Vehicle path planning method and apparatus, electronic device, storage medium, and product

Abstract

The present application relates to the technical field of vehicle path planning, and provides a vehicle path planning method and apparatus, an electronic device, a storage medium, and a product. The method comprises: acquiring image acquisition data of a target map, wherein the image acquisition data refers to preset driving data of a vehicle on the target map; determining a real-scene three-dimensional map on the basis of the image acquisition data and map construction software, wherein the map construction software is a tool for performing model building on the basis of the image acquisition data; determining position data of the vehicle on the basis of the real-scene three-dimensional map, wherein the position data is used for determining the latitude, longitude, and elevation of a corresponding position of the vehicle; and performing path planning on the basis of the position data to obtain a vehicle target path of the vehicle. In the technical solution of the present application, the real-scene three-dimensional map is constructed on the basis of the acquired image acquisition data, and path planning is performed on the basis of the position data determined on the basis of the real-scene three-dimensional map, so as to obtain the vehicle target path, thereby improving navigation accuracy and improving operating experience and safety of drivers.

Description

Vehicle path planning methods, devices, electronic equipment, storage media, and products

[0001] This application claims priority to Chinese Patent Application No. 202411518696.7, filed on October 29, 2024, entitled “Route planning method, apparatus, electronic device, storage medium and product for vehicles”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of vehicle routing technology, and more specifically, to a vehicle routing method, apparatus, electronic device, storage medium, and product. Background Technology

[0003] Enclosed parks typically refer to geographically restricted areas such as industrial parks, ports, logistics centers, and mining areas. Due to their special functions, these areas have high requirements for vehicle navigation and dispatching.

[0004] Currently, navigation within enclosed areas largely relies on Global Positioning System (GPS) satellite signals for vehicle positioning and navigation. This involves using real-time satellite location data and combining it with map information from the enclosed area for route planning. However, this GPS-based route planning method is susceptible to problems in enclosed areas (such as those with tall buildings or underground parking garages) where satellite signals are weak or interfered with, leading to decreased positioning accuracy or even failure. Furthermore, the limited GPS signal update speed causes navigation information lag, which is detrimental to fast-moving heavy trucks and affects driver operation and safety. Summary of the Invention

[0005] The purpose of this application is to provide a vehicle path planning method, device, electronic device, storage medium, and product to solve the defects in related technologies where weak or interfered satellite signals in enclosed areas (such as high-rise buildings or underground parking garages) lead to decreased positioning accuracy or even failure, and the limited GPS signal update speed causes navigation information lag, which is not conducive to the rapid movement of heavy trucks and affects the driver's operation and safety. The application realizes the construction of a real-scene 3D map based on the acquired image data, and performs path planning based on the point data determined by the real-scene 3D map to obtain the vehicle's target path, thereby improving navigation accuracy and enhancing the driver's operating experience and safety.

[0006] In a first aspect, this application provides a method for planning the path of a vehicle, comprising the following steps.

[0007] Acquire imagery data for the target map.

[0008] A real-world 3D map is determined based on image acquisition data and map building software; the map building software is a tool for building models based on image acquisition data.

[0009] The location data of the vehicle is determined based on the real-world 3D map; the location data is used to determine the latitude, longitude and elevation of the corresponding location of the vehicle.

[0010] Based on the location data, route planning is performed to obtain the vehicle's target route.

[0011] According to the vehicle path planning method provided in this application, image acquisition data of a target map is obtained, including: determining the target map and the acquisition route of the data acquisition device; and acquiring image acquisition data on the target map based on the acquisition route of the data acquisition device.

[0012] According to the vehicle path planning method provided in this application, a real-scene 3D map is determined based on image acquisition data and map building software, including: importing image acquisition data into map building software to obtain real-scene 3D coordinates output by map building software; generating dense point cloud data based on real-scene 3D coordinates and dense matching technology; wherein, dense matching technology is a technology for accurately analyzing and matching real-scene 3D coordinates; and obtaining a real-scene 3D map based on dense point cloud data.

[0013] According to the vehicle route planning method provided in this application, the method determines the vehicle's location data based on a real-scene 3D map, including: determining map analysis software; wherein the map analysis software is analysis software that starts the view mode of the real-scene 3D map; and performing point-by-point segmentation and map analysis on the real-scene 3D map based on the map analysis software to obtain the location data.

