Vehicle path determination method and device, electronic equipment and storage medium

Abstract

The invention discloses a vehicle path determination method and device, electronic equipment and a storage medium, and relates to the technical field of rail traffic management.The vehicle path determination method comprises the steps that a rail line topological map under a target area is determined based on rail line information under the target area and a preset topological sorting rule; based on initial position information of a target vehicle in a current state and target position information of the target vehicle, determining an initial vertex and a target vertex of the target vehicle from the track line topological map; based on a preset search algorithm and a target path constraint condition, a target path of the target vehicle from the starting vertex to the target vertex is determined, and the target path constraint condition is used for path length and the type priority of the turnout type under constraint of the same path length. According to the embodiment provided by the invention, the target path searching accuracy and the target path searching efficiency are improved.

Description

Technical Field

[0001] The present application relates to the field of rail transit management technology, and in particular to a method, device, electronic device and storage medium for determining a vehicle path. Background Art

[0002] At present, with the rapid development of economy and railway industry, the growing passenger and freight traffic has continuously increased the demand for railway transportation, which in turn has promoted the rapid development of train operation control systems.

[0003] However, in the traditional on-board positioning system, the interlocking route uses the signal as the starting and ending point, and the occupancy / idle information fed back by the trackside occupancy detection equipment is used to determine the timing of route locking and unlocking. During the use of traditional interlocking, the zone controller (ZC) directly matches the interlocking route to the corresponding train based on the position information reported by the train. The on-board positioning system does not participate in the search and calculation of the train path, and will not directly determine the optimal path. As a result, it is difficult to ensure that the train can travel safely and efficiently along the predetermined or optimal path, resulting in poor path search accuracy and low efficiency of the on-board positioning system. Summary of the invention

[0004] The embodiments of the present application provide a method, device, electronic device and storage medium for determining a vehicle path. The embodiments provided by the present application solve the technical problems of poor path search accuracy and low efficiency in the prior art. The embodiments provided by the present application improve the target path search accuracy and target path search efficiency.

[0005] In a first aspect of an embodiment of the present application, an embodiment of the present application provides a method for determining a vehicle path, the method for determining a vehicle path comprising:

[0006] Based on the track line information in the target area and the preset topological sorting rules, a track line topological map in the target area is determined, wherein the vertices in the track line topological map are used to represent the track section numbers;

[0007] Based on the starting position information of the target vehicle in the current state and the target position information of the target vehicle, determining the starting vertex and the target vertex of the target vehicle from the track line topology map;

[0008] Based on a preset search algorithm and target path constraints, a target path for the target vehicle to reach the target vertex from the starting vertex is determined, wherein the target path constraints are used for path length and type priority of the turnout type under the same path length.

[0009] In a feasible implementation manner, the above-mentioned determining the track line topology map in the target area based on the track line information in the target area and the preset topology sorting rule includes:

[0010] Modeling the track line information under the target area according to a preset directed graph algorithm to determine the track line map of the target area;

[0011] The rail line map is topologically sorted according to a preset topological sorting rule to determine the rail line topological map under the target area.

[0012] In a feasible implementation manner, the preset search algorithm includes a preset breadth-first search algorithm, and the above-mentioned determination of the target path for the target vehicle to reach the target vertex from the starting vertex based on the preset search algorithm and the target path constraint condition includes:

[0013] Based on the preset breadth-first search algorithm, a path search is performed on the track line topology map to determine all initial paths for the target vehicle from the starting vertex to the target vertex;

[0014] Based on the target path constraint condition, all the above initial paths are screened to determine the target path for the above target vehicle to reach the above target vertex from the above starting vertex.

[0015] In a feasible implementation manner, the target path constraint condition includes a path length constraint condition and a track segment number type constraint condition. The target path constraint condition is based on which all the initial paths are screened to determine the target path for the target vehicle to reach the target vertex from the starting vertex, including:

[0016] Based on the path length constraint, traverse all the initial paths and determine at least one of the initial paths with the shortest path length as a candidate path;

[0017] When there are multiple candidate paths, based on the switch type constraint, all the candidate paths are traversed to determine the candidate path with the most straight switch among the candidate paths as the target path for the target vehicle to reach the target vertex from the starting vertex.

[0018] In a feasible implementation, the above-mentioned path search is performed on the track line topology map based on a preset breadth-first search algorithm to determine all initial paths for the target vehicle from the starting vertex to the target vertex. It includes:

[0019] Determine the position offset of the target vehicle when it reaches the target position according to the starting vertex and the target vertex of the target vehicle;

[0020] Based on the above position offset and a preset breadth-first search algorithm, a path search is performed on the track line topology map to determine the path direction of the target vehicle from the starting vertex to the target vertex and all initial paths under the path direction.

[0021] In a feasible implementation, based on the above position offset and a preset breadth-first search algorithm, a path search is performed on the track line topology map to determine the path direction of the target vehicle from the starting vertex to the target vertex and all initial paths under the path direction, including:

[0022] In the process of searching the path of the track line topology map based on the position offset and the preset breadth-first search algorithm, it is determined whether there is a boundary path, wherein the boundary path is used to indicate that there is no complete path from the starting vertex to the target vertex;

[0023] If it exists, after deleting the boundary path, determine the path direction of the target vehicle from the starting vertex to the target vertex and all initial paths under the path direction;

[0024] If it does not exist, directly determine the path direction of the target vehicle from the starting vertex to the target vertex and all initial paths under the path direction.

[0025] In a feasible implementation manner, the above-mentioned traversing all the initial paths based on the path length constraint condition and determining at least one of the initial paths with the shortest path length as a candidate path includes:

[0026] Based on the path length constraint, all initial paths are traversed, and the initial path with the least number of track segment numbers among the initial paths is determined as the initial path with the shortest path length, and at least one of the initial paths with the shortest path length is determined as a candidate path.

[0027] In a feasible implementation, when there are multiple candidate paths, based on the switch type constraint, all the candidate paths are traversed to determine the candidate path with the most straight switches among the candidate paths as the target path for the target vehicle to reach the target vertex from the starting vertex, including:

[0028] When there are multiple candidate paths, traverse all the candidate paths, determine the turnout type of each track section number in each candidate path and the number of different turnout types in each candidate path;

[0029] Based on the switch type constraint condition, the candidate path with the most straight switchouts among the candidate paths is determined as the target path for the target vehicle to reach the target vertex from the starting vertex.

