CN109827584B - Path planning method and device, electronic equipment and storage medium - Google Patents
Path planning method and device, electronic equipment and storage medium Download PDFInfo
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- CN109827584B CN109827584B CN201910036971.4A CN201910036971A CN109827584B CN 109827584 B CN109827584 B CN 109827584B CN 201910036971 A CN201910036971 A CN 201910036971A CN 109827584 B CN109827584 B CN 109827584B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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Abstract
The embodiment of the application discloses a path planning method, a path planning device, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring current position information of a vehicle and destination position information of the vehicle; determining initial station information according to the current position information of the vehicle, wherein the initial station is the next station of the current position of the vehicle; acquiring information of at least one intermediate station along the initial station and the destination according to the information of the initial station and the position information of the destination; and planning a driving path of the vehicle according to the initial station information, the at least one intermediate station information and the destination position information. The method obtains the trained initial station, at least one intermediate station and the destination position information, plans the driving path of the vehicle, and can effectively improve the accuracy and reliability of path planning, thereby improving the safety of intelligent driving.
Description
Technical Field
The embodiment of the application relates to the field of intelligent driving, in particular to a path planning method and device, electronic equipment and a storage medium.
Background
With the development of intelligent driving, in order to improve the safety of automatic driving during road driving, a route needs to be planned.
In the existing intelligent driving system, a user can select more sites, and if the user selects a far site (jumping multiple sites) as a destination near a certain site to plan a route, default route planning takes the current position of a vehicle as a starting point and the destination as a destination to plan the route. However, if there is an inaccurate high-precision map collection, the driving path of the vehicle is planned according to the shortest path, so that the planned driving path is not a pre-tested route, and the vehicle may have the problems of barrier blocking or small path obstruction when driving according to the driving path.
Disclosure of Invention
The embodiment of the application provides a path planning method, a path planning device, electronic equipment and a storage medium, so as to improve the accuracy of path planning.
In a first aspect, an embodiment of the present application provides a path planning method, including:
acquiring current position information of a vehicle and destination position information of the vehicle;
determining initial station information according to the current position information of the vehicle, wherein the initial station is the next station of the current position of the vehicle;
acquiring information of at least one intermediate station along the initial station and the destination according to the information of the initial station and the position information of the destination;
and planning a driving path of the vehicle according to the initial station information, the at least one intermediate station information and the destination position information.
In one implementation manner of an aspect, the determining initial station information according to the current position information of the vehicle includes:
and acquiring the initial station information from a preset planned path set according to the current position information of the vehicle, wherein the preset planned path set comprises a plurality of paths planned in advance, and each path comprises a plurality of stations.
In another implementation manner of the aspect, the initial station is a station on a side close to the destination in a station next to the current location.
In another implementation manner of the one aspect, the obtaining, according to the initial station information and the destination location information, information of at least one intermediate station along the initial station and the destination includes:
and acquiring information of at least one intermediate station along the initial station and the destination from a preset planning path set according to the information of the initial station and the position information of the destination.
In another implementation of an aspect, the method further includes:
judging whether the vehicle is positioned on the running path of the vehicle at the current moment or not according to the current position information of the vehicle and the planned running path of the vehicle;
and if not, controlling the vehicle to run to the running path of the vehicle.
In another implementation of the one aspect, the controlling to drive the vehicle onto a driving path of the vehicle includes:
and planning a first driving path of the vehicle on the driving path of the vehicle according to the current position information of the vehicle and the driving path of the vehicle.
In another implementation of the one aspect, the first travel path is a shortest travel path on a travel path traveled by the current location of the vehicle to the vehicle;
or, the first travel path is a travel path that takes the shortest time to travel from the current position of the vehicle to the travel path of the vehicle.
