Path planning method, electronic device, and storage medium

Abstract

The application discloses a path planning method, an electronic device and a storage medium. The path planning method comprises the following steps: acquiring a to-be-run path of a target device, wherein the to-be-run path of the target device comprises a plurality of path points; in response to the fact that there is a path point on a preset main road in the plurality of path points, acquiring a to-be-run path of other running devices on the preset main road; and based on the association relationship between the to-be-run path of the target device and the to-be-run path of the other running devices, adjusting the to-be-run path of the target device to obtain a target running path, so that the target device travels based on the target running path. The above scheme can reduce the interference between the target device and the other running devices on the preset main road when the target device travels based on the target running path.

Description

Technical Field

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

[0002] In unmanned factories, automated guided vehicles (AGVs) operate on a "main road" in many scenarios, and traffic on this road is very heavy. However, during operation, vehicles from auxiliary roads often cross or merge onto the main road, causing vehicles on the main road to stop and wait. When auxiliary road vehicles cross the main road and, due to various malfunctions, stop on the main road, this can cause widespread congestion.

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

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

[0005] The present application provides a path planning method, comprising: obtaining a target device's path to be run, the target device's path to be run including a plurality of path points; in response to a path point on a preset main road being present among the plurality of path points, obtaining the paths to be run of other running devices on the preset main road; and adjusting the path to be run of the target device to obtain a target running path based on an association between the path to be run of the target device and the paths to be run of the other running devices, so as to control the target device to travel based on the target running path.

[0006] The present application provides a path planning device, comprising: a first acquisition module, a second acquisition module, and an adjustment module; the first acquisition module is used to acquire a target device's path to be run, the target device's path to be run including a plurality of path points; the second acquisition module is used to acquire, in response to a path point on a preset main road among the plurality of path points, the paths to be run of other running devices on the preset main road; the adjustment module is used to adjust the path to be run of the target device to obtain a target running path based on an association relationship between the path to be run of the target device and the paths to be run of other running devices, so as to control the target device to travel based on the target running path.

[0007] The present application provides an electronic device, including a memory and a processor, wherein the processor is configured to execute program instructions stored in the memory to implement the above-mentioned path planning method.

[0008] The present application provides a computer-readable storage medium having program instructions stored thereon, which implement the above-mentioned path planning method when the program instructions are executed by a processor.

[0009] In the above scheme, the path to be operated of the target device is obtained, which includes several path points. Considering that the target device may affect the passage of other running devices on the preset main road, when there is a path point on the preset main road among the several path points, the path to be operated of the other running devices on the preset main road is associated with the path to be operated of the target device, so that the target running path is obtained by preferentially adjusting the path to be operated of the target device on the non-preset main road, thereby reducing the possibility of other running devices on the preset main road pausing during operation.

[0010] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0012] Figure 1 This is a schematic diagram of the first process of an embodiment of the path planning method of the present application;

[0013] Figure 2 This is a second flow chart of an embodiment of the path planning method of the present application;

[0014] Figure 3 This is a third flow chart of an embodiment of the path planning method of the present application;

[0015] Figure 4 This is a fourth flow chart of an embodiment of the path planning method of the present application;

[0016] Figure 5 This is a structural diagram of an embodiment of a path planning device of the present application;

[0017] Figure 6 This is a structural diagram of an embodiment of an electronic device of the present application;

[0018] Figure 7 It is a structural diagram of an embodiment of a computer-readable storage medium of the present application. DETAILED DESCRIPTION

[0019] The following describes the embodiments of the present application in detail with reference to the accompanying drawings.

[0020] In the following description, for the purpose of explanation rather than limitation, specific details such as specific system structures, interfaces, and technologies are provided to facilitate a thorough understanding of the present application.

[0021] The term "and / or" in this article is simply a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent three situations: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects are in an "or" relationship. In addition, "many" in this article means two or more than two. In addition, the term "at least one" in this article means any combination of at least two of any one or more of a plurality of. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0022] The present 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 scenarios of AGV. The execution subject of the path planning method can be a path planning device or a server that can implement path planning. For example, the path planning device can be set in a terminal device or a server or other processing device, wherein the terminal device can 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 implementations, the path planning method can be implemented by a processor calling computer-readable instructions stored in a memory.

[0023] Automated Guided Vehicles (AGVs) in unmanned factories can be referred to simply as AGVs. It should be understood that in the following descriptions, vehicles, target equipment, and other operating equipment may all refer to AGVs. In an automated guided vehicle system, also known as an AGV system, AGVs can travel along operating paths. Within an AGV system, operating paths include primary and secondary paths. These paths are categorized based on their function and priority. In some application scenarios, primary paths are the core transportation paths within the AGV system, typically connecting key nodes (such as warehouses, production lines, and loading and unloading areas) and handling high-frequency, high-volume transportation tasks. AGVs on primary paths typically enjoy right-of-way, and AGVs on paths other than the primary path must yield. Primary paths can be designed as bidirectional or multi-lane, supporting multiple AGVs traveling in parallel or at high speeds. In other application scenarios, secondary paths serve as supplementary paths to the primary path, used for special situations or auxiliary functions, such as avoidance, charging, temporary tasks, or emergency detours. AGVs must yield to vehicles on the primary path when entering secondary paths. Auxiliary roads can be one-way streets, temporary paths, narrow passages, or even dynamically planned routes. Auxiliary roads can connect to charging stations, maintenance areas, temporary loading and unloading points, or avoidance zones, among other things. For example, when the main road is congested, the AGV enters the auxiliary road to wait or take a detour. For example, the AGV uses the auxiliary road to reach a charging station or maintenance area. For example, when the main road fails, the auxiliary road serves as a backup route.

