A path planning method and related apparatus

Abstract

This application discloses a path planning method and related apparatus. The method includes: constructing conflict nodes corresponding to the current planning round of a target unit in a target scenario; obtaining all priority units in the target scenario with a priority greater than that of the target unit; and, based on reference simulation paths matched by each priority unit, obtaining at least one conflict unit that interferes with the target unit from all the priority units; wherein the reference simulation paths are obtained using historical planning rounds, and each conflict unit is matched with a virtual waiting time; based on the reference simulation paths matched by each conflict unit and the virtual waiting time, replanning the target simulation path that matches the conflict node with the target unit; and based on the target simulation path, constructing the conflict nodes corresponding to the next planning round, until the actual path corresponding to each unit in the target scenario is obtained. Through the above method, this application can improve the flexibility of path planning.

Description

Technical Field

[0001] This application relates to the field of path planning technology, and in particular to a path planning method and related apparatus. Background Technology

[0002] With the continuous development of intelligent technology, intelligent robots and automated guided vehicles (AGVs) have been widely used in various stages and application scenarios, including automated production, logistics warehousing, and hazardous operations. When multiple robots or AVRs operate simultaneously, reasonable scheduling and path planning methods can effectively improve work efficiency and reduce operating costs. To plan collision-free paths, existing methods involve sequentially planning paths for all AVR units in the scenario. This approach does not consider the possibility of path planning failures, which can easily affect the overall accuracy of path planning for all AVR units in the target scenario.

[0003] Therefore, improving the flexibility of path planning has become an urgent problem to be solved. Summary of the Invention

[0004] The main technical problem addressed by this application is to provide a path planning method and related apparatus that can improve the flexibility of path planning.

[0005] To address the aforementioned technical problems, this application provides a path planning method comprising: constructing conflict nodes corresponding to the current planning round of a target unit in a target scenario; obtaining all priority units in the target scenario with higher priority than the target unit; and, based on reference simulation paths matched by the priority units respectively, obtaining at least one conflict unit from all the priority units that interferes with the target unit; wherein the reference simulation paths are obtained using historical planning rounds, and each conflict unit is matched with a virtual waiting time; replanning the target simulation path matching the conflict node for the target unit based on the reference simulation path matched by each conflict unit and the virtual waiting time; and constructing conflict nodes corresponding to the next planning round based on the target simulation paths, until the actual path corresponding to each unit in the target scenario is obtained.

[0006] To solve the above-mentioned technical problems, another technical solution adopted in this application is to provide an electronic device, including a memory and a processor coupled to each other, wherein the memory stores program instructions, and the processor is used to execute the program instructions to implement the method mentioned in the above technical solution.

[0007] To solve the above-mentioned technical problems, another technical solution adopted in this application is to provide a computer-readable storage medium having program instructions stored thereon, wherein the program instructions, when executed by a processor, implement the method mentioned in the above-mentioned technical solution.

[0008] The beneficial effects of this application are as follows: Unlike existing technologies, the path planning method proposed in this application, after constructing the conflict nodes corresponding to the target unit, identifies at least one conflicting unit from other units with higher priority that interferes with the target unit. To improve the success rate of path planning for multiple units in the target scenario, a virtual waiting time matching the conflicting unit is determined to simulate the conflicting unit performing a waiting operation at the corresponding location. Based on the virtual waiting time, a reference simulated path after virtual adjustment for the conflicting unit is determined, and the target unit is re-planned individually according to the virtual adjusted reference simulated path to obtain the target simulated path matching the target unit with the corresponding conflict node. The conflict nodes corresponding to the next planning round are constructed, and the target simulated path matching the target unit in the next planning round is determined. Through multiple iterations, the actual path corresponding to each unit in the target scenario is obtained, improving the success rate and flexibility of path planning. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0010] Figure 1 This is a flowchart illustrating one implementation of the path planning method of this application;

[0011] Figure 2 yes Figure 1 The flowchart of step S102 corresponds to another embodiment;

