Route planning method and device based on route incremental, and electronic equipment

Abstract

The invention provides a route planning method and device based on route incremental, and electronic equipment. The method comprises the following steps: acquiring distance information between every two known path points in a target operation area; determining an initial route, the distance of the initial route and the predicted driving time of the initial route according to the distance information between the starting point and the ending point; and based on a preset first route incremental rule, adding the path points between the starting point and the ending point into the initial route one by one to obtain a final planned route. According to the method, the initial path is gradually prolonged in a progressive increase mode, the optimal path point is recalculated in each progressive increase process, the optimization precision of the path is improved, the path can be planned according to different scenes and requirements such as the shortest path time, the shortest distance and the maximum vehicle load capacity, and the flexibility is improved.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular, to a route planning method, device, and electronic device based on route increment. Background Art

[0002] With the development of Internet technology, intelligent route planning has played an important role in fields such as garbage collection and transportation, logistics transportation, and personal travel. Especially in scenarios that require passing through multiple waypoints, efficient route planning can help improve the efficiency of business operations.

[0003] For example, Patent CN115049309A discloses a garbage collection and transportation route planning method and system. After sorting the distances between each pair of garbage points, in this order, each pair of garbage points is connected in sequence to form the final route. This method only considers the length of the route and does not consider the amount of garbage at each garbage point, and cannot maximize the on-vehicle garbage volume and specific road conditions, etc. Moreover, the route planned by this method is a static route. After the positions of the garbage points are fixed, there is only one determined route and cannot be dynamically adjusted according to the actual situation, resulting in the planned route not being optimal, and the flexibility and accuracy of route planning are not high. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a route planning method, device, and electronic device based on route increment to improve the flexibility and accuracy of route planning.

[0005] In a first aspect, a route planning method based on route increment is provided. The method includes:

[0006] Obtain the distance information between all known waypoints in the target operation area in pairs. The waypoints include the starting point, ending point of the route, and waypoints between the starting point and the ending point;

[0007] Determine the initial route and the distance of the initial route according to the distance information between the starting point and the ending point;

[0008] Based on a preset first route increment rule, add the waypoints between the starting point and the ending point to the initial route one by one to obtain the target planned route;

[0009] The preset first route increment rule is:

[0010] Calculate the path distance increment: For each waypoint not added to the initial route, calculate the path distance increment when inserting it into different positions of the current route according to the distance information between waypoints in pairs and the distance of the current route;

[0011] Select path points and insertion positions: Select the path point with the minimum path distance increment and the insertion position of the path point corresponding to the minimum path distance increment;

[0012] Update the route: Add the selected path points to the current route according to the selected insertion positions to obtain the updated route and the updated route distance;

[0013] Repeat iteration: Determine whether the preset stop increment condition is satisfied. If not, continue to repeat the process of calculating the path distance increment to the updated route for the remaining path points until the preset stop increment condition is satisfied. The preset stop increment condition is at least one of the following: All path points have been added to the initial route, the preset carrying time of the vehicle is reached.

[0014] Optionally, the current route consists of several segments of paths, and each segment of path corresponds to an insertion position of a path point. The calculation process of the path distance increment for each insertion position includes:

[0015] Calculate the sum of the distances between the path point to be inserted and the path points at both ends of the path segment corresponding to each insertion position, which is called the new path distance;

[0016] Calculate the difference between the new path distance of each insertion position and the path segment corresponding to the insertion position, and determine the difference as the path distance increment for each insertion position.

[0017] Optionally, after calculating the difference between the new path distance of each insertion position and the path segment corresponding to the insertion position and determining the difference as the path distance increment for each insertion position, the method further includes:

[0018] Determine the road condition weights of each segment of the path based on the road condition information of each segment of the path in the current route;

[0019] Re-determine the road condition distance increment based on the product of the path distance increment of each insertion position and the road condition weight of the path segment corresponding to the insertion position.