[0014] According to the vehicle path planning method provided in this application, path planning is performed based on location data to obtain the vehicle's target path, including: obtaining the initial cost value of the corresponding location; determining the location cost value of the corresponding location based on the location data; and performing path planning based on the initial cost value and the location cost value to determine the vehicle's target path.

[0015] According to the vehicle path planning method provided in this application, after determining the real-scene 3D map based on image acquisition data and map building software, the method further includes: compressing the 3D map file corresponding to the 3D real-scene map to obtain an initial map file; encrypting the initial map file to obtain a target map file; and uploading the target map file to the cloud for storage and publication.

[0016] Secondly, this application also provides a vehicle path planning device, including the following modules.

[0017] The data acquisition module is used to acquire image data of the target map.

[0018] The map determination module is used to determine a real-world 3D map based on image acquisition data and map building software; the map building software is a tool for model building based on image acquisition data.

[0019] The data determination module is used to determine the location data of vehicles based on the real-world 3D map; the location data is used to determine the latitude, longitude and elevation of the corresponding location of the vehicle.

[0020] The route planning module is used to plan routes based on location data to obtain the vehicle's target route.

[0021] Thirdly, this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the path planning method for any of the vehicles described above.

[0022] Fourthly, this application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the path planning method for any of the vehicles described above.

[0023] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements a path planning method for any of the vehicles described above.

[0024] Sixthly, this application also provides a computer program, comprising: when the computer program is executed by a processor, implementing a path planning method for any of the above-described vehicles.

[0025] In conjunction with the above technical solutions, this application provides a vehicle path planning method, device, electronic device, storage medium, and product. This involves acquiring image data of a target map; determining a real-world 3D map based on the image data and map building software; the map building software being a tool for model construction based on the image data; determining vehicle location data based on the real-world 3D map; and performing path planning based on the location data to obtain the vehicle's target path. This technical solution addresses the shortcomings of related technologies where weak or interfered satellite signals in enclosed areas (such as high-rise buildings or underground parking garages) lead to decreased positioning accuracy or even failure. Limited GPS signal update speed also causes navigation information lag, which is detrimental to fast-moving heavy trucks and affects driver operation and safety. This solution enables the construction of a real-world 3D map based on acquired image data and path planning based on the location data determined by the real-world 3D map to obtain the vehicle's target path, thereby improving navigation accuracy and enhancing the driver's operating experience and safety. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in this application or related technologies, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 is a flowchart illustrating a vehicle path planning method provided in an embodiment of this application;

[0028] Figure 2 is a schematic diagram of the structure of a vehicle path planning device provided in one embodiment of this application;

[0029] Figure 3 is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0031] In the embodiments of this application, the term "and / or" describes the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following associated objects have an "or" relationship.

[0032] In the embodiments of this application, the term "multiple" refers to two or more, and other quantifiers are similar.

[0033] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0034] The vehicle path planning method provided in this application is applicable to vehicle path planning based on real-scene 3D maps in closed parks. The execution subject of this method can be an electronic device or a vehicle path planning device installed in the electronic device. The vehicle path planning device can be implemented by software, hardware or a combination of both.

[0035] The method and apparatus are based on the same concept of the application. Since the methods and apparatus solve problems in similar ways, the implementation of the apparatus and methods can refer to each other, and the repeated parts will not be described again.

[0036] Figure 1 is a flowchart of a vehicle path planning method provided in an embodiment of this application. As shown in Figure 1, the method includes the following steps 101, 102, 103 and 104.

[0037] Step 101: Acquire image data of the target map.

[0038] In this step, the target map is the map that requires path planning, such as a closed area or restricted park. The image acquisition data is the impact data of the target map collected by a data acquisition device. The data acquisition process mainly includes four steps: setting the acquisition flight path of the data acquisition device, taking off of the data acquisition device, taking pictures with the camera set on the data acquisition device, and landing of the data acquisition device. The data acquisition device can be, for example, a drone, etc., but this embodiment does not limit it.

[0039] Specifically, image data of the target map is acquired through data acquisition equipment.

