Method, device and equipment for obtaining U-turn reference path of road mobile equipment

Abstract

The invention discloses a method, a device and equipment for acquiring a U-turn reference path of road mobile equipment. The method comprises the following steps: generating a first reference moving path of a road mobile device moving from a U-turn starting reference point to a U-turn moving direction switching reference point according to U-turn starting reference point data and U-turn moving direction switching reference point data; according to the U-turn moving direction switching reference point data and the U-turn ending reference point data, generating a second reference moving path of the road mobile device moving from the U-turn moving direction switching reference point to the U-turn ending reference point; generating a turning reference path of the road mobile device according to the first reference moving path and the second reference moving path; the posture of the road mobile equipment body when the road mobile equipment moves on the first reference moving path is the same as the posture of the road mobile equipment body when the road mobile equipment moves on the second reference moving path. According to the invention, the space required by the turning operation of the road mobile equipment is reduced, and the operation safety is improved.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, specifically to a method and apparatus for obtaining a U-turn reference path for road mobile devices. This application also relates to an electronic device and a storage device. Background Technology

[0002] Sea-rail intermodal transport is a multimodal transport mode that organically combines ocean and rail transport, using containers as the transport unit, to complete the entire transport process. Currently, sea-rail intermodal transport scenarios typically involve a mix of various vehicles and equipment, including manned trucks, unmanned trucks, reach stackers, forklifts, rubber-tired gantry cranes, and rail-mounted gantry cranes, resulting in complex traffic conditions. In this complex scenario, the path planning capabilities of Intelligent Guided Vehicles (IGVs) or Artificial Intelligence Robots of Transportation (ARTs) have become a core bottleneck restricting the efficiency and cost of intermodal transport. Their flexibility and optimization level directly determine the throughput capacity and operational smoothness of the entire transport hub. In complex actual operating environments, IGVs or ARTs often need to perform U-turns to change direction or perform new tasks. However, existing lane-based path planning methods face significant challenges in U-turn scenarios.

[0003] Currently, the main U-turn solutions rely on the "U-turn" mode, which requires the IGV or ART to complete the turn on a wide, near-semi-circular arc path. The kinematic characteristics of this U-turn mode cause the front and rear of the vehicle to swing significantly laterally. This not only requires the U-turn operation to occupy a large amount of lateral physical space, greatly limiting its application in space-constrained scenarios such as narrow passages and warehouse ends, but also significantly increases the risk of the IGV or ART vehicle scraping or colliding with the edge of the passage or surrounding equipment, posing a potential threat to operational safety. Summary of the Invention

[0004] This application provides a method for obtaining a U-turn reference path for road mobile equipment, which can reduce the space required for road mobile equipment to perform U-turn operations, thereby overcoming the inherent defects of the prior art. The specific solution is as follows: This application provides a method for obtaining a U-turn reference path for a road mobile device. The method includes: obtaining U-turn start reference point data, U-turn direction switching reference point data, and U-turn end reference point data for the road mobile device. The road mobile device includes a road mobile device body and a direction switching device. The direction switching device is used to guide the movement direction of the road mobile device body. The U-turn start reference point data is data used by the road mobile device to locate the U-turn start reference point. The U-turn direction switching reference point data is data used by the road mobile device to locate the U-turn direction switching reference point. The U-turn end reference point data is data used by the road mobile device to locate the U-turn end reference point. The method further involves obtaining U-turn start reference point data and U-turn direction switching reference point data. Using the switching reference point data, a reference movement path is generated for the road mobile device to move from the U-turn start reference point to the U-turn movement direction switching reference point, as the first reference movement path; based on the U-turn movement direction switching reference point data and the U-turn end reference point data, a reference movement path is generated for the road mobile device to move from the U-turn movement direction switching reference point to the U-turn end reference point, as the second reference movement path; based on the first reference movement path and the second reference movement path, a U-turn reference path is generated for the road mobile device; wherein, the attitude of the road mobile device body when moving on the first reference movement path is the same as the attitude of the road mobile device body when moving on the second reference movement path.

[0005] This application also provides a device for obtaining a U-turn reference path for a road mobile device. The device includes a data acquisition module and a path generation module. The data acquisition module is used to acquire U-turn start reference point data, U-turn direction switching reference point data, and U-turn end reference point data for the road mobile device. The road mobile device includes a road mobile device body and a direction switching device. The direction switching device is used to guide the movement direction of the road mobile device body. The U-turn start reference point data is used for locating the U-turn start reference point of the road mobile device. The U-turn direction switching reference point data is used for locating the U-turn direction switching reference point of the road mobile device. The U-turn end reference point data... The data is used for locating the end reference point of a U-turn for the road mobile device; the path generation module is used to generate a reference movement path for the road mobile device to move from the start reference point of the U-turn to the end reference point of the U-turn, as a first reference movement path, based on the start reference point data of the U-turn and the end reference point data of the U-turn; generate a reference movement path for the road mobile device to move from the end reference point of the U-turn to the end reference point of the U-turn, as a second reference movement path, based on the end reference point data of the U-turn and the end reference point data of the U-turn; and generate a U-turn reference path for the road mobile device based on the first reference movement path and the second reference movement path.

[0006] This application also provides an electronic device, including: a processor and a memory; the memory is used to store computer execution instructions, which, when executed by the processor, are used to implement the above-described method for obtaining a U-turn reference path for road mobile devices.

[0007] This application also provides a storage device for storing computer execution instructions, which, when executed by a processor, are used to implement the above-described method for obtaining a U-turn reference path for road mobile equipment.

[0008] Compared with the prior art, this application has the following advantages: This application provides a method for obtaining a U-turn reference path for a road mobile device. The method includes: obtaining U-turn start reference point data, U-turn direction switching reference point data, and U-turn end reference point data for the road mobile device. The road mobile device includes a road mobile device body and a direction switching device. The direction switching device is used to guide the movement direction of the road mobile device body. The U-turn start reference point data is data used by the road mobile device to locate the U-turn start reference point. The U-turn direction switching reference point data is data used by the road mobile device to locate the U-turn direction switching reference point. The U-turn end reference point data is data used by the road mobile device to locate the U-turn end reference point. The method further involves obtaining U-turn start reference point data and U-turn direction switching reference point data. Using reference point data for direction switching, a reference movement path is generated for the road mobile device to move from the starting reference point to the reference point for U-turn movement direction switching, serving as the first reference movement path. Based on the reference point data for U-turn movement direction switching and the reference point data for U-turn end, a reference movement path is generated for the road mobile device to move from the reference point for U-turn movement direction switching to the reference point for U-turn end, serving as the second reference movement path. Based on the first and second reference movement paths, a U-turn reference path is generated for the road mobile device. The orientation of the road mobile device body when moving along the first reference movement path is the same as the orientation of the road mobile device body when moving along the second reference movement path.

[0009] This application reduces the space required for road mobile equipment to perform U-turns. It decomposes the large-curvature arc motion required for U-turns in existing technologies into two connected oblique translational movement paths: a first reference movement path and a second reference movement path, forming a U-turn path with an overall "V" shape. During the oblique translational movement of the road mobile equipment, the posture of the equipment remains constant. Due to the reduced radius of curvature of the translational movement path, the road mobile equipment does not need to reserve a large arc space for large-scale swings of the front or rear, fundamentally reducing the swing amplitude and required spatial envelope of the front and rear. This allows the road mobile equipment to safely and efficiently complete U-turns in narrow passages and multi-lane areas where traditional U-turn methods are ineffective, making it particularly suitable for space-constrained operating environments such as road ends, significantly reducing the space requirements of the road mobile equipment for U-turn operations. This method decomposes the large curvature arc motion required for a U-shaped turn in existing technologies into two connected oblique movement paths: a first reference movement path and a second movement reference path. This controls the movement trajectory and envelope of the vehicle's front and rear during the turn, avoiding the risk of scraping or colliding with the edge of the passage, surrounding equipment, or cargo due to vehicle body swaying, thus improving operational safety. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of a U-turn reference path from the starting reference point to the ending reference point, provided in an embodiment of this application.

[0011] Figure 2 This is a schematic diagram of a scenario using a fixed-node guided U-turn reference path acquisition method provided in an embodiment of this application.

[0012] Figure 3 This is a schematic diagram of a scenario provided in this application embodiment, illustrating a method for determining whether a road mobile device needs to turn around when it arrives at a target task point from its own vehicle point.

[0013] Figure 4 This is a schematic diagram of a scenario using a method for determining the positional relationship between a vehicle point and a target task point, as provided in an embodiment of this application.

[0014] Figure 5 This is a first schematic diagram of a U-turn reference path from the vehicle point to the target task point provided in the embodiments of this application.

[0015] Figure 6 This is a second schematic diagram of a U-turn reference path from the vehicle point to the target task point provided in the embodiments of this application.

[0016] Figure 7 This is a third schematic diagram of the U-turn reference path from the vehicle point to the target task point provided in the embodiments of this application.

[0017] Figure 8 This is a schematic diagram of the structure of the U-turn reference path acquisition device for road mobile equipment provided in the embodiments of this application.

[0018] Figure 9 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application.

[0019] Figure 10 This is a flowchart of a method for obtaining a U-turn reference path for road mobile devices provided in an embodiment of this application.

[0020] Attached reference numerals: 1. Vehicle point; 2. 2-1, 2-2. Target task point; 3. 3-1, 3-2. Map lane; 4. Preset U-turn area; 5-1, 5-2. Projection point; 6. U-turn end reference point; 7. Temporary location point; 8. U-turn direction switching reference point; 9. U-turn start reference point; 10. Update U-turn start reference point; 11. Update U-turn direction switching reference point; 12. Update U-turn end reference point; 13. Data acquisition module; 14. Path generation module; 15. Memory; 16. Processor; 17. Road mobile equipment; S1. Step 1; S2. Step 2; S3. Step 3; S4. Step 4. Detailed Implementation

[0021] To enable those skilled in the art to better understand the technical solutions of this application, the application will be clearly and completely described below with reference to the accompanying drawings of the embodiments. However, this application can be implemented in many other ways different from those described below. Therefore, based on the embodiments provided in this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0022] It should be noted that the terms "first," "second," "third," etc., in the claims, specification, and drawings of this application are used to distinguish similar objects and are not used to describe a specific order or sequence. Such data are interchangeable where appropriate so that the embodiments of this application described herein can be implemented in a sequence other than that shown or described in this application. Furthermore, the terms "comprising," "having," and their variations are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or apparatuses.