In a second aspect, an embodiment of the present application provides a path planning apparatus, including:
the system comprises a position acquisition module, a position acquisition module and a position acquisition module, wherein the position acquisition module is used for acquiring current position information of a vehicle and destination position information of the vehicle;
an initial station acquisition module, configured to determine initial station information according to current position information of the vehicle, where the initial station is a station next to the current position of the vehicle;
the intermediate station acquiring module is used for acquiring information of at least one intermediate station along the initial station and the destination according to the initial station information and the destination position information;
and the path planning module is used for planning the driving path of the vehicle according to the initial station information, the at least one intermediate station information and the destination position information.
In an implementation manner of the second aspect, the initial station obtaining module is specifically configured to obtain the initial station information from a preset planned path set according to the current position information of the vehicle, where the preset planned path set includes a plurality of paths planned in advance, and each path includes a plurality of stations.
In another implementation manner of the second aspect, the initial station is a station on a side close to the destination in the next station of the current location.
In another implementation manner of the second aspect, the intermediate station obtaining module is specifically configured to obtain, from a preset planned path set, information of at least one intermediate station along the initial station and the destination according to the initial station information and the destination location information.
In another implementation manner of the second aspect, the apparatus further includes:
the judging module is used for judging whether the vehicle is positioned on the running path of the vehicle at the current moment according to the current position information of the vehicle and the planned running path of the vehicle;
and the control module is used for controlling the vehicle to run to the running path of the vehicle if the interpretation module judges that the vehicle is not positioned on the running path of the vehicle.
In another implementation manner of the second aspect, the control module is configured to plan a first driving path on the driving path of the vehicle to which the vehicle drives according to the current position information of the vehicle and the driving path of the vehicle.
In another implementation of the second aspect, the first travel path is a shortest travel path on a travel path traveled by the current location of the vehicle to the vehicle;
or, the first travel path is a travel path that takes the shortest time to travel from the current position of the vehicle to the travel path of the vehicle.
In a third aspect, an electronic device in an embodiment of the present application includes: a memory and a processor;
the memory for storing a computer program;
a processor for executing the computer program to implement the path planning method according to any of the first aspect.
In a fourth aspect, an embodiment of the present application provides a computer storage medium, where a computer program is stored in the storage medium, and the computer program, when executed, implements the path planning method according to any one of the first aspect.
In a fifth aspect, the present application provides a computer program product, which includes a computer program stored in a readable storage medium, from which the computer program can be read by at least one processor of a path planning apparatus, and the at least one processor executes the computer program to cause the path planning apparatus to implement the path planning method according to the first aspect.
According to the path planning method, the path planning device, the electronic equipment and the storage medium, the current position information of a vehicle and the destination position information of the vehicle are obtained; determining initial station information according to the current position information of the vehicle, wherein the initial station is the next station of the current position of the vehicle; acquiring information of at least one intermediate station along the initial station and the destination according to the information of the initial station and the position information of the destination; and planning a driving path of the vehicle according to the initial station information, the at least one intermediate station information and the destination position information. The method of the embodiment of the application obtains the trained initial station, the trained intermediate station and the destination position information, plans the driving path of the vehicle, and can effectively improve the accuracy and reliability of path planning, so that the safety of intelligent driving is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a flowchart of a path planning method according to an embodiment of the present application;
fig. 2 is a schematic diagram of a path planning according to an embodiment of the present application;
fig. 3 is a flowchart of a path planning method according to an embodiment of the present application;
fig. 4 is a path planning apparatus according to an embodiment of the present application;
fig. 5 is a path planning apparatus according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the present application, "and/or" describes an association relationship of associated objects, which means that there may be three relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone, wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or multiple.
The method is suitable for the field of intelligent driving, and the intelligent driving comprises automatic driving and auxiliary driving.
In intelligent driving, if the high-precision map is not accurately collected, in the process of path planning, the driving path of the vehicle is planned according to the shortest path according to the current position and the destination position of the vehicle, so that the planned driving path is not a pre-tested route, and the problems of barrier blocking or small path non-passage and the like exist when the vehicle drives according to the driving path.