[0012] Figure 3 yes Figure 2 Step S203 corresponds to a target unit path diagram of one embodiment;

[0013] Figure 4 yes Figure 2 Step S203 corresponds to a target unit path diagram in another embodiment;

[0014] Figure 5 yes Figure 1 The flowchart of step S103 corresponds to another embodiment;

[0015] Figure 6 yes Figure 5 The flowchart of step S302 corresponds to another embodiment;

[0016] Figure 7 This is a flowchart illustrating one implementation method for determining the virtual waiting time in this application;

[0017] Figure 8 This is a schematic diagram of the structure of one embodiment of the electronic device of this application;

[0018] Figure 9 This is a schematic diagram of one embodiment of the computer-readable storage medium of this application. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments, and different embodiments can be adaptively combined. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0020] Please see Figure 1 , Figure 1 This is a flowchart illustrating one implementation of the path planning method of this application. The method is used for path planning for multiple units in a target scenario, and the specific implementation process includes:

[0021] S101: Construct the conflict node corresponding to the current planning round of the target unit in the target scenario.

[0022] In one implementation, during path planning for each unit in the target scenario, the first and second units that will cause path interference in the current planning round are determined based on the path planning results of previous planning rounds. Different priority relationships are created between the first and second units, and based on each priority relationship, corresponding conflict nodes are constructed, with the unit with the lower priority being designated as the target unit.

[0023] Specifically, in the current planning round, in response to the interference between the first unit and the second unit in the target scenario during path planning, different priority relationships are created between the first unit and the second unit: the first unit has a higher priority than the second unit, and the first unit has a lower priority than the second unit. Based on each priority relationship, a conflict node corresponding to the current planning round is constructed. In each conflict node, the unit with the lower priority is the target unit. For example, for the first unit and the second unit causing interference, the first unit is given a higher priority than the second unit, and a corresponding first conflict node is constructed, in which the second unit is the target unit; conversely, the first unit is given a lower priority than the second unit, and a corresponding second conflict node is constructed, in which the first unit is the target unit.

[0024] In some implementation scenarios, path planning is performed sequentially based on priority for units within the target scenario. This means that a path is planned for each unit in descending order of priority, ensuring that lower-priority units plan later avoid paths already planned by higher-priority units. If path interference occurs between the first and second units during path planning, a priority relationship is established between them, where the first unit's priority is higher or lower than the second unit's. Conflict nodes are then constructed for each priority relationship, allowing subsequent steps to be executed for the target units at each conflict node.

[0025] In a specific application scenario, the target scenario mentioned above is a smart manufacturing scenario or a logistics scenario, and the unit in the target scenario is an automated guided vehicle.

[0026] S102: Obtain all priority units in the target scenario with a priority higher than the target unit. Based on the reference simulation paths matched by each priority unit, obtain at least one conflicting unit that interferes with the target unit from all priority units. The reference simulation paths are obtained using historical planning rounds, and each conflicting unit is matched with a virtual waiting time.

[0027] In one implementation, for the remaining units in the target scenario with which a priority relationship has been established with the target unit, all remaining units with a priority higher than the target unit are designated as priority units. Based on the reference simulation path corresponding to each priority unit, at least one conflicting unit that interferes with the target unit is identified from all priority units. Each conflicting unit is assigned a virtual waiting time, which is used to simulate the corresponding conflicting unit performing a waiting operation upon moving to the appropriate location.

[0028] In some implementation scenarios, in response to the target unit having an initial priority in the current planning round, for the remaining units in the target scenario, those with an initial priority higher than the target unit are designated as priority units. Each priority unit is matched with a reference simulation path obtained from historical planning rounds. Based on the reference simulation paths of each priority unit, at least one conflicting unit that interferes with the target unit is identified from all priority units. Furthermore, the virtual waiting time matched for each conflicting unit is predicted.