[0023] Current U-turn methods require IGV or ART to turn along a wide semi-circular path. Due to their kinematic characteristics, this causes significant lateral swaying of the vehicle body, which not only occupies a large space and is unsuitable for scenarios with limited lateral space, but also easily leads to scraping collisions, posing safety hazards. To address these issues, this application provides a method for obtaining a U-turn reference path for road mobile devices. This method balances spatial efficiency, real-time computation, intelligent decision-making, and dynamic robustness, overcoming the inherent shortcomings of existing technologies.

[0024] like Figure 10 As shown, this application provides a method for obtaining a U-turn reference path for road mobile equipment, the method comprising: Step 1, S1: Obtain the U-turn start reference point data, U-turn direction switching reference point data, and U-turn end reference point data of the road mobile device. The road mobile device includes the road mobile device body and the direction switching device. The direction switching device is used to guide the movement direction of the road mobile device body. The U-turn start reference point data is used for the road mobile device to locate the U-turn start reference point. The U-turn direction switching reference point data is used for the road mobile device to locate the U-turn direction switching reference point. The U-turn end reference point data is used for the road mobile device to locate the U-turn end reference point.

[0025] Step 2, S2: Based on the U-turn start reference point data and the U-turn direction switching reference point data, generate a reference movement path for the road mobile device to move from the U-turn start reference point to the U-turn direction switching reference point, which serves as the first reference movement path.

[0026] Step 3, S3: Based on the U-turn direction switching reference point data and the U-turn end reference point data, generate a reference movement path for the road mobile device to move from the U-turn direction switching reference point to the U-turn end reference point, which serves as the second reference movement path.

[0027] Step 4, S4: Generate a U-turn reference path for the road mobile device based on the first reference movement path and the second reference movement path.

[0028] The orientation of the road mobile device body when it moves along the first reference movement path is the same as the orientation of the road mobile device body when it moves along the second reference movement path.

[0029] The angle between the movement direction of the road mobile device at any point on the first path and the first reference line is greater than the angle between the movement direction of the preceding adjacent point on the first path and the first reference line. The angle between the movement direction of the road mobile device at any point on the first path and the second reference line is less than the angle between the movement direction of the preceding adjacent point on the first path and the second reference line. The first reference line is a straight line passing through the starting reference point and the ending reference point of the U-turn. The second reference line is a straight line passing through the U-turn movement direction switching reference point and perpendicular to the first reference line. Any point on the first path is any point in the first reference movement path. The preceding adjacent point on the first path is the point adjacent to any point on the first path that the road mobile device needs to reach before reaching any point on the first path.

[0030] The angle between the moving direction of the road mobile device body at any point on the second path and the first reference line is smaller than the angle between the moving direction of the preceding adjacent point on the second path and the first reference line. The angle between the moving direction of the road mobile device body at any point on the second path and the second reference line is greater than the angle between the moving direction of the preceding adjacent point on the second path and the second reference line. Any point on the second path is any point in the second reference moving path. The preceding adjacent point on the second path is the point adjacent to any point on the second path that the road mobile device needs to reach before reaching any point on the second path.

[0031] In this embodiment, the road mobile device is described using an IGV as an example. An IGV is a transportation device employing intelligent autonomous navigation technology, possessing driving capability and bidirectional mobility. An IGV can travel in both directions, switching between forward and reverse travel. The IGV's direction-switching device includes wheels and their drive mechanisms. In this embodiment, an IGV with four wheels is used as an example. The four wheels of the IGV can be independently controlled to achieve unidirectional steering. Each wheel of the IGV is equipped with an independent steering drive mechanism, capable of individually adjusting the steering angle of the corresponding wheel. The road mobile device body, in this embodiment, is the IGV's vehicle body. While maintaining the orientation of the road mobile device body—that is, the angle between the road mobile device body and the centerline of the lane on the map where the IGV is located—the four wheels simultaneously turn in the same direction, thereby enabling the IGV to move diagonally to an adjacent lane. The IGV's diagonal translation capability can effectively avoid large swings of the road mobile device caused by the individual steering of the front or rear wheels, thereby reducing the risk of collisions caused by excessive lateral acceleration or deviation of the road mobile device, and significantly improving the stability and scene adaptability of the road mobile device.

[0032] In this embodiment, as Figure 1 As shown, the IGV17 moves diagonally from the U-turn starting reference point 9 to the U-turn direction switching reference point 8, changes its direction of movement at the U-turn direction switching reference point 8, and then moves diagonally from the U-turn direction switching reference point 8 to the U-turn ending reference point 6. During the diagonal translation from the U-turn starting reference point 9 to the U-turn direction switching reference point 8, and from the U-turn direction switching reference point 8 to the U-turn ending reference point 6, the attitude of the IGV17's road mobile device body remains the same; that is, the orientation of the road mobile device body remains unchanged during the movement. Figure 1 As shown, during the movement, the IGV17's vehicle body remains parallel to the centerline of the map lane where the U-turn starting reference point 9 is located. By controlling the movement direction of the IGV17 along the first and second reference movement paths, the overall movement path of the IGV17 from the U-turn starting reference point 9 through the U-turn direction switching point 8 to the U-turn ending reference point 6 presents a "V" shaped U-turn path.

[0033] The aforementioned method reduces the space required for road mobile equipment to perform U-turns. This method decomposes the large-curvature circular arc motion required for U-turns in existing technologies into two connected oblique translational movement paths: a first reference movement path and a second reference movement path, forming a U-turn path with an overall "V" shape. During the oblique translational movement of the road mobile equipment, the posture of the equipment remains constant. Due to the reduced radius of curvature of the translational movement path, the road mobile equipment does not need to reserve a large arc space for significant swings of the front or rear, thus reducing the swing amplitude and required spatial envelope of the front and rear. This allows the road mobile equipment to safely and efficiently complete U-turns in narrow passages and multi-lane areas where traditional U-turn methods are ineffective, making it particularly suitable for space-constrained operating environments such as road ends, significantly reducing the space requirements of the road mobile equipment for U-turn operations. This method decomposes the large curvature arc motion required for a U-shaped turn in existing technologies into two connected oblique movement paths: a first reference movement path and a second movement reference path. This controls the movement trajectory and envelope of the vehicle's front and rear during the turn, fundamentally avoiding the risk of scraping or colliding with the edge of the passage, surrounding equipment, or cargo due to vehicle swaying, thus improving operational safety.

[0034] Preferably, the vehicle location data of the road mobile device is obtained. The vehicle location data is the data used to locate the current location of the road mobile device, and the current location of the road mobile device is used as the vehicle location.

[0035] Obtain target task point data for road mobile devices. Target task point data is data used by road mobile devices to locate the location points they need to reach in order to perform the target task. The location points that road mobile devices need to reach in order to perform the target task are used as target task points.

[0036] Obtain the current movement direction data of the road mobile device at the vehicle point. The current movement direction data is used to represent the current movement direction of the road mobile device at the vehicle point.

[0037] Based on the vehicle location data, target task point data, and current direction of movement data, determine whether the road mobile device needs to turn around when it reaches the target task point.

[0038] Obtain U-turn start reference point data, U-turn direction switching reference point data, and U-turn end reference point data for road mobile equipment, including: If it is determined that the road mobile device needs to make a U-turn from its starting point to the target task point, and at least one location point in the designated road segment of the starting point lane that meets the preset distance condition is located within the preset U-turn area, then the preset U-turn start reference point data, U-turn movement direction switching reference point data, and U-turn end reference point data bound to the preset U-turn area data are obtained as the U-turn start reference point data, U-turn movement direction switching reference point data, and U-turn end reference point data for the road mobile device to make a U-turn in the preset U-turn area. The preset U-turn area is the preset U-turn area that the road mobile device needs to pass through from its starting point to the target task point. The designated road segment of the starting point lane is the road segment on the map lane where the starting point is located, starting from the starting point along the current movement direction to the end point of the map lane where the starting point is located. The map lane where the starting point is located is the lane set for the specified map where the starting point is located. The specified map is the map corresponding to the movement area of ​​the road mobile device. Alternatively, if it is determined that the road mobile device needs to make a U-turn from its own point to the target task point, and all locations in the designated road segment of the lane from the own point that meet the preset distance condition are not located in any preset U-turn area, then based on the own point data and the target task point data, the U-turn start reference point data, U-turn movement direction switching reference point data, and U-turn end reference point data of the road mobile device are obtained.

[0039] Specifically, such as Figure 2 As shown, if it is determined that the IGV needs to make a U-turn to reach the target task point 2 from vehicle point 1, and at least one location point in the designated road segment of the map lane 3 where vehicle point 1 is located is within the preset U-turn area 4, for example, within a distance of 50 meters or more and 100 meters or less from vehicle point 1, at least one location point is located within the preset U-turn area 4. Then, preset U-turn start reference point data, U-turn movement direction switching reference point data, and U-turn end reference point data bound to the preset U-turn area data are obtained as the U-turn start reference point data, U-turn movement direction switching reference point data, and U-turn end reference point data for the IGV to make a U-turn in the preset U-turn area 4. A U-turn reference path is generated based on the U-turn start reference point data, U-turn movement direction switching reference point data, and U-turn end reference point data. This method of obtaining the U-turn reference path can be called the fixed node guided U-turn reference path obtaining method. It should be understood that in the embodiments of this application, "at least one" means one or more, and "more than one" means two or more.

[0040] If it is determined that the IGV needs to make a U-turn to reach the target task point 2 from vehicle point 1, and all locations within the designated segment of map lane 3 where vehicle point 1 is located that are not within any preset U-turn area (e.g., within a distance of 50 meters or more and 100 meters or less from vehicle point 1), then based on the vehicle point data and the target task point data, the starting reference point data, the U-turn direction switching reference point data, and the ending reference point data for the road mobile device are obtained. A U-turn reference path is then generated based on these data. This method of obtaining the U-turn reference path can be called the flexible endpoint-triggered U-turn reference path acquisition method.