[0030] In a feasible implementation manner, after determining the target path of the target vehicle from the starting vertex to the target vertex based on a preset search algorithm and target path constraints, the vehicle path determination method further includes:

[0031] The target path corresponding to the target vehicle and other intersection vertices intersecting with the target path are removed from the track line topology map to avoid conflicts between other vehicles except the target vehicle and the target path.

[0032] In a feasible implementation manner, the above-mentioned method for determining the vehicle path further includes storing the track line topology map in the following manner:

[0033] Based on the preset binary tree storage rules, the track section number data under each vertex in the track line topology map is stored to determine the target binary storage linked list.

[0034] In a feasible implementation, based on the preset binary tree storage rule, the track section number data under each vertex in the track line topology map is stored to determine the target binary storage linked list, including:

[0035] Determine the direction of the turnout between each vertex in the track line topology map and the associated vertex connected in the downward direction;

[0036] Based on the above-mentioned turnout direction and the preset binary tree storage rule, the track section number data under the above-mentioned vertex in the track line topology map is stored to determine the target binary storage linked list.

[0037] In a feasible implementation manner, the above-mentioned turnout direction includes a forward turnout and an opposite turnout. Based on the above-mentioned turnout direction and a preset binary tree storage rule, the track section number data under the above-mentioned vertex in the track line topology map is stored to determine the target binary storage linked list, including:

[0038] If the turnout direction is a forward turnout, based on a preset binary tree storage rule, the track segment number data of the associated vertex connected to the vertex in the downward direction are stored in the straight strand pointer area and the curved strand pointer area of ​​the preset binary storage linked list respectively;

[0039] If the turnout direction is an opposite turnout, based on the preset binary tree storage rule, the track segment number data of the associated vertices connected to the above-mentioned vertex in a straight line in the downward direction is stored in the straight strand pointer area of ​​the preset binary storage linked list, and the track segment number data of the associated vertices connected to the above-mentioned vertex in a curved line in the downward direction is stored in the straight strand pointer area of ​​the preset binary storage linked list to determine the target binary storage linked list.

[0040] According to a second aspect of the embodiments of the present application, the embodiments of the present application provide a vehicle path determination device, wherein the vehicle path determination method device comprises:

[0041] A first determination module is used to determine a track line topology map under the target area based on the track line information under the target area and a preset topology sorting rule, wherein the vertices in the track line topology map are used to represent the track section number;

[0042] A second determination module is used to determine the starting vertex and the target vertex of the target vehicle from the track line topology map based on the starting position information of the target vehicle in the current state and the target position information of the target vehicle;

[0043] The third determination module is used to determine the target path of the target vehicle from the starting vertex to the target vertex based on a preset search algorithm and target path constraints, wherein the target path constraints are used for path length and type priority of the turnout type under the same path length.

[0044] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the memory via the bus, and the machine-readable instructions are executed by the processor to perform the steps of the method for determining the vehicle path as described above.

[0045] According to a fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for determining a vehicle path as described above are executed.

[0046] The vehicle path determination method, device, electronic device and storage medium provided in the embodiments of the present application, compared with the prior art, the embodiments provided by the present application determine the track line topology map under the target area based on the track line information under the target area and the preset topology sorting rules, and determine the starting vertex and the target vertex of the target vehicle from the track line topology map based on the starting position information of the target vehicle in the current state and the target position information of the target vehicle, and then determine the target path of the target vehicle from the starting vertex to the target vertex based on the preset search algorithm and the target path constraints. The embodiments provided by the present application improve the target path search accuracy and target path search efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 One of the flowcharts of a method for determining a vehicle path provided in an embodiment of the present application is shown;

[0048] Figure 2 A schematic diagram of a train path in a method for determining a vehicle path provided in an embodiment of the present application is shown;

[0049] Figure 3 A schematic diagram of an undirected graph under a target area in a method for determining a vehicle path provided in an embodiment of the present application is shown;

[0050] Figure 4 A schematic diagram of a directed graph under a target area in a method for determining a vehicle path provided in an embodiment of the present application is shown;

[0051] Figure 5 A schematic diagram of a target path in a target area in a method for determining a vehicle path provided in an embodiment of the present application is shown;

[0052] Figure 6 A flowchart of searching for a target path in a method for determining a vehicle path provided in an embodiment of the present application is shown;

[0053] Figure 7 A schematic diagram showing the storage of track segments in a method for determining a vehicle path provided in an embodiment of the present application is shown;

[0054] Figure 8 A second flowchart of a method for determining a vehicle path provided in an embodiment of the present application is shown;

[0055] Fig. 9 A structural block diagram of a vehicle path determination device provided in an embodiment of the present application is shown;

[0056] Fig.10 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown.

[0057] Fig. 9 and Fig.10 The corresponding relationship between the reference numerals and the names of the drawings is as follows:

[0058] 900 a vehicle path determination device; 910 a first determination module; 920 a second determination module; 930 a third determination module; 940 a fourth determination module; 1000 an electronic device; 1010 a processor; 1020 a memory; 1030 a bus. DETAILED DESCRIPTION

[0059] In order to better understand the technical solutions provided by the embodiments of this specification, the technical solutions of the embodiments of this specification are described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0060] In this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of more restrictions, the elements defined by the statement "comprise one..." do not exclude the existence of other identical elements in the process, method, article or equipment including the above elements. The term "more than two" includes two or more than two situations.

[0061] First, the application scenarios to which the present application is applicable are introduced. The embodiments provided in the present application are applicable to the field of rail transit management technology.

[0062] At present, in the traditional on-board positioning system, the interlocking route uses the signal as the starting and ending point, and the occupancy / idle information fed back by the trackside occupancy detection equipment is used to determine the timing of route locking and unlocking. During the use of traditional interlocking, the zone controller (ZC) directly matches the interlocking route to the corresponding train based on the position information reported by the train. The on-board positioning system does not participate in the search and calculation of the train path, and will not directly determine the optimal path. It is difficult to ensure that the train can travel safely and efficiently along the predetermined or optimal path, resulting in poor path search accuracy and low efficiency of the on-board positioning system.

[0063] Based on this, the embodiments of the present application provide a method for determining a vehicle path, a method for determining a vehicle path, an apparatus, an electronic device, and a storage medium. The embodiments provided in the present application improve the accuracy and efficiency of the target path search.

