Path planning method, electronic equipment and storage medium

Abstract

The invention discloses a path planning method, electronic equipment and a storage medium. The path planning method comprises the following steps: acquiring a to-be-operated path of target equipment, wherein the to-be-operated path of the target equipment comprises a plurality of path point locations; responding to the path point location in the preset main path in the plurality of path point locations, and acquiring to-be-operated paths of other operation equipment in the preset main path; and based on an association relationship between the to-be-operated path of the target device and to-be-operated paths of other operation devices, adjusting the to-be-operated path of the target device to obtain a target operation path so as to control the target device to travel based on the target operation path. According to the scheme, the interference between the target equipment and other running equipment on the preset main road when the target equipment runs on the basis of the target running path can be reduced.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular, to a path planning method, an electronic device, and a storage medium. Background Art

[0002] In a factory without workers, there is a concept of "main road" in many scenarios for Automated Guided Vehicles (AGVs), and the traffic flow on the main road is very large. However, during operation, vehicles on the secondary road often pass through or merge into the main road, causing the vehicles on the main road to stop and wait. When a vehicle on the secondary road passes through the main road and stops on the main road due to various failure reasons, it will cause large-scale congestion.

[0003] In view of the existing technical deficiencies, how to provide an effective path planning solution involving the main road is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0004] This application provides at least a path planning method, an electronic device, and a storage medium.

[0005] This application provides a path planning method, including: obtaining the to-be-run path of a target device, where the to-be-run path of the target device includes several path points; in response to the existence of a path point in the preset main road among the several path points, obtaining the to-be-run paths of other running devices in the preset main road; based on the association relationship between the to-be-run path of the target device and the to-be-run paths of other running devices, adjusting the to-be-run path of the target device to obtain a target running path, so as to control the target device to travel based on the target running path.

[0006] This application provides a path planning device, including: a first obtaining module, a second obtaining module, and an adjusting module; the first obtaining module is used to obtain the to-be-run path of a target device, where the to-be-run path of the target device includes several path points; the second obtaining module is used to obtain the to-be-run paths of other running devices in the preset main road in response to the existence of a path point in the preset main road among the several path points; the adjusting module is used to adjust the to-be-run path of the target device to obtain a target running path based on the association relationship between the to-be-run path of the target device and the to-be-run paths of other running devices, so as to control the target device to travel based on the target running path.

[0007] This application provides an electronic device, including a memory and a processor, and the processor is used to execute program instructions stored in the memory to implement the above path planning method.

[0008] The present application provides a computer-readable storage medium, on which program instructions are stored, and when the program instructions are executed by a processor, the above path planning method is implemented.

[0009] In the above solution, a plurality of path points are included in the to-be-run path of the target device. Considering that the target device will affect the passage of other running devices on the preset main road, when there are path points on the preset main road among the plurality of path points, through the association relationship between the to-be-run paths of other running devices on the preset main road and the to-be-run path of the target device, the target running path is obtained by preferentially adjusting the to-be-run path of the target device on the non-preset main road, so as to reduce the possibility of other running devices on the preset main road pausing during operation.

[0010] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and do not limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The accompanying drawings herein are incorporated into the specification and form a part of this specification. These drawings illustrate embodiments consistent with the present application and, together with the specification, are used to explain the technical solutions of the present application.

[0012] Figure 1 It is a first flowchart of an embodiment of the path planning method of the present application; Figure 2 It is a second flowchart of an embodiment of the path planning method of the present application; Figure 3 It is a third flowchart of an embodiment of the path planning method of the present application; Figure 4 It is a fourth flowchart of an embodiment of the path planning method of the present application; Figure 5 It is a schematic structural diagram of an embodiment of the path planning device of the present application; Figure 6 It is a schematic structural diagram of an embodiment of the electronic device of the present application; Figure 7 It is a schematic structural diagram of an embodiment of the computer-readable storage medium of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0013] The solutions of the embodiments of the present application will be described in detail below with reference to the accompanying drawings of the specification.

[0014] In the following description, specific details such as specific system structures, interfaces, and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the present application.

[0015] As used herein, the term "and / or" is merely a description of the relationship between associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, or B exists alone. Additionally, the character " / " in this document generally indicates that the associated objects before and after are in an "or" relationship. Furthermore, the term "plurality" in this document means two or more. Additionally, the term "at least one" in this document means any one of a plurality or any combination of at least two of a plurality. For example, including at least one of A, B, and C may represent including any one or more elements selected from the set composed of A, B, and C.

[0016] This application provides some path planning methods and path planning devices. The application scenarios of the path planning method include, but are not limited to, the path planning scenario of an AGV. The execution subject of the path planning method may be a path planning device or a server capable of implementing path planning. For example, the path planning device may be disposed in a terminal device, a server, or other processing devices. Among them, the terminal device may be a device for path planning, a user equipment (UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, etc. In some possible implementation manners, the path planning method may be implemented by a processor invoking computer-readable instructions stored in a memory.

[0017] In a factory without workers, an Automated Guided Vehicle (AGV) can be simply referred to as an AGV. It can be understood that the following vehicles, target devices, and other operating devices can all refer to automated guided vehicles. In an automated guided vehicle system, that is, an AGV system, an automated guided vehicle can travel on an operating path. In an AGV system, the operating path includes a main road and a secondary road. The main road and the secondary road are two types of operating paths divided according to path functions and priorities. In some application scenarios, the main road is the core transportation path in the AGV system, usually connecting key nodes (such as warehouses, production lines, loading and unloading areas, etc.), and undertaking high-frequency and large-flow transportation tasks. Among them, AGVs on the main road usually enjoy the right of way, and AGVs on other paths except the main road need to give way. The main road can be designed as a two-way or multi-lane road, and can support multiple AGVs to travel in parallel or at high speed. In other application scenarios, the secondary road is a supplementary path to the main road, and can be used for special situation handling or auxiliary functions, such as avoidance, charging, temporary tasks, or emergency detours. Among them, when an AGV enters the secondary road, it needs to give way to the main road vehicles. The secondary road can be a one-way road, a temporary path, or a narrow passage, or even a dynamically planned route. The secondary road can be connected to a charging station, a maintenance area, a temporary loading and unloading point, or an avoidance area, etc. Exemplarily, when the main road is congested, the AGV enters the secondary road to wait or detour. Exemplarily, the AGV travels to the charging station or the maintenance area through the secondary road. Exemplarily, when the main road fails, the secondary road serves as an alternative route.

[0018] It can be understood that in some application scenarios, the traffic flow of AGVs on the main road is very large, but during the operation process, there are often secondary road AGVs that need to pass through or merge into the main road, which may cause the AGVs on the main road to stop and wait. At this time, it may occur that the right of way of the main road AGV is lower than that of the secondary road AGV. In addition, once the main road AGV stops and waits, the restart process is relatively slow, which may affect the passage of other main road AGVs on the main road subsequently. For example, it may cause other main road AGVs to stop and wait or not pass through the main road at the preset speed, resulting in relatively large congestion. In other application scenarios, when a secondary road AGV passes through the main road, although there is no substantial path conflict between the secondary road AGV and the main road AGVs on that main road, the secondary road AGV stops on the main road due to various failure reasons. At this time, the secondary road AGV will affect the passage of other main road AGVs on the main road subsequently, and will also cause large-scale congestion. Based on this, how to reasonably plan the paths related to the main road involving AGVs is what needs to be considered in this application.

