Path planning method, electronic device and vehicle

Abstract

The present invention discloses a path planning method, an electronic device and a vehicle. Among them, the method relates to the field of autonomous driving and includes: obtaining the entrance and exit information of the operation area and the spatial orientation information of the operation positions located within the operation area, where the entrance and exit information includes the entrance position and the exit position of the operation area; generating a first driving path based on the spatial orientation information and the entrance position, and generating a second driving path based on the spatial orientation information and the exit position, where the operation vehicle travels from the entrance position to the operation position through the first driving path, and the operation vehicle travels from the operation position to the exit position through the second driving path; and sending the first driving path and the second driving path to the target vehicle. The present invention solves the technical problem that path conflicts are likely to occur in the vehicle path planning in a multi-vehicle operation scenario in the related art.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving, and in particular, to a path planning method, an electronic device, and a vehicle. Background Art

[0002] With the development of automation and intelligent technologies, in scenarios such as open-pit mine mining, the path planning of mining trucks in the loading area has gradually become an important link in improving operation efficiency and ensuring safety. However, the path planning methods in related technologies have relatively significant limitations, specifically reflected in the following aspects: The vehicle path planning methods in related technologies usually belong to single-vehicle intelligent path planning. When multiple vehicles cooperate in operations, they lack a global perspective, ignore the driving trajectories of other vehicles and the overall operation environment, and are prone to path conflicts. Especially in operation scenarios with limited space, it will lead to the phenomenon of "head-on collision" or traffic jams, which will seriously threaten the safety and efficiency of operations.

[0003] In summary, the vehicle path planning in related technologies is prone to path conflict situations in multi-vehicle operation scenarios.

[0004] For the above problems, no effective solutions have been proposed yet. Summary of the Invention

[0005] Embodiments of the present invention provide a path planning method, an electronic device, and a vehicle to at least solve the technical problem that vehicle path planning in related technologies is prone to path conflict situations in multi-vehicle operation scenarios.

[0006] According to one aspect of the embodiments of the present invention, a path planning method is provided, including: obtaining the entrance and exit information of an operation area, and the spatial orientation information of operation positions located in the operation area, where the entrance and exit information includes the entrance position and the exit position of the operation area; generating a first driving path based on the spatial orientation information and the entrance position, and generating a second driving path based on the spatial orientation information and the exit position, where an operation vehicle travels from the entrance position to the operation position through the first driving path, and the operation vehicle travels from the operation position to the exit position through the second driving path; sending the first driving path and the second driving path to a target vehicle.

[0007] According to another aspect of the embodiments of the present invention, a path planning method is further provided, including: receiving a first driving path and a second driving path, where the first driving path is generated based on the entrance position of the operation area and the spatial orientation information of operation positions located in the operation area, and the second driving path is generated based on the exit position of the operation area and the spatial orientation information; traveling based on the first driving path and the second driving path.

[0008] According to another aspect of the embodiments of the present invention, an electronic device is further provided, including: a communication unit for communicating with a target vehicle; a memory storing an executable program; and a processor for running the program, wherein when the program runs, the methods in the various embodiments of the present invention are executed.

[0009] According to another aspect of the embodiments of the present invention, a vehicle is further provided, including: a communication unit for communicating with a cloud server or a target vehicle; a memory storing an executable program; and a processor for running the program, wherein when the program runs, the methods in the various embodiments of the present invention are executed.

[0010] According to another aspect of the embodiments of the present invention, a computer-readable storage medium is further provided. The computer-readable storage medium includes a stored executable program, wherein when the executable program runs, it controls the device where the computer-readable storage medium is located to execute the methods in the various embodiments of the present invention.

[0011] According to another aspect of the embodiments of the present invention, a computer program product is further provided, including a computer program which, when executed by a processor, implements the methods in the various embodiments of the present invention.

[0012] According to another aspect of the embodiments of the present invention, a computer program product is further provided, including a non-volatile computer-readable storage medium storing a computer program which, when executed by a processor, implements the methods in the various embodiments of the present invention.

[0013] According to another aspect of the embodiments of the present invention, a computer program is further provided which, when executed by a processor, implements the methods in the various embodiments of the present invention.

[0014] In the embodiments of the present invention, first, obtain the entrance and exit information of the operation area and the spatial orientation information of the operation positions. The entrance and exit information includes the entrance and exit positions of the operation area. Then, use the spatial orientation information and the entrance position to generate the first driving path; use the spatial orientation information and the exit position to generate the second driving path. The operation vehicle can drive from the entrance position to the operation position through the first driving path and can drive from the operation position to the exit position through the second driving path. Finally, send the first driving path and the second driving path to the target vehicle. It is easy to notice that in this application, by obtaining the entrance and exit information of the operation area and the spatial orientation information of the operation positions, and then generating the first driving path and the second driving path respectively, and finally sending the generated first driving path and the second driving path to the target vehicle. This application can perform automatic path planning based on the entrance and exit information and the spatial orientation information of the operation area, avoiding the process of manual driving collection or manual path drawing, eliminating the inconsistency problems caused by different operators when manually drawing paths, being able to quickly generate driving paths that conform to the kinematic characteristics of the vehicle, and being able to respond immediately to changes in the operation environment, avoiding repeated work and saving time costs. By pre-planning the first driving path and the second driving path, the dual-lane path planning ensures the driving continuity of the operation vehicle when entering and leaving the loading area. The path planning takes into account the global operation environment and the mutual relationship between vehicles, avoiding the overall efficiency decline caused by local optimality, ensuring that the driving paths from the entrance to the operation position and from the operation position to the exit are independent and non-crossing. The vehicle drives according to the planned independent paths, avoiding path conflicts and waiting times caused by multi-vehicle interaction. Even in a narrow space, it can avoid the "head-on" phenomenon or traffic jams, ensuring the smoothness and safety of multi-vehicle collaborative operations, and thus solving the technical problem that vehicle path planning in multi-vehicle operation scenarios is prone to path conflict situations in the related art. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0016] Figure 1 is a flowchart of a path planning method according to an embodiment of the present invention;

[0017] Figure 2 is a schematic diagram of an optional reversing lane and an oncoming lane according to an embodiment of the present invention;

[0018] Figure 3 is a schematic diagram of an optional determination of a target position according to an embodiment of the present invention;

[0019] Figure 4It is a schematic diagram of an optional method for generating a first driving path and a second driving path according to an embodiment of the present invention;

[0020] Figure 5 It is a flowchart of another path planning method according to an embodiment of the present invention. Detailed implementation manners

[0021] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0022] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0023] According to one aspect of the embodiments of the present invention, a path planning method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that here.

[0024] Figure 1 It is a flowchart of a path planning method according to an embodiment of the present invention, as Figure 1 shown, the method includes the following steps:

[0025] Step S102, obtain the entrance and exit information of the operation area and the spatial orientation information of the operation positions located within the operation area.

[0026] Among them, the entrance and exit information includes the entrance position and the exit position of the operation area.

[0027] The above-mentioned operation area may refer to the area used for loading operations in application scenarios such as open-pit mines and truck loading. The operation area may include the mining face, the working range of loading equipment such as excavators and loaders, as well as the driving and parking spaces of operation vehicles such as trucks for transporting ore, i.e., mining trucks. The boundary of the operation area may change according to the mining progress and operation requirements. The operation area may be dynamic and can be determined according to the terrain and operation layout.

[0028] The above-mentioned access information may refer to the specific point information for operation vehicles such as mining trucks to enter and exit the operation area. The access information may include, but is not limited to, the coordinates, directions of the entrance and exit positions for operation vehicles such as mining trucks to enter and exit the operation area, and existing limiting conditions such as height and width restrictions. For example, in the scenario of the loading area of an open-pit mine, the access information may include the starting and ending points for operation vehicles such as mining trucks to enter and leave the operation area.

[0029] The above-mentioned operation position may refer to one or more specific points within the operation area, which may be the specific positions where loading equipment such as excavators and loaders load operation vehicles such as mining trucks. In automated operations, operation vehicles such as mining trucks need to accurately park near the operation position for loading. The precise spatial coordinates of the operation position can be used as basic data for achieving efficient automated operations.

[0030] The above-mentioned spatial orientation information may refer to the precise geographical location description of the operation position, which may include longitude and latitude coordinates, altitude, and relative directions, information on the internal terrain and geomorphic features of the operation area, such as slope and obstacle positions, and information on the orientation and direction of loading equipment such as excavators and loaders. The spatial orientation information can be specifically determined according to actual needs and is not limited here.

[0031] In an alternative embodiment, a high-precision digital map can be constructed, which can include details of the terrain, obstacles, entrance and exit positions, and working positions in the operation area. The construction of the map can be achieved through technical means such as lidar, positioning systems, remote sensing, and aerial photography to ensure the accuracy and real-time nature of the data. Map maintenance can reflect changes in the operation area, such as the movement of the excavation surface, newly added obstacles, or adjustments to working positions, through regular or continuous terrain scanning and data updates. Subsequently, the specific scope of the operation area can be determined based on the coordinates and terrain features on the map, which can include the entrance and exit of the operation area. The selection of the entrance and exit can comprehensively consider safety, traffic flow, and operation efficiency and can be located at the edge of the operation area to facilitate the entry and exit of operation vehicles such as mining trucks and to be far from the operation center to reduce interference and safety risks. The positioning system can be used to obtain the exact coordinates of the working positions, such as loading equipment like excavators, and at the same time, sensors such as gyroscopes and magnetometers can be used to determine the orientation and attitude of the loading equipment, which helps to generate smooth and effective driving paths for operation vehicles such as mining trucks and ensures that the mining trucks can safely and accurately dock near the working positions. The collected entrance and exit information and the spatial orientation information of the working positions can also undergo data fusion, which can include eliminating redundancy, correcting errors, and format adjustment, so that the automated path planning algorithm can process it efficiently and can be combined with the high-precision map data to ensure that the planned path conforms to the actual terrain conditions.

[0032] In the above process, accurately obtaining the entrance and exit information of the operation area and the spatial orientation information of the working positions helps to automatically generate appropriate and safe driving paths, reduce the ineffective driving time and waiting time of mining trucks in the operation area, thereby improving the loading efficiency and the overall operation speed. Clear entrance and exit and working position information helps to plan a two-way traffic path to avoid conflicts and reduce collisions and "head-on" phenomena caused by improper path planning among operation vehicles such as mining trucks, ensuring traffic order in the operation area and enhancing operation safety.