[0040] In one specific implementation, the steps for acquiring image acquisition data of a target map include: determining the target map and the acquisition route of the data acquisition device; and acquiring image acquisition data on the target map based on the acquisition route of the data acquisition device.

[0041] Specifically, the first step is to determine the target map from which image data needs to be acquired, as well as the acquisition route of the data acquisition device. Then, image data is acquired on the target map based on the acquisition route of the data acquisition device.

[0042] For example, the data acquisition process involves four steps: setting the acquisition path, takeoff, camera capture, and landing. The remote controller of the data acquisition device has a built-in target map. The acquisition path for oblique photogrammetry is then selected, and the flight altitude is set, for example, to 100 meters. Next, the data acquisition device takes off. Once it reaches an altitude of 100 meters above the ground, it begins acquiring photographic data from the starting point of the acquisition path, gradually covering the entire target map. After acquisition is complete, the device automatically returns from the endpoint of the acquisition path, ending the acquisition process. Thus, image acquisition data of the target map is obtained based on all the photographic data acquired during the acquisition process.

[0043] In one specific implementation, the data acquisition device must maintain stable flight during the acquisition process to avoid distortion of the image acquisition data due to shaking.

[0044] Step 102: Determine the real-scene 3D map based on the image acquisition data and map building software.

[0045] In this step, the map building software is a tool for building models based on image acquisition data. For example, the map building software could be DJI Terra software; this embodiment does not limit it to this specific software.

[0046] In one specific implementation, the steps for determining a real-scene 3D map based on image acquisition data and map building software include: importing image acquisition data into map building software to obtain real-scene 3D coordinates output by the map building software; generating dense point cloud data based on the real-scene 3D coordinates and dense matching technology; wherein, dense matching technology is a technology for accurately analyzing and matching real-scene 3D coordinates; and obtaining a real-scene 3D map based on the dense point cloud data.

[0047] Specifically, after acquiring the image data, it is imported into map building software. The project name and coordinate system are then set in the software, for example, the China Geodetic Coordinate System 2000 (CGCS2000). The map building software then reads the image data, determines the camera parameters and flight altitude on the data acquisition device, and begins modeling based on these parameters. It automatically performs image registration, camera calibration, and point cloud generation. Using triangulation, the 3D coordinates of each point on the target map are determined by the intersection of feature points from multiple perspectives. A preliminary point cloud is then generated based on these coordinates. Dense matching technology is used to process the preliminary point cloud, generating more detailed and accurate dense point cloud data. A 3D surface model is then constructed based on this dense point cloud data, and texture information influencing the acquired data is mapped onto the 3D surface model, resulting in a high-precision real-world 3D map.

[0048] This setting enables the generation of high-precision real-world 3D maps, improving the accuracy of subsequent path planning for vehicles within these maps.

[0049] In one specific implementation, the obtained real-world 3D map can be further adjusted in terms of map texture details, and realistic materials and lighting effects can be added to make the generated real-world 3D map more realistic.

[0050] In one specific implementation, after determining the real-scene 3D map based on image acquisition data and map building software, the method further includes: compressing the 3D map file corresponding to the 3D real-scene map to obtain an initial map file; encrypting the initial map file to obtain a target map file; and uploading the target map file to the cloud for storage and publication.

[0051] In this step, the cloud is a third-party storage tool used to store the target map file.

[0052] Specifically, after determining the real-world 3D map based on image acquisition data and map building software, the first step is to determine the 3D map file. This 3D map file is then organized and compressed to ensure data integrity and reasonable space usage. Next, a reliable cloud storage service platform (a third-party storage tool) is selected to upload the compressed initial map file. During the upload process, encryption and storage technologies are used to ensure the security of the initial map file, resulting in the final target map file. This target map file is then uploaded to the cloud for storage and publication.

[0053] In one specific implementation, after the target map file is uploaded, corresponding access permissions can be configured for the target map file, and an application programming interface (API) can be set to enable subsequent calls to the target map file.

[0054] In one specific implementation, when publishing the target map file through the cloud or any third-party storage tool, the target map file is made public and published so that users can quickly access and use it anytime and anywhere. After the target map file is published, it still retains complete geographic information when called. This setting can preserve the geographic features and details of each item in the real-world 3D map during data transmission and processing, thereby improving the accuracy of subsequent route planning.