[0019] Please refer to Figure 1 , Figure 1 which is the first process schematic diagram of an embodiment of the path planning method of this application. Specifically, the path planning method can include the following steps: Step S11: Obtain the to-be-operated path of the target device.

[0020] The target device is the device that needs to perform path planning. The target device is an automated guided vehicle (AGV). The to-be-run path of the target device can be a running path that the target device can travel on. In some application scenarios, the to-be-run path of the target device can involve only the secondary road or only the main road, or can involve both the main road and the secondary road. When the to-be-run path of the target device involves both the main road and the secondary road, the target device can travel from the secondary road through the main road and / or merge from the secondary road into the main road.

[0021] The to-be-run path of the target device includes several path points. Each path point can form the to-be-run path of the target device. The to-be-run path of the target device can also include several path points and the time when the target device reaches each path point. In some application scenarios, the method of step S11 can be to obtain the preset running path matched by the target device when the target device is not issued, and use the preset running path of the target device as the to-be-run path of the target device. In other application scenarios, the method of step S11 can also be that the central system divides the to-be-run path of the target device based on the start point and the end point of the segment path related to the target device. The central system can be a device capable of performing path planning for all running devices.

[0022] After step S11 above, it is determined whether there is a path point in the preset main road among several path points. In some application scenarios, when the determination result is negative, that is, when there is no path point in the preset main road among several path points, the target device is controlled to travel based on the to-be-run path. In other application scenarios, when the determination result is positive, that is, when there is a path point in the preset main road among several path points, the to-be-run path of the target device is adjusted based on the to-be-run paths of other running devices in the preset main road to obtain the target running path, so as to control the target device to travel based on the target running path.

[0023] Step S12: In response to the existence of a path point in the preset main road among several path points, obtain the to-be-run paths of other running devices in the preset main road.

[0024] In a traffic scenario where AGVs are required, several main roads and several secondary roads can be distinguished according to the size of the AGV traffic flow. The preset main road is the main road that can be matched in the to-be-run path of the target device among several main roads, where the main roads passed through and / or merged into in the to-be-run path of the target device are used as the preset main roads. The path points in the to-be-run path of the target device that are located on the preset main road are used as the target path points. In some application scenarios, the to-be-run path of other operating devices can be the preset operating path matched by other operating devices, or the final operating path of other operating devices obtained by preset adjustment of the preset operating path of other operating devices. Specifically, the above preset adjustment can be to adjust the speed or time of passing through some path points in the preset operating path of other operating devices to obtain the final operating path of other operating devices.

[0025] Other operating devices in the preset main road can be the operating devices associated with the path points located on the preset main road. Other operating devices can be operating devices of the same type or different types as the target operating device. Among them, other operating devices are AGVs that can pass through the path points located on the preset main road.

[0026] When there are path points located on the preset main road among several path points, obtain the to-be-run path of other operating devices in the preset main road. Specifically, the number of path points located on the preset main road among several path points is several, and several can be one or more. When the number of path points located on the preset main road among several path points is multiple, each path point located on the preset main road is respectively used as each target path point, and the other operating devices associated with each target path point are searched for.

[0027] In some application scenarios, searching for other operating devices associated with each target path point can be that the central system traverses the driving paths of all operating devices, and the driving paths that can pass through each target path point are used as the to-be-run paths of the above other operating devices. In other application scenarios, for each target path point, based on the running time of the target device passing through the target path point, a reference time range is determined, and the reference time range is used to represent the running time required for other operating devices that can affect the target path point passed through by the target device to pass through the target path point. Among them, the reference time range at least includes the running time of the above target device passing through the target path point. The running paths of other target devices whose running times passing through each target path point are within the reference time range are used as the to-be-run paths of the above other operating devices.

[0028] Step S13: Based on the association relationship between the to-be-run path of the target device and the to-be-run path of other operating devices, adjust the to-be-run path of the target device to obtain the target running path.

[0029] Based on the association relationship between the to-be-run path of the target device and the to-be-run paths of other running devices, adjust the to-be-run path of the target device to obtain the target running path, so as to control the target device to travel based on the target running path.

[0030] The association relationship can represent whether there is a conflict between the travel times and / or travel paths of at least two running devices. In some application scenarios, at least two running devices include the target device and at least one of the above-mentioned other running devices. In other application scenarios, the at least two running devices are at least two of the above-mentioned other running devices, the target device and the at least two running devices will all pass through a path point on the same preset main road, and the conflict point where the at least two running devices are located can be a path point on the preset main road or not a path point on the preset main road.

[0031] Exemplarily, the above-mentioned association relationship can be used to represent whether there is a conflict between the to-be-run path of the target device and the to-be-run paths of other running devices. Specifically, the above-mentioned association relationship can include a time intersection relationship and / or a path intersection relationship between the to-be-run path of the target device and the to-be-run paths of other running devices. Among them, the time intersection relationship is used to represent whether the running times of the to-be-run path of the target device and the to-be-run paths of other running devices passing through path points on the same preset main road are the same or similar. The path intersection relationship is used to represent whether the target device and other running devices pass through the same path point or similar path points on the preset main road at the same time point or similar time points. The target running path can be the final running path obtained by adjusting at least some path points in the to-be-run path of the target device. The target running path can include each final path point of the target device and the time to reach each final path point.

[0032] In other application scenarios, check whether there is an overlap between the locked grid area on the segment path of the to-be-run path of the target device and the locked grid area on the segment path of the to-be-run path of other running devices. If so, it can be determined that the above-mentioned association relationship is whether there is a conflict between the to-be-run path of the target device and the to-be-run paths of other running devices.

[0033] The above step S13 may be to use the path points with the associated relationship as the path points to be adjusted for the target device in response to an associated relationship existing between the path to be run by the target device and the paths to be run by other running devices. The number of path points to be adjusted may be multiple. Specifically, the number of path points to be adjusted may be less than or equal to the number of path points on the preset main road. For each path point to be adjusted, in response to the associated relationship indicating a time conflict and / or a path conflict, the time when the target device reaches the path point to be adjusted in the path to be run is postponed or advanced to obtain a new arrival time for reaching the path point to be adjusted. Based on the new arrival times of each path point to be adjusted, the target running path of the target device is obtained. Specifically, each path point to be adjusted includes a first path point to be adjusted and / or a second path point to be adjusted. In some application scenarios, when the above associated relationship is a time intersection relationship, the above step S13 may be to use the path points with a time intersection relationship between the path to be run by the target device and the paths to be run by other running devices as the first path points to be adjusted. In other application scenarios, when the above associated relationship is a path intersection relationship, the above step S13 may be to use the path points with a path intersection relationship between the path to be run by the target device and the paths to be run by other running devices as the second path points to be adjusted.