[0041] When the IGV starts performing a U-turn from a stationary state at the vehicle point, the following condition must also be met: the angle between the current direction of movement of the road mobile device and the lane on the map where the vehicle point is located is not greater than the maximum single-sided steering angle of the road mobile device.

[0042] When an IGV (Inertial Vehicle) begins a U-turn from a stationary position at its starting point, if the angle between the IGV's current heading angle and the lane on the map at the starting point is greater than the IGV's single-sided turning angle, the IGV cannot travel in the designated direction of travel along the lane. The IGV needs to be moved to bring its heading angle within a certain range, allowing it to travel in the designated direction. However, moving the IGV and changing its heading angle involves large-angle turns, increasing the risk of the IGV scraping or colliding with the edge of the lane or surrounding equipment, posing a potential threat to operational safety. Therefore, when an IGV begins a U-turn from a stationary position at its starting point, the above conditions must also be met.

[0043] The fixed-node guided U-turn reference path acquisition method ensures the stability and reliability of obtaining U-turn reference paths in structured areas. The flexible endpoint-triggered U-turn reference path acquisition method enables dynamic optimization of each reference point of the U-turn path when performing U-turn operations in open areas. This allows the IGV intelligent driving system to move beyond simply executing a pre-set fixed path U-turn scheme, and to autonomously select the optimal strategy or dynamically switch based on conditions such as the global map and the location of the target task point, thus demonstrating adaptability in various uncertain scenarios. The two methods are uniformly scheduled through the decision-making module of the intelligent driving system, achieving complementary advantages and jointly forming an intelligent U-turn solution covering all scenarios.

[0044] Preferably, based on the vehicle location data, target task point data, and current direction of movement data, it is determined whether the road mobile device needs to turn around from the vehicle location to the target task point, including: Determine whether the lane where the vehicle is located on the map is the same as the lane where the target mission point is located on the map. If the map lane where the vehicle is located is not the same as the map lane where the target task point is located, then based on the target task point data, the target task point is projected onto the map lane where the vehicle is located to obtain the projection point of the target task point onto the map lane where the vehicle is located. If the projection point of the target task point onto the map lane where the vehicle point is located is a position point on the map lane where the vehicle point is located in the opposite direction of the current movement direction of the vehicle point, then it is determined that the road mobile device needs to turn around to reach the target task point from the vehicle point. If the projection point of the target task point onto the map lane where the vehicle point is located is the position point of the vehicle point in the current movement direction on the map lane where the vehicle point is located, then the movement direction data required for the road mobile device to reach the target task point is obtained, and used as the target movement direction data. Based on the target movement direction data and the current movement direction data, determine whether the angle between the movement direction required for the road mobile device to reach the target task point and the current movement direction exceeds 90 degrees. If so, determine that the road mobile device needs to turn around from its own point to the target task point; otherwise, determine that the road mobile device does not need to turn around from its own point to the target task point.

[0045] Specifically, such as Figure 3 As shown, the lane where vehicle point 1 is located is map lane 3-1, and the current movement direction of the IGV is the same as the prescribed driving direction of map lane 3-1 where the vehicle point is located. Figure 3 The diagram shows movement to the right. When the target mission point is Target Mission Point 2-1, Target Mission Point 2-1 is located in map lane 3-2, which is different from map lane 3-1 where the vehicle point 1 is located. Projecting Target Mission Point 2-1 onto map lane 3-1 where the vehicle point 1 is located yields projection point 5-1 of Target Mission Point 2-1 in map lane 3-1 where the vehicle point 1 is located. Since projection point 5-1 is located in the opposite direction of the current movement direction of the vehicle point 1, it is determined that the IGV needs to turn around to reach target mission point 2-1 from the vehicle point 1.

[0046] When the target task point is target task point 2-2, target task point 2-2 is located in map lane 3-2, which is different from map lane 3-1 where the vehicle point 1 is located. The prescribed driving direction of map lane 3-2 where target task point 2-2 is located is as follows: Figure 3The diagram shows a leftward movement. The target task point 2-2 is projected onto map lane 3-1 where the vehicle point 1 is located, resulting in a projection point 5-2 of target task point 2-2 on map lane 3-1. Projection point 5-2 is the position point located in the current movement direction of the vehicle point 1. Before reaching target task point 2-2, the IGV needs to reach the U-turn end reference point located on map lane 3-2 where target task point 2-2 is located, and then move from the U-turn end reference point to target task point 2-2. Moving from the U-turn end reference point to target task point 2-2 requires traveling along the prescribed driving direction of map lane 3-2 where target task point 2-2 is located. Since the angle between the IGV's current movement direction and the prescribed driving direction of map lane 3-2 where target task point 2-2 is located exceeds 90 degrees, it is determined that the IGV needs to make a U-turn to reach target task point 2-2 from vehicle point 1.

[0047] If a flexible endpoint-triggered U-turn reference path acquisition method is applied to obtain the U-turn start reference point data, U-turn direction switching reference point data, and U-turn end reference point data of road mobile devices, the specific steps can be as follows: S10: Obtain vehicle location data and target task point data of the road mobile device.

[0048] The vehicle location data of the road mobile device can be the vehicle location coordinates of the road mobile device. The target task point data of the road mobile device can be the target task point coordinates of the road mobile device. The vehicle location data of the IGV in the global coordinate system is obtained through the scheduling system. The coordinates of the target mission point in the global coordinate system and the IGV coordinates. The coordinates of the vehicle are given. The global coordinate system is a fixed, unchanging absolute reference coordinate system used to locate the entire scene; it can also be called the world coordinate system. In this embodiment, the Universal Transverse Mercator (UTM) coordinate system is used. The vehicle's point in the global coordinate system... The coordinates can be represented as ,in, This represents the x-coordinate of the vehicle's position in the global coordinate system. This represents the ordinate of the vehicle's position in the global coordinate system. The target task point in the global coordinate system. The coordinates can be represented as ,in, This represents the x-coordinate of the target task point in the global coordinate system. This represents the ordinate of the target task point in the global coordinate system.

[0049] S20: Determine the calculation boundaries of the U-turn reference path, including: Based on the vehicle location data from road mobile devices, the map lanes where the vehicle locations are located are determined, and the map lane data for these vehicle locations is obtained. This map lane data is used for determining the map lanes where the vehicle locations are located. Based on this map lane data, a point set dataset for the map lanes at each vehicle location is obtained. The point set dataset for the map lane where the vehicle's location is located is a collection of data for all location points on the map lane where the vehicle's location is located. It can be represented as: , where n is an integer greater than or equal to 1, and i is an integer from 0 to n.

[0050] Based on the target task point data from road mobile devices, the map lanes where the target task points are located are determined, and the map lane data for the target task points is obtained. This map lane data is used for the map lanes at the target task points. Based on the map lane data for the target task points, a point set dataset for the map lanes at the target task points is obtained. The target task location map lane point set dataset is a collection of data for all location points on the target task location map lane. It can be represented as: m is an integer greater than or equal to 1, and j is an integer from 0 to m.

[0051] Between the map lane where the vehicle is located and the map lane where the target mission point is located, there can also be an intermediate map lane. The intermediate map lane is a map lane that has a topological relationship with the map lane where the vehicle is located and the map lane where the target mission point is located. The road mobile device can move from the lane where the vehicle is located to the intermediate map lane, or it can move from the intermediate map lane to the map lane where the target mission point is located.

[0052] In this embodiment, as Figure 4 As shown, there is an intermediate map lane between the map lane where the vehicle's location is located and the map lane where the target task location is located. The intermediate map lane data is obtained; this intermediate map lane data is used for the intermediate map lane. Based on the intermediate map lane data, the point set dataset for the intermediate map lane is obtained. The middle map lane point set dataset is a collection of data for all location points along the middle map lanes. It can be represented as: l is an integer greater than or equal to 1, and k is an integer from 0 to l.

[0053] Given a point set dataset, obtain the leftmost and rightmost point data for each point set dataset. The leftmost point data in the point set dataset is the data of the point with the smallest x-coordinate value in the global coordinate system, and the rightmost point data in the point set dataset is the data of the point with the largest x-coordinate value in the global coordinate system.

[0054] The point set dataset of the lanes in the map where the vehicle's location is located. In the middle, the leftmost point is , It can be represented as: in, Data set of points for lanes on the map where the vehicle's location is located. The minimum x-coordinate value in the global coordinate system. for The value of the ordinate of the corresponding location point in the global coordinate system.

[0055] The point set dataset of the lanes in the map where the vehicle's location is located. In the middle, the rightmost point is , It can be represented as: in, Data set of points for lanes on the map where the vehicle's location is located. The maximum x-coordinate value in the global coordinate system. for The value of the ordinate of the corresponding location point in the global coordinate system.

[0056] The same method can be used to analyze the point set dataset of the map lanes where the target task point is located. In the middle, we obtain the leftmost point. and the rightmost point The point set dataset of the middle map lanes. In the middle, we obtain the leftmost point. and the rightmost point .

[0057] The leftmost and rightmost points in each point set dataset are used as boundary points, and a boundary point dataset is constructed based on these boundary points. , It can be represented as S30: Determine the computational boundaries of the U-turn reference path based on the boundary point dataset. This includes: Establish a local coordinate system, including: taking the origin of the vehicle point of the road mobile device as the origin, taking the straight line passing through the leftmost point and the rightmost point of the map lane where the vehicle point is located as the horizontal axis, taking the direction from the leftmost point of the map lane where the vehicle point is located to the rightmost point of the map lane where the vehicle point is located as the positive direction of the horizontal axis of the local coordinate system, taking the straight line drawn from the vehicle point of the road mobile device and perpendicular to the horizontal axis as the vertical axis, and taking the direction of rotating 90 degrees counterclockwise from the positive direction of the horizontal axis as the positive direction of the vertical axis; If the x-coordinate of the target task point data in the local coordinate system is negative, then the target task point is located to the left of the vehicle point; if the x-coordinate of the target task point data in the local coordinate system is positive, then the target task point is located to the right of the vehicle point.