[0020] In a second aspect, a route planning method based on route increment is provided. The method includes:

[0021] Obtain the distance information between all known path points in the target operation area in pairs and the path load of each path point. The path points include the starting point, the ending point of the path, and the path points between the starting point and the ending point; The path load is at least one of the following: garbage weight, cargo weight;

[0022] Determine the initial route and the distance of the initial route according to the distance information of the starting point and the ending point;

[0023] Based on the preset second route increment rule, add the path points between the starting point and the ending point to the initial route one by one to obtain the target planned route;

[0024] The preset second route increment rule is:

[0025] Calculate the path distance increment: For each path point not added to the initial route, calculate the path distance increment when inserting it into different positions of the current route according to the distance information between pairwise path points and the distance of the current route;

[0026] Calculate the multi-load of the unit path distance increment: According to the path distance increment and the load of each path point, calculate the multi-load of the unit path increment when each path point is inserted into different positions. The multi-load of the unit path increment represents the path load collected more when increasing the unit path increment by one unit;

[0027] Select the path point and the insertion position: Select the path point with the maximum multi-load of the unit path distance increment and the insertion position of the path point corresponding to the maximum multi-load of the unit path distance increment;

[0028] Update the route: Add the selected path point to the current route according to the selected insertion position to obtain the updated route and the updated route distance;

[0029] Repeat the iteration: Determine whether the preset stop increment condition is satisfied. If not, continue to repeat the process of calculating the path increment to updating the route for the remaining path points until the preset stop increment condition is satisfied. The preset stop increment condition is at least reaching the full load weight of the vehicle.

[0030] Optionally, calculating the multi-load of the unit path distance increment when each path point is inserted into different positions according to the path distance increment and the load of each path point includes:

[0031] Calculate the multi-load of the unit path distance increment when each path point is inserted into different positions through a preset calculation formula according to the path distance increment and the load of each path point. The calculation formula is:

[0032]

[0033] where unitExtraLoad represents the multi-load of the unit path distance increment; LoadAmount represents the path load of the path point to be inserted; DistanceIncrement represents the path distance increment when the path point to be inserted is inserted into different positions of the current route.

[0034] Optionally, the current route consists of several segments of paths, and each segment of path corresponds to an insertion position of a path point. The calculation process of the path distance increment at each insertion position includes:

[0035] Calculate the sum of the distances between the path points to be inserted and the path points at both ends of the path segment corresponding to each insertion position, which is called the new path distance;

[0036] Calculate the difference between the new path distance of each insertion position and the path segment corresponding to the insertion position, and determine the path distance increment of each insertion position as this difference.

[0037] Optionally, when all path points are not included in the final planned route, the method further includes:

[0038] Eliminate the planned path points to obtain the remaining path points;

[0039] Among the remaining path points, based on a preset second route increment rule, add the remaining path points between the starting point and the ending point to the initial route one by one to obtain a new target planned route, and form multiple planned routes of the target operation area with the original target planned route.

[0040] In a third aspect, a route planning device based on route increment is provided, and the device includes:

[0041] An acquisition unit for acquiring the distance information between all known path points in the target operation area in pairs and the path load of each path point, where the path points include the starting point, the ending point of the path, and the path points between the starting point and the ending point; the path load is at least one of the following: garbage weight, cargo weight;

[0042] A determination unit for determining the initial route and the distance of the initial route according to the distance information of the starting point and the ending point;

[0043] An addition unit for adding the path points between the starting point and the ending point to the initial route one by one based on a preset second route increment rule to obtain the target planned route;

[0044] The preset second route increment rule is:

[0045] Calculate the path increment: For each path point not added to the initial route, calculate the path distance increment when inserting it into different positions of the current route according to the distance information between path points in pairs and the distance of the current route;

[0046] Calculate the multi-load of the unit path distance increment: Calculate the multi-load of the unit path increment when each path point is inserted into different positions according to the path distance increment and the load of each path point, and the multi-load of the unit path increment represents the path load collected more when increasing the unit path increment;

[0047] Select the path point and the insertion position: Select the path point with the largest multi-load of the unit path distance increment and the insertion position of the path point corresponding to the largest multi-load of the unit path distance increment;

[0048] Update route: Add the selected waypoints to the current route according to the selected insertion position to obtain the updated route and the updated route distance;

[0049] Repeated iteration: Determine whether the preset stop increment condition is satisfied. If not, continue to repeat the process of calculating the path increment to the updated route for the remaining waypoints until the preset stop increment condition is satisfied. The preset stop increment condition is at least reaching the full load weight of the vehicle.

