Path planning method and system for engineering machinery vehicle

Abstract

The invention relates to the technical field of intelligent traffic and automatic control. The invention provides a path planning method and system for an engineering machinery vehicle. The method comprises the following steps: obtaining geographic data information of a construction site and actual parameters of the engineering machinery vehicle; based on the geographic data information of the construction site, preliminarily planning the driving path of the engineering machinery vehicle to obtain an initial driving path; according to the actual condition of the construction site and the actual parameters of the engineering machinery vehicle, the initial driving path is optimized, and an optimized driving path is obtained; key nodes are arranged on the driving optimization path, and a corresponding operation guide is formulated for each key node; and inputting the driving optimization path and the operation guide into a navigation system of the engineering machinery vehicle for reference of a driver or execution of an automatic driving system. The problem that an existing path planning method neglects complexity and dynamic nature of a construction site and does not fully consider actual parameters of engineering machinery vehicles, so that the application effect is poor is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent transportation and automation control. Specifically, it relates to a path planning method and system for construction machinery vehicles. Background Art

[0002] In modern construction projects, construction machinery vehicles play a crucial role. They are responsible for various tasks such as material transportation, site leveling, excavation, and compaction. With the continuous expansion and increasing complexity of the construction site, how to efficiently and safely schedule and manage these construction machinery vehicles has become an urgent problem to be solved. Traditional scheduling of construction machinery vehicles often relies on the experience and intuition of on-site managers, lacking scientificity and precision. This not only leads to unreasonable vehicle driving paths, increasing construction costs and time, but may also cause safety accidents due to improper path planning. Therefore, it is particularly important to develop a path planning method based on the actual situation of the construction site and the actual parameters of construction machinery vehicles.

[0003] Currently, although some path planning methods have been applied to the scheduling of construction machinery vehicles, most of these methods focus on theoretical optimization and ignore the complexity and dynamics of the construction site. For example, some methods only perform path planning based on geographical coordinates, ignoring actual factors such as the terrain, obstacles, and traffic conditions of the construction site. In addition, these methods also fail to fully consider the actual parameters of construction machinery vehicles, such as vehicle size, load capacity, and driving speed, resulting in poor performance of the planned paths in actual applications. Summary of the Invention

[0004] The purpose of the present invention is to provide a path planning method and system for construction machinery vehicles, aiming to solve the problem that the existing path planning methods ignore the complexity and dynamics of the construction site and do not fully consider the actual parameters of construction machinery vehicles, resulting in poor application effects.

[0005] The present invention is achieved through the following technical solutions:

[0006] A path planning method for construction machinery vehicles includes the steps of:

[0007] Obtain the geographical data information of the construction site and the actual parameters of the construction machinery vehicle;

[0008] Based on the geographical data information of the construction site, preliminarily plan the driving path of the construction machinery vehicle to obtain an initial driving path;

[0009] According to the actual situation of the construction site and the actual parameters of the construction machinery vehicle, optimize the initial driving path to obtain an optimized driving path;

[0010] Set key nodes on the optimized driving path and formulate corresponding operation guides for each key node;

[0011] Input the optimized driving path and operation guides into the navigation system of the construction machinery vehicle for the driver to refer to or for the automatic driving system to execute.

[0012] Optionally, the specific process of initially planning the driving path of the construction machinery vehicle based on the geographical data information of the construction site to obtain the initial driving path is as follows:

[0013] Collect the geographical data information of the construction site through a geographic information system or drone aerial photography; according to the geographical data information of the construction site, use a path planning algorithm to initially plan the driving path of the construction machinery vehicle to obtain the initial driving path.

[0014] Optionally, the path planning algorithm is a global path planning algorithm.

[0015] Optionally, the specific process of optimizing the initial driving path according to the actual conditions of the construction site and the actual parameters of the construction machinery vehicle to obtain the optimized driving path is as follows:

[0016] According to the actual condition information data of the construction site, combined with the actual parameters of the construction machinery vehicle, use a local path planning algorithm to optimize the initial driving path to obtain the optimized driving path; among them, the actual condition information data of the construction site includes the size of the obstacles, the position change of the obstacles, the road construction status, and the changes in the terrain and landform of the construction site; the actual parameters of the construction machinery vehicle include the actual size of the vehicle, the turning radius, the driving speed, and the climbing ability.

