, based on the method provided in the embodiment of the present application, different driving paths can be planned for vehicles based on the division of the working area of ​​the yard, the number of lanes included in the yard, and the parking areas and lane change areas divided in the lanes, according to the operations to be performed by different vehicles for different working areas in the target yard. For different working areas in the yard, corresponding parking areas are set to perform operations, so that when vehicles are driving on the lanes and changing lanes, they will not block each other and will not hinder the driving of other vehicles, thereby improving the operating efficiency of vehicles in the yard. In addition, when there are other vehicles parked at the operating positions in the parking area where the operation is performed, the vehicle can park and wait at the vacant operating positions in the parking area, thereby improving the operating efficiency of vehicles in the yard.

[0140] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of an electronic device. It is understandable that, in order to realize the above functions, the electronic device includes a hardware structure and / or software module corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the path planning method steps of each example described in the embodiment disclosed in this application, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or electronic device software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0141] The embodiment of the present application can divide the electronic device into functional modules or functional units according to the above method example. For example, each functional module or functional unit can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules or functional units. Among them, the division of modules or units in the embodiment of the present application is schematic, which is only a logical function division, and there may be other division methods in actual implementation.

[0142] Please refer to Fig.13 , which shows a schematic diagram of a path planning device provided in an embodiment of the present application, and the path planning device is applied to an electronic device. Fig.13 As shown, the path planning device 130 may include: a processing module 1301 and a communication module 1302 .

[0143] Among them, the above-mentioned processing module 1301 is used to determine the target operation to be performed by the target vehicle in the target yard. The target yard includes: a first operation area and a second operation area. The target yard is configured with an operation lane and a first driving lane. The operation lane is a lane close to the operation area. There is an operation lane between the first driving lane and the operation area. The target yard also includes a lane changing area. The lane changing area is located in the middle of the first driving lane and the operation lane. The first driving lane has the same starting direction as the operation lane.

[0144] The above-mentioned processing module 1301 is also used to plan the target vehicle to enter through the starting point of the working lane and park at the working position in the first parking area of ​​the working lane to perform the target operation when the target operation is an operation in the first working area, and to change lanes to the first driving lane in the first lane changing area of ​​the working lane and leave through the end point of the first driving lane. The first parking area is located between the starting point of the working lane and the first position point. The first lane changing area is used for the target vehicle to leave the first parking area.

[0145] The above-mentioned processing module 1301 is also used to plan the target vehicle to enter through the starting point of the first driving lane, change lanes in the second lane changing area of ​​the first driving lane to the working lane, and park at the working position in the second parking area of ​​the working lane to perform the target operation and leave through the end point of the working lane when the target operation is an operation in the second working area. The second lane changing area is used for the target vehicle to enter the second parking area from the first driving lane. The second parking area is located between the second position point and the end point of the working lane, and the distance between the second position point and the starting point is greater than the distance between the first position point and the starting point.

[0146] In one possible design, the target operation is an operation within the first operation area; the above-mentioned processing module 1301 is also used to plan the target vehicle to park and wait at an idle operation position in the first parking area when there are other vehicles parked at the operation position in the first parking area to perform operations.

[0147] In another possible design, the target operation is an operation in the second operation area; the above-mentioned processing module 1301 is also used to plan the target vehicle to park and wait at an idle work position in the second parking area when there are other vehicles parked at the work position in the second parking area to perform operations.

[0148] Alternatively, the above-mentioned processing module 1301 is also used to plan the target vehicle to park and wait in the third parking area of ​​the first driving lane when there are other vehicles parked at the work position in the second parking area to perform work, and the third parking area is located between the starting point of the first driving lane and the third position point, and the distance between the third position point and the starting point is smaller than the distance between the first position point and the starting point.