[0029] S103: Based on the reference simulation path and virtual waiting time matched for each conflict unit, replan the target simulation path that matches the target unit with the conflict node.

[0030] In one implementation, the target unit's path is replanned based on the reference simulated path and virtual waiting time matched by each conflicting unit, to obtain a target simulated path that matches the target unit in the corresponding conflicting node.

[0031] In some implementation scenarios, the reference simulated paths of the corresponding conflicting units are virtually adjusted based on the virtual waiting time. Based on the virtually adjusted reference simulated paths, the paths of the target units within the corresponding conflicting nodes are replanned to obtain matching target simulated paths. It should be noted that the virtually adjusted reference simulated paths are only used to provide a reference for replanning the paths of target units; the actual reference simulated paths matching conflicting units are not adjusted in the current planning round.

[0032] S104: Based on the target simulation path, construct the conflict nodes corresponding to the next planning round until the real path corresponding to each unit in the target scenario is obtained.

[0033] In one implementation, in response to obtaining the target simulation path that matches the target unit with the conflict node in the current planning round, path planning continues for the remaining units in the target scenario based on the target simulation path, and the conflict node corresponding to the next planning round is constructed until the real path corresponding to each unit in the target scenario is obtained. Path planning then stops, and each unit is controlled to run according to its corresponding real path. All real paths are independent of each other.

[0034] The path planning method proposed in this application, after constructing the conflict nodes corresponding to the target unit, identifies at least one conflicting unit from other units with higher priority that interferes with the target unit. To improve the success rate of path planning for multiple units in the target scenario, a virtual waiting time is determined to match the conflicting units, simulating the conflicting units performing waiting operations at their respective locations. Based on the virtual waiting time, a reference simulated path is determined after virtual adjustment for the conflicting units. The target unit is then re-planned individually according to this virtually adjusted reference simulated path to obtain the target simulated path matching the target unit with its corresponding conflict node. The conflict nodes for the next planning round are constructed, and the target simulated path matching the target unit for the next planning round is determined. Through multiple iterations, the actual path corresponding to each unit in the target scenario is obtained, improving the success rate and flexibility of path planning.

[0035] Please see Figure 2 , Figure 2 yes Figure 1 The flowchart of step S102 corresponds to another embodiment. Specifically, the implementation process of step S102 includes:

[0036] S201: Obtain all priority units with a priority greater than the target unit from the target scenario, and construct the priority set corresponding to the priority unit.

[0037] In one implementation, units in the target scene with a priority greater than the target unit are designated as priority units, and the determined priority units are added to the constructed priority set.

[0038] In some implementation scenarios, after identifying the conflict nodes corresponding to the current planning round, all remaining units with an initial priority higher than the target unit are selected as priority units. These priority units are then added to a constructed priority set. Constructing a priority set visually displays high-priority units and facilitates subsequent filtering of conflicting units only from priority units within that set, thereby improving processing efficiency.

[0039] In a specific application scenario, the conflict node corresponding to the current planning round is obtained by expanding upon the historical conflict node corresponding to the previous planning round. For example, under a historical conflict node corresponding to the previous planning round, the priority of unit a2 is lower than the priority of unit a3. When planning the next round, the above historical conflict node is expanded to obtain a current conflict node corresponding to the current planning round. Under this current conflict node, the priority of target unit a1 is lower than the priority of unit a2. Then, based on the priority relationship between the current conflict node and the historical conflict node, units a2 and a3, whose corresponding priorities are higher than those of target unit a1, are taken as priority units.

[0040] S202: Obtain the reference simulation path matching each priority unit, and based on the reference simulation path matching the priority units, obtain the initial simulation path of the target unit.

[0041] In one implementation, a reference simulation path already planned for each priority unit is obtained. Based on the reference simulation paths matched by the priority units, path planning is performed on the target unit to obtain the initial simulation path for the target unit.

[0042] In some implementation scenarios, each priority unit is matched with a pre-planned reference simulation path. By avoiding the constraints of each priority unit, preliminary path planning is performed on the target unit to obtain the initial simulation path matched by the target unit.