[0050] In a fourth aspect, an electronic device is provided, including a processor, a communication interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory complete communication with each other through the communication bus;

[0051] The memory is used to store a computer program;

[0052] The processor is configured to implement the method steps described in any one of the first aspect or the second aspect when executing the program stored on the memory.

[0053] In a fifth aspect, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the method steps described in any one of the first aspect or the second aspect.

[0054] A route planning method, device, and electronic device based on route increment provided by the present invention. The method obtains the distance information and road condition information between all known waypoints in the target operation area; determines the initial route, the distance of the initial route, and the estimated driving duration of the initial route according to the distance information and road condition information between the starting point and the ending point; based on a preset first route increment rule, adds the waypoints between the starting point and the ending point to the initial route one by one to obtain the final planned route. The present invention gradually extends the initial path in an incremental manner, and recalculates the optimal waypoints during each increment process, improving the optimization accuracy of the path. Moreover, it can also plan routes according to different scenarios and requirements, such as the shortest route time, the shortest distance, and the maximum vehicle load, increasing the flexibility.

[0055] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following specific preferred embodiments are given, and in conjunction with the accompanying drawings, the detailed description is as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the accompanying drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0057] Figure 1 It shows a schematic structural diagram of a garbage collection and transportation system provided by an embodiment of the present invention;

[0058] Figure 2 It shows a flowchart of a route planning method based on route increment provided by an embodiment of the present invention;

[0059] Figure 3 It shows a flowchart of another route planning based on route increment provided by an embodiment of the present invention;

[0060] Figure 4 It shows a schematic structural diagram of a route planning device based on route increment provided by an embodiment of the present invention;

[0061] Figure 5 It shows a schematic structural diagram of an electronic device provided by an embodiment of the present invention. Detailed implementation manners

[0062] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Usually, the components of the embodiments of the present invention described and shown in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but only represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0063] Considering that the paths planned by the current path planning methods are not optimal, and the flexibility and accuracy of path planning are not high. Based on this, the embodiments of the present invention provide a route planning method and device based on route increment, which will be described below through embodiments.

[0064] An embodiment of the present invention provides a route planning method based on route increment, which can be applied to various business scenarios, such as urban garbage collection scenarios, logistics and transportation scenarios, and emergency material distribution scenarios, etc. And in each scenario, corresponding path planning can be carried out according to different requirements. For example, in the garbage collection scenario, not only the shortest path and the shortest driving time need to be achieved, but also the largest amount of garbage collected on the planned path needs to be achieved, etc. When returning to the vehicle yard after collecting the garbage, only the distance or time of the path needs to be considered. And the present invention can be flexibly adjusted according to different situations.

[0065] The following takes the garbage collection and transportation system as a specific application scenario to elaborate on the path planning process in various situations, as Figure 1 shown, the garbage collection and transportation system includes an in-vehicle client 103, a data collection terminal 101, and a remote server terminal 102. The data collection terminal 101 is arranged at each garbage point to collect the amount of garbage at each garbage point. The remote server terminal 102 is used to plan the route and send the planned path to the in-vehicle client 103 for the driver to drive according to the planned route.

[0066] Based on this garbage collection and transportation system, the path planning processes in different demand scenarios are respectively described. For example, when only considering the distance or time of the path, a route planning method based on route increment is provided. The execution subject of this method is the remote server terminal, as Figure 2 shown, this method includes the following steps:

[0067] Step S201: Obtain the distance information between every two known path points in the target operation area.

[0068] In this step, the path points include the starting point, the ending point of the path, and the path points between the starting point and the ending point. In the garbage collection and transportation scenario, the starting point can be, for example, the sanitation vehicle parking yard, the ending point is the garbage treatment plant, and the path points between the starting point and the ending point are each garbage point.

[0069] In an example, the location information and road condition information of each path point can be obtained by calling the API interfaces of various map software. The distance between every two path points is determined according to the location information, and a point-to-point distance data set and a point-to-point road condition data set are respectively constructed based on the distance between every two points and the road condition information.