[0149] In another possible design, the second working area includes: a first sub-working area and a second sub-working area, and the second parking area includes: a first sub-area, a second sub-area and a third sub-area, the first sub-area and the third sub-area are parking areas, and the second sub-area is a lane changing area; the above-mentioned processing module 1301 is also used to plan the target vehicle to enter through the starting point of the first driving lane, and change lanes to the working lane in the second lane changing area of ​​the first driving lane when the target operation is an operation in the first sub-working area, and to park at the working position in the first sub-area to perform the target operation, and change lanes to the first driving lane in the second sub-area, and leave through the end point of the first driving lane, the first sub-area is located between the second position point and the fourth position point of the working lane, and the distance between the second position point and the starting point is less than the distance between the fourth position point and the starting point, the second sub-area is located between the fourth position point and the fifth position point of the working lane, and the distance between the fifth position point and the starting point is greater than the distance between the fourth position point and the starting point, and the second sub-area is used for the target vehicle to leave the first sub-area.

[0150] In another possible design, the processing module 1301 is also used to plan the target vehicle to enter through the starting point of the first driving lane, change lanes in the third lane changing area of ​​the first driving lane to the working lane, and stop at the working position in the third sub-area of ​​the working lane to perform the target operation and leave through the end point of the working lane when the target operation is an operation in the second sub-operating area. The third lane changing area is used for the target vehicle to enter the third sub-area from the first driving lane. The third lane changing area is located between the sixth position point and the fifth position point of the first driving lane. The distance between the sixth position point and the starting point is less than the distance between the fourth position point and the starting point. The third sub-area is located between the fifth position point and the end point of the working lane.

[0151] In another possible design, the processing module 1301 is also used to plan the target vehicle to stop and wait at an idle work position in the first sub-area when there are other vehicles parked at the work position to perform work in the first sub-area.

[0152] Alternatively, the above-mentioned processing module 1301 is also used to plan the target vehicle to park and wait in the third parking area of ​​the first driving lane when there are other vehicles parked at the work position in the first sub-area to perform work, and the third parking area is located between the starting point of the first driving lane and the third position point, and the distance between the third position point and the starting point is smaller than the distance between the first position point and the starting point.

[0153] In another possible design, the processing module 1301 is also used to plan the target vehicle to stop and wait at an idle work position in the third sub-area when there are other vehicles parked at the work position to perform work in the third sub-area.

[0154] Alternatively, the above-mentioned processing module 1301 is also used to plan the target vehicle to park and wait in the third parking area of ​​the first driving lane when there are other vehicles parked at the work position in the third sub-area to perform work, and the third parking area is located between the starting point of the first driving lane and the third position point, and the distance between the third position point and the starting point is smaller than the distance between the first position point and the starting point.

[0155] In another possible design, the target yard is further configured with a second driving lane, a first driving lane exists between the second driving lane and the working lane, the second driving lane and the working lane have the same starting direction, the second working area includes: a first sub-working area and a second sub-working area, the second parking area includes: a first sub-area, a second sub-area and a third sub-area, the first sub-area and the third sub-area are parking areas, and the second sub-area is a lane changing area; the above-mentioned processing module 1301 is also used to plan the target vehicle to enter through the starting point of the second driving lane when the target operation is an operation in the second sub-working area, and change lanes to the working lane in the fourth lane changing area of ​​the second driving lane, and to park at the working position in the third sub-area of ​​the working lane to perform the target operation, and leave through the end point of the working lane, the fourth lane changing area is used for the target vehicle to enter the third sub-area from the second driving lane, the fourth lane changing area is located between the sixth position point and the fifth position point of the second driving lane, and the distance between the sixth position point and the starting point is less than the distance between the fourth position point and the starting point.

[0156] In another possible design, the communication module 1302 is used to implement information transmission between the electronic device, the storage yard and the vehicle.

[0157] The processing module 1301 and the communication module 1302 may be implemented by software or hardware. For example, the implementation of the processing module 1301 is described below by taking the processing module 1301 as an example. Similarly, the implementation of the communication module 1302 may refer to the implementation of the processing module 1301.

[0158] As an example of a software functional unit, the processing module 1301 may include code running on a computing instance. Among them, the computing instance may include at least one of a physical host (computing device), a virtual machine, and a container. Further, the above-mentioned computing instance may be one or more. For example, the processing module 1301 may include code running on multiple hosts / virtual machines / containers. It should be noted that the multiple hosts / virtual machines / containers used to run the code can be distributed in the same region (region) or in different regions. Furthermore, the multiple hosts / virtual machines / containers used to run the code can be distributed in the same availability zone (AZ) or in different AZs, each AZ including a data center or multiple data centers with similar geographical locations. Among them, usually a region can include multiple AZs.