[0033] Step S104: Generate a first driving path based on the spatial orientation information and the entrance position, and generate a second driving path based on the spatial orientation information and the exit position.

[0034] Among them, the operation vehicle travels from the entrance position to the working position through the first driving path, and the operation vehicle travels from the working position to the exit position through the second driving path.

[0035] The above-mentioned first driving path can refer to the driving route of an operation vehicle such as a mining truck from the entrance of the operation area to the operation position, such as the position where the excavator is located. The planning of the first driving path can be based on high-precision spatial orientation information, and can include the terrain features of the operation area, the distribution of obstacles, and the exact position and orientation of the operation position. When designing the path, the kinematic characteristics of operation vehicles such as mining trucks can be considered, such as the minimum turning radius, the length and width of the vehicle, etc., to ensure that operation vehicles such as mining trucks can reach the operation position safely and smoothly. The first driving path can include an empty-load lane, a reversing lane, and a lane from the reversing end to the operation position, etc., and can adapt to different terrain and spatial requirements from the entrance of the operation area to the operation position.

[0036] The above-mentioned second driving path can refer to the driving route of an operation vehicle such as a mining truck from the operation position to the exit of the operation area after loading. The second driving path can be generated based on spatial orientation information. In the design, factors such as the increased weight of the operation vehicle such as a mining truck after loading and the increased operation difficulty can be considered, and parameters such as the path slope can be considered, and then a suitable second driving path can be planned. The second driving path can be matched with the first driving path to form a two-lane closed-loop system, ensuring that the driving of operation vehicles such as mining trucks in the loading area will not interfere with each other, and at the same time reducing the waiting time and improving the overall operation efficiency.

[0037] In an alternative embodiment, spatial orientation information from various sensors and map data can be collected and integrated, which may include but is not limited to the topographical features of the operation area, the distribution of obstacles, the specific coordinates and orientations of the operation positions. The clear entrance and exit position coordinates can serve as the starting and ending points for generating the driving path. Subsequently, based on the collected spatial orientation information, a suitable path planning algorithm can be adopted and can be adaptively adjusted to meet the special requirements of the mine environment. For example, considering the size and motion characteristics of the mining truck, the path planning algorithm can be adjusted to ensure that the generated path is not only shorter but also meets the constraints such as the turning radius of the vehicle and the length and width of the vehicle. Specifically, based on the spatial orientation information of the entrance position and the operation position, a driving path from the entrance to the operation position, i.e., the first driving path, can be generated. The first driving path can consider the kinematic characteristics of the mining truck and can also ensure the continuity and safety of the path by using curve smoothing algorithms, etc., to avoid potential risks caused by sharp turns or narrow passages. While generating the first driving path, the path starting from the operation position and based on the exit position can be extended and planned to generate the second driving path. The second driving path can be non-interfering with the first driving path, forming a closed-loop two-lane system to ensure the efficient and safe driving of the mining truck in the loading area. The generated first driving path and second driving path can also undergo a series of processes, such as adjusting the curvature of the path using a smoothing method to make the path meet the driving requirements of the vehicle and avoid collisions with obstacles. At the same time, the path can be monitored and verified in real time to ensure the feasibility of the path in the actual operation environment. In response to changes in the operation area environment, such as the movement of the operation position, the path can be quickly adjusted to adapt to the new operation requirements.

[0038] In the above process, the two-lane path planning ensures the driving continuity of the operation vehicle when entering and leaving the loading area, avoids path conflicts and waiting times caused by multi-vehicle interactions, thus significantly improving the operation efficiency. Considering the kinematic characteristics of the mining truck and the safety requirements of the operation area, the generated path is more reasonable and safe, reducing the accident risk caused by sharp turns or improper path planning, enhancing the safety of mine operations, and being able to adjust the path planning in real time to cope with changes in the operation environment, such as the adjustment of the excavator position or the addition of new obstacles, ensuring the flexibility of the path planning and the continuity of the operation, adapting to the dynamic requirements of mine operations. By generating non-interfering first and second driving paths, global coordination in application scenarios such as single-operation-position multi-vehicle paths and multi-operation-position multi-vehicle paths is achieved, avoiding the "head-on" phenomenon and promoting the efficient progress of multi-vehicle collaborative operations, enhancing the overall efficiency of mine loading operations and the utilization rate of the operation area.

[0039] For example, in the loading area of an open-pit mine, an excavator is located at a specific working position for ore loading operations. Two non-conflicting driving paths, namely the first driving path and the second driving path, can be planned. Starting from the entrance position, based on spatial orientation information, which may include terrain and obstacle data, and using the kinematic characteristics of the haul truck, a path from the entrance to the excavator position can be planned. The first driving path can be designed as a straight empty-load section followed by a reversing lane to ensure that the haul truck can smoothly switch from the straight-ahead state to the state aligned with the working position for precise loading operations. At the same time, a second driving path returning to the exit of the working area can be planned starting from the working position. The second driving path can maintain an appropriate safety distance from the first driving path to form a two-lane structure, which can avoid the "head-on collision" phenomenon that occurs during the driving of the haul truck and ensure smooth traffic flow in the loading area. Through the path planning of the above first driving path and second driving path, the haul truck can quickly locate the working position when entering the loading area, and after loading, it can safely return along the pre-planned second driving path without having to find a way out in the loading area or wait for other haul trucks to give way, improving the efficiency and safety of mine operations. This two-lane path planning method also supports multi-vehicle collaborative operations, ensuring that haul trucks can carry out loading and transportation tasks orderly and efficiently in a busy operation scenario.

[0040] Step S106: Send the first driving path and the second driving path to the target vehicle.

[0041] The above target vehicle can be a working vehicle such as a haul truck in application scenarios such as open-pit mines and truck loading, and can be determined according to actual needs, which is not limited here. The path planning method proposed in this application can be executed by the platform or by the vehicle. Therefore, the system referred to as the execution entity in this application can be the platform or the vehicle, etc., which is not limited here. Specifically, when the path planning method is executed by the platform, the generated first driving path and second driving path can be sent to the vehicle. At this time, the vehicle receiving the first driving path and the second driving path can be used as the target vehicle; when the path planning method is executed by the vehicle, the generated first driving path and second driving path can be sent to other vehicles. At this time, the other vehicles receiving the first driving path and the second driving path can be used as the target vehicle. The target vehicle can be specifically determined according to actual needs, which is not limited here.

[0042] In an alternative embodiment, the calculated first driving path and second driving path can be converted into a data format that the vehicle can understand and execute, which can include a series of coordinate point sequences. Each point can represent the position information of the mining truck during driving, and parameters such as the curvature and speed suggestions of each section of the path can also be added to guide the vehicle on how to smoothly pass through each point on the path. The path data can then be instantaneously sent to the on-vehicle control system of the target vehicle through wireless communication technology, which can be sent to the target vehicle through the map here. After receiving the path data, the on-vehicle control system can convert the data into vehicle motion instructions, such as steering angle, acceleration, braking, etc. through the built-in path parsing algorithm. The above path planning process can also have the ability of real-time path tracking and adjustment, and can fine-tune the path according to the current state of the vehicle, such as speed, position, attitude, and environmental changes, such as weather, terrain, etc., to ensure that the vehicle can accurately follow the planned path. To prevent communication interruption or data loss, the control center of the mine can back up the above path information, and when the vehicle encounters a fault or communication anomaly, it can resume driving from the intermediate break point. During the transmission and execution of the path data, redundant design and fault detection mechanisms can be provided. When an anomaly is detected, such as the vehicle deviating from the path or communication failure, a safety plan can be started in a timely manner, such as automatic deceleration, parking or re-planning the path, to ensure the safe driving of the vehicle.

[0043] In the above process, through the real-time path data transmission and the precise execution of the on-vehicle system, it can be ensured that the operation vehicles such as mining trucks can drive safely in the complex mine environment. In the changing operation scenarios, the vehicle can also adjust the path in a timely manner to avoid collisions with obstacles or other mining trucks, reducing the operation risk. The instant sharing and execution of the path data enable multiple operation vehicles to cooperate, avoiding the phenomena of "butting heads" or traffic jams, improving the overall efficiency and coordination of the mine operation. Through wireless communication technology, the system can flexibly adapt to various operation scenarios and environmental changes. For example, under the conditions of low visibility and poor signal, it can maintain the accurate transmission of the path data to ensure the continuity and stability of the operation.

[0044] In the embodiment of the present invention, the target vehicle is an operation vehicle or other vehicle to be driven to the operation position other than the operation vehicle.

[0045] In an alternative embodiment, the target vehicle can be a work vehicle or other vehicle to be driven to the work position other than the work vehicle. The system can have the ability to identify different types of vehicles, which can be achieved through the analysis of data from on-vehicle sensors. For example, by using information such as vehicle size, speed, and load status collected by radar, cameras, or other sensing devices, it can be determined whether the vehicle belongs to the work vehicle category. When a work vehicle or other vehicle to be driven into the work position enters the work area, the system can receive a path planning request from these vehicles. The system can select an appropriate path planning algorithm and parameters according to the type and current status of the vehicle, and generate a driving path that meets the vehicle's requirements. The generated driving path can be sent to the on-vehicle control system of the target vehicle through a wireless communication network to guide the vehicle to drive according to the planned path. At the same time, the system can continuously monitor the driving status of the vehicle and can make path adjustments or re-planning to adapt to real-time changes in the work environment or changes in vehicle requirements. At the same time, it can ensure that work vehicles and other vehicles to be driven into the work position can work safely and efficiently in the loading area, which can be achieved through a scheduling system in the cloud. The scheduling system tracks the position and status of each vehicle, coordinates the driving order and path of the vehicles, and avoids collisions or congestion.

[0046] In the above process, by allowing the system to plan paths for vehicles other than work vehicles, the system can adapt to the needs of more types of vehicles, improving the practicality and scope of application of the automated path planning solution. In the work area, there can be multiple vehicles performing different tasks, such as material transportation, inspection and repair, and emergency evacuation. Such a setting allows these vehicles to plan paths according to their respective needs, improving the operational flexibility of the work area and the ability to respond to emergencies. By integrating all vehicles entering the work area into a unified path planning framework, it is possible to more effectively manage the traffic flow in the work area, achieve coordinated driving between vehicles, and avoid traffic jams and potential safety hazards.