In order to solve the technical problem, according to the path planning method provided by the embodiment of the application, the next station of the current position of the vehicle is used as an initial station, and the path of the vehicle is planned according to the initial station, the destination and an intermediate station between the initial station and the destination, so that the planned path is a safe path, and the safety of intelligent driving of the vehicle is further improved.
The methods of the embodiments of the present application may be implemented in electronic devices such as terminal devices, computer systems, servers, etc., which are operational with numerous other general purpose or special purpose computing system environments or configurations. Examples of well known terminal devices, computing systems, environments, and/or configurations that may be suitable for use with electronic devices, such as terminal devices, computer systems, servers, and the like, include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, hand-held or laptop devices, microprocessor, CPU, GPU based systems, set top boxes, programmable consumer electronics, network personal computers, minicomputers, mainframe computer systems, distributed cloud computing environments that include any of the above systems, and the like.
Electronic devices such as terminal devices, computer systems, servers, etc. may be described in the general context of computer system-executable instructions, such as program modules, being executed by a computer system. Generally, program modules may include routines, programs, objects, components, logic, data structures, etc. that perform particular tasks or implement particular abstract data types. The computer system/server may be practiced in distributed cloud computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed cloud computing environment, program modules may be located in both local and remote computer system storage media including memory storage devices.
The technical solution of the present application will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 1 is a flowchart of a path planning method provided in an embodiment of the present application, and as shown in fig. 1, the method of the present embodiment may include:
s101, obtaining current position information of a vehicle and destination position information of the vehicle.
In the embodiment of the present application, an execution subject is taken as an example of an electronic device, and the electronic device may be, but is not limited to, a smart phone, a computer, an in-vehicle system, and the like.
The electronic equipment of the embodiment of the application has a path planning function and can plan a path for a vehicle.
For example, the manner in which the electronic device acquires the current position information of the vehicle in this step may be: the electronic device obtains current position information of the vehicle from the positioning module. Optionally, the electronic device of the embodiment of the present application is provided with a Positioning module, for example, the electronic device is provided with a GPS (Global Positioning System) module or an RTK (Real-time kinematic) module, and the electronic device may obtain the current position of the vehicle. Optionally, the electronic device may be in communication with a positioning module on the vehicle, and the electronic device may obtain the position information of the vehicle from the positioning module in real time.
For example, the manner in which the electronic device acquires the current position information of the vehicle in this step may be: the user inputs current location information of the vehicle.
The current position information of the vehicle includes coordinate information of the vehicle, and optionally, may further include information such as a driving direction of the vehicle.
Alternatively, the destination location information of the vehicle acquired by the electronic device may be input by the user, for example, by voice or manually.
S102, determining initial station information according to the current position information of the vehicle, wherein the initial station is the next station of the current position of the vehicle.
In practical applications, the current position of the vehicle may not be at the planned station position, and in order to improve the reliability of the path planning, the initial station needs to be acquired first.
For example, the initial station information may be determined by obtaining a station next to the current position of the vehicle from the high-precision map based on the current position information of the vehicle, and using the next station as the initial station. For example, a station closest to the current position of the vehicle is acquired from the high-precision map as the next station. Optionally, the next station is a station on a side close to the destination, among stations close to the current position of the vehicle.
For example, the initial station information may be determined by obtaining the initial station information from a preset planned path set according to the current position information of the vehicle, where the preset planned path set includes a plurality of paths planned in advance, and each path includes a plurality of stations.
For example, from a preset planned path set, each station whose distance from the current position of the vehicle is within a preset range is searched for from a plurality of stations included in each pre-planned path, and any one of the stations within the preset range is used as an initial station. Optionally, one of the stations within the preset range that is closest to the current position of the vehicle is used as an initial station. Optionally, one of the stations in the preset range that is closest to the current position of the vehicle and is close to the destination side is used as the initial station.
S103, acquiring information of at least one intermediate station along the initial station and the destination according to the initial station information and the destination position information.
S104, planning a driving path of the vehicle according to the initial station information, the at least one intermediate station information and the destination position information.