[0024] It is understandable that in some application scenarios, the traffic volume of AGVs on the main road is very large, but during the operation process, there are often auxiliary road AGVs that need to pass through the main road or merge into the main road, which may cause the AGVs on the main road to stop and wait. At this time, the passage priority of the main road AGV may be lower than the passage priority of the auxiliary road AGV. In addition, once the main road AGV stops and waits, the process of restarting is relatively slow, which may affect the passage of other main road AGVs on the main road. For example, other main road AGVs may stop and wait or fail to pass the main road at a preset speed, thereby causing a large congestion. In other application scenarios, when the auxiliary road AGV passes through the main road, although there is no actual path conflict between the auxiliary road AGV and the main road AGV on the main road, the auxiliary road AGV stops on the main road due to various faults. At this time, the auxiliary road AGV will affect the passage of other main road AGVs on the main road and cause large-scale congestion. Based on this, how to reasonably plan the AGV-related paths involving the main road is what this application needs to consider.

[0025] See also Figure 1 , Figure 1 This is a first flow chart of an embodiment of a path planning method of the present application. Specifically, the path planning method may include the following steps:

[0026] Step S11: Obtain the path to be run of the target device.

[0027] The target device is a device requiring path planning. The target device is an automated guided vehicle (AGV). The target device's intended path may be a path that the target device can travel. In some application scenarios, the target device's intended path may involve only auxiliary roads, only main roads, or both main and auxiliary roads. If the target device's intended path involves both main and auxiliary roads, the target device may pass from an auxiliary road to the main road and / or merge from an auxiliary road into the main road.

[0028] The target device's path to be run includes several path points. Each path point can constitute the target device's path to be run. The target device's path to be run 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 above 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 target device's path to be run. In other application scenarios, the method of step S11 above can also be that the central system divides the target device's path to be run based on the starting point and the end point of the segment path related to the target device. The central system can be a device that can be used to plan paths for all running devices.

[0029] After step S11, it is determined whether any of the plurality of path points are located on a preset main road. In some application scenarios, if the determination result is negative, that is, if no path point is located on the preset main road among the plurality of path points, the target device is controlled to travel based on the proposed path. In other application scenarios, if the determination result is positive, that is, if a path point is located on the preset main road among the plurality of path points, the proposed path of the target device is adjusted based on the proposed paths of other operating devices on the preset main road to obtain a target path, so as to control the target device to travel based on the target path.

[0030] Step S12: In response to a path point located on a preset main road among the plurality of path points, a path to be run of other running equipment on the preset main road is obtained.

[0031] In traffic scenarios where AGVs are required, several main roads and several auxiliary roads can be distinguished based on the size of the AGV traffic. The preset main road is the main road that can be matched in the path to be run of the target device among the several main roads, wherein the main road that passes through and / or merges into the path to be run of the target device is used as the preset main road. The path points on the preset main road that exist in the several path points of the target device are used as target path points. In some application scenarios, the path to be run of other running devices can be the preset running path matched by other running devices, or it can be the final running path of other running devices obtained by making preset adjustments to the preset running path of other running devices. Specifically, the above-mentioned preset adjustment can be to adjust the speed or time of passing through some path points in the preset running path of other running devices to obtain the final running path of other running devices.

[0032] The other running devices on the preset main road may be running devices associated with path points on the preset main road. The other running devices may be running devices of the same type or a different type as the target running device. The other running devices may be AGVs that can pass through path points on the preset main road.

[0033] If a pathpoint on a preset main road is present among the plurality of pathpoints, the paths to be run of other operating devices on the preset main road are obtained. Specifically, the number of pathpoints on the preset main road among the plurality of pathpoints is a plurality, and the "amount" may be one or more. If a plurality of pathpoints on the preset main road are present among the plurality of pathpoints, each pathpoint on the preset main road is used as a target pathpoint, and the other operating devices associated with each target pathpoint are searched.

[0034] In some application scenarios, searching for other operating devices associated with each target path point may be a central system traversing the driving paths of all operating devices, and using the driving paths that can pass through each target path point as the paths to be run for the above-mentioned other operating devices. In other application scenarios, for each target path point, a reference time range is determined based on the running time of the target device passing through the target path point. The reference time range is used to represent the running time required for other operating devices that can affect the target path point passed 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-mentioned target device passing through the target path point. The running paths of other target devices whose running time passing through each target path point is within the reference time range are used as the paths to be run for the above-mentioned other operating devices.

[0035] Step S13: 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, the to-be-run path of the target device is adjusted to obtain a target running path.

[0036] Based on the association between the to-be-operated path of the target device and the to-be-operated paths of 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.

[0037] The association relationship can indicate whether there is a conflict between the travel times and / or travel paths of at least two operating devices. In some application scenarios, the at least two operating devices include a target device and at least one of the above-mentioned other operating devices. In other application scenarios, the at least two operating devices are at least two of the above-mentioned other operating devices, and the target device and the at least two operating devices will pass through the same path point on the above-mentioned preset main road, and the conflict point where the at least two operating devices are located may be a path point on the above-mentioned preset main road, or may not be a path point on the above-mentioned preset main road.

[0038] Exemplarily, the above-mentioned association relationship can be used to characterize whether there is a conflict between the path to be run of the target device and the paths to be run of other running devices. Specifically, the above-mentioned association relationship may include a time intersection relationship and / or a path intersection relationship between the path to be run of the target device and the paths to be run of other running devices. Among them, the time intersection relationship is used to indicate whether the running time of the path to be run of the target device and the path to be run of other running devices passing through the path points on the same preset main road is the same or similar. The path intersection relationship is used to indicate whether the target device and the other running devices pass through the same path point or similar path point on the preset main road at the same time point or a similar time point. The target running path may be the final running path obtained by adjusting at least part of the path points in the path to be run of the target device. The target running path may include each final path point of the target device and the time to reach each final path point.

[0039] In other application scenarios, it is checked whether the locked grid area on the segment path of the target device's to-be-run path overlaps with 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 association relationship is whether there is a conflict between the to-be-run path of the target device and the to-be-run path of other running devices.