[0043] S203: In response to the fact that the starting position of the initial simulation path for target unit matching is located on the reference simulation path for priority unit matching, and the target unit and priority unit interfere at the starting position of the initial simulation path, the corresponding priority unit is designated as the conflicting unit.

[0044] In one implementation, the simulation priority unit moves along a matched reference simulation path, and the target unit moves along an initial simulation path. If the target unit interferes with the priority unit at the starting position, the priority unit and other priority units with higher priority than the priority unit are considered conflicting units.

[0045] In some implementation scenarios, please refer to Figure 3 , Figure 3 yes Figure 2 Step S203 corresponds to a target unit path diagram in one embodiment. In response to a shared path overlapping between a priority unit and at least one priority unit's reference simulation path, the target unit and the corresponding priority unit moving in the same direction within the shared path, and the target unit moving along a matched reference simulation path while the corresponding priority unit moves along an initial simulation path, if the target unit interferes with the priority unit at its starting position, then that priority unit, and other priority units with higher priority than that priority unit, are considered conflicting units. For example, the target scene includes multiple location points, i.e. Figure 3 The diagram shows positions A, B, C, and D. Between positions A and D, any unit can only move in a first direction or the opposite direction, where the first direction is the direction from position A to position D. If a priority unit's reference simulation path includes moving from position A to position C, and the target unit's initial simulation path includes moving from position B to position D, the target unit and the priority unit will collide at the target unit's starting position, i.e., position B. To avoid the priority unit's movement affecting the target unit's starting action, the priority unit is designated as the conflicting unit.

[0046] S204: In response to an initial simulation path and a reference simulation path of at least one priority unit including an overlapping shared path, and the target unit and the corresponding priority unit moving in opposite directions within the shared path, the corresponding priority unit is designated as a conflicting unit.

[0047] In one embodiment, in response to the fact that there is an overlapping shared path between the initial simulation path of the target unit and the reference simulation path of at least one priority unit, and the target unit and the corresponding priority unit move in opposite directions within the shared path, the corresponding priority unit and other priority units with higher priority than the priority unit are designated as conflicting units.

[0048] In some implementation scenarios, please refer to Figure 4 , Figure 4 yes Figure 2Step S203 corresponds to a target unit path diagram in another embodiment. In response to a priority unit needing to pass through the target unit's starting point to move according to its matched reference simulation path, that priority unit and other priority units with higher priority are designated as conflicting units. For example, in the target scene, the reference simulation path matched by the first priority unit includes movement from position point b to position point a, the initial simulation path matched by the target unit includes movement from position point c to position point e, and the reference simulation path matched by the second priority unit includes movement from position point e to position point b. That is, the target unit's initial simulation path and the second priority unit's reference simulation path include an overlapping shared path, and their movement directions within the shared path are opposite. To ensure that the first priority unit, the target unit, and the second priority unit do not interfere with each other, the path adjustment scheme involves the target unit waiting for one frame at position point c. After the first priority unit moves to position point a, the target unit moves to position point p to wait. During the target unit's movement to position point p, the second priority unit needs to wait at position point e. Based on this, the second priority unit is designated as a conflicting unit.

[0049] The above scheme initially plans the initial simulation path of the target unit. When there is an overlapping shared path between the initial simulation path and the reference simulation path of the priority unit, and the target unit and the corresponding priority unit move in opposite directions within the shared path, the corresponding priority unit is designated as the conflicting unit, and a corresponding path adjustment strategy is determined. This allows the target simulation path to be generated according to the path adjustment strategy, thereby improving the success rate of path planning for all units in the target scene.

[0050] Please see Figure 5 , Figure 5 yes Figure 1 The flowchart of step S103 corresponds to another embodiment. Specifically, the implementation process of step S103 includes:

[0051] S301: Based on the virtual waiting time matching the conflicting unit and the matching reference simulation path, obtain the virtual simulation path matching the conflicting unit.