In order to further improve the accuracy of road planning, after the initial station information is obtained based on the above steps, at least one intermediate station between the initial station and the destination needs to be obtained, and the intermediate station can be understood as a route station. And planning the driving path of the vehicle based on the initial station information, the at least one intermediate station information and the destination position information, thereby improving the accuracy of path planning.
For example, the manner of determining the intermediate station information in S103 may be to obtain at least one approach station from the initial station to the destination of the vehicle from the high-precision map according to the initial station information and the destination information, and use the at least one approach station as the intermediate station.
For example, in the above S103, obtaining information of at least one intermediate station along the initial station and the destination according to the initial station information and the destination location information, may further include:
and acquiring information of at least one intermediate station along the initial station and the destination from a preset planning path set according to the information of the initial station and the position information of the destination.
Specifically, according to the initial station information and the destination location information, each pre-planned path including the initial station and the destination is obtained from a preset planned path set, and at least one station located between the initial station and the target is obtained as at least one intermediate point from the stations included in the pre-planned paths. Next, a driving path of the vehicle is planned based on the initial station information, the at least one intermediate station information, and the destination location information. Compared with the prior art that the shortest path planning is carried out based on the current position and the destination of the vehicle, the method provided by the embodiment of the application can effectively improve the reliability and the accuracy of the path planning, and further improves the safety of intelligent driving.
For example, as shown in fig. 2, where a is a current position of the vehicle, b is a destination of the vehicle, the station 1 is an initial station determined according to the above steps, and the pre-planned paths obtained from the preset planned path set and including the initial station 1 and the target position b are respectively: route 1(1,2,3,4,5, b), route 2(1,2,10,11, b), route 3(1,6,7,8,9, b), route 4(1,2,10,9, b), at least one station is obtained from the stations included in the routes as an intermediate station, and route planning is performed. For example, sites 2 and 10 are selected as intermediate sites.
Next, based on the initial station 1, the intermediate station 2, the intermediate station 10, the destination, and the connection relationship between the stations, a path planning is performed, for example, the planned path may be path 2(1,2,10,11, b), or path 4(1,2,10,9, b), or path 5(1,2,10, b). Therefore, the trained stations are added in the path planning process, and the accuracy of path planning can be effectively improved.
According to the path planning method provided by the embodiment of the application, the current position information of a vehicle and the destination position information of the vehicle are obtained; determining initial station information according to the current position information of the vehicle, wherein the initial station is the next station of the current position of the vehicle; acquiring information of at least one intermediate station along the initial station and the destination according to the information of the initial station and the position information of the destination; and planning a driving path of the vehicle according to the initial station information, the at least one intermediate station information and the destination position information. The method of the embodiment of the application obtains the trained initial station, the trained intermediate station and the destination position information, plans the driving path of the vehicle, and can effectively improve the accuracy and reliability of path planning, so that the safety of intelligent driving is improved.
Fig. 3 is a flowchart of a path planning method provided in the embodiment of the present application, and based on the above embodiment, the method in the embodiment of the present application includes the following steps.
S201, obtaining current position information of a vehicle and destination position information of the vehicle.
S202, determining initial station information according to the current position information of the vehicle, wherein the initial station is the next station of the current position of the vehicle.
S203, acquiring information of at least one intermediate station along the initial station and the destination according to the initial station information and the destination position information.
S204, planning a driving path of the vehicle according to the initial station information, the at least one intermediate station information and the destination position information.
The above S201 to S204 may refer to the detailed description of the above S101 to S104, which is not described herein again.
S205, judging whether the vehicle is located on the running path of the vehicle at the current moment according to the current position information of the vehicle and the planned running path of the vehicle.
And S206, if not, controlling the vehicle to run to the running path of the vehicle.
After the path planning is completed according to the above steps, it is also necessary to determine whether the vehicle is located on the planned driving path at the current time. And if so, controlling the vehicle to run according to the currently planned path.