[0040] The above-mentioned step S13 may be in response to the existence of an association relationship between the target device's to-be-operated path and the to-be-operated paths of other operating devices, and the path points with this association relationship are used as the target device's to-be-adjusted path points. 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 association relationship representing a time conflict and / or path conflict, the time to reach the to-be-adjusted path point in the target device's to-be-operated path is delayed or advanced to obtain a new arrival time for reaching the to-be-adjusted path point. Based on the new arrival time of each path point to be adjusted, the target operating 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-mentioned association relationship is a time intersection relationship, the above-mentioned step S13 may be in response to the existence of a time intersection relationship between the target device's to-be-operated path and the to-be-operated paths of other operating devices as the first path point to be adjusted. In other application scenarios, when the above-mentioned association relationship is a path intersection relationship, the above-mentioned step S13 can be to use the path point where there is a path intersection relationship between the to-be-run path of the target device and the to-be-run path of other running devices as the second path point to be adjusted.

[0041] After obtaining the target operation path of the target device, the target operation path is used as the final operation path of the target device, and the target device is controlled to travel based on the target operation path. It can be understood that before the target device is issued, the target device's issuance status is not yet in the issuance waiting state, and steps S11 to S13 are executed in sequence to obtain the target operation path. In response to the completion of the adjustment to obtain the target operation path, the target device's issuance status is switched to the issuance waiting state. After the target device is controlled to travel based on the target operation path, the target device's issuance status is switched to the start issuance state. In response to the target device completing the target operation path, the target device's issuance status is switched to the completion issuance state.

[0042] It can be understood that there can be multiple path points on the preset main road, that is, the number of target path points can be multiple. The following takes the target operation path of the target device obtained by adjusting each target path point as an example, and will not be repeated later.

[0043] In the above scheme, the path to be operated of the target device is obtained, which includes several path points. Considering that the target device may affect the passage of other running devices on the preset main road, when there is a path point on the preset main road among the several path points, the path to be operated of the other running devices on the preset main road is associated with the path to be operated of the target device, so that the target running path is obtained by preferentially adjusting the path to be operated of the target device on the non-preset main road, thereby reducing the possibility of other running devices on the preset main road pausing during operation.

[0044] See also Figure 2 , Figure 2 This is a second flow chart of an embodiment of the path planning method of the present application.

[0045] In some embodiments, the association relationship includes a time intersection relationship between the travel times of at least two operating devices, and the above-mentioned step S13 may include the following steps: Step S21: Determine the benchmark travel time of other operating devices based on the to-be-operated paths of other operating devices. The benchmark travel time is used to represent the time range required for other operating devices to pass through at least one initial point, and each initial point is a path point on a preset main road. Step S22: Determine the prediction results of each initial point based on the time intersection relationship between the initial travel time of each initial point and the benchmark travel time of other operating devices. Each prediction result includes a predicted conflict result or a predicted non-conflict result. Step S23: Based on the prediction results of each initial point, adjust the to-be-operated path of the target device to obtain a target operating path.

[0046] The time intersection relationship is used to indicate whether the travel times of at least two operating devices conflict. The aforementioned path points on the preset main road are used as initial points. It is understood that if the at least two operating devices do not include the target device, the initial points may not be path points where the time conflict occurs between the at least two operating devices. Each initial point is located on the preset main road. Each initial point indicates that the target device and at least one other operating device passed through the same path point on the preset main road.

[0047] Specifically, the above step S21 may be to determine at least one initial point based on the path to be run of at least one other operating device and the path to be run of the target device. For each other operating device, the sum of the time range of the other operating device passing through each initial point and the preset time interval is used as the benchmark travel time of the other operating device. The value of the preset time interval may 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 may be directly used as the benchmark travel 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 may be greater than 0.

[0048] Exemplarily, the time range for other operating devices to pass through each initial point can be calculated by obtaining calculation parameters of the other operating devices, including distance information between the other operating devices and each initial point and speed information of the other operating devices. The distance information between the other operating devices and each initial point can represent the distance between the other operating devices and each initial point. The distance between the other operating devices and each initial point serves as the first distance corresponding to each initial point. The speed information of the other operating devices can represent the expected speed value of the other operating devices. The expected speed value of the other operating devices can be a preset speed or speed statistics within a historical time period. The speed statistics can be the mean, variance, standard deviation, etc. of all speeds within 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 devices 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 devices 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 devices is used as the time range of the initial point.

[0049] See also Figure 3 , Figure 3 This is a third flow chart of an embodiment of the path planning method of the present application.

[0050] In some embodiments, before step S22, the path planning method further includes the following steps: Step S31: Obtaining time calculation parameters for each initial point. Each time calculation parameter includes distance information between the target device and each initial point and speed information of the target device. Step S32: Determining an initial travel time for each initial point based on the distance information and speed information.

[0051] 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, and 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 statistics within a historical time period. The speed statistics can be the mean, variance, standard deviation, etc. of all speeds within the historical time period.

[0052] 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 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 driving time of the initial point.

[0053] See also Figure 4 , Figure 4 This is a fourth flow chart of an embodiment of the path planning method of the present application.

[0054] In some embodiments, step S32 may include the following steps: Step S41: Using the ratio between each distance information and speed information as the basic travel time for each initial point. Step S42: Determining the corrected travel time for each initial point based on the posture information of each initial point. Each posture information represents the required travel posture of the target device passing through each initial point. Step S43: Determining the initial travel time for each initial point based on a target sum value. The target sum value includes the sum of the basic travel time for each point and the corrected travel time for the initial point.

[0055] Each basic travel time is used to represent the ratio between the distance information and the speed information of each initial point. Exemplarily, the basic travel time of each initial point can be the second initial time mentioned above.

[0056] The posture information of each initial point is used to represent the driving posture required for the target device to pass through each initial point. The driving posture can be the action performed by the target device when passing through each initial point. In some application scenarios, when the target device passes through a preset main road as a merge-in main road, the posture information of the initial point is a merge-in main road posture. In this case, the target device performs the preset action when passing through each initial point. In other application scenarios, when the target device passes through a preset main road as a passing main road, the posture information of the initial point is a passing main road posture. In this case, the target device does not perform the preset action when passing through each initial point.