[0058] If the vertical coordinate of the target task point data in the local coordinate system is negative, then the target task point is below the vehicle point; if the vertical coordinate of the target task point data in the local coordinate system is positive, then the target task point is above the vehicle point.

[0059] like Figure 4 As shown, with the IGV's self-vehicle point 1 as the origin, and a straight line... The x-axis represents the leftmost point of lane 3 on the map, where vehicle point 1 is located. Point to the rightmost point of lane 3 on the map where vehicle point 1 is located. The direction is the positive direction of the horizontal axis of the local coordinate system. The vertical axis is defined by a straight line extending from vehicle point 1 of the road mobile device, perpendicular to the horizontal axis, and the positive direction of the vertical axis is defined by rotating the positive direction of the horizontal axis 90 degrees counterclockwise. For example... Figure 4 As shown, in the local coordinate system, since the vertical coordinate of target point 2 is negative and the horizontal coordinate is positive, target point 2 is located to the right and below of vehicle point 1.

[0060] S40: Based on the vehicle's own reference point data and the target task point data, obtain the U-turn start reference point data, U-turn direction switching reference point data, and U-turn end reference point data for the road mobile device, including: On the map lane where the target task point is located, starting from the target task point, locate a position point with a preset first distance between it and the target task point along the current movement direction, and use it as the U-turn end reference point. Obtain the U-turn end reference point data based on the U-turn end reference point. The map lane where the target task point is located is the lane set for the specified map where the target task point is located. On the designated map, determine a lane between the map lane where the vehicle is located and the map lane where the target task point is located as the U-turn direction switching lane. On the map lane of the target task point, starting from the U-turn end reference point, locate a position point along the current movement direction at a preset second distance from the U-turn end reference point, and use it as a temporary position point. Project the temporary position point onto the U-turn direction switching lane to obtain the projection point of the temporary position point, which serves as the U-turn direction switching reference point. Obtain the U-turn direction switching reference point data based on the U-turn direction switching reference point. Project the U-turn end reference point onto the lane on the map where the vehicle is located to obtain the projection point of the U-turn end reference point, which is used as the U-turn start reference point. Obtain the U-turn start reference point data based on the U-turn start reference point.

[0061] Alternatively, on the map lane where the vehicle point is located, starting from the vehicle point, locate a position point along the current direction of movement with a preset first distance between the vehicle point and the vehicle point, and use this position point as the starting reference point for turning around. Then, obtain the starting reference point data for turning around based on the starting reference point for turning around. On the designated map, a lane between the map lane where the vehicle is located and the map lane where the target task point is located is designated as the U-turn direction switching lane. On the map lane where the vehicle is located, starting from the U-turn start reference point, a position point is located along the current movement direction at a preset second distance from the U-turn start reference point, which is used as a temporary position point. The temporary position point is projected onto the U-turn direction switching lane to obtain the projection point of the temporary position point, which is used as the U-turn direction switching reference point. The U-turn direction switching reference point data is obtained based on the U-turn direction switching reference point. The map lane where the target task point is located is the lane set for the designated map where the target task point is located. Project the starting reference point of the U-turn onto the lane of the map where the target task point is located to obtain the projection point of the starting reference point of the U-turn, which serves as the ending reference point of the U-turn. Obtain the ending reference point data of the U-turn based on the ending reference point of the U-turn.

[0062] Specifically, such as Figure 5 As shown, the lane where vehicle point 1 is located is map lane 3-1, and the current movement direction of the IGV is the same as the prescribed driving direction of map lane 3-1 where the vehicle point is located. Figure 5 The image shows a rightward turn. Target point 2 is located to the right and below vehicle point 1. When the preset global traffic rule is global clockwise movement, on map lane 3-2 where target point 2 is located, starting from target point 2, locate a position at a preset first distance from target point 2 along the current movement direction of the IGV. For example, it could be a position 30 meters to the right of target point 2, serving as the U-turn end reference point 6.

[0063] On map lane 3-2 where target task point 2 is located, starting from the U-turn end reference point 6, locate a point along the current IGV movement direction at a preset second distance from the U-turn end reference point 6. This point serves as temporary location point 7. For example, it could be a location 40 meters to the right of the U-turn end reference point 6. Project temporary location point 7 onto the U-turn movement direction switching lane to obtain the projection point of the temporary location point, which serves as the U-turn movement direction switching reference point 8. The U-turn movement direction switching lane can be any map lane between map lane 3-1 where the vehicle point is located and map lane 3-2 where the target task point is located, and any map lane that has a topological relationship with both map lane 3-1 where the vehicle point is located and map lane 3-2 where the target task point is located.

[0064] Project the U-turn end reference point 6 onto the map lane 3-1 where the vehicle point is located to obtain the projection point of the U-turn end reference point, which will be used as the U-turn start reference point 9.

[0065] In another embodiment, such as Figure 6 As shown, the lane where vehicle point 1 is located is map lane 3-1, and the current movement direction of the IGV is the same as the prescribed driving direction of map lane 3-1 where the vehicle point is located. Figure 6 The image shows driving to the right. Target point 2 is located to the upper left of vehicle point 1. When the preset global traffic rule is global counter-clockwise movement, on map lane 3-1 where vehicle point 1 is located, starting from vehicle point 1, locate a position at a preset first distance from vehicle point 1 along the current movement direction of IGV. For example, it could be a position 30 meters to the right of vehicle point 1, which serves as the starting reference point 9 for turning around.

[0066] On map lane 3-1 where vehicle point 1 is located, starting from the U-turn starting reference point 9, locate a point along the current IGV movement direction at a preset second distance from the U-turn starting reference point. This point is designated as temporary location point 7. For example, it could be a location 40 meters to the right of the U-turn starting reference point 9. Project temporary location point 7 onto the U-turn movement direction switching lane to obtain the projection point of temporary location point 7, which serves as the U-turn movement direction switching reference point 8. The U-turn movement direction switching lane can be any map lane between map lane 3-1 where vehicle point 1 is located and map lane 3-2 where the target task point 2 is located, and any map lane that has a topological relationship with both map lane 3-1 where vehicle point 1 is located and map lane 3-2 where the target task point 2 is located.

[0067] Project the starting reference point 9 of the U-turn onto the map lane 3-2 where the target task point 2 is located, and obtain the projection point of the starting reference point of the U-turn, which will serve as the ending reference point 6 of the U-turn.

[0068] By using the above method, it can be ensured that the distance from the vehicle point to the starting reference point of the U-turn and the distance from the target task point to the ending reference point of the U-turn are not less than the first distance, which facilitates the IGV to correct its direction of movement during driving and also leaves room and time for reaction to handle emergencies during driving.

[0069] If a flexible endpoint-triggered U-turn reference path acquisition method is applied, the U-turn start reference point data, U-turn direction switching reference point data, and U-turn end reference point data of the road mobile device are obtained using the above method. If a fixed node-guided U-turn reference path acquisition method is applied, preset U-turn start reference point data, U-turn direction switching reference point data, and U-turn end reference point data bound to preset U-turn area data are obtained, serving as the U-turn start reference point data, U-turn direction switching reference point data, and U-turn end reference point data for the road mobile device to make a U-turn in the preset U-turn area. Then, based on the U-turn start reference point data, U-turn direction switching reference point data, and U-turn end reference point data, the U-turn reference path of the road mobile device is obtained.

[0070] The following describes the specific method for obtaining the U-turn reference path of road mobile equipment based on the U-turn start reference point data, the U-turn movement direction switching reference point data, and the U-turn end reference point data.

[0071] Based on the U-turn start reference point data and the U-turn direction switching reference point data, a reference movement path is generated for the road mobile device to move from the U-turn start reference point to the U-turn direction switching reference point, including: Based on the U-turn start reference point data, obtain the node corresponding to the U-turn start reference point; based on the U-turn movement direction switching reference point data, obtain the node corresponding to the U-turn movement direction switching reference point; based on the location point data of the road mobile equipment, obtain the node corresponding to the location point of the road mobile equipment. The node with the lowest total estimated cost is selected from the preset open list as the current node. The current node is then moved from the open list to the preset closed list. The first total estimated cost is the sum of the first actual cost and the first heuristic cost. The first actual cost is the actual cumulative cost from the node corresponding to the starting reference point of the U-turn to any other node. The first heuristic cost is the heuristically estimated cost from any other node to the node corresponding to the reference point for switching the U-turn direction. The open list is used to store nodes to be evaluated, and the closed list is used to store nodes that have been evaluated. Determine whether the current node is a node that matches the reference point position for switching the direction of movement; If the current node is a node that matches the reference point position for switching the direction of movement during a U-turn, then search for all ancestor nodes of the current node. All ancestor nodes of the current node are nodes in the closed list located between the node corresponding to the starting reference point of the U-turn and the current node. Among them, the angle between the line passing through the node corresponding to the starting reference point of the U-turn and the current node and the first reference line is greater than the angle between the line passing through the parent node of the node corresponding to the starting reference point of the U-turn and the current node and the first reference line. The angle between the line passing through the node corresponding to the starting reference point of the U-turn and the current node and the second reference line is less than the angle between the line passing through the parent node of the node corresponding to the starting reference point of the U-turn and the current node and the second reference line. Based on the node corresponding to the starting reference point of the U-turn, all ancestor nodes of the current node, and the node corresponding to the current node and the reference point for switching the U-turn direction, a reference movement path is generated for the road mobile device to move from the starting reference point of the U-turn to the reference point for switching the U-turn direction. If the current node is not a node that matches the reference point for changing the direction of movement during a U-turn, then search the neighboring nodes of the current node. The neighboring nodes are the nodes corresponding to the adjacent locations that the road mobile device can reach from the current node. If the neighboring node is not in the closed list, the first temporary actual cost of the neighboring node is calculated. The first temporary actual cost of the neighboring node is the actual cumulative cost from the node corresponding to the starting reference point of the turn to the neighboring node via the current node. If the neighboring node is not in the open list, add the neighboring node to the open list, set the current node as the parent node of the neighboring node, and set the first temporary actual cost of the neighboring node to the first actual cost of the neighboring node. If a neighboring node is in the open list, and the first temporary actual cost of a neighboring node is less than the first actual cost of a neighboring node, then the first actual cost of the neighboring node is updated to the first temporary actual cost of the neighboring node, and the current node is set as the parent node of the neighboring node. The first actual cost of a neighboring node is the actual cumulative cost from the node corresponding to the starting reference point of the turn to the neighboring node. The node with the lowest total estimated cost is selected from the open list as the next current node, until the current node with the lowest total estimated cost selected from the open list matches the position of the U-turn direction switching reference point. The current node with the lowest total estimated cost selected from the open list that matches the position of the U-turn direction switching reference point is selected as the matching node. All ancestor nodes of the matching node are the nodes in the closed list located between the node corresponding to the U-turn starting reference point and the matching node. Among them, the angle between the line passing through the node corresponding to the U-turn starting reference point and the current node and the first reference line is greater than the angle between the line passing through the parent node of the node corresponding to the U-turn starting reference point and the current node and the first reference line. The angle between the line passing through the node corresponding to the U-turn starting reference point and the current node and the second reference line is less than the angle between the line passing through the parent node of the node corresponding to the U-turn starting reference point and the current node and the second reference line. Based on the node corresponding to the starting reference point of the U-turn, all ancestor nodes of the matching node, the matching node, and the node corresponding to the U-turn direction switching reference point, a reference movement path is generated for the road mobile device to move from the starting reference point of the U-turn to the U-turn direction switching reference point.