[0070] It should be noted that the distances between the path points stored in the point pair dataset are two-way distances. For example, the distances between path point a and path point b are the distances from a to b and from b to a respectively. This is because in the actual road, the actual distances when returning from the end point to the starting point and when going from the starting point to the end point are different. By pre-storing the two-way distances, the distances in the required directions can be read according to the needs. For example, when the vehicle factory is the starting point and the processing factory is the end point, the distance from a to b can be called; when the processing factory is the starting point and the vehicle factory is the end point, the data from b to a can be called.

[0071] Step S202: Determine the initial route and the distance of the initial route according to the distance information and road condition information between the starting point and the end point.

[0072] In this step, an initial route is constructed with the starting point and the end point as endpoints, and the distance of the initial route and the estimated driving duration of the initial route are determined.

[0073] Step S203: Based on the preset first route increment rule, add the path points between the starting point and the end point to the initial route one by one to obtain the target planned route;

[0074] The preset first route increment rule is as follows:

[0075] Calculate the path distance increment: For each path point not yet added to the initial route, calculate the path distance increment when inserting it into different positions of the current route according to the distance information between the path points and the distance of the current route.

[0076] Among them, when adding the path point for the first time, the current route is the initial route constructed by the starting point and the end point; when adding the path point for the second time and later, the current route is the most recently updated route.

[0077] Select the path point and the insertion position: Select the path point with the minimum path distance increment and the insertion position of the path point corresponding to the minimum path distance increment.

[0078] Update the route: Add the selected path point to the current route according to the selected insertion position to obtain the updated route and the updated route distance.

[0079] Repeat the iteration: Determine whether the preset stop increment condition is satisfied. If not, continue to repeat the process of calculating the path distance increment to updating the route for the remaining path points until the preset stop increment condition is satisfied. The preset stop increment condition is at least one of the following: all path points have been added to the initial route, the preset carrying duration of the vehicle is reached.

[0080] In the embodiments of the present invention, the initial path is gradually extended in an incremental manner, and the optimal path points are recalculated in each incremental process, which improves the optimization accuracy of the path. Moreover, the route can be planned according to different scenarios and requirements, such as the shortest route distance, maximizing the vehicle load, etc., increasing the flexibility.

[0081] Based on the above embodiments, the current route consists of several segments of paths, and each segment of path corresponds to an insertion position of a path point. The calculation process of the path distance increment at each insertion position includes:

[0082] Step S2031: Calculate the sum of the distances between the path point to be inserted and the path points at both ends of the path segment corresponding to each insertion position, which is called the new path distance.

[0083] Step S2032: Calculate the difference between the new path distance at each insertion position and the path segment corresponding to this insertion position, and determine this difference as the path distance increment at each insertion position.

[0084] To make the calculation process of the path distance increment clearer, a specific example is given below. Assume that the initial route consists of a starting point a and an ending point z, the path length is az, and there are multiple garbage points to be added, such as b, c, d, and these points have different amounts of garbage.

[0085] First step: Select a point from b, c, d and add it to the initial path. Calculate the distance increments when adding b, c, d respectively, as follows:

[0086] abz (point b is inserted between path points a and z): The increment calculation is ab + bz - az.

[0087] acz (point c is inserted between path points a and z): The increment calculation is ac + cz - az.

[0088] adz (point d is inserted between path points a and z): The increment calculation is ad + dz - az.

[0089] Assume that b is added to the initial path, and the path will become abz.

[0090] Second step: Continue to select the point with the smallest distance increment from the remaining points c, d and add it.

[0091] After the path becomes abz, the next step is to add point c or d. The distance increment calculations for c and d at different insertion positions are as follows:

[0092] acb (point c is inserted between path points a and b): The increment calculation is ac + cb - ab.

[0093] bcz (c is inserted between path points b and z): The increment is calculated as bc + cz - bz.

[0094] adb (d is inserted between path points a and b): The increment is calculated as ad + db - ab.

[0095] bdz (d is inserted between path points b and z): The increment is calculated as bd + dz - bz.

[0096] Assume that the distance increment of acb is the smallest, then the final planned route is acbz, and the insertion position is between a and b.