And if the current time of the vehicle is judged not to be on the planned path, controlling the vehicle to run to the planned path, and then running according to the planned path.
Optionally, in the step S206, controlling to drive the vehicle to the driving path of the vehicle includes:
and planning a first driving path of the vehicle on the driving path of the vehicle according to the current position information of the vehicle and the driving path of the vehicle.
Specifically, since the current position of the vehicle is closer to the initial station, the current position of the vehicle is also closer to the planned travel path, and therefore, the first travel path from the vehicle to the travel path of the vehicle can be planned based on the existing path planning method. For example, as shown in fig. 2, a path from the current position a of the vehicle to the initial station 1 is planned, and the path is used as a first travel path of the vehicle.
Alternatively, the first travel path may be a shortest travel path from the current position of the vehicle to the travel path of the vehicle. For example, based on the shortest route planning method, the shortest travel route from the current position of the vehicle to the travel route of the vehicle is planned, and the shortest travel route is defined as the first travel route.
Optionally, the first travel path is a travel path that takes the shortest time to travel from the current position of the vehicle to the travel path of the vehicle. For example, based on a route planning method that takes the shortest time, a travel route that takes the shortest time from the current position of the vehicle to the travel route of the vehicle is planned, and the travel route that takes the shortest time is recorded as the first travel route.
It should be noted that the first travel path on the travel path from the vehicle to the vehicle may also be determined according to other needs, which is not limited in the embodiment of the present application.
According to the path planning method provided by the embodiment of the application, after a driving path of a vehicle is planned, whether the vehicle is located on the driving path of the vehicle at the current moment is judged according to the current position information of the vehicle and the planned driving path of the vehicle; if not, the vehicle is controlled to run to the running path of the vehicle, the integrity and the reliability of path planning are improved, and the safety of intelligent driving is further improved.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Fig. 4 is a path planning apparatus according to an embodiment of the present application, and as shown in fig. 4, the path planning apparatus 100 includes:
a position obtaining module 110, configured to obtain current position information of a vehicle and destination position information of the vehicle;
an initial station obtaining module 120, configured to determine initial station information according to current position information of the vehicle, where the initial station is a station next to the current position of the vehicle;
an intermediate station obtaining module 130, configured to obtain, according to the initial station information and the destination location information, information of at least one intermediate station along the initial station and the destination;
and a path planning module 140, configured to plan a driving path of the vehicle according to the initial station information, the at least one intermediate station information, and the destination location information.
The path planning apparatus of this embodiment may be configured to implement the technical solutions of the above method embodiments, and the implementation principle and the technical effect are similar, which are not described herein again.
In a possible implementation manner of the embodiment of the present application, the initial station obtaining module 120 is specifically configured to obtain the initial station information from a preset planned path set according to the current position information of the vehicle, where the preset planned path set includes a plurality of paths planned in advance, and each path includes a plurality of stations.
Optionally, the initial station is a station on a side close to the destination in a station next to the current location.
In a possible implementation manner of the embodiment of the present application, the intermediate station obtaining module 130 is specifically configured to obtain, from a preset planned path set, information of at least one intermediate station along the initial station and the destination according to the initial station information and the destination location information.
Fig. 5 is a path planning apparatus provided in an embodiment of the present application, and as shown in fig. 5, on the basis of the above embodiment, the path planning apparatus 100 in the embodiment of the present application further includes:
the judging module 150 is configured to judge whether the vehicle is located on the driving path of the vehicle at the current moment according to the current position information of the vehicle and the planned driving path of the vehicle;
the control module 160 is configured to control the vehicle to travel to the travel path of the vehicle if the interpretation module 150 determines that the vehicle is not located on the travel path of the vehicle.
In a possible implementation manner of the embodiment of the present application, the control module 160 is configured to plan a first driving path on the driving path of the vehicle to which the vehicle drives according to the current position information of the vehicle and the driving path of the vehicle.