[0017] Optionally, conduct a simulation test on the optimized driving path to verify the feasibility and safety of the optimized driving path.

[0018] Optionally, the specific process of conducting a simulation test on the optimized driving path to verify the feasibility and safety of the optimized driving path is as follows:

[0019] Through 3D simulation software or virtual reality technology, construct a virtual scene corresponding to the actual construction environment according to the geographical data information of the construction site, the obstacle distribution, the actual parameters of the construction machinery vehicle, and the optimized driving path; in the virtual scene, simulate the driving process of the construction machinery vehicle along the optimized driving path; monitor and record various parameters of the construction machinery vehicle during the driving process; according to the results of the simulation test, adjust and optimize the optimized driving path until the requirements of construction efficiency and safety are met.

[0020] Optionally, the specific process of setting key nodes on the optimized driving path and formulating corresponding operation guides for each key node is as follows:

[0021] Set corresponding key nodes according to the turning points, obstacles and construction area locations on the optimized driving path; for each key node, formulate corresponding operation guides according to the actual operation requirements of the construction machinery vehicle and the actual situation of the construction site; wherein, the operation guides include the operation steps, precautions and safety tips of the vehicle.

[0022] Optionally, the specific process of inputting the driving optimized path and operation guides into the navigation system of the construction machinery vehicle for the driver's reference is as follows:

[0023] Transmit the optimized and verified driving optimized path data, as well as the detailed operation guides formulated for the driving optimized path, to the navigation system of the construction machinery vehicle through a data interface or wireless communication; through the navigation system, display the driving optimized path in a visual form to the driver, and provide the operation guides to the driver in the form of text, icons or voice prompts for reference.

[0024] Optionally, the specific process of inputting the driving optimized path and operation guides into the navigation system of the construction machinery vehicle for the autonomous driving system to execute is as follows:

[0025] For a construction machinery vehicle equipped with an autonomous driving system, read and execute the driving optimized path data through the autonomous driving system, and perform autonomous driving operations according to the instructions in the operation guides; monitor the vehicle driving status in real time through the navigation system, and compare the real-time data with the driving optimized path and operation guides. If there are deviations or abnormal situations, an alarm will be issued and corrective suggestions will be provided.

[0026] The present invention also provides a path planning system for a construction machinery vehicle, which is used to implement the path planning method of the construction machinery vehicle, including:

[0027] A data acquisition module, which is used to obtain the geographical data information of the construction site and the actual parameters of the construction machinery vehicle;

[0028] A preliminary planning module, which is used to preliminarily plan the driving path of the construction machinery vehicle by using a path planning algorithm based on the geographical data information of the construction site to obtain an initial driving path;

[0029] An optimization processing module, which is used to optimize the initial driving path by using a local path planning algorithm according to the actual situation information data of the construction site and the actual parameters of the construction machinery vehicle to obtain a driving optimized path;

[0030] A node setting module, which is used to set key nodes on the driving optimized path and formulate corresponding operation guides for each key node;

[0031] A simulation test module, which is used to construct a virtual scene corresponding to the actual construction environment according to the actual situation of the construction site and the optimized driving path, simulate the driving process of the construction machinery vehicle along the optimized driving path, monitor and record various parameters of the construction machinery vehicle during the driving process, and adjust and optimize the optimized driving path according to the results of the simulation;

[0032] A navigation system module, which is used to input the optimized driving path and operation guide into the navigation system of the construction machinery vehicle for the driver to refer to or for the automatic driving system to execute.

[0033] The technical solution of the present invention has at least the following advantages and beneficial effects:

[0034] Improve construction efficiency: By accurately obtaining the geographical data information of the construction site and the actual parameters of the construction machinery vehicle, a driving path that better fits the actual situation can be formulated, which not only reduces unnecessary driving time but also avoids construction delays caused by unreasonable paths, thus significantly improving the overall construction efficiency.