[0064] See also Figure 1 , Figure 1 A flow chart of a method for determining a vehicle path provided in an embodiment of the present application is shown as follows: Figure 1 As shown, the method for determining the vehicle path includes the following steps:

[0065] S101. Determine a track line topology map in a target area based on track line information in a target area and a preset topology sorting rule, wherein vertices in the track line topology map are used to represent track section numbers.

[0066] In this step, after determining the rail transit station map of the target vehicle in the target area (i.e., the preset area) and the rail line information corresponding to the rail transit station map, the embodiment provided by the present application needs to construct a topological structure of the rail line information based on the preset topological sorting rules to determine the rail line topology map under the target area.

[0067] It can be understood that the track line information in the rail transit station map of the target area is used to characterize the track path information of the train when it travels on the various tracks in the target area. Therefore, here, the embodiment provided by the present application needs to topologically sort the track path information of the train when it travels on the various tracks in the target area according to preset topological sorting rules to generate a track line topology map of the target area.

[0068] Among them, the preset topological sorting rule refers to the relationship between various spatial data that satisfies the principles of topological geometry. It describes the adjacency, association and inclusion relationship between spatial target points, lines and surfaces; and the target vehicles include but are not limited to trains and aerial rail freight vehicles.

[0069] In the above, the track line information in the embodiments provided in this application may specifically include but is not limited to: an ordered set of track segment numbers, a start offset, a terminal offset, and a path direction, etc. For details, please refer to Figure 2 , Figure 2 A schematic diagram of a train path in a method for determining a vehicle path in an embodiment provided by the present application is shown. Figure 2 As shown, it is assumed that a certain track path information of the train in the embodiment provided by the present application can be specifically described as a path between point A and point B: P = (V, offset1, offset2, dir), where dir is used to characterize the direction of the track path; V is used to characterize an ordered set of track segment numbers, and V can be specifically described as V = {Edge2, Edge3, Edge4}, where offset1 and offset2 are respectively used to characterize the coordinate offsets of the starting point A and the end point B, and the coordinate offset is specifically determined by the real-time position coordinates of the train in the train path and the operating destination position coordinates.

[0070] S102: Based on the starting position information of the target vehicle in the current state and the target position information of the target vehicle, determine the starting vertex and the target vertex of the target vehicle from the track line topology map.

[0071] In this step, it is assumed that the embodiment provided by the present application determines the starting position information of the target vehicle in the current driving state and the target position information that the target vehicle wants to reach or is about to reach in real time after determining the track line topology map under the target area, and then determines the starting track segment number and the target / end point track segment number of the target vehicle from the track line topology map, that is, the established rail transit electronic map, based on the starting position information and the target position information that the target vehicle wants to reach or is about to reach, and then determines the vertex and target vertex of the target vehicle based on the starting track segment number and the target end point track segment number. Here, the starting position information and the target position information that the target vehicle wants to reach or is about to reach are represented by the starting vertex and the target vertex of the topology map in the track line topology map, respectively.

[0072] Among them, the target vehicle is used to characterize the vehicle that is traveling in the current state. It is assumed that the target vehicle in the embodiment provided in the present application is used to characterize the target train (target train, target EMU, target high-speed rail, etc.) that is traveling.

[0073] S103. Determine a target path for the target vehicle to reach the target vertex from the starting vertex based on a preset search algorithm and target path constraints, wherein the target path constraints are used for path length and type priority of turnout types under the same path length constraints.

[0074] In this step, after determining the starting vertex and target vertex of the target vehicle, the embodiment provided by the present application, based on the preset search algorithm, starts from the starting vertex corresponding to the target vehicle and traverses the track line topology map in the direction of the directed graph. In the traversal process, the traversed intermediate paths are preferentially selected according to the target path constraints until the target vertex corresponding to the target vehicle mentioned in the embodiment of the present application is found, thereby determining all train paths connecting the starting vertex and the target vertex from the track line topology map, that is, determining the target path of the target vehicle from the starting vertex to the target vertex, and completing the train operation path planning, so that the traditional search for the target path of the train no longer relies on trackside equipment, effectively improving the accuracy, efficiency and reliability of the target path search.

[0075] In the above, the method for determining the target path in the embodiment provided in the present application can be applied not only in railway freight, but also in low-cost, high-construction difficulty systems such as unmanned enterprise freight railways and sky-rail freight, and has broad application prospects.

[0076] The vehicle path determination method provided by the embodiment provided by the present application, compared with the prior art, determines the track line topology map under the target area based on the track line information under the target area and the preset topology sorting rules, and determines the starting vertex and the target vertex of the target vehicle from the track line topology map based on the starting position information of the target vehicle in the current state and the target position information of the target vehicle, and then determines the target path of the target vehicle from the starting vertex to the target vertex based on the preset search algorithm and the target path constraints. The embodiment provided by the present application improves the target path search accuracy and target path search efficiency.

[0077] In one embodiment, step S101 includes the following sub-steps:

[0078] Sub-step 1011: Model the track line information in the target area according to a preset directed graph algorithm to determine the track line map of the target area.

[0079] In this step, modeling is performed based on the rail line information of the theoretical target area of ​​the preset directed graph, and a rail line map of the target area with rail transit lines is established.

[0080] It can be understood that in the traditional rail transit system, the rail transit station map is an important component thereof. It intuitively presents the complex rail transit station layout and equipment relationship in a graphical way, and provides decision-making basis and reference for the development of the rail transit operation control system. Assume that the embodiment provided in this application takes the railway station map under the target area as an example, wherein it is assumed that the railway turnouts and line ends under the target area are the vertices of the station map, and the track section connecting the turnouts (or line ends) is the edge of the station map. Then all rail transit lines can be abstracted into an undirected graph G composed of two elements, namely, a finite non-empty set V(G) and a set E(G) consisting of unordered element pairs in the set V(G), which is about the rail line information under the target area, specifically:

[0081] G = (V(G), E(G));

[0082] and:

[0083] V(G)={v1,v2,…vn};

[0084] E(G) = {e1, e2, ... en};

[0085] Among them, V(G) is used to represent the point set of the undirected graph G of the rail line information under the above-mentioned target area, and the element vi (i=1,2,...,n) in the set is used to represent the point (or vertex, node) in the undirected graph G. In the network represented by the rail transit system, the specific user and the set (station) representing all the switches and the ends of the line in the line; E(G) is used to represent the edge set of the above-mentioned undirected graph G, ei=(vi,v) is an element of the edge set E(G), which is used to represent the connecting edge between point vi and point v in the undirected graph, and specifically, point vi and point v are called the two endpoints of edge ei, which is the set of track sections connecting switches (or ends) in the rail transit network.