[0047] In an embodiment of the present invention, first, entrance and exit information of the operation area and spatial orientation information of the operation positions are obtained. The entrance and exit information includes the entrance and exit positions of the operation area. Then, a first driving path is generated by using the spatial orientation information and the entrance position; a second driving path is generated by using the spatial orientation information and the exit position. The operation vehicle can drive from the entrance position to the operation position through the first driving path and can drive from the operation position to the exit position through the second driving path. Finally, the first driving path and the second driving path are sent to the target vehicle. It is easy to notice that in this application, by obtaining the entrance and exit information of the operation area and the spatial orientation information of the operation positions, the first driving path and the second driving path are respectively generated, and finally the generated first driving path and second driving path are sent to the target vehicle. This application can perform automatic path planning based on the entrance and exit information and the spatial orientation information of the operation area, avoid the process of manual driving collection or manual path drawing, eliminate the inconsistency problem caused by different operators when manually drawing the path, can quickly generate a driving path that conforms to the kinematic characteristics of the vehicle, and can respond immediately to changes in the operation environment, avoid repetitive work, and save time costs. By pre-planning the first driving path and the second driving path, the dual-lane path planning ensures the driving continuity of the operation vehicle when entering and leaving the loading area. The path planning takes into account the global operation environment and the mutual relationship between vehicles, avoids the overall efficiency decline caused by local optimality, ensures that the driving paths from the entrance to the operation position and from the operation position to the exit are independent and non-crossing, and the vehicle drives according to the planned independent path, avoiding path conflicts and waiting times caused by multi-vehicle interaction. Even in a narrow space, the "butting" phenomenon or traffic jams can be avoided, ensuring the smoothness and safety of multi-vehicle collaborative operations, and thus solving the technical problem that vehicle path planning in a multi-vehicle operation scenario is prone to path conflict situations in the related art.

[0048] In an embodiment of the present invention, based on the spatial orientation information and the entrance position, a first driving path is generated, and based on the spatial orientation information and the exit position, a second driving path is generated, including: generating a reversing lane based on the spatial orientation information and the kinematic characteristics of the operation vehicle, where the reversing lane includes at least one section of helix, and the operation vehicle changes its driving direction when driving on the reversing lane; generating an oncoming lane based on the reversing lane and the target direction, where the target direction is the orientation of the vehicle when the operation vehicle drives to the midpoint of the reversing lane, and the oncoming lane is perpendicular to the target direction; generating a first driving path based on the entrance position and the reversing lane, and generating a second driving path based on the exit position and the oncoming lane.

[0049] In an alternative embodiment, the reversing lane can be a special path designed for the work vehicle to change its driving direction within the work area. The reversing lane can include at least one spiral section. Specifically, if the reversing angle is relatively small, such as less than 90 degrees, a spiral section can be planned to complete the reversing at this time. A spiral section can be generated according to the kinematic characteristics of the work vehicle, such as the minimum turning radius. The starting point of the spiral section can match the current position of the work vehicle, and the end point can face the target direction. The work vehicle can drive along the planned spiral section and gradually change its direction. When the reversing angle is large, such as greater than 90 degrees, especially in a loading area with limited space, it is difficult to meet the reversing requirements with a single spiral section. In this case, a combination of multiple spiral sections can be used. The large-angle reversing can be decomposed into several small-angle reversings. The starting and ending directions of these multiple spiral sections can be connected in sequence to form a continuous reversing path. The work vehicle can drive along each spiral section in sequence to complete continuous small-angle reversings and finally reach the target direction to help the vehicle smoothly change its traveling direction. When designing the reversing lane, the kinematic characteristics of the work vehicle, such as the minimum turning radius and vehicle size, can be considered to ensure that the vehicle can pass smoothly without tipping over or colliding. Then, based on the spatial orientation information, that is, the terrain and obstacle distribution within the work area, the position of the reversing lane can be determined, and at the same time, it is ensured that the reversing lane is within the work area to avoid conflicts with the external environment. Then, the oncoming lane can be calculated and planned. Based on the expected orientation of the work vehicle when it reaches the midpoint of the reversing lane, that is, the target direction, the initial direction of the oncoming lane can be calculated to make the initial direction perpendicular to the target direction. The generation of the oncoming lane can consider the size and movement limitations of the work vehicle, as well as the spatial layout within the work area, to ensure that the mining truck can drive safely on the oncoming lane. After the generation of the reversing lane and the oncoming lane is completed, the first driving path can be generated based on the entrance position and the reversing lane, that is, the path of the mining truck from the entrance of the work area to the loading position; at the same time, the second driving path can be generated based on the exit position and the oncoming lane, that is, the path from the loading position to the exit of the work area. The integration of the first driving path and the second driving path can consider the actual situation of the mine operation, avoid path overlap or intersection, and ensure the continuity and conflict-free of the mining truck's driving.

[0050] During the above process, by designing a spiral-shaped reversing lane, the operation vehicle can smoothly change its driving direction while maintaining a low speed, reducing vehicle instability and potential safety risks caused by sharp turns, ensuring the safety of automated operations. The coordinated planning of the reversing lane and the oncoming lane avoids waiting time during multi-vehicle intersections and can significantly improve operation efficiency. Generating a path based on the vehicle kinematic characteristics and real-time spatial orientation information enables the system to quickly adjust the path planning according to changes in the operation area, such as loading position movement and newly added obstacles, enhancing the flexibility and adaptability of automated operations.

[0051] In the embodiment of the present invention, based on the spatial orientation information and the kinematic characteristics of the operation vehicle, a reversing lane is generated, including: determining a target search range based on the spatial orientation information and a preset search distance; determining a target position within the target search range based on the kinematic characteristics and the regional position information of the operation area; generating a reversing lane based on the target position, where the termination position of the reversing lane is the target position.

[0052] The above-mentioned preset search distance can refer to a search boundary set during path planning to determine the potential position of the reversing lane, which can include a lateral search interval and a longitudinal search interval. The lateral search interval and the longitudinal search interval jointly define the spatial range for searching the position of the reversing lane. Among them, the lateral search interval can refer to the lateral distance range relative to the operation position, such as the position of an excavator. The lateral search interval is set to ensure that the reversing lane is generated within the lateral width of the operation area, avoiding conflicts with surrounding obstacles or boundaries. The selection of the lateral search interval can consider the actual width of the operation area, the size and safety distance of the operation vehicle, and the space required for the reversing lane. The longitudinal search interval can refer to the longitudinal distance range relative to the operation position, used to determine the appropriate position of the reversing lane within the longitudinal depth of the operation area. The selection of the longitudinal search interval can consider the relatively small distance required for the operation vehicle to complete the reversing operation, as well as operation efficiency and safety. For example, too short a longitudinal distance will not provide enough space for the mining truck to complete the reversing, while too long a distance will result in an unnecessary extension of the operation path and reduce operation efficiency.

[0053] The above-mentioned target search range can refer to the area defined based on the above-mentioned preset search distance for searching the appropriate position of the reversing lane. The target search range can be a rectangular area, and the length and width of the target search range can be determined by the longitudinal search interval and the lateral search interval respectively. The delimitation of the target search range can ensure that the system searches within a reasonable and feasible area, avoiding waste of unnecessary computing resources, and at the same time ensuring that the generation of the reversing lane can meet the kinematic characteristics of the operation vehicle and the actual spatial conditions of the operation area.

[0054] In an alternative embodiment, a target search range corresponding to a preset search distance can be delimited based on spatial orientation information, such as map data of the operation area and the current operation position, such as coordinate information of the excavator position. The preset search distance can be set according to factors such as the size of the mining truck, turning radius, and safety buffer distance, etc., to ensure that a reversing lane that meets the kinematic characteristics of the vehicle can be generated within the search area. Within the target search range, the target position can be determined through a series of algorithms, such as rasterized search, priority sorting, etc., based on the kinematic characteristics of the operating vehicle, such as the minimum turning radius, vehicle length and width, and the regional position information of the operation area, such as terrain, obstacle distribution, etc. The target position can meet the following conditions, which can ensure that the operating vehicle can complete the reversing operation here without colliding with obstacles; try to shorten the driving distance from the operation position to the target position and from the target position to the exit, and improve the operation efficiency. When the target position is determined, a reversing lane can be generated based on the target position. The design of the reversing lane can consider the steering characteristics of the vehicle and the spatial constraints of the operation area, and can include one or more sections of spiral lines to help the mining truck smoothly change the driving direction. The parameters of the spiral line, such as radius, length, etc., can be determined by the minimum turning radius of the operating vehicle and the angle difference between the target position and the current driving direction, ensuring the feasibility and safety of the reversing operation.

[0055] In the above process, by determining the target search range, the system can concentrate resources to find a suitable reversing lane position within a limited area, avoiding redundant calculations of global search, and improving the efficiency and accuracy of path planning. The setting of the preset search distance can ensure that the generation of the reversing lane takes into account both the kinematic characteristics of the vehicle and the spatial constraints of the operation area, making the path planning more in line with actual requirements. The determination of the target position and the generation of the reversing lane consider the shorter paths from the operation position to the target position and from the target position to the exit, reducing the ineffective driving distance of the mining truck, thereby improving the operation process and operation efficiency.

[0056] In the embodiment of the present invention, determining the target position within the target search range based on the kinematic characteristics and the regional position information of the operation area includes: rasterizing the target search range to obtain a plurality of grids; determining the priorities of different grids based on the spatial orientation information and the position information of different grids; searching the plurality of grids based on the priorities, kinematic characteristics, and regional position information to determine the target position.