[0159] Similarly, multiple hosts / virtual machines / containers used to run the code can be distributed in the same virtual private cloud (VPC) or in multiple VPCs. Usually, a VPC is set up in a region. For cross-region communication between two VPCs in the same region and between VPCs in different regions, a communication gateway needs to be set up in each VPC to achieve interconnection between VPCs through the communication gateway.

[0160] As an example of a hardware functional unit, the processing module 1301 may include at least one computing device, such as a server, etc. Alternatively, the processing module 1301 may also be a device implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD). The PLD may be a complex programmable logical device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0161] The multiple computing devices included in the processing module 1301 can be distributed in the same region or in different regions. The multiple computing devices included in the processing module 1301 can be distributed in the same AZ or in different AZs. Similarly, the multiple computing devices included in the processing module 1301 can be distributed in the same VPC or in multiple VPCs. The multiple computing devices can be any combination of computing devices such as servers, ASICs, PLDs, CPLDs, FPGAs, and GALs.

[0162] It should be noted that, in other embodiments, the processing module 1301 can be used to execute any step in the path planning method, and the communication module 1302 can be used to execute any step in the path planning method. The steps that the processing module 1301 and the communication module 1302 are responsible for implementing can be specified as needed. The processing module 1301 and the communication module 1302 respectively implement different steps in the path planning method to realize the full functions of the path planning device.

[0163] The present application also provides a path planning system, such as Fig.14As shown, the path planning system 140 includes: an electronic device 1401, a yard 1402 and a vehicle 1403, and the electronic device 1401, the yard 1402 and the vehicle 1403 can all be implemented by software, or can be implemented by hardware. Exemplarily, the implementation of the electronic device 1401 is introduced below. Similarly, the implementation of the yard 1402 and the vehicle 1403 can refer to the implementation of the electronic device 1401.

[0164] As an example of a software functional unit, the electronic device 1401 may include code running on a computing instance. The computing instance may be at least one of a physical host (computing device), a virtual machine, a container, and other computing devices. Furthermore, the computing device may be one or more. For example, the electronic device 1401 may include code running on multiple hosts / virtual machines / containers. It should be noted that the multiple hosts / virtual machines / containers used to run the application may be distributed in the same region or in different regions. The multiple hosts / virtual machines / containers used to run the code may be distributed in the same AZ or in different AZs, each AZ including a data center or multiple data centers with close geographical locations. Typically, a region may include multiple AZs.

[0165] Similarly, multiple hosts / virtual machines / containers used to run the code can be distributed in the same VPC or in multiple VPCs. Usually, a VPC is set up in a region. For cross-region communication between two VPCs in the same region and between VPCs in different regions, a communication gateway must be set up in each VPC to achieve interconnection between VPCs through the communication gateway.

[0166] As an example of a hardware functional unit, the electronic device 1401 may include at least one computing device, such as a server, etc. Alternatively, the electronic device 1401 may also be a device implemented using ASIC or PLD, etc. The PLD may be implemented using CPLD, FPGA, GAL or any combination thereof.

[0167] The multiple computing devices included in the electronic device 1401 can be distributed in the same region or in different regions. The multiple computing devices included in the electronic device 1401 can be distributed in the same AZ or in different AZs. Similarly, the multiple computing devices included in the electronic device 1401 can be distributed in the same VPC or in multiple VPCs. The multiple computing devices can be any combination of computing devices such as servers, ASICs, PLDs, CPLDs, FPGAs, and GALs.

[0168] The present application also provides an electronic device 150. Fig.15 As shown, the electronic device 150 includes: a bus 1501, a processor 1502, a memory 1503 and a communication interface 1504. The processor 1502, the memory 1503 and the communication interface 1504 communicate with each other through the bus 1501. The electronic device 150 can be a server or a terminal device. It should be understood that the present application does not limit the number of processors and memories in the electronic device 150.