[0055] Step 103: Determine the vehicle location data based on the real-world 3D map.

[0056] In this step, the location data is used to determine the latitude, longitude, and elevation of the corresponding location of the vehicle.

[0057] In one specific implementation, the steps for determining vehicle location data based on a real-world 3D map include: determining map analysis software; wherein the map analysis software is analysis software that initiates a view mode on the real-world 3D map; and performing point-by-point segmentation and map analysis on the real-world 3D map using the map analysis software to obtain location data.

[0058] In this step, the map analysis software is used to activate the view mode of the real-world 3D map. For example, it could be ArcGIS (the ArcGIS product line provides users with a scalable, comprehensive geographic information system platform). A Geographic Information System (GIS) is a specific spatial information system. Supported by computer hardware and software systems, it is a technological system for collecting, storing, managing, processing, analyzing, displaying, and describing geographic distribution data across the entire or part of the Earth's surface (including the atmosphere). Alternatively, it could be an open-source geographic information system (Quantum GIS, QGIS), a free desktop GIS software. It provides data display, editing, and analysis functions; this embodiment does not limit its scope.

[0059] Specifically, after determining the real-scene 3D map, it is imported into map analysis software. The software then progressively zooms in and browses the scene, performing point-by-point segmentation and map analysis to obtain point data. This involves importing the real-scene 3D map into the software, activating the 3D view mode, and performing point-by-point segmentation and map analysis to mark building corners, road intersections, landmarks, etc. The map analysis software's annotation tools are then used to record the coordinates, attribute information, and related descriptions of each point. Finally, the software's point-adding tool is used to locate and click on the real-scene 3D map to confirm and save the point data.

[0060] For example, the vehicle could be a smart heavy truck, and the route of the smart heavy truck is from the south gate to the north gate of a certain park. Then, the coordinate information and attribute data of the points on the road from the south gate to the north gate of the park are collected at 5-meter intervals in the real-scene 3D map. The coordinate information is the point data of the point, and the attribute data is used to represent the attribute corresponding to the location of the collected point.

[0061] Step 104: Perform path planning based on the location data to obtain the vehicle's target path.

[0062] Specifically, after determining the location data, path planning is performed based on the location data and path planning algorithm to obtain the vehicle's target path.

[0063] In one specific implementation, the steps for obtaining the vehicle's target path based on location data include: obtaining the initial cost value of the corresponding location; determining the location cost value of the corresponding location based on the location data; and performing path planning based on the initial cost value and the location cost value to determine the vehicle's target path.

[0064] In this step, the initial cost value is the cost value corresponding to the corresponding point in the pre-set target map, and the point cost value is the cost value of the corresponding point determined based on the point data.

[0065] Specifically, after determining the location data, the initial cost value of the corresponding location in the target map is obtained. Then, the location cost value of the corresponding location is determined based on the location data. Finally, path planning is performed based on the initial cost value, the location cost value, and the cost algorithm to determine the target path for the vehicle.

[0066] The cost algorithm is an algorithm used to ensure that the optimal path is found based on the initial cost value and the point cost value and to provide accurate navigation guidance to the user. For example, the cost algorithm can be f(n) = g(n) + h(n), where h(n) represents the estimated point cost value from the current point on the target map to the target point, and g(n) represents the actual cost value from the starting point on the target map to the target point.

[0067] In one specific implementation, after obtaining the vehicle's target path, path planning is performed using the Unity3D development platform combined with the C# language to obtain the vehicle's target path, thereby enabling the display and interaction of the vehicle's target path in the 3D scene of the target map.

[0068] In one specific implementation, the user experience can be enhanced by using the vehicle target path through the user interface, while also providing a detailed target map and scene visual effects.