[0097] Based on the above embodiments, after calculating the difference between the newly added path distance of each insertion position and the path segment corresponding to the insertion position, and determining the path distance increment of each insertion position, the method further includes:

[0098] Determine the road condition weights of each path segment based on the road condition information of each path segment in the current route;

[0099] Redetermine the road condition distance increment based on the product of the path distance increment of each insertion position and the road condition weight of the path segment corresponding to the insertion position.

[0100] The road condition information reflects the congestion situation of the current path segment, and thus reflects the problem of transportation duration. By configuring weights according to the road condition information, for example, setting the weight of a congested section lower than that of a smooth section, it is possible to preferably select non-congested sections as much as possible, reduce transportation time, and improve transportation efficiency.

[0101] In a feasible implementation, a weight configuration pop-up window can also be sent in the vehicle-mounted client, and the user can configure the weights by themselves. In this way, both road condition factors and distance factors are considered, making the planned path more optimized and accurate.

[0102] Continuing with the previous example, in the garbage collection scenario, not only the shortest path and the shortest driving time need to be achieved, but also the largest amount of garbage collected on the planned path. Therefore, the embodiments of the present invention provide a route planning method based on route increment, as Figure 3 shown, the method includes the following steps:

[0103] Step S301: Obtain the distance information between all known path points in the target operation area in pairs and the path load of each path point.

[0104] In this step, the path points include the starting point, the ending point of the path, and the path points between the starting point and the ending point; the path load is at least one of the following: garbage weight, cargo weight.

[0105] Step S302: Determine the initial route and the distance of the initial route based on the distance information between the starting point and the ending point.

[0106] Step S303: Based on the preset second route increment rule, add the path points between the starting point and the ending point to the initial route one by one to obtain the target planned route.

[0107] For the explanations of the steps in the embodiments of the present invention, refer to the previous embodiment, which will not be elaborated here.

[0108] The preset second route increment rule is as follows:

[0109] Calculate the path distance increment: For each path point not yet added to the initial route, calculate the path distance increments when inserting it at different positions in the current route according to the distance information between pairwise path points and the distance of the current route.

[0110] Calculate the multi-load of the unit path distance increment: Calculate the multi-load of the unit path increment when each path point is inserted at different positions according to the path distance increment and the load of each path point. The multi-load of the unit path increment represents the path load collected more per unit path increment.

[0111] Select the path point and the insertion position: Select the path point with the maximum multi-load of the unit path distance increment and the insertion position corresponding to the maximum multi-load of the unit path distance increment.

[0112] Update the route: Add the selected path point to the current route according to the selected insertion position to obtain the updated route and the updated route distance.

[0113] Repeat the iteration: Determine whether the preset stop increment condition is satisfied. If not, continue to repeat the process of calculating the path increment to updating the route for the remaining path points until the preset stop increment condition is satisfied. The preset stop increment condition is at least reaching the full load weight of the vehicle.

[0114] Among them, the method for determining whether the full load weight of the vehicle is reached is as follows: When adding a garbage point position, cumulatively calculate the garbage amount of the garbage point position to be added and the garbage amounts collected by each garbage point on the current route, and compare the cumulative total with the preset full load weight of the vehicle. If it is greater than the preset full load weight, it means that the full load weight of the vehicle is reached, and adding this path point is not considered; if it is less than the preset full load weight, it means that the full load weight of the vehicle is not reached, and adding this garbage point position can be considered.

[0115] In a feasible embodiment, when designing a computer program to run the embodiments of the present invention, the second route increment rule can be converted into the first route increment plan through a degradation strategy. In one example, the degradation strategy is to set the garbage amount to 0 and only consider the minimum distance increment, thus transforming it into a standard path problem that does not consider the vehicle load limit. Through the degradation strategy, it is possible to adapt to both scenarios with load limits and without load limits, and flexibly adjust the path planning algorithm.

[0116] The embodiments of the present invention gradually extend the initial path in an incremental manner. Each incremental process recalculates the optimal path points, improving the optimization accuracy of the path. Moreover, it is also possible to plan the route according to different scenarios and requirements, such as the shortest route time, the shortest distance, maximizing the vehicle load, etc., increasing the flexibility.