[0057] In an alternative embodiment, the size of the grid can be defined according to the size and accuracy requirements of the operation area. The selection of the grid size can balance the calculation efficiency and the accuracy of path planning. In a mine environment, the grid can be in meters. For example, the side length of each grid can be set to 1 meter to ensure the accuracy of path planning. It can also be determined according to actual needs and is not limited here. Next, the target search range can be divided into multiple rectangular grids to form a two-dimensional grid matrix. Each grid can represent a small area within the operation area, facilitating subsequent search and calculation by path planning algorithms. Next, the spatial orientation information can be used to calculate the distance between the center point of each grid and the operation position. Based on the distance calculation result and the direction information in the spatial orientation information, combined with the particularity of mine operations, a priority can be assigned to each grid. For example, the grid on the left side closer to the operation position can have a higher priority, while the grid on the right side or farther away can have a lower priority. The search can start from the grid with a higher priority, and it is checked whether the grid meets the requirements of kinematic characteristics and regional position information, that is, whether a reversing lane can be safely generated and it is completely within the operation area. For each searched grid, the system can generate a candidate reversing lane based on the kinematic characteristics of the operation vehicle, such as vehicle size, turning radius, etc. Then it is checked whether the lane can meet the turning requirements of the vehicle and does not collide with other obstacles in the area. Further, the system can check whether the candidate reversing lane is completely within the operation area. If any part of the lane extends beyond the operation area, the grid can be determined not to meet the conditions, and the system can continue to search the grid with the next lower priority. When the system finds a grid that meets the above conditions, the position corresponding to the grid can be determined as the target position for generating the reversing lane. If no grid that meets the conditions can be found under the current search strategy, the system can adjust the search strategy, such as relaxing the grid priority conditions and re-searching until the target position is determined.

[0058] In the above process, through grid processing and priority sorting, the system can quickly narrow the search range, concentrate resources on more important areas, significantly improve the calculation efficiency of path planning, and shorten the planning time. Next, search can be carried out based on kinematic characteristics and regional position information to ensure that the path planning result not only meets the physical limitations of the vehicle but also conforms to the actual terrain conditions of the operation area, improving the feasibility and safety of the path. Through priority rules and kinematic characteristic verification, the system can avoid generating potentially dangerous paths, such as paths too close to obstacles or sharp turning paths that the vehicle cannot complete, thus enhancing the safety level of mine operations.

[0059] For example, in the loading area of an open-pit mine, the excavator is located at a specific position for operation. The system can generate a reversing lane for the autonomous mining truck to ensure that the truck can safely and efficiently exit the operation position and change its driving direction. Specifically, based on the position information of the excavator and the map data of the operation area, the system sets a lateral search range from 0 meters to 5 meters and a longitudinal search range from 50 meters to 60 meters. The setting of the preset search distance can be based on the vehicle type parameters of the mining truck, such as the turning radius, vehicle length and width, and safety considerations, to ensure that the reversing lane is generated within sufficient space and does not exceed the boundary of the operation area. The above preset search distance can also be determined according to actual needs and is not limited here. Then, the system can perform rasterization processing within the target search range to form multiple grids, and based on the kinematic characteristics and priority rules of the mining truck, such as grids closer to the left having higher priority and grids with shorter distances to the excavator having higher priority, search for suitable positions to generate the reversing lane. Multiple iterative calculations can be performed until a target position that meets both the vehicle movement requirements and is completely within the operation area is found. Finally, the system can generate the reversing lane based on the determined target position. The reversing lane can be composed of two spliced 90-degree spiral lines to ensure that the mining truck can smoothly change its driving direction without losing control due to sharp turns. The end point of the reversing lane can be the above determined target position to ensure that the mining truck can accurately drive towards the operation position after completing the reversal.

[0060] In the embodiment of the present invention, based on the spatial orientation information and the position information of different grids, determining the priorities of different grids includes: based on the position information in the spatial orientation information and the position information of different grids, determining the distances between different grids and the operation position; based on the direction information in the spatial orientation information and the distances between different grids and the operation position, determining the priorities of different grids; optionally, in the case where the distance between the first grid and the operation position is less than the distance between the second grid and the operation position, the priority of the first grid is greater than the priority of the second grid; in the case where the third grid is located in the first area and the fourth grid is located in the second area, the priority of the third grid is greater than the priority of the fourth grid; in the case where the fifth grid and the sixth grid are located in the same area and the position of the fifth grid in the preset direction is less than the position of the sixth grid in the preset direction, the priority of the fifth grid is greater than the priority of the sixth grid, where the first area and the second area are obtained by dividing the target search range based on the direction information in the spatial orientation information, and the preset direction is perpendicular to the direction information in the spatial orientation information.

[0061] In an alternative embodiment, the target search range can be divided into multiple small units, i.e., grids. Each grid can be regarded as a search node, and the grid size can be set according to the size of the work vehicle and the fineness requirements of the work area. The grid-based processing transforms the path planning problem from a continuous space into a discrete space, facilitating the computer to execute an efficient search algorithm. Then, based on the spatial orientation information and the position information of each grid, all grids can be sorted according to their priorities. The determination of the priority comprehensively considers the following aspects: the closer the grid is to the work position, the higher the priority. A shorter path, that is, the driving time from the work position to the reversing lane is shorter, which can improve the work efficiency. According to the direction information in the spatial orientation information, the search range can be divided into a first area and a second area. The first area is a more ideal reversing lane generation area, and the grids located within the first area have a higher priority. For grids located in the same area, if their positions are different in a preset direction, the preset direction is perpendicular to the direction of the spatial orientation information, then the grid that is more forward or more backward, depending on the actual requirements, can obtain a higher priority, ensuring that the generation of the reversing lane can meet specific work requirements, such as preferentially selecting a path that can quickly change the driving direction. Finally, using the determined priority order, combined with the kinematic characteristics and the regional position information, each grid can be searched. The kinematic characteristics can include the minimum turning radius of the work vehicle, the length and width of the vehicle, etc. The regional position information can cover the terrain characteristics of the work area, the distribution of obstacles, etc. The search process can find a suitable reversing lane generation point that can not only meet the kinematic constraints of the vehicle but also does not conflict with any obstacles in the work area.

[0062] In the above process, through grid-based processing, the continuous space problem is transformed into a discrete node problem, which can reduce the computational complexity, enabling the system to quickly and effectively determine the appropriate generation position of the reversing lane. The setting of the priority considers multiple factors, such as distance, spatial layout, and work requirements, ensuring that the generated reversing lane is physically feasible and also a suitable choice in actual work. Preferentially selecting grids with a moderate distance from the work position, located in a safe area, and advantageous in the preset direction can avoid vehicle collisions or work interruptions caused by unreasonable path planning, enhancing the stability and safety of the entire work area.

[0063] In an embodiment of the present invention, based on priority, kinematic characteristics, and regional location information, multiple grids are searched to determine a target position, including: searching multiple grids based on priority to determine a target grid; generating a candidate lane change lane based on kinematic characteristics and the position information of the target grid; determining whether the target grid is located within the operation area based on the position information of the target grid and the regional location information, and determining whether the candidate lane change lane is located within the operation area based on the regional location information; in the case where the target grid is not located within the operation area, or the candidate lane change lane is not located within the operation area, repeat the steps of searching multiple grids based on priority to determine the target grid, generating a candidate lane change lane based on kinematic characteristics and the position information of the target grid, determining whether the target grid is located within the operation area based on the position information of the target grid and the regional location information, and determining whether the candidate lane change lane is located within the operation area based on the regional location information until the target grid is located within the operation area and the candidate lane change lane is not located within the operation area; when the target grid is located within the operation area and the candidate lane change lane is not located within the operation area, determine the position corresponding to the target grid as the target position.

[0064] In an alternative embodiment, the search can start from the grid with the highest priority according to the priority sorting of the grids, such as the distance from the operation position, the area where the grid is located, the position in the preset direction, etc. The setting of the priority ensures that the search can start from the grid that is more suitable to be the starting point or the ending point of the lane change lane, improving the search efficiency. For each searched target grid, one or more candidate lane change lanes can be generated based on the kinematic characteristics of the operation vehicle, such as the minimum turning radius, vehicle size, etc. and the position information of the target grid. The design of the lane change lane can consider that the vehicle can smoothly complete the direction conversion at this position, and at the same time, the safety and stability during the lane change process are considered. It can be further checked whether the candidate lane change lane is completely located within the operation area. The check can include the following process: determining whether the target grid itself is within the scope of the operation area; analyzing whether the generated lane change lane path conflicts with the obstacles or other operation vehicles within the operation area and whether it exceeds the boundary of the operation area. If the currently searched candidate lane change lane or target grid does not meet the condition of being located within the operation area, the system can continue to search for the next grid according to the priority order and repeat the process of generating and checking the candidate lane change lane. The loop search can continue until a target grid that is both within the operation area and the generated lane change lane is also completely within the operation area is found. When a target grid that meets the above conditions is found, the position corresponding to the target grid is determined as the target position, that is, the lane change completion point of the vehicle during the lane change process.

[0065] During the above process, through priority sorting and grid search, the system can quickly locate the appropriate turning lane generation points, reduce ineffective searches, and improve the efficiency of problem-solving. At the same time, considering the kinematic characteristics can ensure that the generated turning lanes meet the actual driving capabilities of the vehicles, improving the rationality of path planning. The inspection process of candidate turning lanes can ensure that the turning lanes and target grids do not exceed the operation area, avoiding conflicts with external obstacles or area boundaries, and reducing the safety risks during operation. The system can dynamically adjust the search range and priority according to changes in the operation environment. Even when the operation area changes or the operation requirements are adjusted, it can quickly generate new turning lanes, enhancing the flexibility and adaptability of the system.

[0066] In an embodiment of the present invention, a oncoming lane is generated based on the turning lane and the target direction, including: determining a first distance based on kinematic characteristics and regional position information of the operation area; generating a oncoming lane based on the starting position and target direction of the turning lane and the first distance, where the distance between the starting position and the oncoming lane is the first distance.

[0067] In an alternative embodiment, the first distance can be calculated based on kinematic characteristics and regional position information of the operation area. The kinematic characteristics can include the size and turning radius of the operation vehicle, etc. The regional position information can cover the terrain of the operation area, the distribution of obstacles, and the relative position between the vehicle and the loading position. The determination of the first distance can consider the safety passing requirements of the vehicle on the oncoming lane, that is, the vehicle can maintain a sufficient lateral distance during driving to avoid colliding with other vehicles or obstacles. Then, based on the starting position and target direction of the turning lane, combined with the calculated first distance, a oncoming lane can be generated. When generating the oncoming lane, it can be ensured that the starting position of the oncoming lane maintains a first distance from the starting position of the turning lane, thus forming a parallel lane layout. The extending direction of the oncoming lane should be perpendicular to the target direction to ensure that the mining truck can smoothly drive into the oncoming lane after turning without additional direction adjustment. Finally, after generating the oncoming lane, path adjustment can also be performed to ensure that the oncoming lane not only meets the basic parallel and distance requirements, but also can consider the actual terrain, obstacle distribution, etc. of the operation area to avoid path conflicts, which can include fine-tuning of the lane to ensure that the vehicle can safely pass through the operation area.