[0057] In some embodiments, the posture information of each initial point includes a posture of merging into the main road or a posture of passing through the main road. Before the above-mentioned step S42, the above-mentioned path planning method also includes the following steps: for each initial point, a preset action is performed in response to the initial point or the next path point adjacent to the initial point, and the posture information of the initial point is set to the posture of merging into the main road; or, for each initial point, the preset action is not performed in response to the initial point or the next path point adjacent to the initial point, and the posture information of the initial point is determined based on the position information of the next path point adjacent to the initial point.

[0058] The preset action may be a turning / rotating / rotating action of the target device, or a non-straight action of the target device.

[0059] Before the above step S42, the following steps are performed for each initial point: determining whether the initial point or the next path point adjacent to the initial point performs a preset action.

[0060] If the initial point or the next path point adjacent to the initial point performs a preset action, the posture information of the initial point is set to the posture of merging into the main road. If the initial point or the next path point adjacent to the initial point does not perform a preset action, the posture information of the initial point is determined 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 can indicate whether the next path point adjacent to the initial point is on the preset main road or on a secondary road.

[0061] In some embodiments, the above-mentioned 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 may include the following steps: in response to the next path point adjacent to the initial point being on a preset main road, setting the posture information of the initial point to a merging into the main road posture; or, in response to the next path point adjacent to the initial point not being on the preset main road, setting the posture information of the initial point to a passing through the main road posture.

[0062] The position information of the next path point adjacent to the initial point includes the position of the next path point adjacent to the initial point in the running channel under the traffic scenario.

[0063] For each initial point, the following steps are performed: Determine whether the next path point adjacent to the initial point is on a preset main road. In some application scenarios, if the next path point adjacent to the initial point is on a preset main road, the initial point's posture information is set to a merging-into-main-road posture. In other application scenarios, if the next path point adjacent to the initial point is not on a preset main road, the initial point's posture information is set to a passing-through-main-road posture.

[0064] Each posture information represents the required driving posture of the target device when passing through each initial point. The corrected driving time of each initial point is used to adjust the basic driving time of each initial point to obtain the initial driving time of each initial point. The larger the corrected driving time of an initial point, the more additional actions the target device performs when passing through that initial point.

[0065] The posture information of each initial point is different, and the corrected driving time of each initial point is different. Among them, when the posture information of the initial point is the posture of merging into the main road, the corrected driving time of the initial point is the first corrected driving time. When the posture information of the initial point is the posture of passing through the main road, the corrected driving time of the initial point is the second corrected driving time. The first corrected driving time is greater than the second corrected driving time. The first corrected driving time and the second corrected driving time are both preset times. Depending on the type of operating device to which the target device belongs, the first corrected driving time and the second corrected driving time corresponding to different target devices are different. For example, the first corrected driving time can be greater than or equal to 0.

[0066] For each initial point, the sum of the basic travel time of the initial point and the corrected travel time of the initial point is used as the target sum value of the initial point. It is understandable that the target sum value can be used as the second initial time.

[0067] In some application scenarios, step S43 may be to use, for each initial point, the ratio of the second distance at the initial point to the expected speed of the target device as the first initial time for the initial point, and to use the time range from the first initial time to the second initial time as the initial travel time for the initial point.

[0068] In other application scenarios, step S43 may use the difference between the second distance of the initial point and the vehicle length of the target device 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 time range from the first initial time to the second initial time is used as the initial travel time of the initial point.

[0069] Step S22: Determine a prediction result for each initial point based on the time intersection relationship between the initial travel time of each initial point and the benchmark travel time of other running devices. Each prediction result includes an indication of whether the target device and other running devices conflict at each initial point.

[0070] Each of the prediction results includes a predicted conflict result or a predicted non-conflict result. In some application scenarios, if the prediction result at any initial point is a predicted conflict result, the target device conflicts with other running devices at that initial point. In other application scenarios, if the prediction result at any initial point is a predicted non-conflict result, the target device does not conflict with other running devices at that initial point.

[0071] 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 benchmark travel time of other operating equipment. In some application scenarios, if there is a time intersection / overlap between the initial travel time at any same initial point and the benchmark travel time of other operating equipment, the prediction result is determined to be a prediction conflict result. In other application scenarios, if there is no time intersection / overlap between the initial travel time at any same initial point and the benchmark travel time of other operating equipment, the prediction result is determined to be a prediction non-conflict result.

[0072] In some embodiments, each prediction result includes a predicted conflict result or a predicted non-conflict result, and the above step S22 may include the following steps:

[0073] 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, the prediction result is determined to be a predicted conflict result. Or,

[0074] 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, the prediction result is determined to be a prediction non-conflict result.

[0075] 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, the following steps are performed: judging 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 to be a prediction conflict result. In 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 to be a prediction non-conflict result.

[0076] In other application scenarios, for each initial point, the initial driving time corresponding to the initial point is expanded to obtain the target driving time. Specifically, the initial driving time is the time period corresponding to the first initial time to the second initial time. The initial driving time corresponding to the initial point is expanded to obtain the target driving time in a manner as follows: subtract the first preset value from the first initial time to obtain the first target time. Add the second preset value to the second initial time to obtain the second target time. The values ​​between the first preset value and the second preset value may be the same or different. In some application scenarios, the target driving time may be from the first target time to the second initial time, from the first initial time to the second target time, or from the first target time to the second target time.

[0077] Specifically, the aforementioned time intersection relationships can be directly reflected by determining whether the reference travel time corresponding to each initial point is within the target travel time of the initial point. It is determined whether the reference travel time corresponding to the initial point is within the target travel time of the initial point. In some application scenarios, if the reference travel time corresponding to the initial point is within the target travel time of the initial point, the prediction result is determined to be a prediction conflict result. In other application scenarios, if the reference travel time corresponding to the initial point is not within the target travel time of the initial point, the prediction result is determined to be a prediction non-conflict result.

[0078] Step S23: Based on the prediction results of each initial point, the target operation path of the target device is adjusted to obtain the target operation path.