[0035] Optimize resource utilization: Through the optimization of the initial driving path, an optimized driving path is obtained, which fully considers the actual situation of the construction site and the performance characteristics of the construction machinery vehicle, ensuring the feasibility and efficiency of the path, helping to reasonably allocate construction resources such as fuel, manpower, and time, and reducing resource waste.

[0036] Enhance safety: Key nodes are set on the optimized driving path, and corresponding operation guides are formulated for each key node, providing clear driving instructions and operation suggestions for the driver. This not only helps the driver better master the key points during the driving process but also effectively avoids safety accidents caused by improper operations, thus improving the safety during the construction process.

[0037] Improve the automation level: By inputting the optimized driving path and operation guide into the navigation system of the construction machinery vehicle, the execution of the automatic driving system can be realized or for the driver to refer to. This not only improves the automation level of the construction machinery vehicle, reduces the complexity and difficulty of manual operations, but also provides more convenient and accurate navigation support for the driver.

[0038] Strong adaptability: Fully considering the complexity and variability of the construction site, by real-time obtaining the geographical data information of the construction site and the actual parameters of the construction machinery vehicle, the driving path and operation guide can be flexibly adjusted, with strong adaptability and flexibility, and can cope with various complex construction environments and task requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic flow chart of the path planning method for the construction machinery vehicle in Embodiment 1 of the present invention;

[0040] Figure 2 This is a schematic structural diagram of the path planning system for a construction machinery vehicle according to Embodiment 2 of the present invention. Detailed implementation manners

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. Apparently, the described embodiments are some but not all of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated herein can be arranged and designed in various different configurations.

[0042] Embodiment 1

[0043] Referring to Figure 1 , a path planning method for a construction machinery vehicle, characterized by comprising the steps of:

[0044] Step 1: Obtain the geographical data information of the construction site and the actual parameters of the construction machinery vehicle.

[0045] In this embodiment, through the Geographic Information System (GIS) technology, basic information such as the precise geographical coordinates, topography, and road network of the construction site can be obtained. This information is presented in the form of digital maps or satellite images, providing basic data for subsequent path planning. Using a drone to conduct an aerial survey of the construction site can obtain high-resolution on-site images and video materials. These materials help to identify detailed information such as obstacles, construction areas, and road conditions at the construction site, providing a more intuitive basis for path planning. When necessary, professional personnel can also be dispatched to the construction site for on-site investigation to obtain more accurate and comprehensive geographical data information. The detailed technical parameters of the vehicle, including vehicle dimensions (length, width, height), load capacity, driving speed, turning radius, climbing ability, etc., can be obtained from the manufacturer of the construction machinery vehicle. By consulting the maintenance records of the construction machinery vehicle, understanding the actual usage and maintenance conditions of the vehicle helps to evaluate the actual performance of the vehicle at the construction site and provides more accurate vehicle parameters for path planning. When necessary, on-site tests can be conducted on the construction machinery vehicle to obtain more accurate performance parameters. For example, the driving speed and climbing ability of the vehicle under specific road conditions can be tested.

[0046] Step 2: Based on the geographical data information of the construction site, preliminarily plan the driving path of the construction machinery vehicle to obtain an initial driving path.

[0047] In this embodiment, the specific process of preliminarily planning the driving path of the construction machinery vehicle based on the geographical data information of the construction site to obtain an initial driving path is as follows:

[0048] Collect geographical data information of the construction site through a geographic information system or drone aerial photography; according to the geographical data information of the construction site, use a path planning algorithm to preliminarily plan the driving path of the construction machinery vehicle to obtain an initial driving path.