[0117] Based on the above embodiments, calculating the multi-load of the unit path distance increment when each path point is inserted at different positions according to the path distance increment and the load of each path point includes:

[0118] According to the path distance increment and the load of each path point, calculate the multi-load of the unit path distance increment when each path point is inserted at different positions through the following formula, and the calculation formula is:

[0119]

[0120] Among them, unitExtraLoad represents the multi-load of the unit path distance increment; LoadAmount represents the path load of the path point to be inserted; DistanceIncrement represents the path distance increment when the path point to be inserted is inserted at different positions of the current route.

[0121] Based on the above embodiments, the current route consists of several path segments, and each path segment corresponds to an insertion position of a path point. The calculation process of the path distance increment at each insertion position includes:

[0122] Calculate the sum of the distances between the path point to be inserted and the path points at both ends of the path segment corresponding to each insertion position, which is called the new path distance;

[0123] Calculate the difference between the new path distance at each insertion position and the path segment corresponding to that insertion position, and determine this difference as the path distance increment at each insertion position.

[0124] Based on the above embodiments, when all path points are not included in the final planned route, the method further includes:

[0125] Step S304: Eliminate the planned path points to obtain the remaining path points.

[0126] Step S305: Among the remaining path points, based on a preset second route increment rule, add the remaining path points between the route start point and the route end point to the initial route one by one to obtain a new target planned route, and form multiple planned routes for the target operation area together with the original target planned route.

[0127] In garbage collection and transportation, if there are still garbage points not planned, it means that the garbage at these points has not been collected and transported yet, and new vehicles need to be dispatched. When new vehicles plan routes, by deleting the planned path points, the time and complexity of path planning can be reduced.

[0128] In addition, in the embodiment of the present invention, after calculating the difference between the new path distance at each insertion position and the path segment corresponding to this insertion position, and determining the path distance increment for each insertion position, the method further includes:

[0129] Determine the road condition weights for each path segment based on the road condition information of each path segment in the current route;

[0130] Redetermine the road condition distance increment based on the product of the path distance increment at each insertion position and the road condition weight of the path segment corresponding to this insertion position.

[0131] Furthermore, the planned route of the path can also be optimized by referring to the road condition information.

[0132] Based on the same inventive concept, a route planning device based on route increment is provided, as Figure 4 shown. The device includes:

[0133] An acquisition unit, configured to acquire the distance information between all known path points in the target operation area in pairs and the path load of each path point. The path points include the start point, end point of the path, and the path points between the start point and the end point; the path load is at least one of the following: garbage weight, cargo weight;

[0134] A determination unit, configured to determine the initial route and the distance of the initial route according to the distance information of the start point and the end point;

[0135] An addition unit, configured to add the path points between the start point and the end point to the initial route one by one based on a preset second route increment rule to obtain a target planned route;

[0136] The preset second route increment rule is:

[0137] Calculate the path distance increment: For each path point not added to the initial route, calculate the path distance increment when it is inserted into different positions of the current route according to the distance information between path points in pairs and the distance of the current route;

[0138] Calculate the multi-load of the unit path distance increment: Calculate the multi-load of the unit path increment when each path point is inserted at different positions according to the path distance increment and the load of each path point. The multi-load of the unit path increment represents the path load collected more when the unit path increment is increased by one unit.

[0139] Select the path point and the insertion position: Select the path point with the largest multi-load of the unit path distance increment and the insertion position corresponding to the largest multi-load of the unit path distance increment.

[0140] Update the route: Add the selected path point to the current route according to the selected insertion position to obtain the updated route and the updated route distance.

[0141] Repeat iteration: Determine whether the preset stop increment condition is satisfied. If not, continue to repeat the process of calculating the path increment to updating the route for the remaining path points until the preset stop increment condition is satisfied. The preset stop increment condition is at least reaching the full load weight of the vehicle.

[0142] Based on the same technical concept, an embodiment of the present invention also provides an electronic device, as Figure 5 shown, including a processor 501, a communication interface 502, a memory 503, and a communication bus 504. Among them, the processor 501, the communication interface 502, and the memory 503 complete mutual communication through the communication bus 504.

[0143] The memory 503 is used to store computer programs.

[0144] The processor 501 is used to implement the steps of the route planning method based on route increment when executing the program stored on the memory 503.