[0086] See also Figure 3 , Figure 3 The following is a schematic diagram showing an undirected graph under a target area in a method for determining a vehicle path provided in an embodiment of the present application. Figure 3 All turnouts and track sections connecting turnouts (or line ends) - that is, each station diagram vertex in the figure, and each station diagram vertex are uniquely numbered and identified, then the position of any point on the line can be uniquely represented as a station diagram vertex and its relative offset relative to a certain station diagram vertex on the edge, such as Figure 3 As shown, the non-zero number in the circle represents the turnout number, the zero in the circle represents the end of the line, and the number on the connecting line segment represents the track section number connecting the turnout (or the end of the line).

[0087] Next, according to Figure 2 From the train path diagram, we can see that the key to determining the train path is to determine the set of track segments connecting the starting vertex and the target vertex, and determine the connection direction between the starting vertex and the target vertex. At this time, the undirected track route map determined above needs to meet the following two points: first, the track route map should be established with the track segments as vertices; second, the connection between the vertices in the undirected track route map should be directional, so it is necessary to Figure 2 The track segment is used as the vertex. At this time, according to the preset directed graph algorithm, the directed track line map is determined to be G0=(V0, E0). Assume that the embodiment provided in this application takes the row direction as an example. Figure 4 , Figure 4 A schematic diagram of a directed graph under a target area in a method for determining a vehicle path provided in an embodiment of the present application is shown, wherein vertices in a directed track line topology map are used to represent track section numbers.

[0088] Sub-step 1012: topologically sorting the rail line map according to a preset topological sorting rule to determine the rail line topological map under the target area.

[0089] In this step, the connections between the vertices in the directed track route map should be directional. Therefore, the embodiment provided in the present application needs to topologically sort the track route map according to a preset topological sorting rule to determine the track route topological map under the target area.

[0090] In one embodiment, the preset search algorithm includes a preset breadth-first search algorithm, and step S102 includes the following sub-steps:

[0091] Sub-step 1021: Based on a preset breadth-first search algorithm, a path search is performed on the track line topology map to determine all initial paths for the target vehicle to reach the target vertex from the starting vertex.

[0092] In this step, after determining the track line topology map, it is necessary to determine the position offset of the target vehicle at the target position according to the starting vertex and the target vertex of the target vehicle, and then based on the above position offset and the preset breadth-first search algorithm, start from the starting vertex of the current position where the target vehicle is hiding, and perform a path search on the track line topology map. In the process of searching, it is determined whether there is a boundary path in the track line topology map. If so, after deleting the above boundary path, determine the path direction of the target vehicle from the starting vertex to the above target vertex and all initial paths under the above path direction; if not, directly determine the above path direction of the target vehicle from the above starting vertex to the above target vertex and all initial paths under the above path direction.

[0093] In the above, it is assumed that the storage structure of the vertices (i.e., track segments) in the track line topology map in the embodiment provided by the present application is a linked list storage structure. At this time, the symbols in the search process are defined as follows:

[0094] Among them, queue Qc is used to represent and store the vertices passed through in the current search process. If the out-degree of the current vertex is 2, the vertex should be stored twice; queue Qn is used to represent and store the next-level vertices connected to the current vertex in the search direction; pointer pN is used to represent the pointer pointing to the head of the Qn queue; pfz is used to represent the pointer pointing to the connected vertices in the straight direction; pfw is used to represent the pointer pointing to the connected vertices in the curved direction.

[0095] From the above, it can be seen that by judging whether the queues Qc and Qn are empty, the path direction of the target vehicle from the starting vertex to the target vertex is judged. If they are empty, it means that the search has failed, and exit or reverse search to re-judge the path direction of the target vehicle from the starting vertex to the target vertex; by breaking whether the first member of the Qn team is 0, it is judged whether there is a boundary path of the target vehicle in the track line topology map. If it is 0, it means that the line boundary path is searched. At this time, continue to search other vertices.

[0096] The method of performing path search includes but is not limited to:

[0097] The breadth-first search algorithm (Breadth_First_Search, BFS) and the depth-first search algorithm (Depth_First_SearchDFS) are preset.

[0098] Here, the preset breadth-first search algorithm traversal algorithm is similar to the level-order traversal of a tree, which starts from a node in the graph, explores all its adjacent nodes in turn, and then explores the adjacent nodes of these adjacent nodes until all nodes are traversed; and the depth-first search algorithm is similar to the pre-order traversal of a tree, which is a generalization of the pre-order traversal of a tree, which traverses the nodes of the tree along the depth of the tree and searches the branches of the tree as deeply as possible. When all edges of a node v have been explored, or the node does not meet the conditions, the search will backtrack to the starting node of the edge where the node v was found, and this process continues until all nodes reachable from the source node have been found.

[0099] In the above, the two traversal methods are the same in time complexity, except that the order of visiting vertices is different. For the track line topology map in the embodiment provided in this application, the search for the initial path should continuously expand the traversal range to find the relatively optimal path. Therefore, it is more reasonable to give priority to the preset breadth-first search algorithm.

[0100] Sub-step 1022: Based on the target path constraint condition, all initial paths are screened to determine the target path for the target vehicle to reach the target vertex from the starting vertex.

[0101] In this step, after determining the initial path in the embodiment provided by the present application, the embodiment provided by the present application also needs to screen out the target path of the target vertex with the shortest path length (i.e., the least number of switches passed through) from the above-mentioned initial paths according to the target path constraint conditions, and if there is more than one initial path with the shortest initial path length (i.e., under the same shortest path length), determine the initial path with the most straight switch (i.e., the straight direction of the switch) in the selected shortest initial path as the target path of the target vertex.

[0102] In one embodiment, the target path constraint condition includes a path length constraint condition and a track segment number type constraint condition, and sub-step 1022 includes the following sub-steps:

[0103] Sub-step 10221: based on the path length constraint, traverse all initial paths, and determine at least one initial path with the shortest path length among the initial paths as a candidate path.

[0104] In this step, based on the path length constraint, all initial paths are traversed, and the initial path with the least number of track segment numbers among the above initial paths is determined as the initial path with the shortest path length, and at least one of the above initial paths with the shortest path length is determined as a candidate path, wherein the candidate path in the embodiments provided in the present application does not necessarily have to be only one, and there may be at least one.