[0052] In one embodiment, the virtual simulation path matched by each conflicting unit is obtained based on the determined virtual waiting time matched by each conflicting unit and the matched reference simulation path.

[0053] In some implementation scenarios, the reference simulation path matching the corresponding conflicting unit is virtually adjusted based on the determined virtual waiting time to obtain a virtual simulation path matching the conflicting unit.

[0054] It should be noted that the virtual simulation path obtained after virtual adjustment using the virtual waiting time is only used as a reference for replanning the path for the target unit. In the current path planning round, only the initial simulation path matching the target unit is replanned. That is, the reference simulation path matching conflicting units is not adjusted in the current path planning round.

[0055] For a specific application scenario, please refer to [link / reference]. Figure 3 The reference simulation path for matching conflict units includes "location point A - location point B - location point C - location point D". When the virtual waiting time for matching conflict units indicates that the conflict unit needs to wait for 3 frames at location point A, the reference simulation path for matching the corresponding conflict unit is virtually adjusted using the virtual waiting time, resulting in a virtual simulation path including "location point A - location point A - location point A - location point B - location point C - location point D".

[0056] S302: Based on the virtual simulation path matched for each conflicting unit, the initial simulation path corresponding to the target unit is replanned to obtain the target simulation path.

[0057] In one embodiment, the virtual simulation path matched by each conflicting unit and the reference simulation paths matched by other priority units are used as constraints to replan the path for the target unit, resulting in the target simulation path. The target simulation path does not interfere with the virtual simulation paths matched by conflicting units or the reference simulation paths matched by other priority units.

[0058] In one embodiment, after replanning the target simulation path that matches the target unit, step S302 removes all conflicting units from the priority set and updates the priority relationship between the conflicting units and the target unit.

[0059] Specifically, the target simulation path matched by the target unit planned in the above implementation process depends on the conflicting units performing waiting operations. Therefore, after obtaining the target simulation path, all conflicting units are removed from the priority set, and the priority relationship between the conflicting units and the target unit is deleted, so that the reference simulation path matched by the removed conflicting units can be updated in subsequent planning rounds.

[0060] The above scheme obtains a virtual simulation path by virtually adjusting the reference simulation path for matching conflicting units. Using this virtual simulation path as a reference, the target simulation path for matching target units is replanned to ensure successful generation of a target simulation path for matching target units in the current planning round.

[0061] Please see Figure 6 , Figure 6 yes Figure 5The flowchart for step S302 corresponds to another implementation method. In the current planning round, conflict nodes correspond to reference units that interfere with the path of the target unit, and the reference units have a higher priority than the target unit. Based on this, the implementation process of step S302 includes:

[0062] S401: In response to the failure of target simulation path planning, remove other priority units from the priority set except the reference unit, and update the priority relationship between the removed priority units and the target unit.

[0063] In one embodiment, when replanning the target simulation path matching the target unit using the corresponding implementation method described above, if the planned target simulation path always interferes with the reference simulation path matching at least one priority unit, it indicates that the processing strategy of the conflicting unit only performing a waiting operation cannot enable the target unit to successfully plan a target simulation path that meets the preset requirements. The target simulation path planning fails, and the position points traversed by the reference simulation path matching at least one priority unit need to be adjusted. To improve the flexibility of path planning, other priority units besides the reference unit are removed from the priority set, and the priority relationship between the removed priority units and the target unit is updated.

[0064] In some implementation scenarios, the conflict nodes responding to the current planning round are constructed based on the first and second units that form path interference in the target scenario. The target unit is one of the first and second units, and the reference unit is the other of the first and second units. In the conflict nodes, the priority of the target unit is lower than that of the reference unit.