[0079] In some application scenarios, based on the prediction results of each initial point, the points to be adjusted are screened from the initial points. For each initial point, the following steps are performed: in response to the prediction result of the initial point being a predicted conflict result, the initial point is used as the point to be adjusted. Or, in response to the prediction result of the initial point being a predicted non-conflict result, the initial point is used as a reserved point. For each point to be adjusted, the point to be adjusted is locked and cut to obtain the target point corresponding to the initial point and the time to reach the target point. Based on the paths corresponding to the points to be adjusted and the time to reach each point, the target operation path corresponding to the path to be operated of the target device is obtained.

[0080] Grid cutting involves meshing the operating path of a target device in a 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. Exemplary grid cutting methods include static rule-based grid cutting, dynamic planning grid cutting, and grid cutting based on preset rules. In some application scenarios, static rule-based grid cutting involves using the adjacent grid priority method to determine the target point for the point to be adjusted. Specifically, with the point to be adjusted as the center, its adjacent grids are prioritized as target points. During grid cutting, adjacent grids are evaluated and locked in a specific order (e.g., clockwise or counterclockwise). If an adjacent grid is not occupied by other conflicting operating devices or any other operating devices, or is locked, and meets the target device's passage requirements (e.g., grid size, carrying capacity, etc.), it is determined as the target point. The distance from the point to be adjusted to each surrounding unblocked grid is calculated, and the grid closest to it is preferentially selected as the target point. During the grid cutting process, grids closest to the point to be adjusted are prioritized for evaluation and locking. In some application scenarios, dynamic 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. When a conflict occurs between a target device and a device to be operated at a point to be adjusted, the point to be adjusted is used as the starting point, and the surrounding, unblocked grids are used as potential target nodes. A path search is performed using a pre-set algorithm. During the search, grids are locked to ensure path feasibility. Once a feasible path is found, the destination is the target point. For example, the pre-set algorithm may be a breadth-first search algorithm, which continuously expands nodes to calculate the shortest path from the starting point to each point in the operating corridor of the traffic scenario. In some application scenarios, pre-set rule-based grid-cutting can first preliminarily screen the grids surrounding the point to be adjusted according to basic rules (such as adjacent grid priority and distance priority) to identify candidate target points. Then, the candidate target points are further evaluated and screened based on the paths of other operating devices to be operated, and the target point with the highest probability of not conflicting with other operating devices is selected as the target point. After determining the target point, lock the relevant grid.

[0081] 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 predicted conflict result or the predicted 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, the situation where the prediction result of the initial point is a predicted conflict result before the target equipment travels is adjusted in advance, 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's main road-related paths and reducing the possibility of large-scale congestion caused by the running equipment on the preset main road stopping.

[0082] In some embodiments, each prediction result includes a predicted conflict result or a predicted non-conflict result. Step S23 may include the following steps: for each initial point, in response to the prediction result for the initial point being a predicted conflict result, performing a lock-grid cut on the initial point 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 dwell position and a second constraint condition related to the distance from other operating equipment. The target path is adjusted using each target point to obtain a target path.

[0083] Constraints are used to represent the preset conditions for performing a lock-grid cut on the initial point. The first constraint is used to set a location where the target device is not allowed to stay. For example, the first constraint includes that the target point obtained by adjusting the target device is not allowed to be set as a stop point, and the location is at an unavoidable point in the operating channel under traffic scenarios and / or on a high-level road.

[0084] The second constraint is related to the distance between the target device and other running devices. For example, the second constraint is that the target point obtained by adjusting the target device is subjected to a grid safety detection with other vehicles on the surrounding main roads, and the target vehicle at the target point is not allowed to stop at the above-mentioned preset main road for other running equipment. The grid detection includes the current vehicle grid detection and the main road vehicle load grid detection. The grid detection uses the rectangle formed by the four corner points for overlap detection. If there is overlap, it means that a collision will occur, and if there is no overlap, it means it is safe. If the above conditions are met, the grid cutting can be performed and the predicted safety detection is returned. For example, in the factory, the main road and the auxiliary road can be distinguished according to the size of the AGV traffic flow, and the vehicles on the auxiliary road often have to 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 traffic on the main road. If the auxiliary road vehicle breaks down or encounters an obstacle while passing through the main road, the entire main road will be blocked.

[0085] A merge into a main road occurs when a target device merges from an auxiliary road into a pre-set main road. A transit main road occurs when a target device crosses a pre-set main road from an auxiliary road. A segment path, or the path to be operated, can be a segment of the path that the target device or other operating devices will soon travel. Each point in the operating corridor in a traffic scenario has its own point level, forming the main and auxiliary roads. Point levels are classified into three categories: high, medium, and low. Auxiliary road points are defaulted to medium, main road points are defaulted to high, and intersections between main and auxiliary roads are calculated as high. Determine whether the target device's path to be operated includes road points of higher levels. Determine whether the target device's path to be operated (for example, from the start point to the end point of the segment path) contains any higher-level points and record them in a data structure. For example, if the target device's path to be operated passes through two main roads and finally merges into a third main road, multiple points will be recorded. The higher-level points recorded in the data structure are used to further determine whether the target device's initial point is a transit or a merge into a main road, and are stored in the data structure. The logic for determining whether the target device is passing through the main road or merging into the main road at the initial point is as follows: traverse each higher-level point of the target device's path to be run, determine which road each initial point belongs to, and exclude the road where the vehicle itself is located. If the initial point or the next path point of the initial point is a rotation movement, the posture information of the initial point is the posture of merging into the main road. If the next path point of the initial point is on the preset main road, the posture information of the initial point is the posture of merging into the main road. In other cases, the posture information of the initial point is the posture of passing through the main road. Predict whether there is a conflict in the target device's path to be run. After determining whether the initial point of the target device is passing through or merging into the main road, an ordered storage sequence of the path and the merge is obtained. The storage sequence includes a number of points. The order of the points in the storage sequence is the order of the path, arranged from near to far. Traverse the points in the storage sequence from far to near, and for each initial point, determine the first initial time Ta of the target device arriving at the initial point, the second initial time Tb of leaving the initial point, and the reference travel time T2 of other running devices on the preset main road to arrive at the initial point. Among them, the method for determining the first initial time, the second initial time and the reference travel time can refer to the above content and will not be repeated here. In the case where the first initial time Ta<reference travel time T2<second initial time Tb, it means that the target device and other running devices will conflict on the preset main road. If the target device and other running devices will conflict at the initial point on the preset main road, it is necessary to cut the target device forward according to at least one constraint condition to obtain the target point corresponding to the initial point.