[0169] The bus 1501 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.15 The bus 104 is represented by only one line, but it does not mean that there is only one bus or one type of bus. The bus 104 may include a path for transmitting information between various components of the electronic device 150 (for example, the memory 1503, the processor 1502, and the communication interface 1504).

[0170] The processor 1502 may include any one or more of a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), or a digital signal processor (DSP).

[0171] The memory 1503 may include a volatile memory, such as a random access memory (RAM). The processor 1502 may also include a non-volatile memory, such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD), or a solid state drive (SSD).

[0172] The memory 1503 stores executable program codes, and the processor 1502 executes the executable program codes to respectively implement the functions of the aforementioned processing module 1301 and the communication module 1302, thereby implementing the path planning method. That is, the memory 1503 stores instructions for executing the path planning method.

[0173] Alternatively, the memory 1503 stores executable codes, and the processor 1502 executes the executable codes to respectively implement the functions of the electronic device 1401, the yard 1402, and the vehicle 1403, thereby implementing the path planning method. That is, the memory 1503 stores instructions for executing the path planning method.

[0174] The communication interface 1504 uses a transceiver module such as, but not limited to, a network interface card or a transceiver to implement communication between the electronic device 150 and other devices or a communication network.

[0175] The embodiment of the present application also provides an electronic device cluster. The electronic device cluster includes at least one electronic device. The electronic device can be a server, such as a central server, an edge server, or a local server in a local data center. In some embodiments, the electronic device can also be a terminal device such as a desktop computer, a laptop computer, or a smart phone.

[0176] like Fig.16 As shown, the electronic device cluster includes at least one electronic device 150. The memory 1503 in one or more electronic devices 150 in the electronic device cluster may store the same instructions for executing the path planning method.

[0177] In some possible implementations, the memory 1503 of one or more electronic devices 150 in the electronic device cluster may also store partial instructions for executing the path planning method. In other words, the combination of one or more electronic devices 150 may jointly execute instructions for executing the path planning method.

[0178] It should be noted that the memory 1503 in different electronic devices 150 in the electronic device cluster can store different instructions, which are respectively used to execute part of the functions of the path planning device. That is, the instructions stored in the memory 1503 in different electronic devices 150 can implement the functions of one or more modules in the processing module 1301 and the communication module 1302.

[0179] In some possible implementations, one or more electronic devices in the electronic device cluster may be connected via a network, which may be a wide area network or a local area network. Fig.17 A possible implementation is shown. Fig.17As shown, two electronic devices 150A and 150B are connected via a network. Specifically, they are connected to the network via a communication interface in each electronic device. In this type of possible implementation, the memory 1503 in the electronic device 150A stores instructions for executing the functions of the processing module 1301. At the same time, the memory 1503 in the electronic device 150B stores instructions for executing the functions of the communication module 1302.

[0180] Fig.17 The connection method between the electronic device clusters shown may be that considering that the path planning method provided in the present application requires a large amount of data storage) and transmission data, it is considered that the functions implemented by the communication module 1302 are handed over to the electronic device 150B for execution.

[0181] It should be understood that Fig.17 The functions of the electronic device 150A shown in FIG. 1 may also be completed by a plurality of electronic devices 100 . Similarly, the functions of the electronic device 150B may also be completed by a plurality of electronic devices 100 .

[0182] The embodiment of the present application also provides a computer program product including instructions. The computer program product may be a software or program product including instructions that can be run on an electronic device or stored in any available medium. When the computer program product is run on at least one electronic device, the at least one electronic device executes the path planning method.

[0183] The embodiment of the present application also provides a computer-readable storage medium. The computer-readable storage medium can be any available medium that can be stored by the electronic device or a data storage device such as a data center containing one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk). The computer-readable storage medium includes instructions that instruct the electronic device to execute the path planning method.

[0184] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

[0185] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0186] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0187] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0188] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0189] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program code.