[0065] In some implementation scenarios, in response to the failure of target unit matching in simulated path planning, other priority units besides the reference unit are removed from the priority set, and the priority relationship between the removed priority units and the target unit is deleted. This allows for path planning for the removed priority units in subsequent iterations. For example, based on the conflict nodes corresponding to historical planning rounds and the current planning round, it is determined that the priority of target unit a1 is lower than that of reference unit a2, and the priority of reference unit a2 is lower than that of other priority units a8. If the path planning for target unit a1 fails in the current planning round, other priority units a8 are removed from the priority set, and the relationship that the priority of target unit a1 is lower than that of unit a8 is deleted. This allows for re-path planning for unit a8 in the corresponding planning rounds in subsequent iterations.

[0066] S402: Update the target simulation path based on the reference simulation path matched by the reference unit to obtain the updated target simulation path.

[0067] In one implementation, after removing priority units other than the reference unit from the priority set, it is determined whether the currently planned target simulation path still interferes with the reference simulation path that matches the reference unit. If there is interference, the target simulation path is updated using the reference simulation path that matches the reference unit as a constraint, resulting in an updated target simulation path. Alternatively, if there is no interference, the currently planned target simulation path remains unchanged, and subsequent steps are executed sequentially.

[0068] In some implementation scenarios, in response to interference from a reference simulation path that still matches the target simulation path of the reference unit obtained from the current planning, a virtual waiting time matching the reference unit is determined. Based on the virtual waiting time matching the reference unit and the matched reference simulation path, a virtual simulation path matching the reference unit is obtained. Based on the virtual simulation path matching the reference unit, the target unit's path is replanned to obtain an updated target simulation path. The specific implementation process can be referred to the corresponding implementation method described above, and will not be elaborated further here.

[0069] The above scheme, after planning the target simulation path for the target unit, further determines whether the target simulation path still interferes with the reference simulation path matched by the priority unit. If interference still occurs, the priority of priority units other than the reference unit is updated, and the target simulation path of the target unit is updated according to the reference simulation path matched by the reference unit, thus improving the flexibility of path planning for each unit in the target scenario. In addition, for priority units with updated priorities, path planning is re-performed in subsequent iterations to improve the rationality of path planning.

[0070] Please see Figure 7 , Figure 7 This is a flowchart illustrating one implementation method for determining the virtual waiting time in this application. Specifically, the steps for determining the virtual waiting time include:

[0071] S501: Based on the initial simulation path matching the target unit and the reference simulation path matching the conflicting unit, determine the conflict time between the target unit and the conflicting unit.

[0072] In one embodiment, in response to a reference simulation path that matches each conflicting unit in advance and an initial simulation path that matches the target unit that is pre-planned, the conflicting units are simulated to run according to the reference simulation path and the target unit is simulated to run according to the initial simulation path, and the moment of conflict that occurs between the target unit and the conflicting units is determined.

[0073] S502: Based on the time of conflict, determine the virtual waiting time that matches the corresponding conflicting unit.

[0074] In one embodiment, a virtual waiting time is determined based on the determined conflict time, matching the corresponding conflicting unit. This virtual waiting time is used to avoid a collision between the target unit and the conflicting unit. The virtual waiting time is determined based on the actual positional relationship between the conflicting unit and the target unit.

[0075] For a specific application scenario, please refer to [link / reference]. Figure 3 In response to the impending collision between the target unit and the conflicting unit between positions B and C, the initial simulated path of the target unit needs to be adjusted to avoid this collision, causing the target unit to move in the opposite direction before the collision occurs. Since the target unit takes a certain amount of time to change direction, a virtual waiting time is determined to allow time for the target unit to adjust its path, in order to avoid collisions with the conflicting unit during the target unit's direction change, or to prevent the conflicting unit from still colliding with the target unit after the initial simulated path adjustment. This virtual waiting time is longer than the time taken for the target unit to change direction.

[0076] In one embodiment, in order to further determine the accuracy of the virtual waiting time, the running speeds of the conflicting unit and the target unit are obtained, and the virtual waiting time matching the conflicting unit is predicted based on the determined conflict time and the running speeds corresponding to the conflicting unit and the target unit, respectively.