[0034] After obtaining the target running path of the target device, use the target running path as the final running path for the target device to travel, and control the target device to travel based on the target running path. It can be understood that before the target device is issued, at this time the issuance status of the target device is not in the issuance waiting state. Steps S11 to S13 are sequentially executed to obtain the target running path. In response to completing the adjustment to obtain the target running path, switch the issuance status of the target device to the issuance waiting state. After controlling the target device to travel based on the target running path, switch the issuance status of the target device to the start issuance state. In response to the target device completing the travel of the target running path, switch the issuance status of the target device to the completion of issuance state.

[0035] It can be understood that there may be multiple path points on the preset main road, that is, the number of target path points may be multiple. The following takes the target running path of the target device obtained by adjusting each target path point as an example, and will not be elaborated later.

[0036] In the above solution, the to-be-run path of the target device includes several path points. Considering that the target device may affect the passage of other running devices on the preset main road, when there are path points on the preset main road among the several path points, through the association relationship between the to-be-run paths of other running devices on the preset main road and the to-be-run path of the target device, the to-be-run path of the target device on the non-preset main road is preferentially adjusted to obtain the target running path, so as to reduce the possibility of other running devices on the preset main road pausing during operation.

[0037] Please refer to Figure 2 , Figure 2 which is the second process schematic diagram of an embodiment of the path planning method of the present application.

[0038] In some embodiments, the association relationship includes the time intersection relationship between the travel times of at least two running devices. The above step S13 may include the following steps: Step S21: Determine the reference travel time of other running devices according to the to-be-run paths of other running devices. The reference travel time is used to represent the time range required for other running devices to pass through at least one initial point, and each initial point is a path point on the preset main road. Step S22: Based on the time intersection relationship between the initial travel time of each initial point and the reference travel time of other running devices, determine the prediction result of each initial point. Each prediction result includes a prediction conflict result or a prediction non-conflict result. Step S23: Based on the prediction results of each initial point, adjust the to-be-run path of the target device to obtain the target running path.

[0039] The time intersection relationship is used to represent whether the travel times of at least two running devices conflict. The above path points on the preset main road are respectively used as each initial point. It can be understood that when the target device is not included in at least two running devices, each initial point may not be the path point where time conflict occurs for the at least two running devices. Each initial point is on the preset main road. Each initial point is used to represent that the target device and at least one other running device pass through the same path point on the above preset main road.

[0040] Specifically, the above step S21 may be to determine at least one initial point based on the to-be-run paths of at least one other operating device and the to-be-run path of the target device. For each other operating device, the sum value between the time range of the other operating device passing through each initial point and the preset time interval is used as the reference driving time of the other operating device. Among them, the value of the preset time interval can be 0 or a variable value. In some application scenarios, when the value of the preset time interval is 0, for each other operating device, the time range of the other operating device passing through each initial point can be directly used as the reference driving time of the other operating device. In other application scenarios, when the value of the preset time interval is a variable value, the variable value can be greater than 0.

[0041] Exemplarily, the method for calculating the time range of the other operating device passing through each initial point may be to obtain the calculation parameters of the other operating device, and the calculation parameters of the other operating device include the distance information between the other operating device and each initial point and the speed information of the other operating device. The distance information between the other operating device and each initial point can represent the distance between the other operating device and each initial point. The distance between the other operating device and each initial point is used as the first distance corresponding to each initial point. The speed information of the other operating device can represent the expected speed value of the other operating device. The expected speed value of the other operating device can be a preset speed or the speed statistical situation in the historical time period. The speed statistical situation can be the mean, variance, standard deviation, etc. of all speeds in the historical time period. In some application scenarios, for each initial point, the ratio between the first distance of the initial point and the expected speed value of the other operating device is used as the time range of the initial point. In other application scenarios, the difference between the first distance of the initial point and the vehicle length of the other operating device is used as the target first distance. The ratio between the target first distance of the initial point and the expected speed value of the other operating device is used as the time range of the initial point.

[0042] Please refer to Figure 3 , Figure 3 which is the third process schematic diagram of an embodiment of the path planning method of the present application.

[0043] In some embodiments, before the above step S22, the path planning method further includes the following steps: Step S31: Obtain the time calculation parameters of each initial point. Each time calculation parameter includes the distance information between the target device and each initial point and the speed information of the target device. Step S32: Based on the distance information and speed information, determine the initial driving time of each initial point.

[0044] The method for calculating the initial travel time of the target device passing through each initial point can be to obtain the time calculation parameters of the target device, where the time calculation parameters of the target device include the distance information between the target device and each initial point and the speed information of the target device. The distance information between the target device and each initial point can represent the distance between the target device and each initial point. The distance between the target device and each initial point serves as the second distance corresponding to each initial point. The speed information of the target device can represent the expected speed value of the target device. The expected speed value of the target device can be a preset speed or the speed statistical situation within a historical time period. The speed statistical situation can be the mean, variance, standard deviation, etc. of all speeds within a historical time period.

[0045] In some application scenarios, for each initial point, the ratio between the second distance of the initial point and the expected speed value of the target device is used as the first initial time of the initial point. In other application scenarios, the difference between the second distance of the initial point and the vehicle length of the target device is used as the first candidate distance. The ratio between the first candidate distance of the initial point and the expected speed value of the target device is used as the first initial time of the initial point. The sum value of the second distance of the initial point and the vehicle length of the target device is used as the second candidate distance. The ratio between the second candidate distance of the initial point and the expected speed value of the target device is used as the second initial time of the initial point. It can be understood that for each initial point, the time range from the first initial time to the second initial time is used as the initial travel time of the initial point.

[0046] Please refer to Figure 4 , Figure 4 which is the fourth process schematic diagram of an embodiment of the path planning method of this application.

[0047] In some embodiments, the above step S32 may include the following steps: Step S41: The ratio between each distance information and the speed information is used as the basic travel time of each initial point. Step S42: Based on the attitude information of each initial point, determine the corrected travel time of each initial point. Each attitude information characterizes the travel attitude required for the target device to pass through each initial point. Step S43: According to the target sum value, determine the initial travel time of each initial point. The target sum value includes the sum value between the basic travel time of each point and the corrected travel time of the initial point.

[0048] Each basic travel time is used to represent the ratio between the distance information of each initial point and the speed information. Exemplarily, the basic travel time of each initial point can be the above-mentioned second initial time.

[0049] The attitude information of each initial point is used to represent the driving attitude required for the target device to pass through each initial point. The driving attitude may be the action executed by the target device when passing through each initial point. In some application scenarios, when the target device passes through a preset main road and merges into the main road, the attitude information of the initial point is the merging-into-main-road attitude. At this time, the target device executes a preset action when passing through each initial point. In other application scenarios, when the target device passes through a preset main road and passes through the main road, the attitude information of the initial point is the passing-through-main-road attitude. At this time, the target device does not execute a preset action when passing through each initial point.

[0050] In some embodiments, the attitude information of each initial point includes the merging-into-main-road attitude or the passing-through-main-road attitude. Before the above step S42, the above path planning method further includes the following steps: for each initial point, in response to the initial point or the next path point adjacent to the initial point executing a preset action, set the attitude information of the initial point to the merging-into-main-road attitude; or, for each initial point, in response to the initial point or the next path point adjacent to the initial point not executing a preset action, determine the attitude information of the initial point based on the position information of the next path point adjacent to the initial point.