[0190] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application shall be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A path planning method, characterized in that: Applied to a path planning system, the method comprises: Determine a target operation to be performed by the target vehicle in a target yard, wherein the target yard includes: a first operation area and a second operation area, wherein the target yard is configured with an operation lane and a first driving lane, wherein the operation lane is a lane close to the operation area, and the operation lane exists between the first driving lane and the operation area, and wherein the target yard further includes a lane change area, wherein the lane change area is located in the middle of the first driving lane and the operation lane, and the first driving lane has the same starting direction as the operation lane; In the case where the target operation is an operation in the first operation area, the target vehicle is planned to enter through the starting point of the operation lane, and to park at the operation position in the first parking area of ​​the operation lane to perform the target operation, and to change lanes in the first lane change area of ​​the operation lane to the first driving lane, and to leave through the end point of the first driving lane, the first parking area is located between the starting point of the operation lane and the first position point, and the first lane change area is used for the target vehicle to leave the first parking area; Or, in the case where the target operation is an operation within the second working area, the target vehicle is planned to enter through the starting point of the first driving lane, change lanes in the second lane changing area of ​​the first driving lane to the working lane, and park at a working position in the second parking area of ​​the working lane to perform the target operation, and leave through the end point of the working lane. The second lane changing area is used for the target vehicle to enter the second parking area from the first driving lane. The second parking area is located between the second position point and the end point of the working lane, and the distance between the second position point and the starting point is greater than the distance between the first position point and the starting point.

2. The method according to claim 1, characterized in that The target operation is an operation in the first operation area, and the method further includes: In the case where there are other vehicles parked at the work position in the first parking area to perform work, the target vehicle is planned to park and wait at an empty work position in the first parking area.

3. The method according to claim 1, characterized in that The target operation is an operation in the second operation area, and the method further includes: When there are other vehicles parked at the work position in the second parking area to perform work, planning the target vehicle to park and wait at an empty work position in the second parking area; Alternatively, when there are other vehicles parked at the work position in the second parking area to perform work, the target vehicle is planned to park and wait in the third parking area of ​​the first driving lane, and the third parking area is located between the starting point of the first driving lane and a third position point, and the distance between the third position point and the starting point is smaller than the distance between the first position point and the starting point.

4. The method according to claim 1 or 3, characterized in that: The second operation area includes: a first sub-operation area and a second sub-operation area, the second parking area includes: a first sub-area, a second sub-area and a third sub-area, the first sub-area and the third sub-area are parking areas, and the second sub-area is a lane change area, and the method further includes: In the case where the target operation is an operation within the first sub-operation area, the target vehicle is planned to enter through the starting point of the first driving lane, change lanes in the second lane change area of ​​the first driving lane to the working lane, and stop at the working position in the first sub-area to perform the target operation, change lanes in the second sub-area to the first driving lane, and leave through the end point of the first driving lane. The first sub-area is located between the second position point and the fourth position point of the working lane, and the distance between the second position point and the starting point is smaller than the distance between the fourth position point and the starting point. The second sub-area is located between the fourth position point and the fifth position point of the working lane, and the distance between the fifth position point and the starting point is larger than the distance between the fourth position point and the starting point. The second sub-area is used for the target vehicle to leave the first sub-area.

5. The method according to claim 4, characterized in that The method further comprises: In the case where the target operation is an operation within the second sub-operation area, the target vehicle is planned to enter through the starting point of the first driving lane, change lanes in the third lane changing area of ​​the first driving lane to the working lane, and park at the working position in the third sub-area of ​​the working lane to perform the target operation and leave through the end point of the working lane. The third lane changing area is used for the target vehicle to enter the third sub-area from the first driving lane. The third lane changing area is located between the sixth position point and the fifth position point of the first driving lane. The distance between the sixth position point and the starting point is less than the distance between the fourth position point and the starting point. The third sub-area is located between the fifth position point and the end point of the working lane.

6. The method according to claim 4, characterized in that The method further comprises: When there are other vehicles parked at the working position in the first sub-area to perform work, planning the target vehicle to park and wait at an idle working position in the first sub-area; Alternatively, when there are other vehicles parked at the work position in the first sub-area to perform work, the target vehicle is planned to park and wait in the third parking area of ​​the first driving lane, and the third parking area is located between the starting point of the first driving lane and a third position point, and the distance between the third position point and the starting point is smaller than the distance between the first position point and the starting point.