[0077] The above scheme determines the virtual waiting time that matches the corresponding conflicting unit based on the time of conflict between the target unit and the conflicting unit, so as to improve the success rate of path planning for the target unit in the current planning round by using the virtual waiting time.

[0078] In one embodiment, in response to determining the target simulation path matching the target unit through the corresponding embodiments described above, Figure 1 The implementation process of step S104 includes: taking the units removed from the priority set as the units to be planned, performing path planning on all units to be planned in sequence, and constructing the conflict nodes corresponding to the next planning round until a non-interfering target planning path matching each unit is obtained, taking the target planning path matching each unit as the real path, and driving each unit to run according to the real path.

[0079] In one implementation, Figure 1 The implementation process of step S104 may further include: updating the current planning round to the historical planning round, and obtaining all units to be planned in the target scenario. These units to be planned include priority units removed from the priority set.

[0080] Specifically, the current planning round is updated to the historical planning round. All other units with a priority lower than the target unit in the previous historical planning round, as well as priority units removed from the priority set in the previous historical planning round, are taken as the units to be planned.

[0081] Furthermore, a reference simulation path is sequentially planned for each unit to be planned. Based on the reference simulation path corresponding to the unit to be planned, conflict nodes corresponding to the current planning round are constructed, and the process returns to obtaining all priority units in the target scenario with higher priority than the target unit. Based on the reference simulation paths matched by each priority unit, at least one conflicting unit that interferes with the target unit is obtained from all priority units until the actual path matched by each unit in the target scenario is obtained, driving each unit to run according to the actual path.

[0082] Specifically, based on preset constraints, a reference simulation path matching each unit to be planned is planned sequentially. During the path planning process for each unit, based on the obtained reference simulation path and the priority relationships corresponding to historical conflict nodes from the previous planning round, different units that would cause path interference are determined. Furthermore, the previous historical conflict nodes are expanded to construct the conflict nodes corresponding to the current planning round, and the process is then returned to... Figure 1 In step S102, subsequent steps are executed sequentially until the true path matching each unit in the target scene is obtained. The aforementioned preset constraints include at least one of the minimum cost constraint and the minimum conflict constraint.

[0083] Please see Figure 8 , Figure 8This is a schematic diagram of one embodiment of the electronic device of this application. The electronic device includes a memory 10 and a processor 20 coupled to each other. The memory 10 stores program instructions, and the processor 20 executes the program instructions to implement the methods mentioned in any of the above embodiments. Specifically, the electronic device includes, but is not limited to, desktop computers, laptops, tablets, servers, etc., and is not limited thereto. In addition, the processor 20 may also be called a CPU (Center Processing Unit). The processor 20 may be an integrated circuit chip with signal processing capabilities. The processor 20 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor may be a microprocessor or any conventional processor. In addition, the processor 20 may be implemented by integrated circuit chips.

[0084] Please see Figure 9 , Figure 9 This is a schematic diagram of a computer-readable storage medium according to an embodiment of the present application. The computer-readable storage medium 30 stores program instructions 40 that can be executed by a processor. When the program instructions 40 are executed by the processor, they implement the methods mentioned in any of the above embodiments.