[0105] Sub-step 10222: When there are multiple candidate paths, based on the switch type constraint, traverse all candidate paths and determine the candidate path with the most straight switch among the candidate paths as the target path for the target vehicle to reach the target vertex from the starting vertex.

[0106] In this step, if it is determined that there is only one candidate path, then the candidate path can be directly determined as the target path for the target vehicle to reach the target vertex from the starting vertex; if there are multiple candidate paths, all the above candidate paths are traversed, the turnout type of each track section number in each of the above candidate paths and the number of different turnout types in each of the above candidate paths are determined, and according to the turnout type constraint, the path with the most turnout straight directions (straight turnouts) in the above candidate paths is determined as the target path for the target vehicle to reach the target vertex from the starting vertex, that is, the straight turnout direction is given priority.

[0107] It can be understood that, assuming that there is a directed graph G0 under the target area in the embodiment provided in the present application, the starting vertex is specifically Es; and the target vertex is specifically Ez.

[0108] At this time, starting from the specified starting vertex Es, the entire track line topology map is traversed according to the preset breadth-first search algorithm, the above-mentioned path length constraints and the switch type constraints. The traversal is terminated when the target vertex Ez appears. The vertices visited during the entire traversal process constitute a directed subgraph G1 containing the target path (i.e., the optimal path), which is described as G1=(V1, E1)∈G0.

[0109] Among the above, Figure 5 For example, Figure 5 A schematic diagram of a target path in a target area in a method for determining a vehicle path provided in an embodiment of the present application is shown. Figure 5 As shown, assuming that we start from the starting vertex 98 and search for the target vertex 69, the target path graph generated by traversal is as follows Figure 5 As shown, among the directed subgraphs of the target paths generated by the preset breadth-first search algorithm, there is only one path that can reach the target vertex 69, namely the optimal path, and since the optimal path has the smallest length, it is selected first, and the other candidate paths and / or initial paths are interrupted from searching when the optimal path is selected, to ensure that the alternative paths are not selected at the same time.

[0110] In one embodiment, the embodiment provided by the present application stores the rail line topology map in the following manner:

[0111] Based on the preset binary tree storage rules, the track section number data under each vertex in the track line topology map is stored to determine the target binary storage linked list.

[0112] In the above, the embodiment provided by the present application needs to first determine the switch direction between each vertex in the track line topology map and the associated vertex connected in the downward direction, and then based on the above switch direction and the preset binary tree storage rules, store the track section number data under the above vertex in the track line topology map to determine the target binary storage linked list.

[0113] It can be understood that, assuming that the turnout direction in the embodiment provided in the present application includes a forward turnout and an opposite turnout, therefore, if the turnout direction is a forward turnout, based on the preset binary tree storage rule, the track segment number data of the associated vertices connected to the vertex in the downward direction are stored in the straight strand pointer area and the curved strand pointer area of ​​the preset binary storage linked list respectively; if the turnout direction is an opposite turnout, based on the preset binary tree storage rule, the track segment number data of the associated vertices connected to the above-mentioned vertex in the downward direction are stored in the straight strand pointer area of ​​the preset binary storage linked list, and the track segment number data of the associated vertices connected to the above-mentioned vertex in the downward direction are stored in the straight strand pointer area of ​​the preset binary storage linked list, and the target binary storage linked list is determined.

[0114] Among them, Figure 3 It can be seen that for a directed track line map established with track sections as vertices, the maximum out-degree of any vertex is determined to be 2, which is extremely similar to a binary tree. Therefore, the embodiment provided in the present application uses an improved binary linked list to store the directed track line map to determine the track line topology map under the target area.

[0115] Among them, the out-degree of a vertex refers to the number of arcs starting from a certain vertex with the vertex as the arc end. In a directed track route map, each vertex has an out-degree and an in-degree, and the out-degree indicates the number of edges starting from the vertex.

[0116] In this way, the vertex structure diagram of the above target binary storage list is determined as follows:

[0117] pf Dz pf D

[0118] Among them, pfz and pfw are pointer fields, which respectively store pointers to the straight connection vertices and the curved connection vertices in the direction of the directed track line map (specifically the straight pointer area and the curved pointer area). Here, Dz and Dw are respectively used to represent the data domain. Dz is specifically used to store the track segment number and track segment data of the straight pointer area; Dw is specifically used to store the track segment number of the curved pointer area and the track segment data corresponding to the track segment number.

[0119] Here, Figure 4 Take 34 and 67 as an example:

[0120] The turnout connected to vertex 34 in the downward direction is the opposite turnout. At this time, the storage structure of the target binary storage linked list is expressed as:

[0121]

[0122] The turnout connected to vertex 67 in the downward direction is a forward turnout, and the storage structure of the target binary storage list is expressed as:

[0123]

[0124] The vehicle path determination method provided by the embodiment provided by the present application, compared with the prior art, the present application determines the track line topology map under the target area based on the track line information under the target area and the preset topology sorting rules, and determines the starting vertex and the target vertex of the target vehicle from the track line topology map based on the starting position information of the target vehicle in the current state and the target position information of the target vehicle, and then determines the target path of the target vehicle from the starting vertex to the target vertex based on the preset search algorithm and the target path constraint conditions. The embodiment provided by the present application models the track line information according to the preset directed graph algorithm to establish a track line topology map. At the same time, in the trackside equipment that does not rely on signal machines and occupancy detection (such as axle counters, track circuits, etc.), a series of constraints are designed to determine the target path in combination with the train on-board positioning and the target vertex, which improves the accuracy and efficiency of the target path search while enhancing the reliability of the target path search.

[0125] The following is a specific example of a process for determining a target path of a target vehicle in a target area provided by an embodiment of the present application. Figure 6 , Figure 6 A flowchart of searching a target path in a method for determining a vehicle path provided in an embodiment of the present application is shown. Figure 6 As shown:

[0126] 1) Get the path starting vertex Es and target vertex Ez.

[0127] 2) Insert 0 at the beginning of Qc team and insert Es at the beginning of Qn team.

[0128] 3) Determine whether the queues Qc and Qn are empty. If they are empty, it means the search has failed, so exit or search in reverse.

[0129] 4) Determine whether the first member of team Qn is 0. If it is 0, it means the line boundary has been found, and go to 9) to continue searching for other vertices.

[0130] 5) Determine whether the first player of team Qn is the target vertex Ez. If it is the target vertex Ez, it means the search is successful, and go to 10) to obtain the path.