7. The method according to claim 5, characterized in that The method further comprises: When there are other vehicles parked at the working position in the third sub-area to perform work, planning the target vehicle to park and wait at an idle working position in the third sub-area; Alternatively, when there are other vehicles parked at the work position in the third sub-area to perform work, the target vehicle is planned to park and wait in the third parking area of ​​the first driving lane, and the third parking area is located between the starting point of the first driving lane and a third position point, and the distance between the third position point and the starting point is smaller than the distance between the first position point and the starting point.

8. The method according to any one of claims 1 to 7, characterized in that The target yard is further configured with a second driving lane, the first driving lane is located between the second driving lane and the working lane, the second driving lane has the same starting direction as the working lane, the second working area includes: a first sub-working area and a second sub-working area, the second parking area includes: a first sub-area, a second sub-area and a third sub-area, the first sub-area and the third sub-area are parking areas, and the second sub-area is a lane change area, the method further includes: When the target operation is an operation within the second sub-operation area, the target vehicle is planned to enter through the starting point of the second driving lane, change lanes in the fourth lane changing area of ​​the second driving lane to the working lane, and stop at the working position in the third sub-area of ​​the working lane to perform the target operation and leave through the end point of the working lane. The fourth lane changing area is used for the target vehicle to enter the third sub-area from the second driving lane. The fourth lane changing area is located between the sixth position point and the fifth position point of the second driving lane, and the distance between the sixth position point and the starting point is less than the distance between the fourth position point and the starting point.

9. A path planning device, characterized in that: The path planning device comprises: a processing module, for determining a target operation to be performed by a target vehicle in a target yard, wherein the target yard includes: a first operation area and a second operation area, wherein the target yard is configured with an operation lane and a first driving lane, wherein the operation lane is a lane close to the operation area, and the operation lane exists between the first driving lane and the operation area, and wherein the target yard further includes a lane changing area, wherein the lane changing area is located in the middle of the first driving lane and the operation lane, and the first driving lane has the same starting direction as the operation lane; The processing module is further used for planning, when the target operation is an operation in the first operation area, that the target vehicle enters through the starting point of the operation lane, stops at an operation position in a first parking area of ​​the operation lane to perform the target operation, and changes lanes in a first lane-changing area of ​​the operation lane to the first driving lane, and leaves through an end point of the first driving lane, wherein the first parking area is located between the starting point of the operation lane and a first position point, and the first lane-changing area is used for the target vehicle to leave the first parking area; Alternatively, the processing module is further used to plan, when the target operation is an operation in the second operation area, for the target vehicle to enter through the starting point of the first driving lane, change lanes in the second lane changing area of ​​the first driving lane to the operation lane, and park at a work position in the second parking area of ​​the operation lane to perform the target operation and leave through the end point of the operation lane, the second lane changing area being used for the target vehicle to enter the second parking area from the first driving lane, the second parking area being located between the second position point and the end point of the operation lane, and the distance between the second position point and the starting point being greater than the distance between the first position point and the starting point.

10. The path planning device according to claim 9, characterized in that: The target operation is an operation within the first operation area; The processing module is further used for planning the target vehicle to park and wait at an idle working position in the first parking area when there are other vehicles parked at the working position in the first parking area to perform work.

11. The path planning device according to claim 9, characterized in that: The target operation is an operation in the second operation area; The processing module is further used for planning the target vehicle to park and wait at an idle working position in the second parking area when there are other vehicles parked at the working position in the second parking area to perform work; Alternatively, the processing module is also used to plan the target vehicle to park and wait in a third parking area in the first driving lane when there are other vehicles parked at the work position in the second parking area to perform work, the third parking area being located between the starting point of the first driving lane and a third position point, and the distance between the third position point and the starting point being smaller than the distance between the first position point and the starting point.