[0086] It can be considered that this application can effectively solve the problem of main road vehicles stopping and waiting due to the passage or merging of auxiliary road vehicles by determining whether the posture information of the target device is passing through the main road or merging into the main road, and predicting in time dimension whether at least two operating devices on the main road / auxiliary road will conflict to perform lock cutting, thereby effectively improving the efficiency of the main road traffic flow. In addition, this proposal solves the interference of auxiliary road vehicles on main road vehicles by predicting conflicts in the future time sequence, and strictly guarantees the priority travel of main road vehicles. Compared with the priority control method, which can only solve the priority of competing vehicles at the current moment, there are some control blind spots, and it cannot achieve priority passage for operating equipment on the preset main road. This application can improve the planning efficiency of the target device's operating path involving the preset main road, and subsequently control the target device to travel based on the target operating path, which can reduce the probability of collision between the target device in the target operating path and other operating equipment on the preset main road.

[0087] Exemplarily, the path planning device of the present application may include a timing conflict prediction module, a three-dimensional lock-grid cutting module, and a dynamic priority controller.

[0088] The timing conflict prediction module predicts the future collision window between the target device and other running devices on the pre-set main road at any initial point based on the target device's location, speed, and path points. The three-dimensional grid cutting module dynamically adjusts the target device's path to avoid spatial overlap with other running devices on the pre-set main road. The dynamic priority controller adjusts the initial point level based on real-time traffic density.

[0089] The timing conflict prediction module is equipped with a timing conflict prediction algorithm. This algorithm uses the initial travel time or target travel time of the target device, as output by the time window calculation model, and the benchmark times of other operating devices as input parameters to generate a prediction result corresponding to the time intersection relationship between the target device and other operating devices.

[0090] This application uses the calculation of a target driving time for a target device as an example. The target driving time is the period between the target start time and the target end time. In some application scenarios, the product of the target device's length and a 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 target device's predicted time step and the target device's acceleration is used as the first product. The sum of the target device's real-time speed and the first product is used as the first speed. The ratio of the first target difference to the first speed is used as the target start time. In other application scenarios, the ratio between the target device's length and its real-time speed is used as the auxiliary driving time, which represents the time required for the target device to perform a non-rotational maneuver at an initial point. The corrected driving time is determined in response to the target device's posture information at the initial point being a merging-into-main-road posture. The required rotation angle, angular velocity, and path curvature of the target device may vary at different initial points. The ratio of the rotation angle to the angular velocity is used as the first corrected time. The product of the preset correction ratio and the path curvature corresponding to the initial point is used as the second correction time. The sum of the first correction time and the second correction time is used as the above-mentioned correction travel time. Finally, the sum of the target start time, the auxiliary travel time, and the above-mentioned correction travel time is used as the target end time.

[0091] 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):

[0092] Formula (1);

[0093] Formula (2);

[0094] Among them, the input parameters of the time window calculation model include a first input parameter related to the target device and a second input parameter related to other operating devices. Among them, there is at least one other operating device. The first input parameter includes 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 point. Q1 is used to represent the first preset ratio. The value of Q1 can be 0.5. △t is used to represent the prediction time step. For example, the prediction time step can be 0.5s by default. Ta can represent the target start time. Tb can represent the target end time. Used to indicate the rotation angle. Used to express angular velocity. Used to indicate the preset correction ratio. For example, the preset correction ratio value can be 0.1. Used to represent the curvature of a path. Used to indicate the above corrected travel time. Used to represent the auxiliary travel time mentioned above. The target travel time of the target device can be expressed as an arrival time window [Ta, Tb].

[0095] In other application scenarios, the product of the vehicle length of the other operating device and the 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 between the second target difference and the second speed is used as the above-mentioned reference travel time. Specifically, the process of calculating the reference travel time of any other operating device can refer to the following formula (3):

[0096] Formula (3);

[0097] The second input parameters of the time window calculation model include the real-time speed v1 of any other AGV on the preset main road, the second actual distance D1 between the other AGV and the initial point, and the vehicle length L1 of the other AGV. Q2 represents the second preset ratio. The value of Q2 can be 0.5. T2 represents the aforementioned benchmark travel time.

[0098] In some application scenarios, a determination is made as to whether the benchmark travel time is within the target travel time of the target device. In response to the benchmark travel time being within the target travel time of the target device, the prediction result is determined to be a predicted conflict result. In response to the predicted conflict result being a predicted conflict result, the aforementioned step of performing a grid-cutting operation on the initial point according to at least one constraint condition to obtain a target point corresponding to the initial point is performed. It is understood that if the benchmark travel time is within the target travel time of the target device and the predicted conflict result is a hard conflict between the target device and the other running device, a grid-cutting operation is forcibly triggered if T2∈[Ta, Tb]. In response to the benchmark travel time not being within the target travel time of the target device, a determination is made as to whether the benchmark travel time is within the advanced travel time of the target device. The advanced travel time is a time interval obtained by time-expanding the target travel time of the target device. The target travel time of the target device can be time-expanded by subtracting a first expansion value from the target start time to obtain a new start time, adding a second expansion value to the target end time to obtain a new end time, and using 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 may 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 driving time being within the advanced driving time of the target device, the prediction result is determined to be a soft conflict result. Compared with the predicted conflict result, the soft conflict result may indicate that the target device is less likely to conflict with other running devices at any initial point. It is understandable that, in response to the reference driving time not being within the target driving time of the target device, it is assumed that T2∈[X1, X2]. Among them, the difference between Ta and the third preset value is taken as the value of X1, and the sum of Tb and the fourth preset value is taken as the value of X2. The third preset value and the fourth preset value can be 1 respectively. A dynamic speed compensation mechanism is used to adjust the speed of the target device's to-be-run path and the to-be-run path of other running devices to obtain the final running path of the target device or the final running path of other running devices. The dynamic speed compensation mechanism includes: in some application scenarios, in response to the reference travel time being before the target start time, speeding up the speed of other running devices passing through the initial point and / or slowing down the speed of the target running device passing through the initial point, so as to obtain the final running path of the target device and / or the final running path of other running devices. In other application scenarios, in response to the reference travel time being after the target end time, slowing down the speed of other running devices passing through the initial point and / or speeding up the speed of the target running device passing through the initial point, so as to obtain the final running path of the target device and / or the final running path of other running devices. Specifically, the process of speeding up or slowing down the speed of any running device passing through the initial point can be to add the real-time speed of the running device to the speed change value to obtain the new real-time speed corresponding to the running device.The speed change value can be a positive or plural number. The absolute value of the speed change value is less than or equal to the product of the real-time speed of the running device and the preset speed ratio. For example, the preset speed ratio can be 0.5. Any running device can be the target device or another running device.