[0145] The communication bus mentioned in the above electronic device may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, only a thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0146] The communication interface is used for communication between the above electronic device and other devices.

[0147] The memory may include a Random Access Memory (RAM), or may also include a Non-Volatile Memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0148] The aforementioned processor may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0149] The computer program product for performing route planning based on route increment provided by an embodiment of the present invention includes a computer-readable storage medium storing program code, and the instructions included in the program code can be used to execute the method described in the foregoing method embodiment. For specific implementation, reference can be made to the method embodiment, which will not be elaborated here.

[0150] The device for route planning based on route increment provided by an embodiment of the present invention may be specific hardware on the device, or software or firmware installed on the device, etc. For the device provided by an embodiment of the present invention, the implementation principle and the technical effects produced are the same as those of the foregoing method embodiment. For the sake of brief description, for the parts not mentioned in the device embodiment, reference can be made to the corresponding content in the foregoing method embodiment. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the foregoing-described system, device, and unit can all refer to the corresponding processes in the above method embodiment, which will not be elaborated here.

[0151] In the embodiments provided by the present invention, it should be understood that the disclosed device and method can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. Another example is that 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 displayed or discussed mutual coupling, direct coupling, or communication connection may be through some communication interfaces, and the indirect coupling or communication connection of the device or unit may be in an electrical, mechanical, or other form.

[0152] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0153] In addition, each functional unit in the embodiments provided by the present invention may be integrated into a processing unit, may exist physically separately for each unit, or two or more units may be integrated into one unit.

[0154] If the described function 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 such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a 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 may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0155] It should be noted that: similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0156] Finally, it should be noted that: the above-described embodiments are only specific implementation manners of the present invention, used to illustrate the technical solutions of the present invention, rather than limiting it. The protection scope of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: any person skilled in the art within the technical scope disclosed by the present invention can still modify the technical solutions described in the foregoing embodiments or can easily think of changes, or perform equivalent replacements for some of the technical features; and these modifications, changes, or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention. All should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A route planning method based on route increment, characterized in that: The method comprises: Obtaining distance information between all known path points in the target operation area, wherein the path points include a starting point, an end point, and path points between the starting point and the end point; Determining an initial route and the distance of the initial route according to the distance information between the starting point and the end point; Based on a preset first route incremental rule, the path points between the starting point and the end point are added to the initial route one by one to obtain a target planned route; The preset first route increment rule is: Calculate the path distance increment: For each path point that is not included in the initial route, calculate the path distance increment when inserting it into different positions of the current route based on the distance information between each path point and the distance of the current route; Select path point and insertion position: select the path point with the minimum path distance increment and the insertion position of the path point corresponding to the minimum path distance increment; Update route: add the selected path point to the current route according to the selected insertion position to obtain an updated route and an updated route distance; Repeated iteration: Determine whether the preset stop increment condition is met. If not, continue to repeat the above process of calculating the path distance increment to update the route for the remaining path points until the preset stop increment condition is met. The preset stop increment condition is at least one of the following: all path points are added to the initial route and the preset transportation time of the vehicle is reached.

2. The method according to claim 1, characterized in that The current route is composed of several path segments, each path segment corresponds to an insertion position of a path point, and the calculation process of the path distance increment of each insertion position includes: Calculate the sum of the distances between the path point to be inserted and the path points at both ends of the path segment corresponding to each insertion position, which is called the newly added path distance; The difference between the newly added path distance of each insertion position and the path segment corresponding to the insertion position is calculated, and the difference is determined as the path distance increment of each insertion position.

3. The method according to claim 2, characterized in that After calculating the difference between the newly added path distance of each insertion position and the path segment corresponding to the insertion position, and determining the difference as the path distance increment of each insertion position, the method further includes: Determine the traffic weight of each path segment based on the traffic information of each path segment in the current route; The traffic condition distance increment is re-determined based on the product of the path distance increment of each insertion position and the traffic condition weight of the path segment corresponding to the insertion position.