[0072] Specifically, in this embodiment, based on the U-turn starting reference point data and the U-turn movement direction switching reference point data, the following can be applied: The search algorithm, starting from the U-turn initiation reference point and ending at the U-turn direction switching reference point, calculates and generates a reference movement path for the road mobile device to move from the U-turn initiation reference point to the U-turn direction switching reference point. The specific steps are as follows: S100, Initialization: Based on the location data of road mobile devices, generate node data corresponding to the location points of the road mobile devices through a mapping relationship. The mapping relationship can be a key-value mapping relationship, for example, using the location coordinates in the location data as the mapping key and the corresponding node data as the mapping value, thereby generating the corresponding node data based on the location data. The node data can be based on the location data corresponding to the node, with the addition of path cost and / or parent node association information, etc. The algorithm requires structured data. The node data corresponding to the location point of the road mobile device can be used as the data for the node corresponding to the location point of the road mobile device. Using the method described above, the node corresponding to the location point of the road mobile device can be obtained based on the location point data. Similarly, based on the U-turn start reference point data, the node corresponding to the U-turn start reference point can be obtained; based on the U-turn direction switching reference point data, the node corresponding to the U-turn direction switching reference point can be obtained.

[0073] "And / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects are in an "OR" relationship. "Contains A, B and / or C" means containing any one, two, or three of A, B, and C.

[0074] It should be understood that in the embodiments of this application, "B corresponding to A", "B corresponding to A", "A corresponds to B" or "B corresponds to A" means that B is associated with A, and B can be determined based on A. Determining B based on A does not mean that B is determined solely based on A; B can also be determined based on A and / or other information.

[0075] Establish a preset open list and a closed list. The open list is used to store nodes to be evaluated, and the closed list is used to store nodes that have been evaluated.

[0076] The first total estimated cost of node A can be expressed as: The first actual cost of node A can be expressed as The first heuristic cost of node A can be expressed as The first total estimated cost of node A. For the first actual cost With first heuristic cost The sum of, i.e. The first actual cost of node A is the actual cumulative cost from the node corresponding to the U-turn initiation reference point to node A. This can be the actual travel distance of the road mobile device from the node corresponding to the U-turn initiation reference point to node A, the actual travel time of the road mobile device from the node corresponding to the U-turn initiation reference point to node A, or the actual energy consumption of the road mobile device from the node corresponding to the U-turn initiation reference point to node A. The first heuristic cost of node A is the estimated cost from node A to the node corresponding to the U-turn direction switching reference point. This can be the Euclidean distance or Manhattan distance of the road mobile device from node A to the node corresponding to the U-turn direction switching reference point.

[0077] The node corresponding to the starting reference point for turning around can be represented as node B, and the node corresponding to the reference point for switching the direction of movement when turning around can be represented as node S.

[0078] Add node B, corresponding to the U-turn starting reference point, to the open list, and calculate the first total estimated cost of node B, corresponding to the U-turn starting reference point. That is, the first actual cost from node B corresponding to the starting reference point of the U-turn to node B corresponding to the starting reference point of the U-turn. The first heuristic cost from node B corresponding to the starting reference point of the U-turn to node S corresponding to the reference point for switching the direction of movement of the U-turn. The sum. At this point, the list is closed and empty.

[0079] S200, Check the open list: If the open list is empty, the algorithm ends. If the open list is not empty, select the node with the lowest total estimated cost from the preset open list as the current node C. After evaluating the current node, transfer the current node C from the open list to the preset closed list.

[0080] S300, Determine if the destination has been reached: Determine if the current node C is a node that matches the position of the U-turn direction switching reference point. If the current node C matches the position of the destination, in this embodiment, the node S corresponding to the U-turn direction switching reference point (for example, if the Euclidean distance between the current node C and the node S corresponding to the U-turn direction switching reference point is less than or equal to 5 meters), then search all ancestor nodes of the current node C until the starting point, in this embodiment, the node B corresponding to the U-turn starting reference point, is found. All ancestor nodes of the current node are nodes in the closed list located between the node B corresponding to the U-turn starting reference point and the current node C. Furthermore, the angle between the line passing through the node B corresponding to the U-turn starting reference point and the current node C and the first reference line is greater than the angle between the line passing through the parent node of the node B corresponding to the U-turn starting reference point and the current node C and the first reference line; the angle between the line passing through the node B corresponding to the U-turn starting reference point and the current node C and the second reference line is less than the angle between the line passing through the parent node of the node B corresponding to the U-turn starting reference point and the current node C and the second reference line.

[0081] Based on the node corresponding to the starting reference point of the U-turn, all ancestor nodes of the current node, and the node corresponding to the current node and the reference point for switching the U-turn direction, a reference movement path is generated for the road mobile device to move from the starting reference point of the U-turn to the reference point for switching the U-turn direction.

[0082] S400, Traverse neighboring nodes: If the current node C is not a node that matches the location of the U-turn direction switching reference point, for example, if the Euclidean distance between the current node C and the node S corresponding to the U-turn direction switching reference point is greater than 5 meters, then search the neighboring nodes of the current node C. The neighboring nodes are the nodes corresponding to the adjacent locations that the road mobile device can reach from the current node C.

[0083] S500, Calculate the temporary actual cost: If the neighboring node is not in the closed list, calculate the first temporary actual cost of the neighboring node. In this embodiment, the first temporary actual cost of the neighboring node is the actual cumulative cost of reaching the neighboring node from node B corresponding to the U-turn starting reference point via the current node C. For example, if one of the neighboring nodes of the current node C is node W, calculate the first temporary actual cost of reaching the neighboring node W from node B corresponding to the U-turn starting reference point via the current node C. In the formula, temp represents temporary. It is the first temporary actual cost from node B corresponding to the starting reference point of the U-turn, through the current node C, to the neighboring node W. The actual cost of reaching the current node C from node B, the starting reference point of the U-turn. The actual cost of reaching neighboring node W from the current node C. The sum of, i.e. .

[0084] S600, Update the total estimated cost of neighboring nodes: If neighboring node W is not in the open list, add neighboring node W to the open list, set the parent node of neighboring node W to the current node C, and calculate the first actual cost of neighboring node W. With first heuristic cost At this point, the first actual cost For the first temporary actual cost .

[0085] If neighboring node W is already in the open list, compare the first actual cost of neighboring node W with the first temporary actual cost. If the first temporary actual cost of neighboring node W... The first actual cost less than the neighboring node W Then the first actual cost of the neighboring nodes will be... The first temporary actual cost of updating to a neighboring node And set the current node C as the parent node of the neighboring node W. If the first temporary actual cost of the neighboring node W is... The first actual cost greater than or equal to the neighboring node W Then the first actual cost of the neighboring node W is not considered. Update.

[0086] S700, Execution in a loop: Execute S200 to S700 in a loop, selecting the node with the lowest total estimated cost from the open list as the next current node, until the current node with the lowest total estimated cost selected from the open list matches the position of the U-turn direction switching reference point. The current node with the lowest total estimated cost selected from the open list that matches the position of the U-turn direction switching reference point is then selected as the matching node. All ancestor nodes of the matching node are found; all ancestor nodes of the matching node are nodes in the closed list located between the node corresponding to the U-turn starting reference point and the matching node. Specifically, the angle between the line passing through the node corresponding to the U-turn starting reference point and the current node and the first reference line is greater than the angle between the line passing through the parent node of the node corresponding to the U-turn starting reference point and the current node and the first reference line. The angle between the line passing through the node corresponding to the U-turn starting reference point and the current node and the second reference line is less than the angle between the line passing through the parent node of the node corresponding to the U-turn starting reference point and the current node and the second reference line.

[0087] Based on the node corresponding to the starting reference point of the U-turn, all ancestor nodes of the matching node, the matching node, and the node corresponding to the U-turn direction switching reference point, a reference movement path is generated for the road mobile device to move from the starting reference point of the U-turn to the U-turn direction switching reference point.