[0099] It can be understood that the above prediction results are predicted conflict results or soft conflict results, which are obtained by comparing the initial driving time or target driving time of the target device passing the same initial point, and the benchmark time of other running devices passing the same initial point.

[0100] For example, in response to a prediction result of a soft conflict and the reference time being before the target start time, other operating devices on the preset main road, upon receiving the soft conflict result, may dynamically adjust their speeds to shorten the reference travel time T2, thereby obtaining a final travel path for the other operating devices and controlling the other operating devices to transmit the final travel path to the travel channel within the traffic scenario. Alternatively, after receiving the soft conflict result, the target device may decelerate to a preset speed to extend the time window of the target end time Tb, thereby controlling the target device to transmit the final travel path to the travel channel within the traffic scenario. The preset speed is the product of the target device's real-time speed at the initial point and a preset speed ratio, which may be set to 0.8. In other application scenarios, after controlling the target device based on the target travel path and other operating devices based on the to-be-traveled paths to the travel channel within the traffic scenario, a determination is made as to whether the reference travel time is within the target device's advanced travel time. If the reference travel time is within the target device's advanced travel time, the prediction result is determined to be a soft conflict. The speed may be dynamically adjusted to obtain a final driving path of the target device and / or other operating devices so as to control the target device and / or other operating devices to dynamically adjust the driving path based on the final driving path.

[0101] The three-dimensional lock grid cutting module includes a three-dimensional lock grid cutting module and a safety detection module. The lock grid geometric model included in the three-dimensional lock grid cutting module is used to: generate a rectangular safety zone containing length, width, and height based on the geometric center of the target device. The length of the target device is increased by the first safety distance to obtain the length of the safety zone. The width of the target device is increased by the second safety distance to obtain the width of the safety zone. The height of the shelf of the target device is increased by the third safety distance to obtain the height of the safety zone. The length, width, and height of the safety zone can be represented by the x-axis, y-axis, and z-axis of the lock grid. The lock grid geometric model follows the principle that the projections of two adjacent lock 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.

[0102] In some application scenarios, the 3D grid cutting module's grid cutting process can include marking conflicting path points in the target device's pending path and then generating a target path based on the path cuts. Multiple conflicting path points ("P conflict") are detected along the target device's pending path. A forward search is performed for the nearest non-conflicting path point ("P safe") to generate a new path. A target path is generated based on each new path. The new path extends from the current path point to the non-conflicting path point ("P safe"). It is understood that the non-conflicting path point can be a target point obtained by adjusting the aforementioned points to be adjusted. The resulting new path must meet the following requirements: the non-conflicting path point does not occupy a high-level point on the preset main route. The minimum spacing between all other devices on the preset main route must be greater than or equal to a preset spacing. For example, the preset spacing can be set to 0.1m. If the target device's grid cutting fails, the target device is forced to stop and wait, triggering other devices on the preset main route to accelerate and pass. A grid cutting failure for the target device may occur when the nearest non-conflicting path point was not searched forward during the grid cutting process, resulting in no available safe points.

[0103] The dynamic priority controller enables dynamic priority adjustment and scenario adaptation when planning routes for target devices. Scenario mode detection is performed on the target device's pending route or the travel time of the target route, generating a scenario mode result. The scenario mode result includes whether the target device's pending route is in peak mode, fault emergency mode, or normal mode. In some application scenarios, peak mode indicates heavy traffic on a predefined main road. In peak mode, other operating devices on the predefined main road have the highest priority. In peak mode, all points on the predefined main road are upgraded to special traffic. Target devices on secondary roads must wait at the entrance until the traffic density on the predefined main road falls below a threshold, such as 10 vehicles per minute. In other application scenarios, fault emergency mode indicates that a route point on the predefined main road has experienced an anomaly and is unavailable. The faulty area on the predefined main road is marked as a "temporary restricted area." Other operating devices on the predefined main road automatically switch to alternate routes, and target devices on secondary roads are prohibited from entering the faulty area on the predefined main road. In other application scenarios, in normal mode, all points on the main road are preset to high levels. Target devices on auxiliary roads can then use the preset main road as needed. The time comparison window for hard or soft conflicts between the target device and other running devices can be relaxed, for example, by setting the time comparison window to 5 seconds, allowing for flexible scheduling.

[0104] In the above scheme, the path to be operated of the target device is obtained, which includes several path points. Considering that the target device may affect the passage of other running devices on the preset main road, when there is a path point on the preset main road among the several path points, the path to be operated of the other running devices on the preset main road is associated with the path to be operated of the target device, so that the target running path is obtained by preferentially adjusting the path to be operated of the target device on the non-preset main road, thereby reducing the possibility of other running devices on the preset main road pausing during operation.

[0105] See also Figure 5 , Figure 5 : It is a 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 obtain the target device's pending operation path, which includes a plurality of path points; the second acquisition module 52 is used to obtain the pending operation paths of other operating devices on the preset main road in response to the presence of a path point on the preset main road among the plurality of path points; the adjustment module 53 is used to adjust the pending operation path of the target device to obtain a target operation path based on the association relationship between the pending operation path of the target device and the pending operation paths of other operating devices, so as to control the target device to travel based on the target operation path.