[0068] In the above process, by generating an oncoming lane, the driving path of the working vehicle in the loading area is clearly demarcated, realizing the separate driving of empty vehicles and heavy-loaded vehicles, reducing the waiting time when vehicles meet, improving the operation efficiency. The setting of the first distance can ensure that the vehicles on the oncoming lane and the vehicles on the reversing lane maintain a sufficient lateral safety distance, and can avoid safety accidents caused by insufficient space or path conflicts. The generation of the oncoming lane takes into account the kinematic characteristics of the vehicle, avoiding sharp turns or collisions during the driving process, and can further enhance the safety of the operation.

[0069] In an embodiment of the present invention, based on the entrance position and the reversing lane, a first driving path is generated, and based on the exit position and the oncoming lane, a second driving path is generated, including: generating a first lane corresponding to the reversing lane and a second lane corresponding to the oncoming lane based on the entrance and exit information, the starting position of the reversing lane, and the ending position of the oncoming lane, wherein the first lane and the second lane are parallel; splicing the entrance position, the first lane, and the reversing lane to generate the first driving path, and splicing the oncoming lane, the second lane, and the exit position to generate the second driving path.

[0070] In an alternative embodiment, a reference line can be determined. The reference line can be located in the middle of the first lane and the second lane, and is calculated based on the starting position of the reversing lane, the ending position of the oncoming lane, and the entrance and exit information. The generation of the reference line can take into account the driving direction of the mining truck and the terrain features of the operation area to ensure that the reference line is the symmetry axis of the two lanes. Based on the reference line, a second distance can be calculated according to the size of the working vehicle, the safety distance, and a preset coefficient. The second distance can be used to determine the lateral distance between the first lane and the second lane and the reference line, and two lanes parallel to the reference line, that is, the first lane and the second lane, can be generated to ensure that the second distance is maintained between the two lanes to meet the safety requirements during the driving process of the mining truck. Then, the entrance position can be connected to the starting point of the first lane, and the ending point of the first lane can be spliced with the starting point of the reversing lane to generate the first driving path. At the same time, the ending point of the oncoming lane can be connected to the starting point of the second lane, and the ending point of the second lane can be spliced with the exit position to generate the second driving path. The generation of the first driving path and the second driving path can ensure that the mining truck can smoothly enter from the entrance, pass through the reversing lane and the oncoming lane, and finally reach the exit, avoiding sharp turns and conflicts during the entire driving process.

[0071] In the above process, by generating parallel lanes and splicing driving paths, a clear and definite driving route can be provided for the mining truck, which can reduce the uncertainty during vehicle driving, improve the operation speed. The design of parallel lanes helps to achieve the orderly passage of vehicles, avoid the waiting time caused by cross driving, and further improve the operation efficiency. The generation of parallel lanes and spliced paths can ensure that the mining truck can maintain a sufficient lateral safety distance during driving and avoid collisions between operating vehicles. The splicing process of the path takes into account the kinematic characteristics of the mining truck, can avoid situations that pose threats to the vehicle such as sharp turns, and enhances the safety of the operation process. The use of parallel lanes and the planning of preset driving paths help to achieve the collaborative operation of multiple vehicles in the loading area, avoid path conflicts between mining trucks, ensure that each vehicle can operate efficiently according to the predetermined route, and improve the overall operation efficiency in the multi-vehicle operation scenario.

[0072] In an embodiment of the present invention, based on the entrance and exit information, the starting position of the reversing lane, and the ending position of the oncoming lane, a first lane corresponding to the reversing lane and a second lane corresponding to the oncoming lane are generated, wherein the first lane and the second lane are parallel, and the method includes: determining a first center position between the entrance position and the exit position, and a second center position between the starting position of the reversing lane and the ending position of the oncoming lane; generating a reference line based on the first center position and the second center position; determining a second distance based on the kinematic characteristics of the operating vehicle; generating the first lane and the second lane based on the reference line and the second distance, wherein the distance between the first lane and the reference line is the second distance, and the distance between the second lane and the reference line is the second distance; optionally, the second distance is determined based on the target width and safety distance of the operating vehicle, and the target width is determined based on the vehicle width, safety distance, and preset coefficient of the operating vehicle.

[0073] In an alternative embodiment, the first central position between the entrance and the exit can be calculated based on the entrance and exit information. Subsequently, the second central position between the starting position of the reversing lane and the ending position of the oncoming lane can be determined based on the starting position of the reversing lane and the ending position of the oncoming lane. The calculation of the first central position and the second central position can adopt the method of geometric mean or weighted mean to ensure that the reference line can accurately reflect the central characteristics of the working area. Based on the first central position and the second central position, a reference line can be generated. Geometrically, the reference line can be the line connecting the two central positions and can be used as the benchmark for the layout of the first lane and the second lane. The generation of the reference line can take into account the terrain and obstacle distribution in the working area to ensure the practical feasibility of the reference line within the working area. Subsequently, based on the kinematic characteristics of the working vehicle, the second distance can be calculated. The second distance can be the lateral distance between the first lane and the second lane and the reference line, which is used to meet the safety requirements during the vehicle's driving process. Considering the operation efficiency and space utilization, the calculation of the second distance can involve parameters such as vehicle width, safety distance, and a preset coefficient. The selection of the preset coefficient needs to balance safety and traffic efficiency. For example, it can be 2, 3, or 4, etc., and can be determined according to actual needs. Finally, based on the reference line and the second distance, the first lane and the second lane parallel to the reference line can be generated. The distances between the first lane and the second lane and the reference line can both be the second distance to ensure the symmetry and stability of the lane layout. This process can include fine-tuning the curvature of the lanes to adapt to the actual terrain conditions within the working area.

[0074] In the above process, by precisely laying out the double lanes, a clear driving path can be provided for the mining truck, reducing the uncertainty during the vehicle's driving process. The parallel lane layout helps to achieve the orderly passage of vehicles, avoiding the waiting time caused by cross driving, thereby improving the operation efficiency. The setting of the second distance can ensure that the mining truck can maintain a sufficient lateral safety distance during driving, avoiding collisions between vehicles. At the same time, the generation of the reference line takes into account the terrain and obstacle distribution in the working area, ensuring the rationality of the lane layout and enhancing the safety of the operation process. By symmetrically generating two lanes on both sides of the reference line, the system can make full use of the space resources in the working area, avoiding the waste of space caused by improper lane layout. The calculation of the second distance takes into account the preset coefficient, which helps to adjust the lane width while ensuring safety and improving the space utilization rate. The generation of the central position and the reference line takes into account the actual characteristics of the working area, enabling the double-lane layout to adapt to changes in the working environment, such as adjustments in the entrance or exit positions and changes in the terrain of the working area, enhancing the flexibility and adaptability of the path planning.

[0075] In the embodiments of the present invention, the entrance position, the first lane, and the reversing lane are spliced to generate a first driving path, and the oncoming lane, the second lane, and the exit position are spliced to generate a second driving path, including: sampling the first lane to generate a first connection path between the entrance position and the first lane, and a second connection path between the first lane and the reversing lane, and sampling the second lane to generate a third connection path between the oncoming lane and the second lane, and a fourth connection path between the second lane and the exit position; splicing the entrance position, the first connection path, the first lane, the second connection path, and the reversing lane to generate a first driving path, and splicing the oncoming lane, the third connection path, the second lane, the fourth connection path, and the exit position to generate a second driving path.

[0076] In an alternative embodiment, sampling can start from the starting position of the first lane and be performed along the path of the lane to generate a series of sampling points. The distance between the sampling points can be relatively small to ensure that the generated connection path is smooth and meets the kinematic characteristics of the mining truck. Subsequently, a smoothing algorithm can be used to connect the entrance position with the sampling points of the first lane to generate a first connection path, ensuring that the mining truck can smoothly enter the first lane from the entrance. Then, the sampling points of the first lane can be connected to the starting position of the reversing lane to generate a second connection path, ensuring that the mining truck can smoothly transition from the first lane to the reversing lane and complete the direction change. During the sampling and connection path generation process of the second lane, the second lane can be sampled to generate a series of sampling points, and then a smoothing algorithm can be used to connect the end position of the oncoming lane with the sampling points of the second lane to generate a third connection path. The generated third connection path can ensure that the mining truck can smoothly transition from the oncoming lane to the second lane, and the sampling points of the second lane can be connected to the exit position to generate a fourth connection path, ensuring that the mining truck can smoothly drive out of the working area from the second lane. Finally, the entrance position, the first connection path, the first lane, the second connection path, and the reversing lane can be spliced to form the first driving path of the empty mining truck. At the same time, the oncoming lane, the third connection path, the second lane, the fourth connection path, and the exit position can be spliced to form the second driving path of the fully loaded mining truck. During the splicing process, the smooth transition of each connection path and the lane can be ensured, avoiding sharp turns or path mutations, and improving driving safety.

[0077] During the above process, the connecting path generated by sampling is smoothly spliced with the lane, which can ensure the continuity and smoothness of the driving path of the mining truck, avoid sharp turns or mutations on the path, improve driving safety, and the smooth path can reduce the bumps during vehicle driving and protect the safety of the vehicle and goods. The generation of sampling points and the splicing of the connecting path enable the system to dynamically adjust the path details according to the actual terrain of the operation area and the kinematic characteristics of the vehicle, which can improve the flexibility of path planning. Even when the operation environment or vehicle requirements change, the system can quickly generate a new connecting path to ensure the continuity of the operation. By generating a preset connecting path and lane splicing, the path planning and management process are simplified, the complexity of on-site scheduling is reduced, and the dispatcher only needs to focus on the vehicle driving on the lane without dealing with complex path details, improving the efficiency of operation management.