[0131] 6) The first member of team Qn is inserted into the tail of team Qc, and the next vertex connected by the direct strand of the first member of team Qn is inserted into the tail of team Qn (the direct strand direction is prioritized).

[0132] 7) Determine whether the switch connected by the first member of team Qn is an opposite switch. If not, turn to 9) and continue searching for other vertices.

[0133] 8) The first member of team Qn is inserted into the tail of team Qc, and the next vertex connected by the curved stock of the first member of team Qn is inserted into the tail of team Qn.

[0134] 9) The first member of Qc and Qn team leaves the team, pN points to the next member of Qn, and returns to 3) to continue.

[0135] 10) Combine the optimal directed subgraphs stored in the two queues to trace back and obtain the entire path. Figure 5 For example, the queues Qc and Qn are generated as follows Figure 7 As shown, Figure 7 A schematic diagram of storing track segments in a method for determining a vehicle path provided in an embodiment of the present application, such as Figure 7 In the example, the path from vertex 98 to vertex 69 contains the track segment sequence V1 = {98, 96, 85, 84, 75, 69}, Figure 7 The vertices marked in blue are shown.

[0136] See also Figure 8 , Figure 8 FIG. 2 is a flowchart of a method for determining a vehicle path provided in an embodiment of the present application, such as Figure 8 As shown, the method for determining the vehicle path includes the following steps:

[0137] S801. Determine a track line topology map in the target area based on the track line information in the target area and a preset topology sorting rule, wherein vertices in the track line topology map are used to represent track section numbers.

[0138] S802: Based on the starting position information of the target vehicle in the current state and the target position information of the target vehicle, determine the starting vertex and the target vertex of the target vehicle from the track line topology map.

[0139] S803. Determine a target path for the target vehicle to reach the target vertex from the starting vertex based on a preset search algorithm and target path constraints, wherein the target path constraints are used for the path length and the type priority of the turnout type under the same path length constraints.

[0140] S804: Eliminate the target path corresponding to the target vehicle and other intersection vertices intersecting the target path from the track line topology map to avoid conflicts between other vehicles except the target vehicle and the target path.

[0141] In this step, after determining the target path corresponding to the target vehicle, the embodiment provided by the present application needs to remove the area included in the target path (optimal path selection) from the track line topology map (if the target path contains a crossover, the crossover area that intersects with it should also be removed) to ensure that no other train will search for the area included in (or hostile to) the target path at any time.

[0142] The description of S801 and S303 may refer to the description of S101 and S103, and can achieve the same technical effect, which will not be described in detail.

[0143] The vehicle path determination method provided by the embodiment provided by the present application, compared with the prior art, the present application determines the track line topology map under the target area based on the track line information under the target area and the preset topology sorting rules, and determines the starting vertex and the target vertex of the target vehicle from the track line topology map based on the starting position information of the target vehicle in the current state and the target position information of the target vehicle, and then determines the target path of the target vehicle from the starting vertex to the target vertex based on the preset search algorithm and the target path constraint conditions. The embodiment provided by the present application models the track line information according to the preset directed graph algorithm to establish a track line topology map. At the same time, in the trackside equipment that does not rely on signal machines and occupancy detection (such as axle counters, track circuits, etc.), a series of constraints are designed to determine the target path in combination with the train on-board positioning and the target vertex, which improves the accuracy and efficiency of the target path search while enhancing the reliability of the target path search.

[0144] See also Fig. 9 , Fig. 9 A structural block diagram of a vehicle path determination device provided in an embodiment of the present application, such as Fig. 9 As shown, the vehicle path determination device 900 includes:

[0145] The first determination module 910 is used to determine a track line topology map under the target area based on the track line information under the target area and a preset topology sorting rule, wherein the vertices in the track line topology map are used to represent the track section number.

[0146] The second determination module 920 is used to determine the starting vertex and the target vertex of the target vehicle from the track line topology map based on the starting position information of the target vehicle in the current state and the target position information of the target vehicle.

[0147] The third determination module 930 is used to determine the target path of the target vehicle from the starting vertex to the target vertex based on a preset search algorithm and target path constraints, wherein the target path constraints are used for the path length and the type priority of the turnout type under the same path length.

[0148] The fourth determination module 940 is used to remove the target path corresponding to the target vehicle and other intersection vertices intersecting the target path from the track line topology map to avoid conflicts between other vehicles except the target vehicle and the target path.

[0149] In one embodiment, the first determining module 910 is specifically configured to:

[0150] According to the preset directed graph algorithm, the track line information under the target area is modeled to determine the track line map of the target area.

[0151] The rail line map is topologically sorted according to the preset topological sorting rules to determine the rail line topological map under the target area.

[0152] In one embodiment, the preset search algorithm includes a preset breadth-first search algorithm, and the third determination module 930 is specifically configured to:

[0153] Based on the preset breadth-first search algorithm, a path search is performed on the track line topology map to determine all initial paths for the target vehicle from the starting vertex to the target vertex.

[0154] Based on the target path constraints, all initial paths are screened to determine the target path for the target vehicle to reach the target vertex from the starting vertex.

[0155] In one embodiment, the target path constraint condition includes a path length constraint condition and a track segment number type constraint condition. Based on the target path constraint condition, all initial paths are screened to determine a target path for the target vehicle to reach the target vertex from the starting vertex, including:

[0156] Based on the path length constraint, all initial paths are traversed, and at least one initial path with the shortest path length among the initial paths is determined as a candidate path.

[0157] When there are multiple candidate paths, based on the switch type constraint, all candidate paths are traversed to determine the candidate path with the most straight switch among the candidate paths as the target path for the target vehicle to reach the target vertex from the starting vertex.

[0158] In one embodiment, based on a preset breadth-first search algorithm, a path search is performed on the track line topology map to determine all initial paths for the target vehicle from the starting vertex to the target vertex. This includes:

[0159] According to the starting vertex and the target vertex of the target vehicle, a position offset when the target vehicle reaches the target position is determined.

[0160] Based on the position offset and the preset breadth-first search algorithm, a path search is performed on the track line topology map to determine the path direction of the target vehicle from the starting vertex to the target vertex and all initial paths under the path direction.