[0088] Similarly, based on the U-turn direction switching reference point data and the U-turn end reference point data, a reference movement path is generated for the road mobile device to move from the U-turn direction switching reference point to the U-turn end reference point, including: Based on the U-turn direction switching reference point data, obtain the node corresponding to the U-turn direction switching reference point; based on the U-turn end reference point data, obtain the node corresponding to the U-turn end reference point; based on the location point data of the road mobile device, obtain the node corresponding to the location point of the road mobile device. The node with the lowest second total estimated cost is selected from the preset open list as the current node. The current node is then moved from the open list to the preset closed list. The second total estimated cost is the sum of the second actual cost and the second heuristic cost. The second actual cost is the actual cumulative cost from the node corresponding to the reference point of the U-turn movement direction to any other node. The second heuristic cost is the heuristically estimated cost from any other node to the node corresponding to the reference point of the U-turn end. The open list is used to store nodes to be evaluated, and the closed list is used to store nodes that have been evaluated. Determine if the current node is a node that matches the reference point where the U-turn ends; If the current node is a node that matches the position of the U-turn end reference point, then search for all ancestor nodes of the current node. All ancestor nodes of the current node are the nodes in the closed list located between the node corresponding to the U-turn direction switching reference point and the current node. Among them, the angle between the line passing through the node corresponding to the U-turn direction switching reference point and the current node and the first reference line is greater than the angle between the line passing through the parent node of the node corresponding to the U-turn direction switching reference point and the current node and the first reference line. The angle between the line passing through the node corresponding to the U-turn direction switching reference point and the current node and the second reference line is less than the angle between the line passing through the parent node of the node corresponding to the U-turn direction switching reference point and the current node and the second reference line. Based on the node corresponding to the U-turn direction switching reference point, all ancestor nodes of the current node, and the node corresponding to the current node and the U-turn end reference point, generate a reference movement path for the road mobile device to move from the U-turn direction switching reference point to the U-turn end reference point. If the current node is not a node that matches the reference point for the end of the U-turn, then search the neighboring nodes of the current node. The neighboring nodes are the nodes corresponding to the adjacent locations that the road mobile device can reach from the current node. If the domain node is not in the closed list, the second temporary actual cost of the neighboring node is calculated. The second temporary actual cost of the neighboring node is the actual cumulative cost of the node corresponding to the reference point of the turn-around movement direction to reach the neighboring node through the current node. If the neighboring node is not in the open list, add the neighboring node to the open list, set the current node as the parent node of the neighboring node, and set the second temporary actual cost of the neighboring node to the second actual cost of the neighboring node. If a neighboring node is in the open list, and the second temporary actual cost of a neighboring node is less than the second actual cost of a neighboring node, then the second actual cost of the neighboring node is updated to the second temporary actual cost of the neighboring node, and the current node is set as the parent node of the neighboring node. The second actual cost of the neighboring node is the actual cumulative cost from the node corresponding to the reference point for switching the direction of turning around to the neighboring node. The node with the lowest second total estimated cost is selected from the open list as the next current node, until the current node with the lowest second total estimated cost selected from the open list matches the position of the U-turn end reference point. The current node with the lowest second total estimated cost selected from the open list that matches the position of the U-turn end reference point is selected as the matching node. All ancestor nodes of the matching node are the nodes in the closed list located between the node corresponding to the U-turn direction switching reference point and the matching node. Among them, the angle between the line passing through the node corresponding to the U-turn direction switching reference point and the current node and the first reference line is greater than the angle between the line passing through the parent node of the node corresponding to the U-turn direction switching reference point and the current node and the first reference line. The angle between the line passing through the node corresponding to the U-turn start reference point and the current node and the second reference line is less than the angle between the line passing through the parent node of the node corresponding to the U-turn start reference point and the current node and the second reference line. Based on the node corresponding to the U-turn direction switching reference point, all ancestor nodes of the matching node, the matching node, and the node corresponding to the U-turn end reference point, a reference movement path is generated for the road mobile device to move from the U-turn direction switching reference point to the U-turn end reference point.

[0089] Based on the above method, using the U-turn start reference point data and the U-turn direction switching reference point data, a reference movement path is generated for the road mobile device to move from the U-turn start reference point to the U-turn direction switching reference point, serving as the first reference movement path. Using the U-turn direction switching reference point data and the U-turn end reference point data, a reference movement path is generated for the road mobile device to move from the U-turn direction switching reference point to the U-turn end reference point, serving as the second reference movement path.

[0090] Preferably, a reference movement path is generated for the road mobile device to move from the vehicle point to the U-turn starting reference point based on the vehicle point data and the U-turn starting reference point data, as a preliminary reference movement path.

[0091] Based on the U-turn end reference point data and the target task point data, a reference movement path is generated for the road mobile device to move from the U-turn end reference point to the target task point, which serves as the calibration reference movement path.

[0092] The process of generating a U-turn reference path for a road mobile device based on a first reference movement path and a second reference movement path includes: generating a U-turn reference path for a road mobile device based on a preparatory reference movement path, a first reference movement path, a second reference movement path, and a calibration reference movement path.

[0093] Specifically, such as Figure 5 and Figure 6As shown, the process of a road mobile device traveling from vehicle point 1 to target task point 2 can be divided into the following four stages: In the first stage, the vehicle moves from point 1 along the preparatory reference movement path to the starting reference point 9 for the U-turn, and adjusts the road mobile device to the starting position of the "V" shaped U-turn reference path.

[0094] In the second stage, the road mobile equipment starts from the U-turn starting reference point 9, moves diagonally along the first reference movement path to the U-turn movement direction switching reference point 8, and performs the first lane change action of the U-turn operation.

[0095] In the third stage, the road mobile device starts from the U-turn direction switching reference point 8, moves diagonally along the second reference movement path to the U-turn end reference point 6, performs the second lane change action of the U-turn operation, and enters the map lane 3-2 where the target task point 2 is located.

[0096] In the fourth stage, the road mobile equipment starts from the U-turn end reference point 6, moves along the calibration reference movement path, and reaches the target task point 2 to complete the U-turn operation.

[0097] When a road mobile device is unable to perform its original U-turn operation due to an unforeseen situation, the IGV intelligent driving system can perform rerouting planning to avoid the IGV waiting in place for a long time, thus ensuring the smooth operation of the U-turn.

[0098] In the first stage, if the road mobile device cannot reach the U-turn starting reference point 9 from the vehicle point 1 along the prepared reference movement path, the road mobile device IGV intelligent driving system performs rerouting planning. The road mobile device no longer travels to the U-turn starting reference point 9 along the prepared reference movement path. Instead, based on the vehicle point data and the U-turn movement direction switching reference point data, it generates a reference movement path from the vehicle point 1 to the U-turn movement direction switching reference point 8. The road mobile device travels directly from the vehicle point 1 to the U-turn movement direction switching reference point 8 along the reference movement path from the vehicle point 1 to the U-turn movement direction switching reference point 8.

[0099] In the second stage, if the road mobile device cannot move along the first reference movement path to the U-turn direction switching reference point, and the road mobile device cannot move in the map lane where the U-turn start reference point is located for more than a preset time, then the location point is determined by taking the U-turn start reference point as the starting point and moving along the specified driving direction of the map lane where the U-turn start reference point is located, with a distance of a preset third distance between the location and the U-turn start reference point as the starting point. This location is then used as the updated U-turn start reference point, and updated U-turn start reference point data is obtained. Based on the updated U-turn start reference point data, updated U-turn direction switching reference point data and updated U-turn end reference point data are obtained. The updated U-turn start reference point data is used for the road mobile device to locate and update the U-turn start reference point, the updated U-turn direction switching reference point data is used for the road mobile device to locate and update the U-turn direction switching reference point, and the U-turn end reference point data is used for the road mobile device to locate and update the U-turn end reference point. Based on the updated U-turn start reference point data and the updated U-turn direction switching reference point data, a reference movement path is generated for the road mobile device to move from the updated U-turn start reference point to the updated U-turn direction switching reference point, which serves as the third reference movement path. Based on the updated U-turn direction switching reference point data and the updated U-turn end reference point data, a reference movement path is generated for the road mobile device to move from the updated U-turn direction switching reference point to the updated U-turn end reference point, which serves as the fourth reference movement path. Based on the third and fourth reference movement paths, an updated U-turn reference path is generated for the road mobile equipment.

[0100] Specifically, such as Figure 7As shown, if the IGV cannot move along the first reference movement path to the U-turn direction switching reference point, and the IGV cannot move for more than a preset time in map lane 3-1 where the U-turn starting reference point 9 is located (e.g., more than 5 seconds), then the location point is determined by locating a preset third distance from the U-turn starting reference point 9 along the prescribed driving direction of map lane 3-1 where the U-turn starting reference point 9 is located, and this location is used as the updated U-turn starting reference point 10. The prescribed driving direction of map lane 3-1 where the U-turn starting reference point 9 is located is right-hand drive, as shown in the figure. Therefore, starting from the U-turn starting reference point 9, for example, moving 20 meters to the right, this location is used as the updated U-turn starting reference point 10. Updated U-turn starting reference point data is obtained, and based on this data, updated U-turn direction switching reference point data and updated U-turn end reference point data are obtained. Based on the updated U-turn start reference point data and the updated U-turn direction switching reference point data, a reference movement path is generated for the road mobile device to move from the updated U-turn start reference point 10 to the updated U-turn direction switching reference point 11, serving as the third reference movement path. Based on the updated U-turn direction switching reference point data and the updated U-turn end reference point data, a reference movement path is generated for the road mobile device to move from the updated U-turn direction switching reference point 11 to the updated U-turn end reference point 12, serving as the fourth reference movement path. Based on the third and fourth reference movement paths, an updated U-turn reference path is generated for the road mobile device.

[0101] This rerouting plan aims to prevent IGVs from remaining stationary for extended periods, thereby avoiding adverse effects on the normal operation of subsequent vehicles.

[0102] If the road mobile device cannot move along the first reference movement path to the U-turn direction switching reference point, and the time during which the road mobile device cannot move in the map lane where the U-turn start reference point is located does not exceed a preset time, a fifth reference movement path is generated for the road mobile device to move from the self-point to the target task point based on the road mobile device's vehicle point data and target task point data. An updated U-turn reference path is then generated based on the fifth reference movement path.