[0078] In the embodiment of the present invention, sampling is performed on the first lane to generate a first connecting path between the entrance position and the first lane, and a second connecting path between the first lane and the reversing lane, and sampling is performed on the second lane to generate a third connecting path between the oncoming lane and the second lane, and a fourth connecting path between the second lane and the exit position, including: starting from the starting position of the first lane, sampling the path points of the first lane to obtain a first set of sampling points, starting from the ending position of the first lane, sampling the path points of the first lane to obtain a second set of sampling points, starting from the starting position of the second lane, sampling the path points of the second lane to obtain a third set of sampling points, starting from the ending position of the second lane, sampling the path points of the second lane to obtain a fourth set of sampling points; based on the kinematic characteristics of the operating vehicle, sequentially connecting the entrance position with different sampling points in the first set of sampling points to generate multiple first candidate paths, sequentially connecting different sampling points in the second set of sampling points with the starting position of the reversing lane to generate multiple second candidate paths, sequentially connecting the ending position of the oncoming lane with different sampling points in the third set of sampling points to generate multiple third candidate paths, and sequentially connecting different sampling points in the fourth set of sampling points with the exit position to generate multiple fourth candidate paths; obtaining the first connecting path at least according to the shortest path among the multiple first candidate paths, obtaining the second connecting path at least according to the shortest path among the multiple second candidate paths, obtaining the third connecting path at least according to the shortest path among the multiple third candidate paths, and obtaining the fourth connecting path at least according to the shortest path among the multiple fourth candidate paths, wherein the first connecting path, the second connecting path, the third connecting path, and the fourth connecting path all meet the preset conditions.

[0079] In an alternative embodiment, sampling can be performed on the points on the lane path starting from the starting and ending positions of the first lane and the second lane to generate the first to fourth sets of sampling points. The selection of the sampling points can ensure an appropriate interval, which can reflect the details of the lane path and will not increase the computational burden due to excessive sampling points. Then, based on the kinematic characteristics of the mining truck, such as the minimum turning radius and vehicle size, the entrance position can be connected to each sampling point in the first set of sampling points to generate multiple first candidate paths. The sampling points in the second set of sampling points, the third set of sampling points, and the fourth set of sampling points can be connected to the starting position of the reversing lane, the ending position of the oncoming lane, and the exit position respectively to generate the second set of candidate paths, the third set of candidate paths, and the fourth set of candidate paths. Each candidate path can take into account the actual driving ability of the mining truck to ensure its feasibility and safety. After generating multiple candidate paths, further path adjustment can be performed to evaluate indicators such as the length, turning angle, and driving time of each path, and shorter or overall better paths can be selected. For example, the shorter path selected from the first set of candidate paths is the first connection path; the shorter path selected from the second set of candidate paths is the second connection path, and so on, to generate the third connection path and the fourth connection path. This process can ensure that each connection path meets the preset conditions, such as the minimum turning radius limit and lane width requirements.

[0080] In the above process, by generating a set of sampling points on the lane, multiple candidate paths can be flexibly generated based on the kinematic characteristics of the mining truck, improving the flexibility of path planning. When generating candidate paths, the kinematic limitations of the mining truck are fully considered, avoiding sharp turns or path mutations, ensuring the safety and feasibility of the generated paths. The screening of preset conditions further guarantees the rationality of path planning, reducing the risks during driving. The screening of shorter paths reduces the driving distance of the mining truck in the operation area, improving the driving efficiency. At the same time, the coherence and smoothness of the paths reduce unnecessary deceleration or acceleration, further enhancing the operation efficiency.

[0081] In the embodiment of the present invention, the method further includes: in response to the change amount of the spatial orientation information being greater than the threshold, re-executing the steps of generating the first driving path based on the spatial orientation information and the entrance position, generating the second driving path based on the spatial orientation information and the exit position, and sending the first driving path and the second driving path to the target vehicle; or, in response to the change amount of the spatial orientation information being greater than the threshold and receiving a path planning instruction, re-executing the steps of generating the first driving path based on the spatial orientation information and the entrance position, generating the second driving path based on the spatial orientation information and the exit position, and sending the first driving path and the second driving path to the target vehicle.

[0082] In an alternative embodiment, the spatial orientation information of the loading area can be continuously monitored, which may include but is not limited to the position, orientation, boundary of the working area, etc. of the loading position. The monitoring process can be carried out through a high-precision positioning system to ensure the real-time and accuracy of the information. When the change amount of the spatial orientation information exceeds a preset threshold, the path replanning mechanism can be triggered. The preset threshold can be set according to the scale of the working area, the change frequency, and the driving characteristics of the mining truck to ensure that the path can be updated at the right time and avoid resource waste caused by frequent updates. The system can regenerate the first driving path and the second driving path based on the new spatial orientation information to ensure that the paths match the current working environment. After the replanned paths are adjusted and verified, the first driving path and the second driving path can be sent to the target vehicle, that is, the working vehicle or other vehicles planned to drive to the working position. After receiving the new path, the target vehicle will adjust its driving plan according to the path to ensure the continuous, efficient, and safe completion of the operation task. The system can also support manual triggering of path replanning. For example, when the dispatcher discovers a change in the working environment or anticipates factors that will affect the path safety, a path planning instruction can be sent through the interface, and the system will immediately respond, re-evaluate the working environment, and generate an updated driving path.

[0083] In the above process, by dynamically responding to the changes in the spatial orientation information, the system can timely adjust the driving path of the mining truck, avoid operation interruptions or safety problems caused by changes in the working environment, improve the continuity and safety of the operation. The threshold judgment and manual instruction response mechanism enable the system to flexibly adjust the path planning strategy according to the actual changes in the working area, improve the flexibility and adaptability of path planning. In the case of natural environment changes or manual operation adjustments, etc., the system can quickly respond and generate a new driving path. By intelligently judging whether the change amount exceeds the threshold, unnecessary path replanning can be avoided, reducing the consumption of computing resources. When path updates are needed, it can not only ensure the operation requirements but also reasonably utilize system resources. At the same time, the dispatcher can manually trigger path replanning through the interface, which enhances the user interaction experience. In case of emergencies, the dispatcher can quickly intervene and adjust the operation plan, improving the controllability of the system and the flexibility of the operation.

[0084] The technical solution proposed in this application will be described below in combination with an optional embodiment. This application proposes a method for dual-lane path planning of mining trucks in an open-pit mine loading area, which has significant innovation points and technical advantages. Innovative ideas for dual-lane path planning: This application introduces the idea of dual-lane planning. When planning the path of the mining truck from the entrance to the excavator position, the path from the excavator position to the loading area exit is planned synchronously to ensure that the paths do not interfere with each other. This dual-lane planning method can solve the path conflict problem in advance and avoid the efficiency decline and operation interruption caused by multi-vehicle interaction in related technologies. Automatic path generation and cloud download: The method of this application can automatically generate paths based on the map editing platform and download the generated paths from the cloud to the vehicle terminal. This method not only improves the consistency and efficiency of path planning but also can adapt to the dynamic changes in the loading area operation environment to achieve rapid path updates. Controllability and flexibility of the path: After the path planning is completed in this application, if the dispatcher finds that the path is unreasonable or does not meet the on-site requirements, the path can be quickly adjusted on the map platform at any time to achieve dynamic path adjustment. This method ensures high controllability and safety of path planning and can respond to changes in operation requirements in a timely manner. Single-excavator multi-vehicle path coordination to avoid the "head-on" phenomenon: Through dual-lane planning, this application ensures global coordination of the single-excavator multi-vehicle path planning in the loading area. During the process of the mining truck entering the loading area, there can always be a reserved exit path, which ensures the continuity of multi-vehicle operation and fundamentally avoids the occurrence of the "head-on" phenomenon, which can greatly improve the operation efficiency.

[0085] This application provides a method for dual-lane path planning of mining trucks in an open-pit mine loading area. The flow steps of this solution are as follows: Generate a search range for the reversing completion point according to the excavator position, orientation, and horizontal and vertical search intervals, that is, determine the target search range according to the spatial orientation information and the preset search distance; The horizontal search interval represents the minimum and maximum values of the horizontal distance relative to the excavator position. The horizontal search minimum value can be 0, and the horizontal search maximum value can be 5 meters; The vertical search interval represents the minimum and maximum values of the vertical distance relative to the excavator position. The vertical distance can comprehensively consider the reversing time from the reversing completion point to the loading position and whether there is enough space for planning. The vertical search minimum value can be 50 meters, and the vertical search maximum value can be 60 meters.

[0086] Next, a standard template can be prepared, including a reversing lane leading into the loading area and an oncoming lane leading out of the loading area. The reversing lane can be formed by splicing two 90-degree spiral lines, and the turning radius of the vehicle, the length and width of the vehicle, and the safety bounding box need to be considered. The oncoming lane can be a straight line at an appropriate distance from the reversing lane, that is, the oncoming lane can be a straight line at a first distance from the reversing lane, which can be freely adjusted according to the space size. The minimum distance of the reversing lane, that is, the first distance, can be calculated based on the length and width of the vehicle and the safety bounding box. The minimum distance of the reversing lane, that is, the first distance, can be expressed as follows:

[0087] The minimum distance of the reversing lane = (w / 2 + s) * 2;

[0088] where w can represent the vehicle width of the mining truck, and s can represent the safety bounding box of the mining truck.

[0089] Figure 2 is a schematic diagram of an optional reversing lane and oncoming lane according to an embodiment of the present invention. As Figure 2 shown, the reversing lane on the right and the oncoming lane on the left are shown in the figure. The starting position, target position, and first distance of the reversing lane are shown in the reversing lane on the right. Here, the target position is also the reversing completion point or reversing termination point of the reversing lane.

[0090] Next, a better solution can be searched within the search range of the reversing completion point. First, the search range can be rasterized. Then, according to the position and orientation of the excavator, a reference line can be generated directly in front, and the priority of each grid can be refined. The following principles can be followed: According to the right-hand traffic rule, the priority of the grids on the left side of the dotted line is higher than that of the grids on the right side, and the initial priority can be divided accordingly; when the initial priorities are the same, the grids closer to the left side have higher priorities; the grids with shorter reverse distances to the excavator have higher priorities; according to the vehicle parameters and the safety bounding box, it is necessary to verify that the reversing completion point is within the loading area; the standard reversing template corresponding to the reversing completion point needs to be within the loading area.