[0161] In one embodiment, based on the position offset and a preset breadth-first search algorithm, a path search is performed on the track line topology map to determine the path direction of the target vehicle from the starting vertex to the target vertex and all initial paths under the path direction, including:

[0162] In the process of searching the path of the track line topology map based on the position offset and the preset breadth-first search algorithm, it is determined whether there is a boundary path, wherein the boundary path is used to characterize that there is no complete path from the starting vertex to the target vertex.

[0163] If it exists, after deleting the boundary path, determine the path direction of the target vehicle from the starting vertex to the target vertex and all initial paths under the path direction.

[0164] If it does not exist, the path direction of the target vehicle from the starting vertex to the target vertex and all initial paths under the path direction are directly determined.

[0165] In one embodiment, based on the path length constraint condition, traversing all initial paths and determining at least one initial path with the shortest path length among the initial paths as a candidate path includes:

[0166] Based on the path length constraint, all initial paths are traversed, and the initial path with the least number of track segment numbers in the initial paths is determined as the initial path with the shortest path length, and at least one initial path with the shortest path length is determined as a candidate path.

[0167] In one embodiment, when there are multiple candidate paths, based on the switch type constraint, all candidate paths are traversed to determine the candidate path with the most straight switches among the candidate paths as the target path for the target vehicle to reach the target vertex from the starting vertex, including:

[0168] When there are multiple candidate paths, all candidate paths are traversed to determine the turnout type of each track section number in each candidate path and the number of different turnout types in each candidate path.

[0169] Based on the switch type constraint, the candidate path with the most straight switchouts among the candidate paths is determined as the target path for the target vehicle to reach the target vertex from the starting vertex.

[0170] In one embodiment, the method for determining a vehicle path further includes storing the track line topology map in the following manner:

[0171] Based on the preset binary tree storage rules, the track section number data under each vertex in the track line topology map is stored to determine the target binary storage linked list.

[0172] In one embodiment, based on a preset binary tree storage rule, the track section number data under each vertex in the track line topology map is stored, and a target binary storage linked list is determined, including:

[0173] Determine the turnout direction between each vertex in the track line topology map and the associated vertex connected in the downward direction.

[0174] Based on the turnout direction and the preset binary tree storage rules, the track section number data under the vertex in the track line topology map is stored to determine the target binary storage linked list.

[0175] In one embodiment, the turnout direction includes a forward turnout and an opposite turnout. Based on the turnout direction and a preset binary tree storage rule, the track section number data under the vertex in the track line topology map is stored, and a target binary storage linked list is determined, including:

[0176] If the turnout direction is a forward turnout, based on a preset binary tree storage rule, the track segment number data of the associated vertex connected to the vertex in the downward direction are stored in the straight strand pointer area and the curved strand pointer area of ​​the preset binary storage linked list respectively;

[0177] If the turnout direction is an opposite turnout, based on the preset binary tree storage rule, the track segment number data of the associated vertices connected to the vertex in a straight line in the downward direction is stored in the straight strand pointer area of ​​the preset binary storage linked list, and the track segment number data of the associated vertices connected to the vertex in a curved line in the downward direction is stored in the straight strand pointer area of ​​the preset binary storage linked list to determine the target binary storage linked list.

[0178] The vehicle path determination device 900 provided in the embodiment provided by the present application, compared with the prior art, the present application determines the track line topology map under the target area based on the track line information under the target area and the preset topology sorting rules, and determines the starting vertex and the target vertex of the target vehicle from the track line topology map based on the starting position information of the target vehicle in the current state and the target position information of the target vehicle, and then determines the target path of the target vehicle from the starting vertex to the target vertex based on the preset search algorithm and the target path constraint conditions. The embodiment provided by the present application models the track line information according to the preset directed graph algorithm, and establishes a track line topology map. At the same time, in the trackside equipment that does not rely on signal machines and occupancy detection (such as axle counting, track circuits, etc.), a series of constraints are designed to determine the target path in combination with the train on-board positioning and the target vertex, which improves the accuracy and efficiency of the target path search while enhancing the reliability of the target path search.

[0179] See also Fig.10 , Fig.10 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown in FIG. Fig.10 As shown, electronic device 1000 includes a processor 1010 , a memory 1020 , and a bus 1030 .

[0180] The memory 1020 stores machine-readable instructions executable by the processor 1010. When the electronic device 1000 is running, the processor 1010 communicates with the memory 1020 via the bus 1030. When the machine-readable instructions are executed by the processor 1010, the above-mentioned Figures 1 to 8 The specific implementation of the steps of the method for determining the vehicle path in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0181] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figures 1 to 8 The specific implementation of the steps of the method for determining the vehicle path in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0182] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0183] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0184] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-readable program code.

[0185] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0186] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0187] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0188] An embodiment of the present application further provides a computer program product, which includes computer software instructions. When the computer software instructions are executed on a processing device, the processing device executes the process of a method for determining a fault identification model.

[0189] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable devices. The computer instruction can be stored in a computer-readable storage medium, or transmitted from a computer-readable storage medium to another computer-readable storage medium. For example, the computer instruction can be transmitted from a website site, a computer, a server or a data center by wired (for example, coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (for example, infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can store or a data storage device such as a server or a data center that includes one or more available media integration. Available media can be magnetic media, (for example, floppy disk, hard disk, tape), optical media (for example, DVD), or semiconductor media (for example, solid-state drive (SSD)) and the like.

[0190] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0191] In the several embodiments provided in the present application, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, 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 an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0192] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0193] 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.

[0194] 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 computer-readable storage medium. Based on this understanding, the technical solution 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, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments 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 codes.

[0195] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application 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 deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

[0196] Although the preferred embodiments of this specification have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of this specification.

[0197] Obviously, those skilled in the art can make various changes and modifications to this specification without departing from the spirit and scope of this specification. Thus, if these modifications and variations of this specification fall within the scope of the claims of this specification and their equivalents, this specification is also intended to include these modifications and variations.

Claims

1. A method for determining a vehicle path, characterized in that: The method for determining a vehicle path comprises: Based on the track line information in the target area and the preset topological sorting rules, determine the track line topological map in the target area, wherein the vertices in the track line topological map are used to represent the track section numbers; Based on the starting position information of the target vehicle in the current state and the target position information of the target vehicle, determining the starting vertex and the target vertex of the target vehicle from the track line topology map; Based on a preset search algorithm and target path constraints, a target path for the target vehicle to reach the target vertex from the starting vertex is determined, wherein the target path constraints are used for path length and type priority of the turnout type under the same path length.