[0051] The preset action may be a rotation / steering / turning action of the target device, or a non-straight-line action of the target device.

[0052] Before the above step S42, the following steps are executed for each initial point: determine whether the initial point or the next path point adjacent to the initial point executes a preset action.

[0053] In the case where the initial point or the next path point adjacent to the initial point executes a preset action, set the attitude information of the initial point to the merging-into-main-road attitude. In the case where the initial point or the next path point adjacent to the initial point does not execute a preset action, determine the attitude information of the initial point based on the position information of the next path point adjacent to the initial point. The position information of the next path point adjacent to the initial point may characterize whether the next path point adjacent to the initial point is on the preset main road or on the auxiliary road.

[0054] In some embodiments, the step of determining the attitude information of the initial point based on the position information of the next path point adjacent to the initial point may include the following steps: in response to the next path point adjacent to the initial point being on the preset main road, set the attitude information of the initial point to the merging-into-main-road attitude; or, in response to the next path point adjacent to the initial point not being on the preset main road, set the attitude information of the initial point to the passing-through-main-road attitude.

[0055] The position information of the next path point adjacent to the initial point includes the position where the running channel of the next path point adjacent to the initial point is located in the traffic scenario.

[0056] For each initial point position, perform the following steps: Determine whether the next path point adjacent to the initial point position is on a preset main road. In some application scenarios, when the next path point adjacent to the initial point position is on the preset main road, set the attitude information of the initial point position to the attitude of merging into the main road. In other application scenarios, when the next path point adjacent to the initial point position is not on the preset main road, set the attitude information of the initial point position to the attitude of passing by the main road.

[0057] Each attitude information represents the driving attitude required for the target device to pass through each initial point position. The corrected driving time of the initial point position is used to adjust the basic driving time of each initial point position to obtain the initial driving time of each initial point position. The greater the corrected driving time of the initial point position, the more additional actions the target device performs when passing through this initial point position.

[0058] The attitude information of each initial point position is different, and the corrected driving time of each initial point position is different. Among them, when the attitude information of the initial point position is the attitude of merging into the main road, the corrected driving time of this initial point position is the first corrected driving time. When the attitude information of the initial point position is the attitude of passing by the main road, the corrected driving time of this initial point position is the second corrected driving time. The first corrected driving time is greater than the second corrected driving time. Both the first corrected driving time and the second corrected driving time are preset times. According to the type of operating device to which the target device belongs, the corresponding first corrected driving time and second corrected driving time of different target devices are different. For example, the first corrected driving time can be greater than or equal to 0.

[0059] For each initial point position, take the sum value between the basic driving time of this initial point position and the corrected driving time of the initial point position as the target sum value of this initial point position. It can be understood that the target sum value can be used as the above-mentioned second initial time.

[0060] In some application scenarios, the above step S43 can be that for each initial point position, take the ratio between the second distance of this initial point position and the expected speed value of the target device as the first initial time of this initial point position. Take the time range from the first initial time to the second initial time as the initial driving time of this initial point position.

[0061] In other application scenarios, the above step S43 can be to take the difference between the second distance of this initial point position and the vehicle length of the target device as the first candidate distance. Take the ratio between the first candidate distance of this initial point position and the expected speed value of the target device as the first initial time of this initial point position. Take the time range from the first initial time to the second initial time as the initial driving time of this initial point position.

[0062] Step S22: Determine the prediction result for each initial point based on the time intersection relationship between the initial travel time of each initial point and the reference travel time of other operating devices. Each prediction result includes whether a conflict occurs between the target device and other operating devices at each initial point.

[0063] Each of the said prediction results includes a predicted conflict result or a predicted non - conflict result. In some application scenarios, when the prediction result at any initial point is a predicted conflict result, a conflict occurs between the target device and other operating devices at this initial point. In some other application scenarios, when the prediction result at any initial point is a predicted non - conflict result, no conflict occurs between the target device and other operating devices at this initial point.

[0064] Each time intersection relationship is used to indicate whether there is a time intersection / overlap between the initial travel time at any same initial point and the reference travel time of other operating devices. In some application scenarios, when there is a time intersection / overlap between the initial travel time at any same initial point and the reference travel time of other operating devices, the prediction result is determined as a predicted conflict result. In some other application scenarios, when there is no time intersection / overlap between the initial travel time at any same initial point and the reference travel time of other operating devices, the prediction result is determined as a predicted non - conflict result.

[0065] In some embodiments, each prediction result includes a predicted conflict result or a predicted non - conflict result, and the above - mentioned step S22 may include the following steps: For each initial point, in response to the reference travel time corresponding to the initial point being within the initial travel time of the initial point, determine the prediction result as a predicted conflict result. Or, For each initial point, in response to the reference travel time corresponding to the initial point not being within the initial travel time of the initial point, determine the prediction result as a predicted non - conflict result.

[0066] In some application scenarios, the above - mentioned time intersection relationships can be directly reflected by whether the reference travel time corresponding to each initial point is within the initial travel time of the initial point. Specifically, the above - mentioned step S22 may include the following steps: For each initial point, perform the following steps: Determine whether the reference travel time corresponding to the initial point is within the initial travel time of the initial point. In some application scenarios, when the reference travel time corresponding to the initial point is within the initial travel time of the initial point, the prediction result is determined as a predicted conflict result. In some other application scenarios, when the reference travel time corresponding to the initial point is not within the initial travel time of the initial point, the prediction result is determined as a predicted non - conflict result.

[0067] In some other application scenarios, for each initial point position, the initial travel time corresponding to the initial point position is expanded to obtain a target travel time. Specifically, the initial travel time is the time period corresponding to the first initial time to the second initial time. The method of expanding the initial travel time corresponding to the initial point position to obtain the target travel time can be: subtracting a first preset value from the first initial time to obtain a first target time. Adding a second preset value to the second initial time to obtain a second target time. Wherein, the values between the first preset value and the second preset value can be the same or different. In some application scenarios, the target travel time can be from the first target time to the second initial time, or from the first initial time to the second target time, or from the first target time to the second target time.

[0068] Specifically, the above time intersection relationship can be directly reflected by whether the reference travel time corresponding to each initial point position is within the target travel time of the initial point position. Determine whether the reference travel time corresponding to the initial point position is within the target travel time of the initial point position. In some application scenarios, when the reference travel time corresponding to the initial point position is within the target travel time of the initial point position, the prediction result is determined as a prediction conflict result. In some other application scenarios, when the reference travel time corresponding to the initial point position is not within the target travel time of the initial point position, the prediction result is determined as a prediction non-conflict result.

[0069] Step S23: Based on the prediction results of each initial point position, adjust the to-be-operated path of the target device to obtain a target operation path.

[0070] In some application scenarios, according to the prediction results of each initial point position, the to-be-adjusted point positions are screened from each initial point position. For each initial point position, the following steps are performed: In response to the prediction result of the initial point position being a prediction conflict result, take this initial point position as the to-be-adjusted point position. Or, in response to the prediction result of the initial point position being a prediction non-conflict result, take this initial point position as a reserved point position. For each to-be-adjusted point position, perform grid cutting on the to-be-adjusted point position to obtain the target point position corresponding to the initial point position and the time to reach the target point position. According to the paths corresponding to each to-be-adjusted point position and each target point position and the times to reach each point position, obtain the target operation path corresponding to the to-be-operated path of the target device.