In one possible implementation manner of the embodiment of the present application, the first travel path is a shortest travel path from the current position of the vehicle to the travel path of the vehicle;
or, the first travel path is a travel path that takes the shortest time to travel from the current position of the vehicle to the travel path of the vehicle.
The path planning apparatus of this embodiment may be configured to implement the technical solutions of the above method embodiments, and the implementation principle and the technical effect are similar, which are not described herein again.
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application, and as shown in fig. 6, an electronic device 200 according to the present embodiment includes:
a memory 210 for storing a computer program;
the processor 220 is configured to execute the computer program to implement the path planning method, which has similar implementation principles and technical effects and is not described herein again.
Based on such understanding, the technical solution of the present application may be substantially implemented or contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. A method of path planning, comprising:
acquiring current position information of a vehicle and destination position information of the vehicle;
determining initial station information according to the current position information of the vehicle, wherein the initial station is a station next to the current position of the vehicle, and the station is a station in a preset planned path;
acquiring information of at least one intermediate station along the initial station and the destination according to the information of the initial station and the position information of the destination;
and planning a driving path of the vehicle according to the initial station information, the at least one intermediate station information and the destination position information.
2. The method of claim 1, wherein determining initial station information based on current location information of the vehicle comprises:
and acquiring the initial station information from a preset planned path set according to the current position information of the vehicle, wherein the preset planned path set comprises a plurality of paths planned in advance, and each path comprises a plurality of stations.
3. The method according to claim 1 or 2, wherein the initial station is a station on a side close to the destination in the next station of the current location.
4. The method according to claim 2, wherein the obtaining information of at least one intermediate station along the initial station and the destination according to the initial station information and the destination location information comprises:
and acquiring information of at least one intermediate station along the initial station and the destination from a preset planning path set according to the information of the initial station and the position information of the destination.
5. The method of claim 4, further comprising:
judging whether the vehicle is positioned on the running path of the vehicle at the current moment or not according to the current position information of the vehicle and the planned running path of the vehicle;
and if not, controlling the vehicle to run to the running path of the vehicle.
6. The method of claim 5, wherein the controlling the vehicle to travel onto a travel path of the vehicle comprises:
and planning a first driving path of the vehicle on the driving path of the vehicle according to the current position information of the vehicle and the driving path of the vehicle.
7. The method according to claim 6, characterized in that the first travel path is a shortest travel path traveled by the current position of the vehicle onto the travel path of the vehicle;
or, the first travel path is a travel path that takes the shortest time to travel from the current position of the vehicle to the travel path of the vehicle.
8. A path planning apparatus, comprising:
the system comprises a position acquisition module, a position acquisition module and a position acquisition module, wherein the position acquisition module is used for acquiring current position information of a vehicle and destination position information of the vehicle;
an initial station acquisition module, configured to determine initial station information according to current position information of the vehicle, where the initial station is a station next to the current position of the vehicle, and the station is a station in a preset planned path;
the intermediate station acquiring module is used for acquiring information of at least one intermediate station along the initial station and the destination according to the initial station information and the destination position information;
and the path planning module is used for planning the driving path of the vehicle according to the initial station information, the at least one intermediate station information and the destination position information.
9. An electronic device, comprising:
a memory for storing a computer program;
a processor for executing the computer program to implement the path planning method of any of the preceding claims 1-7.
10. A computer storage medium, characterized in that the storage medium has stored therein a computer program which, when executed, implements a path planning method according to any one of claims 1-7.
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| CN111930122A (en) * | 2020-08-11 | 2020-11-13 | 国家图书馆 | Book and periodical conveying trolley control method and device for library |
| CN113219985A (en) * | 2021-05-27 | 2021-08-06 | 九天创新(广东)智能科技有限公司 | Road planning method and device for sweeper and sweeper |
| CN115218917A (en) * | 2022-07-20 | 2022-10-21 | 广州文远知行科技有限公司 | Test path planning method, automatic driving drive test method, device and related equipment |
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| CN109827584A (en) | 2019-05-31 |
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