[0103] Specifically, based on the vehicle location data and the target task location data of the road mobile device, a fifth reference movement path is generated for the road mobile device to move from its vehicle location to the target task location, including: Based on the vehicle location data, obtain the node corresponding to the vehicle location; based on the target task location data, obtain the node corresponding to the target task location; based on the location data of the road mobile device, obtain the node corresponding to the location of the road mobile device. The node with the lowest total estimated cost is selected from the preset open list as the current node. The current node is then moved from the open list to the preset closed list. The total estimated cost is the sum of the actual cost and the heuristic cost. The actual cost is the actual cumulative cost from the node corresponding to the vehicle point to any other node. The heuristic cost is the heuristically estimated cost from any other node to the node corresponding to the target task point. The open list is used to store nodes to be evaluated, and the closed list is used to store nodes that have been evaluated. Determine whether the current node is a node that matches the location of the target task point; If the current node is a node that matches the target task point location, then find all ancestor nodes of the current node. All ancestor nodes of the current node are the nodes in the closed list that are located between the node corresponding to the vehicle point and the current node. Based on the node corresponding to the vehicle point, all ancestor nodes of the current node, the node corresponding to the current node and the node corresponding to the target task point, generate a reference movement path for the road mobile device to move from the vehicle point to the target task point. If the current node is not a node that matches the target task point location, then search the neighboring nodes of the current node. The neighboring nodes are the nodes corresponding to the adjacent locations that the road mobile device can reach from the current node. If the domain node is not in the closed list, the third temporary actual cost of the neighboring node is calculated. The third temporary actual cost of the neighboring node is the actual cumulative cost of traveling from the node corresponding to the vehicle point to the neighboring node via the current node. If the neighboring node is not in the open list, add the neighboring node to the open list, set the current node as the parent node of the neighboring node, and set the third temporary actual cost of the neighboring node to the third actual cost of the neighboring node. If a neighboring node is in the open list, and the third temporary actual cost of a neighboring node is less than the third actual cost of a neighboring node, then the third actual cost of the neighboring node is updated to the third temporary actual cost of the neighboring node, and the current node is set as the parent node of the neighboring node. The third actual cost of the neighboring node is the actual cumulative cost from the node corresponding to the vehicle point to the neighboring node. Select the node with the lowest total estimated cost from the open list as the next current node, until the current node with the lowest total estimated cost from the open list is a node that matches the target task point location. Then, select the current node with the lowest total estimated cost from the open list that matches the target task point location as the matching node. Find all ancestor nodes of the matching node. All ancestor nodes of the matching node are nodes in the closed list located between the node corresponding to the vehicle point and the matching node. Based on the node corresponding to the vehicle point, all ancestor nodes of the matching node, the matching node, and the node corresponding to the target task point, a fifth reference movement path is generated for the road mobile device to move from the vehicle point to the target task point.

[0104] Specifically, after the IGV reaches the U-turn starting reference point, if the IGV cannot move along the first reference movement path to the U-turn direction switching reference point, and the duration for which the IGV cannot move in the map lane at the U-turn starting reference point does not exceed a preset time (e.g., 5 seconds), a fifth reference movement path is generated based on the IGV's own point data and the target task point data to move the IGV from its own point to the target task point. This can be applied... The search algorithm calculates and generates a fifth reference movement path for the road mobile device to move from the starting point to the target task point, using the starting point of the vehicle as the origin and the target task point as the destination. Based on the fifth reference movement path, it generates an updated U-turn reference path for the road mobile device.

[0105] In the third stage, if the road mobile device cannot move to the U-turn end reference point along the second reference movement path, a sixth reference movement path is generated for the road mobile device to move from the self-point to the target task point based on the self-point data and target task point data of the road mobile device. Based on the sixth reference movement path, an updated U-turn reference path is generated for the road mobile device.

[0106] Specifically, based on the vehicle location data and target task point data of the road mobile device, a sixth reference movement path is generated for the road mobile device to move from the vehicle location to the target task point, including: Based on the vehicle location data, obtain the node corresponding to the vehicle location; based on the target task location data, obtain the node corresponding to the target task location; based on the location data of the road mobile device, obtain the node corresponding to the location of the road mobile device. The node with the lowest fourth total estimated cost is selected from the preset open list as the current node. The current node is then moved from the open list to the preset closed list. The fourth total estimated cost is the sum of the fourth actual cost and the fourth heuristic cost. The fourth actual cost is the actual cumulative cost from the node corresponding to the vehicle point to any other node. The fourth heuristic cost is the heuristically estimated cost from any other node to the node corresponding to the target task point. The open list is used to store nodes to be evaluated, and the closed list is used to store nodes that have been evaluated. Determine whether the current node is a node that matches the location of the target task point; If the current node is a node that matches the target task point location, then find all ancestor nodes of the current node. All ancestor nodes of the current node are the nodes in the closed list that are located between the node corresponding to the vehicle point and the current node. Based on the node corresponding to the vehicle point, all ancestor nodes of the current node, the node corresponding to the current node and the node corresponding to the target task point, generate a reference movement path for the road mobile device to move from the vehicle point to the target task point. If the current node is not a node that matches the target task point location, then search the neighboring nodes of the current node. The neighboring nodes are the nodes corresponding to the adjacent locations that the road mobile device can reach from the current node. If the domain node is not in the closed list, the fourth temporary actual cost of the neighboring node is calculated. The fourth temporary actual cost of the neighboring node is the actual cumulative cost of traveling from the node corresponding to the vehicle point to the neighboring node via the current node. If the neighboring node is not in the open list, add the neighboring node to the open list, set the current node as the parent node of the neighboring node, and set the fourth temporary actual cost of the neighboring node to the fourth actual cost of the neighboring node. If a neighboring node is in the open list, and the fourth temporary actual cost of a neighboring node is less than the fourth actual cost of a neighboring node, then the fourth actual cost of the neighboring node is updated to the fourth temporary actual cost of the neighboring node, and the current node is set as the parent node of the neighboring node. The fourth actual cost of the neighboring node is the actual cumulative cost from the node corresponding to the vehicle point to the neighboring node. The node with the lowest total estimated cost is selected from the open list as the next current node, until the node with the lowest total estimated cost selected from the open list is a node that matches the target task point location. The current node with the lowest total estimated cost selected from the open list that matches the target task point location is the matching node. All ancestor nodes of the matching node are the nodes in the closed list located between the node corresponding to the vehicle point and the matching node. Based on the node corresponding to the vehicle point, all ancestor nodes of the matching node, the matching node, and the node corresponding to the target task point, a sixth reference movement path is generated for the road mobile device to move from the vehicle point to the target task point.

[0107] Specifically, after the IGV reaches the U-turn direction switching reference point, if the IGV cannot move to the U-turn end reference point along the second reference movement path, a sixth reference movement path is generated based on the IGV's own point data and target task point data to move the IGV from its own point to the target task point. This can be applied... The search algorithm calculates and generates a sixth reference movement path for the road mobile device, starting from the vehicle's origin and ending at the target task point. Based on this sixth reference movement path, an updated U-turn reference path is generated for the road mobile device.

[0108] If, while moving along the second reference movement path, it is detected that the road mobile device, after reaching the U-turn end reference point, cannot move from the U-turn end reference point to the target task point along the calibration reference movement path, a seventh reference movement path is generated based on the road mobile device's own point data and the target task point data, allowing the road mobile device to move from its own point to the target task point. This can be applied... The search algorithm calculates and generates a seventh reference movement path for the road mobile device, starting from the vehicle's origin and ending at the target task point. Based on this seventh reference movement path, an updated U-turn reference path is generated for the road mobile device.

[0109] When a road mobile device is unable to perform its original U-turn operation due to an emergency, the IGV driving system can perform rerouting planning to avoid the IGV waiting in place for a long time, ensuring the smoothness of the U-turn operation, improving the IGV's traffic efficiency and operational flexibility in complex environments, and also avoiding adverse effects on the normal operation of other equipment.

[0110] like Figure 8 As shown, this application also provides a device for obtaining a U-turn reference path for road mobile equipment, the device comprising: a data acquisition module 13 and a path generation module 14.

[0111] The data acquisition module 13 is used to acquire the starting reference point data, the turning direction switching reference point data, and the ending reference point data of the road mobile device. The road mobile device includes the road mobile device body and the turning direction switching device. The turning direction switching device is used to guide the turning direction of the road mobile device body. The starting reference point data is used for the road mobile device to locate the starting reference point of the turning, the turning direction switching reference point data is used for the road mobile device to locate the turning direction switching reference point, and the ending reference point data is used for the road mobile device to locate the ending reference point of the turning.

[0112] The path generation module 14 is used to generate a reference movement path for the road mobile device to move from the starting reference point of the U-turn to the switching reference point of the U-turn, based on the starting reference point data and the switching reference point data of the U-turn movement direction, as a first reference movement path; to generate a reference movement path for the road mobile device to move from the switching reference point of the U-turn movement direction to the ending reference point of the U-turn, based on the switching reference point data and the ending reference point data of the U-turn, as a second reference movement path; and to generate a U-turn reference path for the road mobile device based on the first reference movement path and the second reference movement path.

[0113] Wherein, the angle between the movement direction of the road mobile device body at any point on the first path and the first reference line is greater than the angle between the movement direction of the previous adjacent point on the first path and the first reference line; the angle between the movement direction of the road mobile device body at any point on the first path and the second reference line is less than the angle between the movement direction of the previous adjacent point on the first path and the second reference line; the first reference line is a straight line passing through the starting reference point and the ending reference point of the U-turn; the second reference line is a straight line passing through the U-turn movement direction switching reference point and perpendicular to the first reference line; any point on the first path is any point in the first reference movement path; the previous adjacent point on the first path is the point adjacent to any point on the first path that the road mobile device needs to reach before reaching any point on the first path. The angle between the moving direction of the road mobile device body at any point on the second path and the first reference line is smaller than the angle between the moving direction of the preceding adjacent point on the second path and the first reference line. The angle between the moving direction of the road mobile device body at any point on the second path and the second reference line is greater than the angle between the moving direction of the preceding adjacent point on the second path and the second reference line. Any point on the second path is any point in the second reference moving path. The preceding adjacent point on the second path is the point adjacent to any point on the second path that the road mobile device needs to reach before reaching any point on the second path.

[0114] like Figure 9 As shown, this application also provides an electronic device, including a processor 16 and a memory 15. The memory 15 is used to store computer-executable instructions, which, when executed by the processor 16, are used to implement the above-described method for obtaining a U-turn reference path for a road mobile device provided in this application.

[0115] This application also provides a storage device for storing computer-executable instructions, which, when executed by a processor, are used to implement the above-described method for obtaining a U-turn reference path for road mobile equipment provided in this application.

[0116] This application embodiment may involve the use of user data. In practical applications, user-specific personal data may be used within the scope permitted by applicable laws and regulations of the country in which it is used (e.g., with the user's explicit consent and effective notification to the user, etc.). Furthermore, the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. The collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0117] Although this application discloses preferred embodiments as described above, it is not intended to limit this application. Any person skilled in the art can make possible changes and modifications without departing from the spirit and scope of this application. Therefore, the scope of protection of this application should be determined by the scope defined in the claims of this application.