[0071] Grid cutting can be to perform grid cutting on the operating path of the target device in the traffic scenario according to preset rules, ensuring that the target device does not conflict with other operating devices at the target point and / or the point to be adjusted. Exemplarily, grid cutting can be static rule grid cutting, dynamic programming grid cutting, grid cutting based on preset rules, etc. In some application scenarios, static rule grid cutting can obtain the target point by using the adjacent grid priority method for the point to be adjusted. Specifically, with the point to be adjusted as the center, its adjacent grids are used as the target points to be considered first. During grid cutting, the adjacent grids are evaluated and locked in a certain order (such as clockwise or counterclockwise). If the adjacent grid is not occupied or in a locked state by other operating devices that have conflicts or any other operating device, and meets the passing conditions of the target device (such as grid size, bearing capacity, etc.), it is determined as the target point. Calculate the distance from the point to be adjusted to each of the surrounding unlocked grids, and preferentially select the grid with the shortest distance as the target point. During the grid cutting process, key evaluation and locking are performed on the grids closer to the point to be adjusted. In some application scenarios, dynamic programming grid cutting can find the optimal path by comprehensively considering the actual cost from the starting point to the current node and the estimated cost from the current node to the target node. In the conflict handling of the target device and the device to be operated at the point to be adjusted, the point to be adjusted is used as the starting point, and the surrounding unlocked grids are used as potential target nodes, and a preset algorithm is used for path search. During the search process, grid locking operations are performed on the grids passed through to ensure the feasibility of the path. When a feasible path is found, the end point of the path is the target point. For example, the preset algorithm can be the breadth-first search algorithm, which continuously expands nodes to calculate the shortest path from the starting point to each point in the operating path of this traffic scenario. In some application scenarios, grid cutting based on preset rules can first preliminarily screen the grids around the point to be adjusted according to some basic rules (such as adjacent grid priority, distance priority, etc.) to determine some candidate target points. Then, through the pending operating paths of other operating devices, the candidate target points are further evaluated and screened, and a point that is most likely not to conflict with other operating devices is selected as the target point. After determining the target point, grid locking operations are performed on the relevant grids.

[0072] It can be considered that the target operation path is obtained by adjusting each initial point according to the prediction results of each initial point, including the prediction conflict result or the prediction non-conflict result, so as to reduce the possibility of other operating equipment stopping when passing the initial point on the preset main road. In addition, before the target equipment travels, the prediction result of the initial point is adjusted in advance if the prediction conflict result is a prediction result, so that the interference between the target equipment and other operating equipment on the preset main road when traveling based on the target operation path is low. The present application can ensure that the path points on the preset main road on the target operation path do not affect the passage of other operating equipment on the preset main road when the target equipment on the auxiliary road needs to pass through the preset main road, and realize the priority right of way on the preset main road for other operating equipment on the preset main road, thereby improving the rationality of the AGV involving the main road related paths, and reducing the possibility of large-scale congestion caused by the running equipment on the preset main road.

[0073] In some embodiments, each prediction result includes a predicted conflict result or a predicted non-conflict result, and the above step S23 may include the following steps: for each initial point, in response to the prediction result of the initial point being a predicted conflict result, the initial point is locked and cut according to at least one constraint condition to obtain a target point corresponding to the initial point. The at least one constraint condition includes at least one of a first constraint condition related to the stop position and a second constraint condition related to the distance from other running equipment. The path to be run is adjusted using each target point to obtain a target running path.

[0074] The constraint condition is used to indicate the preset condition for performing lock cutting on the initial point. The first constraint condition is used to set the position where the target device is not allowed to stay. Exemplarily, the first constraint condition includes that the target point obtained by adjusting the target device is not allowed to be set as a stay point, and the position is at an unavoidable point of the operating channel in the traffic scenario and / or on a high-level road.

[0075] The second constraint is related to the distance between the target device and other operating devices. Exemplarily, the second constraint is that the target point obtained by adjusting the target device performs a grid safety detection on the vehicles on other main roads around, and it is not allowed for the target vehicle at the target point to stay in a position where the other operating devices on the above-mentioned preset main roads are driving. The grid detection includes the current vehicle grid detection and the main road vehicle load grid detection. The grid detection uses a rectangle formed by four corner points for overlapping detection. If there is an overlap, it means a collision will occur, and if there is no overlap, it means safety. If the above conditions are met, grid cutting can be performed and the predicted safety detection result is returned as safe. Exemplarily, in a factory, the main road and the secondary road can be distinguished according to the size of the AGV vehicle flow. The secondary road vehicles often merge into the main road or pass through the main road, causing the vehicles on the main road to stop and wait, affecting the efficiency of the vehicle flow on the main road. If a secondary road vehicle breaks down or encounters an obstacle during the process of passing through the main road, the entire main road will be blocked.

[0076] Merging into the main road can be that the target device merges from a secondary road into a preset main road. Passing through the main road can be that the target device crosses the preset main road from a secondary road. A section of the path, which is also the path to be traveled, can be a section of the path that the target device or other operating devices are about to take. Each point in the operating channel in the traffic scenario has its own point level, thus forming the main road and the secondary road. There are three categories of point levels, namely high level, medium level, and low level. Among them, the points on the secondary road are default medium level, the points on the main road are default high level, and the intersection points of the main road and the secondary road are calculated as high level. Determine whether the path to be traveled by the target device covers a higher-level road point. Judge whether there are higher-level points in the path to be traveled by the target device (for example, from the starting point of the section path to the ending point of the section path), and record them through a data structure. For example, if the path to be traveled by the target device passes through two main roads and finally merges into the third main road, multiple points will be recorded. For the higher-level points recorded in the data structure, further judge whether the initial point of the target device is passing through or merging into the main road, and store it through the data structure. The logic for judging whether the target device is passing through or merging into the main road at the initial point is as follows: Traverse each higher-level point in the path to be traveled by the target device, judge which road each initial point belongs to, excluding the road where the vehicle itself is located. If the initial point or the next path point of the initial point is a rotation action, the attitude information of the initial point is the attitude of merging into the main road. If the next path point of the initial point is on the preset main road, the attitude information of the initial point is the attitude of merging into the main road. In other cases, the attitude information of the initial point is the attitude of passing through the main road. Predict whether there are conflicts in the path to be traveled by the target device. After judging whether the initial point of the target device is passing through or merging into the main road, an ordered storage sequence of passing through and merging is obtained. The storage sequence includes several points. The order of the points in the storage sequence is the path order, arranged from near to far. Traverse the points in the storage sequence from far to near. For each initial point, judge the first initial time Ta when the target device arrives at this initial point, the second initial time Tb when it leaves this initial point, and the reference driving time T2 of other operating devices on the preset main road when they arrive at this initial point. The determination methods of the first initial time, the second initial time, and the reference driving time can refer to the above content and will not be elaborated here. In the case where the first initial time Ta < the reference driving time T2 < the second initial time Tb, it means that there will be a conflict between the target device and other operating devices on the preset main road. If there is a conflict between the target device and other operating devices at the initial point on the preset main road, the target device needs to be cut forward according to at least one constraint condition to obtain the target point corresponding to this initial point.