[0106] In the above scheme, the path to be operated of the target device is obtained, which includes several path points. Considering that the target device may affect the passage of other running devices on the preset main road, when there is a path point on the preset main road among the several path points, the path to be operated of the other running devices on the preset main road is associated with the path to be operated of the target device, so that the target running path is obtained by preferentially adjusting the path to be operated of the target device on the non-preset main road, thereby reducing the possibility of other running devices on the preset main road pausing during operation.

[0107] Please refer to the path planning method for the functions performed by each module, which will not be repeated here.

[0108] See also Figure 6 , Figure 6 6 is a schematic diagram of the structure of an embodiment of an electronic device of 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 of the above-described path planning method embodiment. In a specific implementation scenario, the electronic device 60 may include, but is not limited to, a multi-camera device, a microcomputer, and a server. Furthermore, the electronic device 60 may also include a mobile device such as a laptop computer or a tablet computer, without limitation herein.

[0109] Specifically, the processor 62 is used to control itself and the memory 61 to implement the steps in the above-mentioned path planning method embodiment. The processor 62 can also be called a CPU (Central Processing Unit). The processor 62 may be an integrated circuit chip with signal processing capabilities. The processor 62 can 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, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor. In addition, the processor 62 can be implemented by an integrated circuit chip.

[0110] In the above scheme, the path to be operated of the target device is obtained, which includes several path points. Considering that the target device may affect the passage of other running devices on the preset main road, when there is a path point on the preset main road among the several path points, the path to be operated of the other running devices on the preset main road is associated with the path to be operated of the target device, so that the target running path is obtained by preferentially adjusting the path to be operated of the target device on the non-preset main road, thereby reducing the possibility of other running devices on the preset main road pausing during operation.

[0111] See also Figure 7 , Figure 7 The computer-readable storage medium 70 stores program instructions 701, which, when executed by a processor, implement the steps of any of the above-mentioned path planning method embodiments.

[0112] In the above scheme, the path to be operated of the target device is obtained, which includes several path points. Considering that the target device may affect the passage of other running devices on the preset main road, when there is a path point on the preset main road among the several path points, the path to be operated of the other running devices on the preset main road is associated with the path to be operated of the target device, so that the target running path is obtained by preferentially adjusting the path to be operated of the target device on the non-preset main road, thereby reducing the possibility of other running devices on the preset main road pausing during operation.

[0113] 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 method 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.

[0114] The above description of the various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced with each other and will not be repeated herein for the sake of brevity.

[0115] In the several embodiments provided in this application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device implementation methods described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. 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 mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0116] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0117] 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, or the part that contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) or a processor to execute all or part of the steps of the various implementation methods of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program code.

Claims

1. A path planning method, characterized in that: The method comprises: Obtaining a target device's pending path, wherein the target device's pending path includes a plurality of path points; In response to a path point being located on a preset main road among the plurality of path points, obtaining a pending operation path of other operating devices on the preset main road, wherein the main road passing through and / or merging into the pending operation path of the target device is used as the preset main road; Adjusting the to-be-operated path of the target device to obtain a target operating path based on an association relationship between the to-be-operated path of the target device and the to-be-operated paths of the other operating devices, so as to control the target device to travel along the target operating path; The association relationship includes a time intersection relationship between the travel times of at least two operating devices. The adjusting the path of the target device to be operated based on the association relationship between the path to be operated of the target device and the paths to be operated of the other operating devices to obtain the target path includes: determining a reference travel time of the other operating devices based on the paths to be operated of the other operating devices, the reference travel time being used to represent a time range required for the other operating devices to pass through at least one initial point, each of the initial points being a path point on the preset main road; Determine a prediction result for each of the initial points based on a time intersection relationship between the initial travel time of each of the initial points and the benchmark travel time of the other running devices, each prediction result including a predicted conflict result or a predicted non-conflict result, and the initial travel time of each of the initial points represents the time it takes for the target device to pass through the initial point; Based on the prediction results of each of the initial points, the path to be run of the target device is adjusted to obtain the target running path, including: 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 locked in grid cutting according to at least one constraint condition to obtain the 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 devices, the lock grid cutting is to grid cut the running channel of the target device according to a preset rule, wherein, in response to the reference driving time being within the target driving time of the target device, it is determined that the prediction result of the initial point is a prediction conflict result, and the target driving time is obtained by expanding the initial driving time corresponding to the initial point; using each of the target points The punctuation position adjusts the path to be run to obtain the target running path; the method also includes: in response to the benchmark driving time not being within the target driving time of the target device, judging whether the benchmark driving time is within the advanced driving time of the target device, the advanced driving time being a time interval obtained by time expansion of the target driving time of the target device; in response to the benchmark driving time being within the advanced driving time of the target device, determining that the prediction result is a soft conflict result; in response to the prediction result being a soft conflict result, adjusting the speed of the target device and / or the other running devices to obtain the final driving path of the target device and / or the other running devices to control the target device and / or the other running devices to adjust the path to be run of the target device and / or the path to be run of the other running devices based on the final driving path.

2. The method according to claim 1, 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 that the prediction result is a predicted 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-conflict result.

3. The method according to claim 1, 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 for 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, an initial travel time of each initial point is determined.

4. The method according to claim 3, characterized in that The determining of the initial travel time of each initial point 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; Determining a corrected travel time for each of the initial points based on posture information of each of the initial points, each of the posture information representing a 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.

5. The method according to claim 4, characterized in that The posture information of each of the initial points includes a posture of merging into the main road or a posture of passing through the 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 the 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.

6. The method according to claim 5, characterized in that The determining of 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 to 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.

7. An electronic device, characterized in that: include: A memory and a processor, wherein the memory stores program instructions, and the processor calls the program instructions from the memory to execute the method according to any one of claims 1 to 6.

8. 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 6.

Images