[0091] Figure 3 is a schematic diagram of an optional determination of the target position according to an embodiment of the present invention. As Figure 3As shown in the figure, the illustrated rectangular box, i.e., the target search range, can be determined based on the maximum horizontal search distance, the maximum vertical search distance, and the minimum vertical search distance. The illustrated rectangular box can be rasterized to facilitate determining the search priority of the target position. The smaller the number in each grid in the figure, the higher the search priority of the target position. The direction information in the illustrated spatial orientation information can represent the position and orientation of the excavator. Specifically, a reference line, i.e., the dashed line in the illustrated rectangular box, can be generated directly in front of the direction information in the illustrated spatial orientation information. According to the right-hand traffic rule, the grids on the left side of the dashed line have a higher priority than the grids on the right side, and the initial priority is divided accordingly. When the initial priorities are the same, the grids closer to the left side have a higher priority. The shorter the reverse distance from the grid to the excavator, the higher the priority. That is, the numbers in each grid in the illustrated rectangular box show the following pattern: the dashed line divides the box into left and right parts, and the numbers in the grids on the left side of the dashed line are all smaller than the numbers in the grids on the right side; within the left or right area of the dashed line, the closer the grid is to the left side, the smaller the data; the shorter the reverse distance from the grid to the excavator, the smaller the number.

[0092] Next, the midpoint of the commutation start point and the heavy-load start point can be denoted as p_1, i.e., the second center position; the midpoint of the entrance and exit is p_2, i.e., the first center position, and the improved hybrid A* algorithm is called to generate the reference path. The improvement is to adjust the vehicle width used in the algorithm. For example: the actual vehicle width w is 4 meters, and the autonomous driving safety bounding box s is 2 meters. Then, before the improvement, the vehicle width used in the hybrid A* algorithm is the sum of the actual vehicle width and the safety bounding box, which is 6 meters in total; while after the improvement, the vehicle width used in the hybrid A* algorithm is twice the original width, i.e., 12 meters. Next, the left and right parallel lines can be made respectively according to the reference path to obtain a two-lane road. The perpendicular distance from the parallel line to the reference line, i.e., the second distance, can be expressed as follows:

[0093] The perpendicular distance from the parallel line to the reference line = w / 2 + s + α;

[0094] where α represents the allowable error range, generally taking 0.5 meters, and it can also be determined according to actual needs, which is not limited here. Then, the two-lane road is matched with the standard template. The left lane in the two-lane road is matched with the commutation lane, and the right lane is matched with the oncoming lane.

[0095] Next, the entrance of the operation area, the parallel lane, and the reversing lane can be spliced to generate a lane for the empty vehicle to enter the loading area, hereinafter referred to as the empty lane. The specific steps are as follows: Sample the parallel lane. Starting from the starting point of the parallel lane, sample every 5 meters in turn, and the maximum sampling distance is 30 meters to obtain a set of sampling points. Traverse the sampling points in turn, and use the Dubins curve smoothing algorithm to connect the entrance point to the sampling points to obtain a set of reference paths. Select the shortest path in the set of reference paths to obtain the connection path route1. Then, starting from the end point of the parallel lane, sample every 5 meters in turn backward, and the maximum sampling distance is 30 meters to obtain a set of sampling points. Traverse the sampling points in turn, and use the Dubins curve smoothing algorithm to connect the sampling points to the reversing start point to obtain a set of reference paths, and select the shortest path in the set of reference paths to obtain the connection path route2. Then splice route1, the parallel lane, and route2 in turn, and use a smoothing method to obtain a guiding road with the end position unchanged and satisfying the curvature constraint. Among them, the smoothing method is a discrete point smoothing method; the objective function is the sum of the smoothness cost, the length cost, and the original point offset cost; the constraint conditions are the position constraint, the curvature constraint, and the orientation constraint of the start and end points. Finally, splice the guiding road and the reversing lane to obtain the empty lane, that is, the first driving path.

[0096] Next, the oncoming lane, the parallel lane, and the exit of the operation area can be spliced to generate a lane for the heavy vehicle to leave the loading area, hereinafter referred to as the heavy lane. The specific steps are as follows: Sample the parallel lane. Starting from the starting point of the parallel lane, sample every 5 meters in turn, and the maximum sampling distance is 30 meters to obtain a set of sampling points. Traverse the sampling points in turn, and use the Dubins curve smoothing algorithm to connect the end point of the oncoming lane to the sampling points to obtain a set of reference paths. Select the shortest path in the set of reference paths to obtain the connection path route3. Then, starting from the end point of the parallel lane, sample every 5 meters in turn backward, and the maximum sampling distance is 30 meters to obtain a set of sampling points. Traverse the sampling points in turn, and use the Dubins curve smoothing algorithm to connect the sampling points to the exit to obtain a set of reference paths, and select the shortest path in the set of reference paths to obtain the connection path route4. Then splice the oncoming lane, route3, the parallel lane, and route4 in turn, and use a smoothing method to obtain a heavy lane with the end position unchanged and satisfying the curvature constraint, that is, the second driving path.

[0097] Figure 4 is a schematic diagram of an optional generation of the first driving path and the second driving path according to an embodiment of the present invention, as Figure 4As shown in the figure, during the process of generating the first driving path and the second driving path, based on the orientation information, the longitudinal maximum search distance, the longitudinal minimum search distance, etc. in the spatial orientation information, the search range of the target search position is determined; and the corresponding relationship between the first lane, the second lane, and the first center position.

[0098] The present application proposes a method for dual-lane path planning in an open-pit mine loading area, which has at least the following remarkable technical effects: introducing dual-lane planning solves the problem of path conflicts among multiple vehicles for a single excavator in the related art, and improves the collaborative operation efficiency of a single excavator and multiple vehicles. Automatic path generation and cloud distribution can significantly improve the path update efficiency, and at the same time ensure the consistency and reliability of path planning. Path controllability and flexibility support dispatchers to quickly adjust paths to adapt to dynamic operation requirements and ensure path safety and controllability. Avoiding the "butting" phenomenon, through global path collaborative adjustment, solves the traffic jam problem in narrow scenarios and improves the overall operation efficiency.

[0099] According to another aspect of the embodiments of the present invention, there is also provided a path planning method. Figure 5 is a flowchart of another path planning method according to the embodiments of the present invention, as Figure 5 shown, the method includes the following steps:

[0100] Step S502, receiving a first driving path and a second driving path, where the first driving path is generated based on the entrance position of the operation area and the spatial orientation information of the operation positions located within the operation area, and the second driving path is generated based on the exit position of the operation area and the spatial orientation information.

[0101] Step S504, driving based on the first driving path and the second driving path.

[0102] The above steps S502 to S504 describe the execution process when the target vehicle receiving the first driving path and the second driving path is used as the execution subject. Specifically, the target vehicle can receive the first driving path and the second driving path and can drive based on the first driving path and the second driving path. Here, the generation method of the first driving path and the second driving path can adopt the path planning method with the above platform or vehicle as the execution subject in the present application.

[0103] The embodiments of the present application also provide an electronic device, including: a communication unit for communicating with the target vehicle; a memory storing an executable program; a processor for running the program, where when the program runs, it executes the methods in the various embodiments of the present invention.

[0104] The above-mentioned communication unit can be a basic module or component for transmitting, receiving, and processing information. It can be a hardware module, a software module, or a combination of a hardware module and a software module, and is used to ensure the effective and reliable transmission of data between the platform or vehicle executing the path planning method proposed in this application and the target vehicle. For example, when the above-mentioned path planning method proposed in this application is executed by a platform, the platform may include the above-mentioned electronic device, and further, the platform can communicate with the target vehicle based on the above-mentioned communication unit, and send the generated first driving path and second driving path to the target vehicle, etc.; Another example is when the above-mentioned path planning method proposed in this application is executed by a vehicle, the vehicle may include the above-mentioned electronic device, and further, the vehicle can communicate with the target vehicle based on the above-mentioned communication unit, and send the generated first driving path and second driving path to the target vehicle, etc.; The above-mentioned communication unit may include modules such as a transmitter, a receiver, a modulator, a demodulator, an encoder, a decoder, etc. The specific structure of the communication unit can be determined according to actual needs and is not limited here.

[0105] The above-mentioned memory can refer to a device inside a computer for storing data and programs, and can include a memory, a hard disk, etc. Among them, the memory can be used to temporarily store running programs and data, and the hard disk can be used to store programs and data for a long time. The memory can be used to enable a computer to read and write data and execute programs; The above-mentioned processor can be responsible for executing instructions in a computer program and performing data processing, and can be responsible for controlling and executing various operations, including arithmetic operations, logical operations, data transmission, etc.

[0106] An embodiment of this application also provides a vehicle, including: a communication unit for communicating with a cloud server or a target vehicle; a memory storing an executable program; a processor for running the program, wherein when the program runs, it executes the methods in various embodiments of the present invention.

[0107] The above-mentioned communication unit can be used to ensure the effective and reliable transmission of data between the vehicle executing the path planning method proposed in this application and the cloud server or the target vehicle. For example, when the above-mentioned path planning method proposed in this application is executed by a vehicle, the vehicle may include the above-mentioned communication unit, and further, the vehicle can communicate with the target vehicle based on the above-mentioned communication unit, and send the generated first driving path and second driving path to the target vehicle, etc.; When the above-mentioned vehicle is a target vehicle, it can also receive the first driving path and the second driving path sent by the cloud server or other vehicles.

[0108] An embodiment of this application also provides a computer-readable storage medium. The computer-readable storage medium includes a stored executable program, wherein when the executable program runs, it controls the device where the computer-readable storage medium is located to execute the methods in various embodiments of the present invention.

[0109] The above computer storage medium may refer to a medium in a computer memory for storing a certain discontinuous physical quantity. The main computer storage media include semiconductors, magnetic cores, magnetic drums, magnetic tapes, optical discs, etc.; the computer-readable storage medium includes a stored program, which can be a set of instructions that a computer can recognize and execute, running on an electronic computer and serving as an information tool to meet people's certain needs.

[0110] The embodiments of the present application also provide a computer program product, including a computer program, which implements the methods in the various embodiments of the present invention when executed by a processor.