[0049] In this embodiment, the path planning algorithm is a global path planning algorithm. The Dijkstra algorithm, A* algorithm, Floyd-Warshall algorithm, etc. can be used to obtain the initial driving path. In this embodiment, the A* algorithm is taken as an example:

[0050] Convert the geographical data information of the construction site into a graph structure, where nodes represent possible driving positions (such as road intersections, obstacle edges, etc.), edges represent feasible path segments between nodes, assign a coordinate (x, y) to each node, and a flag indicating whether the node has been visited. The heuristic function selects the straight-line distance from the current node to the target node, that is, the Euclidean distance. Let the current node be n and the target node be g, then the heuristic function is shown in the following formula (1):

[0051]

[0052] where h(n) represents the heuristic function, (x n , y n ) represents the coordinates of the current node, (x g , y g ) represents the coordinates of the target node. The open list contains nodes to be evaluated, initially only containing the starting point, and the closed list contains evaluated nodes, initially empty. Select the node n with the lowest f(n) value from the open list, where f(n) = g(n) + h(n), and g(n) is the actual cost from the starting point to node n, such as the path length. Add the node to the closed list. If the node is the target node, the path planning is successful and the path is returned. Otherwise, for each neighbor node m of node n, if m is in the closed list, skip it; if m is not in the open list, add it to the open list and calculate f(m); if m is already in the open list, but the new path's g(m) value is smaller, update the g(m) value and the parent node of m. Starting from the target node, backtrack to the starting point through the parent node pointer to construct a complete path to obtain the initial driving path.

[0053] Step Three: Optimize the initial driving path according to the actual conditions of the construction site and the actual parameters of the construction machinery vehicle to obtain an optimized driving path.

[0054] In this embodiment, the specific process of optimizing the initial driving path according to the actual conditions of the construction site and the actual parameters of the construction machinery vehicle to obtain an optimized driving path is as follows:

[0055] According to the actual situation information data of the construction site and combining with the actual parameters of the construction machinery vehicle, the initial driving path is optimized through the local path planning algorithm to obtain the optimized driving path; among them, the actual situation information data of the construction site includes the size of the obstacle, the position change of the obstacle, the road construction status, and the change of the terrain and landform of the construction site; the actual parameters of the construction machinery vehicle include the actual size of the vehicle, the turning radius, the driving speed, and the climbing ability.

[0056] In this embodiment, the dynamic window method (DWA) is used as the local path planning algorithm. Define the speed window of the construction machinery vehicle at the current moment, including the range of linear velocity and angular velocity, that is, (v i , ω i ), where v i represents the linear velocity and ω i represents the angular velocity. For each speed window (v i , ω i ), predict the trajectory of the vehicle within a future period T, that is, calculate a series of position points (x t , y t ), where t is the time step, and the expression of the trajectory prediction is shown in the following formula (2):

[0057]

[0058] Among them, (x0, y0) represents the current position coordinates of the construction machinery vehicle, and θ represents the current orientation angle. Define the cost function, considering factors such as obstacle avoidance, path smoothness, and driving efficiency. The expression of the cost function is shown in the following formula (3):

[0059] J = α·d obstacle + β·d smooth + γ·d efficiency (3)

[0060] Among them, d obstacle represents the distance between the construction machinery vehicle and the obstacle, d smooth represents the path smoothness index, d efficiency represents the driving efficiency index, and α, β, and γ represent the weight coefficients. Among all speed windows, select the speed window with the minimum cost function. In order to judge whether the construction machinery vehicle meets the spatial position requirements of the construction site, set the corresponding spatial position constraint conditions. The spatial position constraint conditions are shown in the following formula (4):

[0061]

[0062] Among them, L C , S C , H C respectively represent the length, width, and height of the construction machinery vehicle, SC , H C respectively represent the restricted width and restricted height of the path, and L P represents the restricted length calculated according to the minimum turning radius of the construction machinery vehicle. Let the minimum turning radius of the construction machinery vehicle be R min , and the radius of curvature of the path be R path , and R path ≥R min . The radius of curvature can be calculated from the coordinates of adjacent nodes on the path. The path consists of a series of coordinate points (x i , y i ). Then, for two adjacent points (x i , y i ) and (x i+1 , y i+1 ), the expression for the radius of curvature R i is shown in Equation (5) below:

[0063]

[0064] where θ i and θ i+1 respectively represent the angles between the lines connecting the points (x i , y i ) and (x i+1 , y i+1 ) to the origin. The global constraint for the minimum turning radius R min is shown in Equation (6) below:

[0065]

[0066] To ensure that the construction machinery vehicle does not exceed the width of the path during turning, a safety margin can be preset. This safety margin takes into account factors such as the lateral swing, positioning error, and path width variation of the construction machinery vehicle, and can be expressed as shown in Equation (7) below:

[0067] L P +2·ΔS ≤ S P (7)

[0068] where ΔS represents the safety margin. For each obstacle on the path, it is necessary to ensure that the construction machinery vehicle maintains a certain safety distance d safe from it. Let the position of the obstacle be (x b , y b ), and the position of the construction machinery vehicle be (x c , y c ). Then, the avoidance constraint condition is shown in Equation (8) below:

[0069]

[0070] Solve according to the above constraints, and find the path that satisfies all constraints as the driving optimization path.

[0071] In this embodiment, a simulation test is carried out on the driving optimization path to verify the feasibility and safety of the driving optimization path. The specific process is as follows:

[0072] Through 3D simulation software or virtual reality technology, construct a virtual scene corresponding to the actual construction environment according to the geographical data information of the construction site, the distribution of obstacles, the actual parameters of construction machinery vehicles, and the driving optimization path; input the actual parameters of the construction machinery vehicle (such as vehicle size, load capacity, driving speed, turning radius, etc.) into the virtual scene to ensure that the simulated vehicle has the same physical characteristics as the actual vehicle.

[0073] In the virtual scene, simulate the driving process of the construction machinery vehicle along the driving optimization path, including the simulation of various stages such as vehicle startup, acceleration, turning, deceleration, and parking. By setting different construction conditions (such as weather changes, road conditions, obstacle movement, etc.), test the driving performance of the vehicle in a complex environment.

[0074] Monitor and record various parameters of the construction machinery vehicle during the driving process, such as driving speed, acceleration, steering angle, vehicle position, etc.; at the same time, record safety performance indicators such as the distance between the vehicle and the obstacle, whether the vehicle complies with traffic rules, and whether a collision occurs.

[0075] According to the results of the simulation analysis, adjust the driving optimization path, such as modifying the turning radius, adjusting the driving speed, etc., to improve the feasibility and safety of the path; at the same time, supplement and improve the operation guide according to the problems found in the simulation to provide more accurate and comprehensive operation guidance. Adjust and optimize the driving optimization path, and conduct a simulation test on the adjusted driving optimization path and operation guide again to ensure that the improved path and guide can meet the requirements of construction efficiency and safety. If there are still deficiencies, continue to optimize and test until satisfactory results are achieved.

[0076] Step Four: Set key nodes on the driving optimization path and formulate corresponding operation guides for each key node.

[0077] In this embodiment, the specific process of setting key nodes on the optimized driving path and formulating corresponding operation guides for each key node is as follows:

[0078] Based on the turning points, obstacles, and construction area locations on the optimized driving path, corresponding key nodes are set; for each key node, according to the actual operation requirements of the construction machinery vehicle and the actual situation of the construction site, corresponding operation guides are formulated; among them, the operation guide includes the vehicle's operation steps, precautions, and safety tips.

[0079] In this embodiment, based on the already optimized driving path, important positions such as turning points, obstacle positions, and construction areas on the path are identified. These positions are determined as key nodes because they have an important impact on the driving and operation of the construction machinery vehicle. At the identified key node positions, marks are made using markers or the annotation function in the navigation system to ensure that the driver or the autonomous driving system can clearly identify these nodes. Each key node should have a unique identifier for reference in the subsequent operation guide. For each key node, according to the actual operation requirements of the construction machinery vehicle and the actual situation of the construction site, detailed operation guides are formulated. The operation guide includes the vehicle's operation steps, precautions, and safety tips at this node. For example, when approaching an obstacle, the vehicle should slow down and carefully observe the surrounding environment; when turning, a specific turning radius and speed limit should be followed. After formulating the operation guide, communication and verification should be carried out with the actual driver or the autonomous driving system to ensure the practicality and accuracy of the guide. According to the verification results, necessary adjustments and optimizations are made to the operation guide to ensure that it can meet the actual needs of the construction site.

