一种路径规划方法、电子设备及计算机可读存储介质
By setting waiting time and adjusting driving priority in path planning, the problem of path planning failure caused by opposing conflicts in multi-agent path planning is solved, achieving a higher success rate and rationality.
CN121254839BActive Publication Date: 2026-07-17ZHEJIANG HUARAY TECH CO LTD
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- ZHEJIANG HUARAY TECH CO LTD
- Filing Date
- 2025-09-29
- Publication Date
- 2026-07-17
AI Technical Summary
Technical Problem
Existing multi-agent path planning methods cannot effectively avoid collisions when moving objects encounter opposing conflicts, resulting in a low success rate of path planning.
Method used
By setting a preset waiting time in the second initial planned path, the second moving object waits at the avoidance point, the driving priority of the two moving objects is adjusted, and spatiotemporal constraints are added when the first moving object's path is replanned, ensuring the smooth progress of path planning.
Benefits of technology
It improves the success rate and rationality of path planning, ensuring that path planning for moving objects can proceed without hindrance in the event of opposing conflicts.
✦ Generated by Eureka AI based on patent content.
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Figure CN121254839B_ABST
Abstract
本申请公开了一种路径规划方法、电子设备及计算机可读存储介质。本申请响应于检测两移动对象存在对向冲突，确定预设拓扑地图中是否存在避让点，第一移动对象的行驶优先级低于第二移动对象的行驶优先级；响应于存在避让点且第二移动对象到达避让点和第一移动对象到达避让点之间的时间间隔小于或等于预设时间阈值，在第二初始规划路径中设置第二移动对象的预设等待时间，得到设置时间后的第二初始规划路径，并进行第一移动对象的路径重规划处理，得到第一目标规划路径；设置第一移动对象和第二移动对象为相同的行驶优先级，根据第一目标规划路径对第二初始规划路径进行规划约束，得到第二目标规划路径。由此，提高了路径规划的成功率。
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