[0069] This application provides a vehicle path planning method, device, electronic device, storage medium, and product. The method involves acquiring image data of a target map; determining a real-world 3D map based on the image data and map building software; using the map building software to construct a model based on the image data; determining the vehicle's location data based on the real-world 3D map; and performing path planning based on the location data to obtain the vehicle's target path. This technical solution addresses the shortcomings of related technologies where weak or interfered satellite signals in enclosed areas (such as high-rise buildings or underground parking garages) lead to decreased positioning accuracy or even failure. Limited GPS signal update speed also causes navigation information lag, which is detrimental to fast-moving heavy trucks and affects driver operation and safety. This solution enables the construction of a real-world 3D map based on acquired image data and path planning based on the location data determined by the real-world 3D map to obtain the vehicle's target path, thereby improving navigation accuracy and enhancing the driver's operating experience and safety.

[0070] The following describes a vehicle path planning device according to an embodiment of this application. The vehicle path planning device described below can be referred to in correspondence with the vehicle path planning method described above.

[0071] Figure 2 is a schematic diagram of the structure of a vehicle path planning device provided in an embodiment of this application. Referring to Figure 2, the vehicle path planning device 200 includes: a data acquisition module 201, a map determination module 202, a data determination module 203, and a path planning module 204.

[0072] The data acquisition module 201 is used to acquire image data of the target map.

[0073] The map determination module 202 is used to determine a real-world 3D map based on image acquisition data and map building software; wherein, the map building software is a tool for model building based on image acquisition data.

[0074] The data determination module 203 is used to determine the location data of the vehicle based on the real-scene 3D map; wherein, the location data is used to determine the latitude, longitude and elevation of the corresponding location of the vehicle.

[0075] The path planning module 204 is used to plan the path based on the location data to obtain the vehicle's target path.

[0076] In one example embodiment, the data acquisition module 201 is specifically used to: determine the target map and the acquisition route of the data acquisition device; and acquire image acquisition data on the target map based on the acquisition route of the data acquisition device.

[0077] In one example embodiment, the map determination module 202 is specifically used for: importing image acquisition data into map building software to obtain real-scene 3D coordinates output by the map building software; generating dense point cloud data based on the real-scene 3D coordinates and dense matching technology; wherein, dense matching technology is a technology for accurately analyzing and matching real-scene 3D coordinates; and obtaining a real-scene 3D map based on the dense point cloud data.

[0078] In one example embodiment, the data determination module 203 is specifically used to: determine map analysis software; wherein the map analysis software is analysis software that starts a view mode on a real-world 3D map; and perform point-by-point segmentation and map analysis on the real-world 3D map based on the map analysis software to obtain point location data.

[0079] In one example embodiment, the path planning module 204 is specifically used to: obtain the initial cost value of the corresponding point; determine the point cost value of the corresponding point based on the point data; and perform path planning based on the initial cost value and the point cost value to determine the target path of the vehicle.

[0080] In one example embodiment, the device further includes a map publishing module. The map publishing module is configured to: after determining a real-world 3D map based on image acquisition data and map building software, compress the 3D map file corresponding to the 3D real-world map to obtain an initial map file; encrypt the initial map file to obtain a target map file; and upload the target map file to the cloud for storage and publishing.

[0081] The apparatus of this embodiment can be used to execute the method of any embodiment in the vehicle path planning method side embodiment. Its specific implementation process and technical effects are similar to those in the vehicle path planning method side embodiment. For details, please refer to the detailed description in the vehicle path planning method side embodiment, which will not be repeated here.

[0082] Figure 3 is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. As shown in Figure 3, the electronic device may include: a processor 310, a communication interface 320, a memory 330, and a communication bus 340. The processor 310, communication interface 320, and memory 330 communicate with each other via the communication bus 340. The processor 310 can call logical instructions in the memory 330 to execute a vehicle path planning method. This method includes: acquiring image acquisition data of a target map; determining a real-scene 3D map based on the image acquisition data and map building software; wherein the map building software is a tool for model building based on the image acquisition data; determining vehicle location data based on the real-scene 3D map; wherein the location data is used to determine the latitude, longitude, and elevation of the corresponding location of the vehicle; and performing path planning based on the location data to obtain the vehicle's target path.

[0083] Furthermore, the logical instructions in the aforementioned memory 330 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to related technologies, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0084] On the other hand, this application also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the vehicle path planning method provided by the above methods. The method includes: acquiring image acquisition data of a target map; determining a real-scene 3D map based on the image acquisition data and map building software; wherein the map building software is a tool for model building based on the image acquisition data; determining vehicle location data based on the real-scene 3D map; wherein the location data is used to determine the latitude, longitude, and elevation of the corresponding location of the vehicle; and performing path planning based on the location data to obtain the vehicle's target path.