[0077] It can be considered that, in this application, by determining whether the attitude information of the target device is the main road or merging into the main road, and predicting whether there will be conflicts between at least two operating devices on the main road / side road in the time dimension for grid cutting, it can effectively solve the problem of the main road vehicles waiting for parking due to the passing or merging of the side road vehicles, and effectively improve the efficiency of the main road traffic flow. In addition, this proposal predicts and resolves the interference of the side road vehicles to the main road vehicles in the future time series, strictly ensuring the priority of the main road vehicles. Compared with the priority control method that can only solve the priority order of the vehicles competing at the current moment, there are some control blind spots, and it cannot achieve the priority passage of the operating devices on the preset main road. This application can improve the planning efficiency of the operating path of the target device involving the preset main road. Subsequently, by controlling the target device to travel based on the target operating path, it can reduce the collision probability between the target device and other operating devices on the preset main road in the target operating path.

[0078] Exemplarily, the path planning device of this application may include a time series conflict prediction module, a three-dimensional grid cutting module, and a dynamic priority controller.

[0079] Among them, the time series conflict prediction module can predict the conflict window of the future target device and other operating devices on the preset main road at any initial point based on the position, speed, and path points of the target device. The three-dimensional grid cutting module can dynamically adjust the path of the target device to avoid the three-dimensional space overlap with other operating devices on the preset main road. The dynamic priority controller can adjust the initial point level according to the real-time traffic flow density. A time series conflict prediction algorithm is set on the time series conflict prediction module. The time series conflict prediction algorithm can input the input parameters into the time window calculation model to output the above initial driving time or the above target driving time of the target device, and the above reference time of other operating devices, and obtain the prediction result corresponding to the time intersection relationship between the target device and other operating devices.

[0080] This application takes calculating the target travel time of a target device as an example. Among them, the target travel time is the time period between the target start time and the target end time. In some application scenarios, the product of the vehicle length of the target device and the first preset ratio is used as the first target vehicle length. The difference between the first actual distance and the first target vehicle length is used as the first target difference. The product of the predicted time step of the target device and the acceleration of the target device is used as the first product. The sum value of the real-time speed of the target device and the first product is used as the first speed. The ratio between the first target difference and the first speed is used as the above-mentioned target start time. In other application scenarios, the ratio of the vehicle length of the target device to the real-time speed of the target device is used as the auxiliary travel time, and the auxiliary travel time is used to represent the time required for the target device to perform non-rotating actions at the initial position. In response to the attitude information of the target device at this initial position being the attitude of merging into the main road, the above-mentioned corrected travel time is determined. Among them, at different initial positions, the rotation angle, angular velocity, and path curvature required by the target device may be different. The ratio of the rotation angle to the angular velocity is used as the first correction time. The product of the preset correction ratio and the path curvature corresponding to this initial position is used as the second correction time. The sum value of the first correction time and the second correction time is used as the above-mentioned corrected travel time. Finally, the sum value of the target start time, the auxiliary travel time, and the above-mentioned corrected travel time is used as the target end time.

[0081] Specifically, the process of calculating the target start time can refer to the following formula (1), and the process of calculating the target end time can refer to the following formula (2): Formula (1); Formula (2); Among them, the input parameters of the time window calculation model include the first input parameters related to the target device and the second input parameters related to other operating devices. Among them, there is at least one other operating device. The first input parameters include the real-time speed v, acceleration a, vehicle length L of the target device AGV, and the first actual distance D between the current position and the initial position. Q1 is used to represent the first preset ratio. The value of Q1 can be 0.5. △t is used to represent the predicted time step. For example, the predicted time step can default to 0.5s. Ta can represent the target start time. Tb can represent the target end time. is used to represent the rotation angle. is used to represent the angular velocity. is used to represent the preset correction ratio. For example, the value of the preset correction ratio can be 0.1. is used to represent the path curvature. is used to represent the above-mentioned corrected travel time. For representing the above-mentioned auxiliary driving time. The target driving time of the target device can be expressed as the arrival time window [Ta, Tb].

[0082] In some other application scenarios, the product of the vehicle length of another operating device and a second preset ratio is used as the second target vehicle length. The difference between the second actual distance and the second target vehicle length is used as the second target difference. The ratio of the second target difference to the second speed is used as the above-mentioned reference driving time. Specifically, the process of calculating the reference driving time of any one of the other operating devices can refer to the following formula (3): Formula (3); Among them, the second input parameter of the time window calculation model includes the real-time speed v1 of any one other operating device AGV on the preset main road, the second actual distance D1 between this other operating device and the initial point, and the vehicle length L1 of the other operating device. Q2 is used to represent the second preset ratio. The value of Q2 can be 0.5. T2 is used to represent the above-mentioned reference driving time.

[0083] In some application scenarios, it is determined whether the reference travel time is within the target travel time of the target device. In response to the reference travel time being within the target travel time of the target device, it is determined that the prediction result is a prediction conflict result. In response to the prediction result being a prediction conflict result, the steps of performing grid cutting on the initial point according to at least one constraint condition to obtain the target point corresponding to the initial point are executed. It can be understood that when the reference travel time is within the target travel time of the target device, at this time, the prediction result being a prediction conflict result can indicate that there is a hard conflict between the target device and the other operating device. If T2 ∈ [Ta, Tb], then the grid cutting is forcibly triggered. In response to the reference travel time not being within the target travel time of the target device, it is determined whether the reference travel time is within the advanced travel time of the target device. The advanced travel time is a time interval obtained by time expansion of the target travel time of the target device. The way to perform time expansion on the target travel time of the target device can be to subtract the first expansion value from the target start time to obtain a new start time, add the second expansion value to the target end time to obtain a new end time, and use the time interval between the new start time and the new end time as the advanced travel time. The first expansion value and the second expansion value can be the same or different, and the values of the first expansion value and the second expansion value are both greater than 0. In response to the reference travel time being within the advanced travel time of the target device, it is determined that the prediction result is a soft conflict result. Compared with the prediction conflict result, the soft conflict result can indicate that the possibility of the target device conflicting with other operating devices at any initial point is relatively low. It can be understood that in response to the reference travel time not being within the target travel time of the target device, assume T2 ∈ [X1, X2]. Among them, the value of X1 is taken as the difference between Ta and the third preset value, and the value of X2 is taken as the sum value between Tb and the fourth preset value. The third preset value and the fourth preset value can each take 1. A dynamic speed compensation mechanism is used to adjust the speed of the to-be-run path of the target device or the to-be-run path of other operating devices to obtain the final running path of the target device or the final running path of other operating devices. The dynamic speed compensation mechanism includes: In some application scenarios, in response to the reference travel time being before the target start time, the speed of other operating devices passing through this initial point is increased and / or the speed of the target operating device passing through this initial point is decreased to obtain the final running path of the target device and / or the final running path of other operating devices. In other application scenarios, in response to the reference travel time being after the target end time, the speed of other operating devices passing through this initial point is decreased and / or the speed of the target operating device passing through this initial point is increased to obtain the final running path of the target device and / or the final running path of other operating devices. Specifically, the process of increasing or decreasing the speed of any operating device passing through the initial point can be to add the real-time speed of the operating device and the speed change value to obtain the new real-time speed corresponding to the operating device.Among them, the value of the speed change can be a positive number or a complex number. The absolute value of the speed change is less than or equal to the product of the real-time speed of the operating device and the preset speed ratio. For example, the value of the preset speed ratio can be 0.5. Any operating device can be the target device or other operating devices.