Claims

1. A method for obtaining a U-turn reference path for road mobile equipment, characterized in that, The method includes: The system obtains U-turn start reference point data, U-turn direction switching reference point data, and U-turn end reference point data for a road mobile device. The road mobile device includes a road mobile device body and a direction switching device. The direction switching device is used to guide the movement direction of the road mobile device body. The U-turn start reference point data is used for the road mobile device to locate the U-turn start reference point. The U-turn direction switching reference point data is used for the road mobile device to locate the U-turn direction switching reference point. The U-turn end reference point data is used for the road mobile device to locate the U-turn end reference point. Based on the U-turn start reference point data and the U-turn movement direction switching reference point data, a reference movement path is generated for the road mobile device to move from the U-turn start reference point to the U-turn movement direction switching reference point, which is used as the first reference movement path; Based on the U-turn direction switching reference point data and the U-turn end reference point data, a reference movement path is generated for the road mobile device to move from the U-turn direction switching reference point to the U-turn end reference point, which serves as the second reference movement path; A U-turn reference path is generated based on the first reference movement path and the second reference movement path, wherein the orientation of the road mobile device body when the road mobile device moves on the first reference movement path is the same as the orientation of the road mobile device body when the road mobile device moves on the second reference movement path.

2. The method for obtaining a U-turn reference path according to claim 1, characterized in that, Also includes: Obtain the vehicle location data of the road mobile device, wherein the vehicle location data is data used to locate the current location of the road mobile device, and use the current location of the road mobile device as the vehicle location; Obtain the target task point data of the road mobile device, wherein the target task point data is data used by the road mobile device to locate the location point to be reached in order to perform the target task, and take the location point to be reached by the road mobile device in order to perform the target task as the target task point; The current movement direction data of the road mobile device body at the vehicle point is obtained, and the current movement direction data is used to represent the current movement direction of the road mobile device at the vehicle point; Based on the vehicle location data, the target task point data, and the current direction of movement data, determine whether the road mobile device needs to turn around from the vehicle location to the target task point; The acquisition of U-turn start reference point data, U-turn direction switching reference point data, and U-turn end reference point data for road mobile equipment includes: If it is determined that the road mobile device needs to make a U-turn from the starting point to the target task point, and at least one location point in the designated road segment of the starting point lane that is at a distance from the starting point that meets a preset distance condition is located within a preset U-turn area, then preset U-turn start reference point data, U-turn movement direction switching reference point data, and U-turn end reference point data bound to the preset U-turn area data are obtained as the U-turn start reference point data, U-turn movement direction switching reference point data, and U-turn end reference point data for the road mobile device to make a U-turn in the preset U-turn area. The preset U-turn area is the preset U-turn area that the road mobile device needs to pass through from the starting point to the target task point. The designated road segment of the starting point lane is the road segment on the map lane where the starting point is located, starting from the starting point along the current movement direction to the end point of the map lane where the starting point is located. The map lane where the starting point is located is the lane set for the specified map where the starting point is located on the specified map. The specified map is the map corresponding to the movement area of ​​the road mobile device. Alternatively, if it is determined that the road mobile device needs to make a U-turn from the vehicle point to the target task point, and all location points in the designated road segment of the vehicle point lane that are at a distance from the vehicle point that meets a preset distance condition are not located in any preset U-turn area, then based on the vehicle point data and the target task point data, the U-turn start reference point data, U-turn movement direction switching reference point data, and U-turn end reference point data of the road mobile device are obtained.

3. The method for obtaining a U-turn reference path according to claim 2, characterized in that, The step of determining whether the road mobile device needs to turn around from the vehicle point to the target task point based on the vehicle point data, the target task point data, and the current direction of movement data includes: Determine whether the map lane where the vehicle is located and the map lane where the target task point is located are the same map lane; If the map lane where the vehicle is located is not the same as the map lane where the target task point is located, then based on the target task point data, the target task point is projected onto the map lane where the vehicle is located to obtain the projection point of the target task point onto the map lane where the vehicle is located. If the projection point of the target task point onto the map lane where the vehicle point is located is a position point on the map lane where the vehicle point is located in the opposite direction of the current movement direction of the vehicle point, then it is determined that the road mobile device needs to turn around from the vehicle point to the target task point. If the projection point of the target task point onto the map lane where the vehicle point is located is a position point on the map lane where the vehicle point is located in the current movement direction of the vehicle point, then the movement direction data required for the road mobile device to reach the target task point is obtained as the target movement direction data. Based on the target movement direction data and the current movement direction data, determine whether the angle between the movement direction required for the road mobile device to reach the target task point and the current movement direction exceeds 90 degrees. If so, determine that the road mobile device needs to turn around from the starting point to the target task point; otherwise, determine that the road mobile device does not need to turn around from the starting point to the target task point.

4. The method for obtaining a U-turn reference path according to claim 2, characterized in that, The step of obtaining the U-turn start reference point data, U-turn direction switching reference point data, and U-turn end reference point data of the road mobile device based on the vehicle point data and the target task point data includes: On the map lane where the target task point is located, starting from the target task point, a position point is located along the current direction of movement at a preset first distance from the target task point, which is used as the U-turn end reference point. The U-turn end reference point data is obtained based on the U-turn end reference point. The map lane where the target task point is located is the lane set for the specified map where the target task point is located. On the designated map, a lane between the map lane where the vehicle is located and the map lane where the target task point is located is determined as the U-turn direction switching lane. On the map lane at the target task point, with the U-turn end reference point as the starting point, a position point is located along the current movement direction at a preset second distance from the U-turn end reference point, which is used as a temporary position point. The temporary position point is projected onto the U-turn direction switching lane to obtain the projection point of the temporary position point, which is used as the U-turn direction switching reference point. The U-turn direction switching reference point data is obtained based on the U-turn direction switching reference point. The U-turn end reference point is projected onto the lane of the map where the vehicle is located to obtain the projection point of the U-turn end reference point, which is used as the U-turn start reference point. The U-turn start reference point data is obtained based on the U-turn start reference point.

5. The method for obtaining a U-turn reference path according to claim 2, characterized in that, Also includes: Based on the vehicle point data and the U-turn start reference point data, a reference movement path is generated for the road mobile device to move from the vehicle point to the U-turn start reference point, which serves as a preliminary reference movement path. Based on the U-turn end reference point data and the target task point data, a reference movement path is generated for the road mobile device to move from the U-turn end reference point to the target task point, which serves as the calibration reference movement path. The step of generating a U-turn reference path for the road mobile device based on the first reference movement path and the second reference movement path includes: generating a U-turn reference path for the road mobile device based on the preparatory reference movement path, the first reference movement path, the second reference movement path, and the calibration reference movement path.

6. The method for obtaining a U-turn reference path according to claim 2, characterized in that, Also includes: If the road mobile device cannot move along the first reference movement path to the U-turn direction switching reference point, and the road mobile device cannot move in the map lane where the U-turn start reference point is located for more than a preset time, then, taking the U-turn start reference point as the starting point, a position point with a preset third distance between it and the U-turn start reference point is located along the prescribed driving direction of the map lane where the U-turn start reference point is located, and this position point is used as the updated U-turn start reference point. Updated U-turn start reference point data is obtained. Based on the updated U-turn start reference point data, updated U-turn direction switching reference point data and updated U-turn end reference point data are obtained. The updated U-turn start reference point data is used by the road mobile device to locate the updated U-turn start reference point, the updated U-turn direction switching reference point data is used by the road mobile device to locate the updated U-turn direction switching reference point, and the U-turn end reference point data is used by the road mobile device to locate the updated U-turn end reference point. Based on the updated U-turn start reference point data and the updated U-turn movement direction switching reference point data, a reference movement path is generated for the road mobile device to move from the updated U-turn start reference point to the updated U-turn movement direction switching reference point, which serves as the third reference movement path; Based on the updated U-turn direction switching reference point data and the updated U-turn end reference point data, a reference movement path is generated for the road mobile device to move from the updated U-turn direction switching reference point to the updated U-turn end reference point, which serves as the fourth reference movement path. An updated U-turn reference path is generated for the road mobile device based on the third reference movement path and the fourth reference movement path.

7. The method for obtaining a U-turn reference path according to claim 2, characterized in that, Also includes: If the road mobile device cannot move along the first reference movement path to the U-turn direction switching reference point, and the time during which the road mobile device cannot move in the map lane where the U-turn start reference point is located does not exceed a preset time, then a fifth reference movement path is generated for the road mobile device to move from the vehicle point to the target task point based on the vehicle point data and the target task point data of the road mobile device. Based on the fifth reference movement path, an updated U-turn reference path is generated for the road mobile device.

8. A device for obtaining a U-turn reference path for road mobile equipment, characterized in that, The device includes: a data acquisition module and a path generation module; The data acquisition module is used to obtain U-turn start reference point data, U-turn direction switching reference point data, and U-turn end reference point data of the road mobile device. The road mobile device includes a road mobile device body and a direction switching device. The direction switching device is used to guide the movement direction of the road mobile device body. The U-turn start reference point data is used for the road mobile device to locate the U-turn start reference point. The U-turn direction switching reference point data is used for the road mobile device to locate the U-turn direction switching reference point. The U-turn end reference point data is used for the road mobile device to locate the U-turn end reference point. The path generation module is configured to generate, based on the U-turn start reference point data and the U-turn direction switching reference point data, a reference movement path for the road mobile device to move from the U-turn start reference point to the U-turn direction switching reference point, as a first reference movement path; generate, based on the U-turn direction switching reference point data and the U-turn end reference point data, a reference movement path for the road mobile device to move from the U-turn direction switching reference point to the U-turn end reference point, as a second reference movement path; and generate a U-turn reference path for the road mobile device based on the first reference movement path and the second reference movement path.

9. An electronic device, characterized in that, include: Processor and memory; The memory is used to store computer execution instructions, which, when executed by the processor, are used to implement the method according to any one of claims 1-7.

10. A storage device, characterized in that, The computer executes instructions, which, when executed by a processor, are used to implement the method described in any one of claims 1-7.

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