4. A route planning method based on route increment, characterized in that: The method comprises: Obtaining distance information between all known path points in the target operation area and path load of each path point, wherein the path points include the starting point, the end point and the path points between the starting point and the end point; the path load is at least one of the following: garbage weight, cargo weight; Determining an initial route and the distance of the initial route according to the distance information of the starting point and the end point; Based on a preset second route incremental rule, the path points between the starting point and the end point are added to the initial route one by one to obtain a target planned route; The preset second route increment rule is: Calculate the path distance increment: For each path point that is not included in the initial route, calculate the path distance increment when inserting it into different positions of the current route based on the distance information between the path points and the distance of the current route; Calculating the multi-load per unit path distance increment: calculating the multi-load per unit path increment when each path point is inserted into different positions according to the path distance increment and the load of each path point, wherein the multi-load per unit path increment represents the additional path load collected when each unit path increment is increased; Selecting a path point and an insertion position: selecting a path point of multiple loads with a maximum unit path distance increment and an insertion position of the path point corresponding to the multiple loads with the maximum unit path distance increment; Update route: add the selected path point to the current route according to the selected insertion position to obtain an updated route and an updated route distance; Repeated iteration: Determine whether the preset stop increment condition is met. If not, continue to repeat the above process of calculating the path distance increment to update the route for the remaining path points until the preset stop increment condition is met. The preset stop increment condition is at least reaching the full load weight of the vehicle.

5. The method according to claim 4, characterized in that The method of calculating the multi-load of the unit path distance increment when each path point is inserted into different positions according to the path distance increment and the load of each path point includes: The multiple loads per unit path distance increment when each path point is inserted into different positions are calculated by a preset calculation formula according to the path distance increment and the load of each path point. The calculation formula is: Among them, unitExtraLoad represents the multi-load per unit path distance increment; LoadAmount represents the path load of the path point to be inserted; DistanceIncrement represents the path distance increment when the path point to be inserted is inserted into different positions of the current route.

6. The method according to claim 4, characterized in that The current route is composed of several path segments, each path segment corresponds to an insertion position of a path point, and the calculation process of the path distance increment of each insertion position includes: Calculate the sum of the distances between the path point to be inserted and the path points at both ends of the path segment corresponding to each insertion position, which is called the newly added path distance; The difference between the newly added path distance of each insertion position and the path segment corresponding to the insertion position is calculated, and the difference is determined as the path distance increment of each insertion position.

7. The method according to claim 4, characterized in that When the final planned route does not include all the waypoints, the method further includes: Eliminate the planned path points to obtain the remaining path points; Among the remaining path points, based on the preset second route incremental rule, the remaining path points between the starting point and the end point are added one by one to the initial route to obtain a new target planned route, and together with the original target planned route, multiple planned routes for the target operation area are formed.

8. A route planning device based on route increment, characterized in that: The device comprises: An acquisition unit is used to acquire distance information between all known path points in the target operation area and path load of each path point, wherein the path points include a starting point, an end point, and path points between the starting point and the end point; the path load is at least one of the following: garbage weight, cargo weight; A determination unit, configured to determine an initial route and a distance of the initial route according to the distance information of the starting point and the end point; An adding unit, configured to add the path points between the starting point and the end point to the initial route one by one based on a preset second route increment rule to obtain a target planned route; The preset second route increment rule is: Calculate the path distance increment: For each path point that is not included in the initial route, calculate the path distance increment when inserting it into different positions of the current route based on the distance information between the path points and the distance of the current route; Calculating the multi-load per unit path distance increment: calculating the multi-load per unit path increment when each path point is inserted into different positions according to the path distance increment and the load of each path point, wherein the multi-load per unit path increment represents the additional path load collected when each unit path increment is increased; Selecting a path point and an insertion position: selecting a path point of multiple loads with a maximum unit path distance increment and an insertion position of the path point corresponding to the multiple loads with the maximum unit path distance increment; Update route: add the selected path point to the current route according to the selected insertion position to obtain an updated route and an updated route distance; Repeated iteration: Determine whether the preset stop increment condition is met. If not, continue to repeat the above process of calculating the path distance increment to update the route for the remaining path points until the preset stop increment condition is met. The preset stop increment condition is at least reaching the full load weight of the vehicle.

9. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor, for implementing the method steps described in any one of claims 1 to 7 when executing a program stored in a memory.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method steps described in any one of claims 1 to 7 are implemented.

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