[0084] It can be understood that the above prediction results, whether they are prediction conflict results or soft conflict results, are obtained by comparing the initial travel time or target travel time of the target device passing through the same initial point, and the reference time of other operating devices passing through the same initial point.

[0085] Exemplarily, in response to the prediction result being a soft conflict result and the reference time being before the target start time. After receiving the soft conflict result, other operating devices on the preset main road can dynamically adjust their speeds to shorten the reference travel time T2, obtain the final travel path of other operating devices, and control other operating devices to be issued to the operating channel in the traffic scenario based on this final travel path. And / or, after receiving the soft conflict result, the target device can decelerate to the preset speed to extend the time window of the target end time Tb, so as to control the target device to be issued to the operating channel in the traffic scenario based on this final travel path. The preset speed is the product of the real-time speed of the target device passing through this initial point and the preset speed ratio, and the preset speed ratio can be set to 0.8. In some other application scenarios, after controlling the target device to be issued to the operating channel in the traffic scenario based on the target travel path and other operating devices to be issued to the operating channel in the traffic scenario based on the to-be-traveled path, it is determined whether the reference travel time is within the advanced travel time of the target device. In response to the reference travel time being within the advanced travel time of the target device, it is determined that the prediction result is a soft conflict result. The final travel path of the target device and / or other operating devices can be obtained by dynamically adjusting the speed to control the target device and / or other operating devices to dynamically adjust the path being traveled based on this final travel path.

[0086] The three-dimensional grid cutting module includes a three-dimensional grid cutting module and a safety detection module. The grid geometric model included in the three-dimensional grid cutting module is used to: generate a cuboid safety area including length, width, and height with the geometric center of the target device as the reference. Increase the vehicle length of the target device by a first safety distance to obtain the length in the safety area. Increase the vehicle width of the target device by a second safety distance to obtain the width in the safety area. Increase the shelf height of the target device by a third safety distance to obtain the height in the safety area. The length, width, and height in the safety area can be represented as the x-axis, y-axis, and z-axis of the grid. The grid geometric model follows that the projections of two adjacent grids on the x-axis, y-axis, and z-axis are not allowed to overlap. The first safety distance, the second safety distance, and the third safety distance can be the same or different. For example, the first safety distance, the second safety distance, and the third safety distance can be 0.2m, 0.2m, and 0.1m.

[0087] In some application scenarios, the grid cutting process of the three-dimensional grid cutting module can be to mark the conflict path points in the to-be-run path of the target device, and generate a target running path based on the path generated by cutting the conflict path points. Among them, along the to-be-run path of the target device, detect and mark multiple conflict path points "P_conflict". Search forward for the nearest non-conflict path point "P_safe" to generate a new running path. Generate a target running path based on each new running path. The new running path includes the current path point to the non-conflict path point "P_safe". It can be understood that the non-conflict path point can be the target point obtained by adjusting the above-mentioned to-be-adjusted point. The new running path obtained after cutting needs to meet the following conditions: the non-conflict path point does not occupy the high-level points on the preset main road. The minimum distance from all other running devices on the preset main road ≥ the preset distance. For example, the preset distance can be set to 0.1m. If the grid cutting of the target device fails, force the target device to stop and wait, and trigger other running devices on the preset main road to accelerate through. Among them, the grid cutting failure of the target device can be that when performing grid cutting, the nearest non-conflict path point is not searched forward and there is no available safe point.

[0088] The dynamic priority controller can achieve dynamic priority adjustment and scenario adaptation during the path planning for the target device. It performs scenario mode detection on the travel time of the to-be-run path or the target running path of the target device to obtain the scenario mode result. The scenario mode result includes one of the peak period mode, fault emergency mode, and normal mode for the to-be-run path of the target device. In some application scenarios, the peak period mode is used to indicate heavy traffic on the preset main road. Among them, in the peak period mode, the passing priority of other running devices on the preset main road is the highest. All points on the preset main road are upgraded to special level in the peak period mode, and the target device on the side road needs to wait at the entrance until the traffic density on the preset main road is less than the threshold density. For example, the threshold density can be 10 vehicles per minute. In some other application scenarios, the fault emergency mode is used to indicate that an abnormality occurs at a path point on the preset main road and it cannot be used. The fault area on the preset main road is marked as a "temporary restricted area", and other running devices on the preset main road automatically switch to the alternate path, and the target device on the side road is prohibited from entering the fault area on the preset main road. In some other application scenarios, in the normal mode, all points on the preset main road are at a high level, and at this time, the target device on the side road passes through the preset main road as needed. The time comparison window for the above-mentioned hard conflict or soft conflict between the target device and other running devices is relaxed. For example, the time comparison window can be set to 5 seconds to allow flexible scheduling.

[0089] In the above solution, the to-be-run path of the target device includes several path points. Considering that the target device will affect the passing of other running devices on the preset main road, when there are path points on the preset main road among the several path points, through the association relationship between the to-be-run path of other running devices on the preset main road and the to-be-run path of the target device, the to-be-run path of the target device on the non-preset main road is preferentially adjusted to obtain the target running path, so as to reduce the possibility of other running devices on the preset main road pausing during operation.

[0090] Please refer to Figure 5 , Figure 5 FIG. is a schematic structural diagram of an embodiment of the path planning device of the present application. The path planning device 50 includes a first acquisition module 51, a second acquisition module 52, and an adjustment module 53. The first acquisition module 51 is used to acquire the to-be-run path of the target device, and the to-be-run path of the target device includes several path points; the second acquisition module 52 is used to acquire the to-be-run path of other running devices in the preset main road in response to the existence of path points on the preset main road among the several path points; the adjustment module 53 is used to adjust the to-be-run path of the target device based on the association relationship between the to-be-run path of the target device and the to-be-run path of other running devices to obtain the target running path, so as to control the target device to travel based on the target running path.

[0091] In the above solution, the to-be-run path of the target device includes several path points. Considering that the target device may affect the passage of other running devices on the preset main road, when there are path points on the preset main road among the several path points, through the association relationship between the to-be-run paths of other running devices on the preset main road and the to-be-run path of the target device, the target running path is obtained by preferentially adjusting the to-be-run path of the target device on the non-preset main road, so as to reduce the possibility of other running devices on the preset main road pausing during operation.

[0092] For the functions executed by each module, please refer to the path planning method, which will not be elaborated here.