[0085] In the several embodiments provided in this application, it should be understood that the disclosed methods and apparatus can be implemented in other ways. For example, the apparatus implementations described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0086] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0087] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0088] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the 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 to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods of various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0089] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A path planning method, characterized in that, include: Construct the conflict nodes corresponding to the current planning round of the target unit in the target scenario; Obtain all priority units in the target scenario with a priority higher than the target unit. Based on the reference simulation paths matched by each priority unit, obtain at least one conflicting unit that interferes with the target unit from all the priority units. The reference simulation paths are obtained using historical planning rounds, and each conflicting unit is matched with a virtual waiting time. Based on the reference simulation path matched for each conflicting unit and the virtual waiting time, the target simulation path matching the target unit with the conflicting node is replanned; Based on the target simulation path, construct the conflict nodes corresponding to the next planning round until the real path corresponding to each unit in the target scenario is obtained. The step of obtaining all priority units in the target scene with a priority greater than the target unit, and obtaining at least one conflicting unit that interferes with the target unit from all the priority units based on the reference simulation paths matched by the priority units respectively, includes: obtaining all priority units with a corresponding priority greater than the target unit from the target scene, and constructing a priority set corresponding to the priority unit; obtaining the reference simulation path matched by each priority unit, and obtaining the initial simulation path of the target unit based on the reference simulation path matched by the priority unit; in response to the starting position of the initial simulation path matched by the target unit being located on the reference simulation path matched by the priority unit, and the target unit and the priority unit interfering at the starting position of the initial simulation path, designating the corresponding priority unit as a conflicting unit; in response to the initial simulation path and the reference simulation path of at least one priority unit including an overlapping shared path, and the target unit and the corresponding priority unit moving in opposite directions within the shared path, designating the corresponding priority unit as the conflicting unit; The step of replanning the target simulation path matching the target unit and the conflict node based on the reference simulation path matched by each conflict unit and the virtual waiting time includes: obtaining a virtual simulation path matching the conflict unit based on the virtual waiting time matched by the conflict unit and the matched reference simulation path; replanning the initial simulation path corresponding to the target unit based on the virtual simulation path matched by each conflict unit to obtain the target simulation path; removing all conflict units from the priority set, updating the priority relationship between the conflict units and the target unit, and updating the reference simulation path matched by the removed conflict units in subsequent planning rounds.

2. The path planning method according to claim 1, characterized in that, The conflict nodes corresponding to the current planning round of the target unit in the constructed target scenario include: Obtain the first and second units of path interference in the target scene; Different priority relationships are created between the first unit and the second unit. Based on each priority relationship, a corresponding conflict node is constructed, and the unit with the lower priority is taken as the target unit.

3. The path planning method according to claim 1, characterized in that, Each conflict node corresponds to a reference unit that interferes with the path of the target unit. The reference unit has a higher priority than the target unit. The process of replanning the initial simulation path corresponding to the target unit based on the virtual simulation path matched for each conflict unit to obtain the target simulation path includes: In response to the failure of the target simulation path planning, other priority units in the priority set other than the reference unit are removed, and the priority relationship between the removed priority units and the target unit is updated; Based on the reference simulation path matched by the reference unit, the target simulation path is updated to obtain the updated target simulation path.

4. The path planning method according to claim 3, characterized in that, The step of constructing the conflict nodes corresponding to the next planning round based on the target simulated path, until the actual path corresponding to each unit in the target scenario is obtained, includes: The current planning round is updated to the historical planning round, all units to be planned in the target scenario are obtained, and a reference simulation path matching each unit to be planned is planned in sequence; wherein, all units to be planned include priority units removed from the priority set; Based on the reference simulation path corresponding to the unit to be planned, the conflict node corresponding to the current planning round is constructed, and the process returns to the step of obtaining all priority units in the target scenario with a priority greater than the target unit, and obtaining at least one conflict unit that interferes with the target unit from all the priority units based on the reference simulation paths matched by the priority units respectively, until the real path corresponding to each unit in the target scenario is obtained, and each unit is driven to run according to the real path.

5. The path planning method according to claim 1, characterized in that, The steps for determining the virtual waiting time include: Based on the initial simulation path matching the target unit and the reference simulation path matching the conflicting unit, the conflict time between the target unit and the conflicting unit is determined; Based on the time of the conflict, determine the virtual waiting time that matches the corresponding conflict unit.

6. An electronic device, characterized in that, include: A memory and a processor are coupled to each other, the memory storing program instructions, and the processor executing the program instructions to implement the method as described in any one of claims 1-5.

7. A computer-readable storage medium having program instructions stored thereon, characterized in that, When the program instructions are executed by the processor, they implement the method as described in any one of claims 1-5.

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