[0085] In another aspect, this application also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, is implemented to perform the vehicle path planning method provided by the above methods. This method includes: acquiring image acquisition data of a target map; determining a real-scene 3D map based on the image acquisition data and map building software; wherein the map building software is a tool for model construction based on the image acquisition data; determining vehicle location data based on the real-scene 3D map; wherein the location data is used to determine the latitude, longitude, and elevation of the corresponding location of the vehicle; and performing path planning based on the location data to obtain the vehicle's target path.

[0086] The processor-readable storage medium can be any available medium or data storage device that the processor can access, including but not limited to magnetic memory (e.g., floppy disk, hard disk, magnetic tape, magneto-optical disk (MO)), optical memory (e.g., CD, DVD, BD, HVD), and semiconductor memory (e.g., ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state drive (SSD)).

[0087] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0088] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of software products. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0089] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0090] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0091] These processor-executable instructions may also be stored in a processor-readable memory that can instruct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the processor-readable memory produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0092] These processor-executable instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for vehicle path planning, characterized in that, include: Acquire imagery data of the target map; A real-world 3D map is determined based on the image acquisition data and map building software; wherein, the map building software is a tool for model building based on the image acquisition data; The location data of the vehicle is determined based on the real-scene 3D map; wherein, the location data is used to determine the latitude, longitude and elevation of the corresponding location of the vehicle. Based on the location data, path planning is performed to obtain the vehicle's target path.

2. The vehicle path planning method according to claim 1, characterized in that, The acquisition of image data of the target map includes: Determine the target map and the data acquisition route of the data acquisition equipment; On the target map, the image acquisition data is obtained based on the acquisition route of the data acquisition device.

3. The vehicle path planning method according to claim 1 or 2, characterized in that, The step of determining a real-scene 3D map based on the image acquisition data and map building software includes: The image acquisition data is imported into the map building software to obtain the real-world 3D coordinates output by the map building software; Dense point cloud data is generated based on the real-scene 3D coordinates and dense matching technology; wherein, the dense matching technology is a technology for accurately analyzing and matching the real-scene 3D coordinates; Based on the dense point cloud data, a real-world 3D map is obtained.

4. The vehicle path planning method according to any one of claims 1 to 3, characterized in that, The step of determining the vehicle's location data based on the real-world 3D map includes: The map analysis software is determined; wherein, the map analysis software is the analysis software that starts the view mode of the real-scene 3D map; The point data is obtained by segmenting and analyzing the real-world 3D map point by point using the map analysis software.

5. The vehicle path planning method according to any one of claims 1 to 3, characterized in that, The step of performing path planning based on the location data to obtain the vehicle's target path includes: Obtain the initial cost value of the corresponding point; The location value of the corresponding location is determined based on the location data; Path planning is performed based on the initial cost value and the location cost value to determine the target path for the vehicle.

6. The vehicle path planning method according to any one of claims 1 to 3, characterized in that, After determining the real-scene 3D map based on the image acquisition data and map building software, the method further includes: The 3D map file corresponding to the 3D real-scene map is compressed to obtain the initial map file; The initial map file is encrypted to obtain the target map file; The target map file is uploaded to the cloud for storage and publication.

7. A path planning device for a vehicle, characterized in that, include: The data acquisition module is used to acquire image data of the target map; The map determination module is used to determine a real-world 3D map based on the image acquisition data and the map building software; wherein, the map building software is a tool for model building based on the image acquisition data. The data determination module is used to determine the location data of the vehicle based on the real-scene 3D map; wherein the location data is used to determine the latitude, longitude and elevation of the corresponding location of the vehicle. The path planning module is used to plan the path based on the location data to obtain the vehicle's target path.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the path planning method for the vehicle as described in any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the path planning method for the vehicle as described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the path planning method for the vehicle as described in any one of claims 1 to 6.

11. A computer program, characterized in that, include: When executed by a processor, the computer program implements the path planning method for the vehicle as described in any one of claims 1 to 6.

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