[0093] Please refer to Figure 6 , Figure 6 FIG. is a schematic structural diagram of an embodiment of an electronic device according to the present application. The electronic device 60 includes a memory 61 and a processor 62. The processor 62 is configured to execute program instructions stored in the memory 61 to implement the steps in the above embodiment of the path planning method. In a specific implementation scenario, the electronic device 60 may include, but is not limited to: a multi-camera device, a microcomputer, a server. In addition, the electronic device 60 may also include mobile devices such as a laptop computer, a tablet computer, etc., which are not limited here.

[0094] Specifically, the processor 62 is configured to control itself and the memory 61 to implement the steps in the above embodiment of the path planning method. The processor 62 may also be referred to as a CPU (Central Processing Unit). The processor 62 may be an integrated circuit chip with signal processing capabilities. The processor 62 may also be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. Additionally, the processor 62 may be implemented jointly by integrated circuit chips.

[0095] In the above solution, the to-be-run path of the target device includes several path points. Considering that the target device may affect the passage of other running devices on the preset main road, when there are path points on the preset main road among the several path points, through the association relationship between the to-be-run path of other running devices on the preset main road and the to-be-run path of the target device, the target running path is obtained by preferentially adjusting the to-be-run path of the target device on the non-preset main road, so as to reduce the possibility of other running devices on the preset main road pausing during operation.

[0096] Please refer to Figure 7 , Figure 7 FIG. is a schematic structural diagram of an embodiment of a computer-readable storage medium of the present application. The computer-readable storage medium 70 stores program instructions 701 thereon, and when the program instructions 701 are executed by a processor, the steps in any of the above-described path planning method embodiments are implemented.

[0097] In the above solution, the to-be-run path of the target device includes several path points. Considering that the target device may affect the passage of other running devices on the preset main road, when there are path points on the preset main road among the several path points, through the association relationship between the to-be-run path of other running devices on the preset main road and the to-be-run path of the target device, the target running path is obtained by preferentially adjusting the to-be-run path of the target device on the non-preset main road, so as to reduce the possibility of other running devices on the preset main road pausing during operation.

[0098] In some embodiments, the functions or modules included in the device provided by the embodiments of the present disclosure can be used to execute the methods described in the above method embodiments. The specific implementation can refer to the description of the above method embodiments. For the sake of brevity, it will not be repeated here.

[0099] The above descriptions of the various embodiments tend to emphasize the differences between the various embodiments. Their similarities or similarities can be referred to each other. For the sake of brevity, they will not be repeated in this article.

[0100] In several embodiments provided by the present application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device implementation manners described above are merely illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, 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 displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of devices or units can be in electrical, mechanical or other forms.

[0101] In addition, each functional unit in various embodiments of the present application may be integrated into one processing unit, or each unit may exist physically alone, 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 a software functional unit.

[0102] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods in various embodiments of the present application. The foregoing storage medium includes: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc that can store program codes.

Claims

1. A path planning method, characterized in that: The method comprises: Acquire a to-be-run path of a target device, wherein the to-be-run path of the target device includes a plurality of path points; In response to the presence of a path point on a preset main road among the plurality of path points, obtaining a to-be-run path of other running equipment on the preset main road; Based on the association relationship between the to-be-operated path of the target device and the to-be-operated paths of the other operating devices, the to-be-operated path of the target device is adjusted to obtain a target operating path, so as to control the target device to travel based on the target operating path.

2. The method according to claim 1, characterized in that The association relationship includes a time intersection relationship between the travel times of at least two operating devices, The adjusting the path to be run of the target device to obtain the target running path based on the association relationship between the path to be run of the target device and the paths to be run of the other running devices includes: Determine a reference travel time of the other running equipment according to the to-be-run path of the other running equipment, wherein the reference travel time is used to represent a time range required for the other running equipment to pass through at least one initial point, each of the initial points being a path point on the preset main road; Determine the prediction result of each of the initial points based on the time intersection relationship between the initial travel time of each of the initial points and the benchmark travel time of the other running equipment, each of the prediction results includes a prediction conflict result or a prediction non-conflict result; Based on the prediction results of each of the initial points, the to-be-run path of the target device is adjusted to obtain the target running path.

3. The method according to claim 2, characterized in that The step of determining the prediction result of each of the initial points based on the time intersection relationship between the initial travel time of each of the initial points and the benchmark travel time of the other operating equipment includes: For each of the initial points, in response to the reference travel time corresponding to the initial point being within the initial travel time of the initial point, determining the prediction result to be a prediction conflict result; or, For each of the initial points, in response to the reference travel time corresponding to the initial point not being within the initial travel time of the initial point, the prediction result is determined to be a prediction non-conflicting result.

4. The method according to claim 2, characterized in that: Before determining the prediction results of each of the initial points based on the time intersection relationship between the initial travel time of each of the initial points and the benchmark travel time of the other operating equipment, the method further includes: Acquire time calculation parameters of each of the initial points, each of the time calculation parameters including distance information between the target device and each of the initial points and speed information of the target device; Based on the distance information and the speed information, the initial travel time of each initial point is determined.

5. The method according to claim 4, characterized in that The determining the initial travel time of each of the initial points based on the distance information and the speed information includes: The ratio between each distance information and the speed information is used as the basic travel time of each initial point; Determine the corrected travel time of each of the initial points based on the posture information of each of the initial points, each of the posture information representing the travel posture required for the target device to pass through each of the initial points; The initial travel time of each of the initial points is determined according to the target sum value, wherein the target sum value includes the sum of the basic travel time of each of the points and the corrected travel time of the initial point.

6. The method according to claim 5, characterized in that The posture information of each of the initial points includes a posture of merging into a main road or a posture of passing through a main road. Before determining the corrected travel time of each of the initial points based on the posture information of each of the initial points, the method further includes: For each of the initial points, in response to the initial point or the next path point adjacent to the initial point, a preset action is performed to set the posture information of the initial point as the posture of merging into the main road; or, For each of the initial points, in response to not performing a preset action on the initial point or a next path point adjacent to the initial point, the posture information of the initial point is determined based on the position information of the next path point adjacent to the initial point.

7. The method according to claim 6, characterized in that The step of determining the posture information of the initial point based on the position information of the next path point adjacent to the initial point includes: In response to the next path point adjacent to the initial point being on the preset main road, setting the posture information of the initial point as the posture of merging into the main road; or, In response to the next path point adjacent to the initial point being not located on the preset main road, the posture information of the initial point is set as the posture of the en route main road.

8. The method according to claim 2, characterized in that: The step of adjusting the to-be-run path of the target device based on the prediction results of each of the initial points to obtain the target running path includes: For each of the initial points, in response to the prediction result of the initial point being a prediction conflict result, the initial point is subjected to lock cutting according to at least one constraint condition to obtain a target point corresponding to the initial point, wherein the at least one constraint condition includes at least one of a first constraint condition related to a stop position and a second constraint condition related to a distance from other running equipment; The target path is adjusted using the target points to obtain the target path.

9. An electronic device, characterized in that: include: A memory and a processor, wherein the memory stores program instructions, and the processor retrieves the program instructions from the memory to execute the method according to any one of claims 1 to 8.

10. A computer-readable storage medium having program instructions stored thereon, characterized in that: When the program instructions are executed by a processor, they are used to implement the method according to any one of claims 1 to 8.

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