[0080] Step Five: Input the optimized driving path and the operation guide into the navigation system of the construction machinery vehicle for the driver to refer to or for the autonomous driving system to execute.

[0081] In this embodiment, the specific process of inputting the optimized driving path and the operation guide into the navigation system of the construction machinery vehicle for the driver to refer to is as follows:

[0082] The optimized and verified driving path data, as well as the detailed operation guide formulated for the optimized driving path, are transmitted to the navigation system of the construction machinery vehicle through a data interface or wireless communication; through the navigation system, the optimized driving path is visually displayed to the driver, and the operation guide is provided to the driver in the form of text, icons, or voice prompts for reference.

[0083] In this embodiment, the specific process of inputting the optimized driving path and the operation guide into the navigation system of the construction machinery vehicle for the autonomous driving system to execute is as follows:

[0084] For a construction machinery vehicle equipped with an autonomous driving system, the vehicle reads and executes the driving optimization path data through the autonomous driving system, and at the same time performs autonomous driving operations according to the instructions in the operation guide. The vehicle's driving status is monitored in real time through the navigation system, and the real-time data is compared with the driving optimization path and the operation guide. If there are deviations or abnormal situations, an alarm is issued and corrective suggestions are provided.

[0085] Embodiment 2

[0086] Based on Embodiment 1, referring to Figure 2 , in this embodiment, a path planning system for a construction machinery vehicle is provided to implement the path planning method for a construction machinery vehicle, including:

[0087] A data acquisition module 101, which is used to obtain the geographical data information of the construction site and the actual parameters of the construction machinery vehicle;

[0088] A preliminary planning module 102, which is used to preliminarily plan the driving path of the construction machinery vehicle based on the geographical data information of the construction site by using a path planning algorithm to obtain an initial driving path;

[0089] An optimization processing module 103, which is used to optimize the initial driving path through a local path planning algorithm according to the actual condition information data of the construction site and the actual parameters of the construction machinery vehicle to obtain a driving optimization path;

[0090] A node setting module 104, which is used to set key nodes on the driving optimization path and formulate corresponding operation guides for each key node;

[0091] A simulation test module 105, which is used to construct a virtual scene corresponding to the actual construction environment according to the actual conditions of the construction site and the driving optimization path, simulate the driving process of the construction machinery vehicle along the driving optimization path, monitor and record various parameters of the construction machinery vehicle during the driving process, and adjust and optimize the driving optimization path according to the results of the simulation;

[0092] A navigation system module 106, which is used to input the driving optimization path and the operation guide into the navigation system of the construction machinery vehicle for the driver to refer to or for the autonomous driving system to execute.

[0093] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A path planning method for an engineering vehicle, characterized in that: Includes steps: Obtain geographic data information of the construction site and actual parameters of construction machinery and vehicles; Based on the geographic data information of the construction site, the driving path of the construction machinery vehicle is preliminarily planned to obtain the initial driving path; According to the actual conditions of the construction site and the actual parameters of the construction machinery and vehicles, the initial driving path is optimized to obtain the optimized driving path; Set key nodes on the driving optimization path and formulate corresponding operation guidelines for each key node; The optimized driving path and operation guide are input into the navigation system of the construction machinery vehicle for the driver's reference or the automatic driving system to execute.

2. The path planning method for an engineering vehicle according to claim 1, characterized in that: The specific process of performing preliminary planning on the driving path of the construction machinery vehicle based on the geographic data information of the construction site and obtaining the initial driving path is as follows: The geographic data information of the construction site is collected through the geographic information system or drone aerial photography; based on the geographic data information of the construction site, the path planning algorithm is used to preliminarily plan the driving path of the construction machinery vehicle to obtain the initial driving path.

3. The path planning method for an engineering vehicle according to claim 2, characterized in that: The path planning algorithm is a global path planning algorithm.