12. The path planning device according to claim 9 or 11, characterized in that: The second operation area includes: a first sub-operation area and a second sub-operation area, and the second parking area includes: a first sub-area, a second sub-area and a third sub-area, the first sub-area and the third sub-area are parking areas, and the second sub-area is a lane change area; The processing module is also used for planning, when the target operation is an operation within the first sub-operation area, for the target vehicle to enter through the starting point of the first driving lane, and to change lanes in the second lane-changing area of ​​the first driving lane to the working lane, and to stop at the working position within the first sub-area to perform the target operation, and to change lanes in the second sub-area to the first driving lane, and to leave through the end point of the first driving lane, the first sub-area being located between the second position point and the fourth position point of the working lane, the distance between the second position point and the starting point being smaller than the distance between the fourth position point and the starting point, the second sub-area being located between the fourth position point and the fifth position point of the working lane, the distance between the fifth position point and the starting point being larger than the distance between the fourth position point and the starting point, and the second sub-area being used for the target vehicle to leave the first sub-area.

13. The path planning device according to claim 12, characterized in that: The processing module is also used for planning, when the target operation is an operation within the second sub-operation area, for the target vehicle to enter through the starting point of the first driving lane, and to change lanes in the third lane changing area of ​​the first driving lane to the working lane, and to park at the working position within the third sub-area of ​​the working lane to perform the target operation and leave through the end point of the working lane, the third lane changing area is used for the target vehicle to enter the third sub-area from the first driving lane, the third lane changing area is located between the sixth position point and the fifth position point of the first driving lane, the distance between the sixth position point and the starting point is less than the distance between the fourth position point and the starting point, and the third sub-area is located between the fifth position point and the end point of the working lane.

14. The path planning device according to claim 12, characterized in that: The processing module is further configured to plan the target vehicle to stop and wait at an idle working position in the first sub-area when there are other vehicles parked at the working position in the first sub-area to perform work; Alternatively, the processing module is also used to plan the target vehicle to park and wait in a third parking area of ​​the first driving lane when there are other vehicles parked at the work position in the first sub-area to perform work, the third parking area being located between the starting point of the first driving lane and a third position point, and the distance between the third position point and the starting point being smaller than the distance between the first position point and the starting point.

15. The path planning device according to claim 13, characterized in that: The processing module is further used for planning the target vehicle to stop and wait at an idle working position in the third sub-area when there are other vehicles parked at the working position in the third sub-area to perform work; Alternatively, the processing module is also used to plan the target vehicle to park and wait in a third parking area of ​​the first driving lane when there are other vehicles parked at the work position in the third sub-area to perform work, and the third parking area is located between the starting point of the first driving lane and a third position point, and the distance between the third position point and the starting point is smaller than the distance between the first position point and the starting point.

16. The path planning device according to any one of claims 9 to 15, characterized in that: The target yard is further configured with a second driving lane, the first driving lane is located between the second driving lane and the working lane, the second driving lane has the same starting direction as the working lane, the second working area includes: a first sub-working area and a second sub-working area, the second parking area includes: a first sub-area, a second sub-area and a third sub-area, the first sub-area and the third sub-area are parking areas, and the second sub-area is a lane change area; The processing module is also used to plan the target vehicle to enter through the starting point of the second driving lane, change lanes in the fourth lane changing area of ​​the second driving lane to the working lane, and stop at the working position in the third sub-area of ​​the working lane to perform the target operation and leave through the end point of the working lane when the target operation is an operation within the second sub-operating area. The fourth lane changing area is used for the target vehicle to enter the third sub-area from the second driving lane. The fourth lane changing area is located between the sixth position point and the fifth position point of the second driving lane, and the distance between the sixth position point and the starting point is less than the distance between the fourth position point and the starting point.

17. An electronic equipment cluster, characterized in that: comprising at least one electronic device, each electronic device comprising a processor and a memory; The processor of the at least one electronic device is configured to execute instructions stored in the memory of the at least one electronic device, so that the electronic device cluster executes the method according to any one of claims 1 to 8.

18. A computer program product comprising instructions, characterized in that When the instructions are executed by the electronic device cluster, the electronic device cluster executes the method according to any one of claims 1 to 8.

19. A computer-readable storage medium, characterized in that: The method comprises computer program instructions. When the computer program instructions are executed by an electronic device cluster, the electronic device cluster executes the method according to any one of claims 1 to 8.

20. A path planning system, characterized in that: The path planning system comprises an electronic device, a storage yard and a vehicle, and the path planning system is used to execute the method as claimed in any one of claims 1 to 8.

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