[0111] The above computer program product may refer to a software program that has been written, tested, and released and can run on a computer or other devices. The computer program product may include application programs, operating systems, tool software, etc., and is used to implement specific functions or solve specific problems.

[0112] The embodiments of the present application also provide a computer program product, including a non-volatile computer-readable storage medium for storing a computer program, which implements the methods in the various embodiments of the present invention when executed by a processor.

[0113] The above non-volatile computer-readable storage medium may refer to a medium for storing data. The non-volatile computer-readable storage medium can keep data from being lost when powered off and can be used to store data for long-term preservation, such as operating systems, application programs, and user files. The non-volatile storage medium may include hard disk drives, solid-state drives, optical discs, and flash storage devices, etc.

[0114] The embodiments of the present application also provide a computer program, which implements the methods in the various embodiments of the present invention when executed by a processor.

[0115] The above computer program may refer to a set of instructions for telling a computer to perform specific tasks or operations. The computer program can be written by a programmer using a specific programming language and may include contents such as algorithms, data structures, logic, and control flows. The computer program can be used for various purposes, including application software, operating systems, etc.

[0116] In the above embodiments of the present invention, the descriptions of the various embodiments have their own focuses. For parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0117] In several embodiments provided in the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are merely illustrative. For example, the division of the units can be a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the couplings or direct couplings or communication connections shown or discussed with each other can be through some interfaces. The indirect couplings or communication connections of units or modules can be in electrical or other forms.

[0118] The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0119] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0120] If the above-mentioned 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 invention, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present invention. The foregoing storage medium includes: various media such as USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks or optical discs that can store program codes.

[0121] The above is only the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A path planning method, characterized in that, Including: Obtaining the access information of the operation area and the spatial orientation information of the operation positions located within the operation area, where the access information includes the entrance position and the exit position of the operation area; Generating a first driving path based on the spatial orientation information and the entrance position, and generating a second driving path based on the spatial orientation information and the exit position, where the operation vehicle travels from the entrance position to the operation position through the first driving path, and the operation vehicle travels from the operation position to the exit position through the second driving path; Sending the first driving path and the second driving path to the target vehicle; Among them, the generating a first driving path based on the spatial orientation information and the entrance position, and generating a second driving path based on the spatial orientation information and the exit position includes: generating a reversing lane based on the spatial orientation information and the kinematic characteristics of the operation vehicle, where the reversing lane includes at least one section of helix, and the operation vehicle travels on the reversing lane to change the driving direction; generating an oncoming lane based on the reversing lane and the target direction, where the target direction is the orientation of the vehicle when the operation vehicle travels to the midpoint of the reversing lane, and the oncoming lane is perpendicular to the target direction; generating a first lane corresponding to the reversing lane and a second lane corresponding to the oncoming lane based on the access information, the starting position of the reversing lane, and the ending position of the oncoming lane, where the first lane is parallel to the second lane; splicing the entrance position, the first lane, and the reversing lane to generate the first driving path, and splicing the oncoming lane, the second lane, and the exit position to generate the second driving path.

2. The method according to claim 1, characterized in that, The generating the reversing lane based on the spatial orientation information and the kinematic characteristics of the operation vehicle includes: Determining a target search range based on the spatial orientation information and a preset search distance; Determining a target position within the target search range based on the kinematic characteristics and the regional position information of the operation area; Generating the reversing lane based on the target position, where the ending position of the reversing lane is the target position.

3. The method according to claim 2, wherein The determining a target position within the target search range based on the kinematic characteristics and the regional position information of the operation area includes: Performing grid processing on the target search range to obtain a plurality of grids; Determining the priorities of different grids based on the spatial orientation information and the position information of different grids; Searching the plurality of grids based on the priorities, the kinematic characteristics, and the regional position information to determine the target position.

4. The method according to claim 3, characterized in that, The determining the priorities of different grids based on the spatial orientation information and the position information of different grids includes: Determining the distances between different grids and the operation position based on the position information in the spatial orientation information and the position information of different grids; Determine the priorities of different grids based on the direction information in the spatial orientation information and the distances between different grids and the operation position; When the distance between the first grid and the operation position is less than the distance between the second grid and the operation position, the priority of the first grid is greater than that of the second grid; when the third grid is located in the first area and the fourth grid is located in the second area, the priority of the third grid is greater than that of the fourth grid; when the fifth grid and the sixth grid are located in the same area and the position in the preset direction of the fifth grid is less than the position in the preset direction of the sixth grid, the priority of the fifth grid is greater than that of the sixth grid, where the first area and the second area are obtained by dividing the target search range based on the direction information in the spatial orientation information, and the preset direction is perpendicular to the direction information in the spatial orientation information.

5. The method according to claim 3, characterized in that The searching of the multiple grids based on the priority, the kinematic characteristics, and the area position information to determine the target position includes: Search the multiple grids based on the priority to determine the target grid; Generate a candidate lane change lane based on the kinematic characteristics and the position information of the target grid; Based on the position information of the target grid and the area position information, determine whether the target grid is located within the operation area, and based on the area position information, determine whether the candidate lane change lane is located within the operation area; When the target grid is not located within the operation area, or the candidate lane change lane is not located within the operation area, repeat the steps of searching the multiple grids based on the priority to determine the target grid, generating a candidate lane change lane based on the kinematic characteristics and the position information of the target grid, determining whether the target grid is located within the operation area based on the position information of the target grid and the area position information, and determining whether the candidate lane change lane is located within the operation area based on the area position information until the target grid is located within the operation area and the candidate lane change lane is not located within the operation area; When the target grid is located within the operation area and the candidate lane change lane is not located within the operation area, determine the position corresponding to the target grid as the target position.

6. The method according to claim 1, wherein The generating of the oncoming lane based on the lane change lane and the target direction includes: Determine a first distance based on the kinematic characteristics and the area position information of the operation area; Generate the oncoming lane based on the starting position of the lane change lane, the target direction, and the first distance, where the distance between the starting position and the oncoming lane is the first distance.

7. The method according to claim 6, wherein The generating of a first lane corresponding to the lane change lane and a second lane corresponding to the oncoming lane based on the entrance and exit information, the starting position of the lane change lane, and the ending position of the oncoming lane, where the first lane and the second lane are parallel, includes: Determine a first central position between the entrance position and the exit position, and a second central position between the starting position of the reversing lane and the ending position of the oncoming lane; Generate a reference line based on the first central position and the second central position; Determine a second distance based on the kinematic characteristics of the work vehicle; Generate the first lane and the second lane based on the reference line and the second distance, wherein the distance between the first lane and the reference line is the second distance, and the distance between the second lane and the reference line is the second distance; The second distance is determined based on the target width of the work vehicle and a safety distance, and the target width is determined based on the vehicle width of the work vehicle, the safety distance, and a preset coefficient.

8. The method according to claim 6, characterized in that, The step of splicing the entrance position, the first lane, and the reversing lane to generate the first driving path, and splicing the oncoming lane, the second lane, and the exit position to generate the second driving path includes: Sample the first lane to generate a first connection path between the entrance position and the first lane, and a second connection path between the first lane and the reversing lane, and sample the second lane to generate a third connection path between the oncoming lane and the second lane, and a fourth connection path between the second lane and the exit position; Splice the entrance position, the first connection path, the first lane, the second connection path, and the reversing lane to generate the first driving path, and splice the oncoming lane, the third connection path, the second lane, the fourth connection path, and the exit position to generate the second driving path.

9. The method according to claim 8, wherein The step of sampling the first lane to generate a first connection path between the entrance position and the first lane, and a second connection path between the first lane and the reversing lane, and sampling the second lane to generate a third connection path between the oncoming lane and the second lane, and a fourth connection path between the second lane and the exit position includes: Start sampling the path points of the first lane from the starting position of the first lane to obtain a first set of sampling points, start sampling the path points of the first lane from the ending position of the first lane to obtain a second set of sampling points, start sampling the path points of the second lane from the starting position of the second lane to obtain a third set of sampling points, and start sampling the path points of the second lane from the ending position of the second lane to obtain a fourth set of sampling points; Based on the kinematic characteristics of the work vehicle, connect the entrance position to different sampling points in the first sampling point set in sequence to generate multiple first candidate paths, connect different sampling points in the second sampling point set to the starting position of the reversing lane in sequence to generate multiple second candidate paths, connect the end position of the oncoming lane to different sampling points in the third sampling point set in sequence to generate multiple third candidate paths, and connect different sampling points in the fourth sampling point set to the exit position in sequence to generate multiple fourth candidate paths; Obtain the first connection path at least according to the shortest path among the multiple first candidate paths, obtain the second connection path at least according to the shortest path among the multiple second candidate paths, obtain the third connection path at least according to the shortest path among the multiple third candidate paths, and obtain the fourth connection path at least according to the shortest path among the multiple fourth candidate paths, wherein the first connection path, the second connection path, the third connection path, and the fourth connection path all meet the preset conditions.

10. The method according to any one of claims 1 to 9, characterized in that, The method further includes: In response to the change amount of the spatial orientation information being greater than the threshold, re-execute the steps of generating a first driving path based on the spatial orientation information and the entrance position, generating a second driving path based on the spatial orientation information and the exit position, and sending the first driving path and the second driving path to the target vehicle; or, In response to the change amount of the spatial orientation information being greater than the threshold and receiving a path planning instruction, re-execute the steps of generating a first driving path based on the spatial orientation information and the entrance position, generating a second driving path based on the spatial orientation information and the exit position, and sending the first driving path and the second driving path to the target vehicle.

11. A path planning method, characterized in that, It includes: Receiving a first driving path and a second driving path, wherein the first driving path is generated based on the entrance position of the work area and the spatial orientation information of the work positions located in the work area, the second driving path is generated based on the exit position of the work area and the spatial orientation information, and the first driving path and the second driving path are generated based on the method according to any one of claims 1 to 10; Driving based on the first driving path and the second driving path.

12. An electronic device, characterized in that, It includes: A communication unit for communicating with the target vehicle; A memory storing an executable program; A processor for running the program, wherein when the program runs, it executes the method according to any one of claims 1 to 10.

13. A vehicle, characterized in that, It includes: A communication unit for communicating with the cloud server or the target vehicle; A memory storing an executable program; A processor for running the program, wherein when the program runs, it executes the method according to any one of claims 1 to 11.

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