2. The method for determining a vehicle path according to claim 1, characterized in that: The determining of the track line topology map of the target area based on the track line information of the target area and the preset topology sorting rule includes: Modeling the track line information under the target area according to a preset directed graph algorithm to determine the track line map of the target area; The rail line map is topologically sorted according to a preset topological sorting rule to determine the rail line topological map under the target area.

3. The method for determining a vehicle path according to claim 1, characterized in that: The preset search algorithm includes a preset breadth-first search algorithm, and determining the target path for the target vehicle to reach the target vertex from the starting vertex based on the preset search algorithm and the target path constraint condition includes: Based on the preset breadth-first search algorithm, a path search is performed on the track line topology map to determine all initial paths for the target vehicle from the starting vertex to the target vertex; Based on the target path constraint condition, all the initial paths are screened to determine the target path for the target vehicle to reach the target vertex from the starting vertex.

4. The method for determining a vehicle path according to claim 3, characterized in that: The target path constraint condition includes a path length constraint condition and a track segment number type constraint condition. The screening of all the initial paths based on the target path constraint condition to determine the target path of the target vehicle from the starting vertex to the target vertex includes: Based on the path length constraint, traverse all the initial paths and determine at least one of the initial paths with the shortest path length as a candidate path; When there are multiple candidate paths, based on the switch type constraint, all the candidate paths are traversed to determine the candidate path with the most straight switch among the candidate paths as the target path for the target vehicle to reach the target vertex from the starting vertex.

5. The method for determining a vehicle path according to claim 3, characterized in that: Based on the preset breadth-first search algorithm, the path search is performed on the track line topology map to determine the entire initial path from the starting vertex to the target vertex of the target vehicle. It includes: Determining a position offset of the target vehicle when it reaches the target position according to the starting vertex and the target vertex of the target vehicle; Based on the position offset and a preset breadth-first search algorithm, a path search is performed on the track line topology map to determine the path direction of the target vehicle from the starting vertex to the target vertex and all initial paths under the path direction.

6. The method for determining a vehicle path according to claim 5, characterized in that: The method of performing a path search on a track line topology map based on the position offset and a preset breadth-first search algorithm to determine a path direction of the target vehicle from a starting vertex to the target vertex and all initial paths under the path direction includes: In the process of performing path search on the track line topology map based on the position offset and the preset breadth-first search algorithm, determining whether there is a boundary path, wherein the boundary path is used to indicate that there is no complete path from the starting vertex to the target vertex; If it exists, after deleting the boundary path, determine the path direction of the target vehicle from the starting vertex to the target vertex and all initial paths under the path direction; If it does not exist, the path direction of the target vehicle from the starting vertex to the target vertex and all initial paths under the path direction are directly determined.

7. The method for determining a vehicle path according to claim 4, characterized in that: The traversing all the initial paths based on the path length constraint condition and determining at least one of the initial paths with the shortest path length as a candidate path includes: Based on the path length constraint, all initial paths are traversed, and the initial path with the least number of track segment numbers in the initial paths is determined as the initial path with the shortest path length, and at least one initial path with the shortest path length is determined as a candidate path.

8. The method for determining a vehicle path according to claim 4, characterized in that: When there are multiple candidate paths, based on the switch type constraint, traversing all the candidate paths, determining the candidate path with the most straight switch among the candidate paths as the target path for the target vehicle to reach the target vertex from the starting vertex, includes: When there are multiple candidate paths, traverse all the candidate paths, determine the turnout type of each track section number in each candidate path and the number of different turnout types in each candidate path; Based on the switch type constraint condition, the candidate path with the most straight switch in the candidate paths is determined as the target path for the target vehicle to reach the target vertex from the starting vertex.

9. The method for determining a vehicle path according to claim 1, characterized in that: After determining the target path of the target vehicle from the starting vertex to the target vertex based on the preset search algorithm and the target path constraint condition, the vehicle path determination method further includes: The target path corresponding to the target vehicle and other intersection vertices intersecting with the target path are removed from the track line topology map to avoid conflicts between other vehicles except the target vehicle and the target path.

10. The method for determining a vehicle path according to claim 8, characterized in that: The vehicle path determination method further includes storing the track line topology map in the following manner: Based on the preset binary tree storage rules, the track section number data under each vertex in the track line topology map is stored to determine the target binary storage linked list.

11. The method for determining a vehicle path according to claim 10, characterized in that: Based on the preset binary tree storage rule, the track section number data under each vertex in the track line topology map is stored to determine the target binary storage linked list, including: Determine the direction of the turnout between each vertex in the track line topology map and the associated vertex connected in the downward direction; Based on the turnout direction and a preset binary tree storage rule, the track section number data under the vertex in the track line topology map is stored to determine a target binary storage linked list.

12. The method for determining a vehicle path according to claim 11, characterized in that: The turnout direction includes a forward turnout and an opposite turnout. Based on the turnout direction and a preset binary tree storage rule, the track section number data under the vertex in the track line topology map is stored to determine a target binary storage linked list, including: If the turnout direction is a forward turnout, based on a preset binary tree storage rule, the track segment number data of the associated vertex connected to the vertex in the downward direction are stored in the straight strand pointer area and the curved strand pointer area of ​​the preset binary storage linked list respectively; If the turnout direction is an opposite turnout, based on the preset binary tree storage rule, the track segment number data of the associated vertices connected to the vertex in a straight line in the downward direction is stored in the straight strand pointer area of ​​the preset binary storage linked list, and the track segment number data of the associated vertices connected to the vertex in a curved line in the downward direction is stored in the straight strand pointer area of ​​the preset binary storage linked list to determine the target binary storage linked list.

13. A vehicle path determination device, characterized in that: The vehicle path determination method and device comprises: A first determination module is used to determine a track line topology map under the target area based on the track line information under the target area and a preset topology sorting rule, wherein the vertices in the track line topology map are used to represent track section numbers; A second determination module is used to determine the starting vertex and the target vertex of the target vehicle from the track line topology map based on the starting position information of the target vehicle in the current state and the target position information of the target vehicle; The third determination module is used to determine the target path of the target vehicle from the starting vertex to the target vertex based on a preset search algorithm and a target path constraint condition, wherein the target path constraint condition is used for the path length and the type priority of the turnout type under the same path length.

14. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and the machine-readable instructions are executed by the processor to execute the steps of the method for determining a vehicle path as described in any one of claims 1 to 12.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for determining a vehicle path as described in any one of claims 1 to 12 are executed.

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