4. The path planning method for an engineering vehicle according to claim 1, characterized in that: The specific process of optimizing the initial driving path according to the actual conditions of the construction site and the actual parameters of the construction machinery vehicle to obtain the optimized driving path is as follows: According to the actual situation information data of the construction site and the actual parameters of the engineering machinery vehicles, the initial driving path is optimized through the local path planning algorithm to obtain the optimized driving path; wherein, the actual situation information data of the construction site includes the size of obstacles, the position change of obstacles, the road construction status and the changes of the terrain and topography of the construction site; the actual parameters of the engineering machinery vehicles include the actual size of the vehicle, turning radius, driving speed and climbing ability.

5. The path planning method for an engineering vehicle according to claim 4, characterized in that: Conduct simulation tests on the optimized driving path to verify the feasibility and safety of the optimized driving path.

6. The path planning method for an engineering vehicle according to claim 5, characterized in that: The specific process of conducting simulation test on the driving optimization path to verify the feasibility and safety of the driving optimization path is as follows: Through three-dimensional simulation software or virtual reality technology, a virtual scene corresponding to the actual construction environment is constructed according to the geographic data information of the construction site, obstacle distribution, actual parameters of the construction machinery vehicles and the optimized driving path; in the virtual scene, the driving process of the construction machinery vehicles along the optimized driving path is simulated; various parameters of the construction machinery vehicles during the driving process are monitored and recorded; according to the results of the simulation side, the optimized driving path is adjusted and optimized until the requirements of construction efficiency and safety are met.

7. The path planning method for an engineering vehicle according to claim 1, characterized in that: The specific process of setting key nodes on the optimized driving path and formulating corresponding operation guidelines for each key node is as follows: Corresponding key nodes are set according to the turning points, obstacles and construction area locations on the optimized driving path; for each key node, corresponding operation guidelines are formulated according to the actual operation requirements of the construction machinery vehicles and the actual conditions of the construction site; among them, the operation guidelines include vehicle operation steps, precautions and safety tips.

8. The path planning method for an engineering vehicle according to claim 1, characterized in that: The specific process of inputting the driving optimization path and the operation guide into the navigation system of the construction machinery vehicle for the driver's reference is as follows: Transmitting the optimized and verified driving optimization path data and the detailed operation guide formulated for the driving optimization path to the navigation system of the construction machinery vehicle through a data interface or wireless communication; Through the navigation system, the optimized driving path is displayed to the driver in a visual form, and the operation guide is provided to the driver as a reference in the form of text, icons or voice prompts.

9. The path planning method for an engineering vehicle according to claim 1, characterized in that: The specific process of inputting the driving optimization path and the operation guide into the navigation system of the construction machinery vehicle for execution by the automatic driving system is as follows: For construction machinery vehicles equipped with automatic driving systems, the automatic driving system reads and executes the driving optimization path data, and performs automatic driving operations according to the instructions in the operating guide. The navigation system monitors the vehicle's driving status in real time, and compares the real-time data with the driving optimization path and operating guide. If deviations or abnormal situations occur, an alarm is issued and corrective suggestions are provided.

10. A path planning system for an engineering machinery vehicle, used to implement the path planning method for an engineering machinery vehicle as claimed in any one of claims 1 to 9, characterized in that: include: Data acquisition module, used to obtain geographic data information of the construction site and actual parameters of construction machinery and vehicles; The preliminary planning module is used to preliminarily plan the driving path of the construction machinery vehicle based on the geographic data information of the construction site and use the path planning algorithm to obtain the initial driving path; The optimization processing module is used to optimize the initial driving path through a local path planning algorithm according to the actual situation information data of the construction site and the actual parameters of the construction machinery and vehicle to obtain an optimized driving path; The node setting module is used to set key nodes on the driving optimization path and formulate corresponding operation guidelines for each key node; The simulation test module is used to construct a virtual scene corresponding to the actual construction environment according to the actual conditions of the construction site and the driving optimization path, simulate the driving process of the construction machinery vehicle along the driving optimization path, monitor and record various parameters of the construction machinery vehicle during the driving process, and adjust and optimize the driving optimization path according to the simulation results; The navigation system module is used to input the driving optimization path and operation guide into the navigation system of the construction machinery vehicle for the driver's reference or the automatic driving system to execute.

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