CN114296450A

CN114296450A - Path planning method and device, computer equipment and storage medium

Info

Publication number: CN114296450A
Application number: CN202111532333.5A
Authority: CN
Inventors: 曹宇; 董希卿
Original assignee: Beijing Aibee Technology Co Ltd
Current assignee: Beijing Aibee Technology Co Ltd
Priority date: 2021-12-15
Filing date: 2021-12-15
Publication date: 2022-04-08

Abstract

The present application relates to a path planning method, apparatus, computer device, storage medium and computer program product. The method comprises the following steps: and determining a second position point corresponding to the target end point position according to the distance between each parking space and the elevator and the idle state of the adjacent parking space of each parking space in a preset parking space data table through the first position point corresponding to the current position of the vehicle to be navigated. In this way, the shortest path can be calculated according to the first position point and the second position point, and the shortest path is used as a navigation path to indicate that the vehicle to be navigated runs to the target end point position. The method provided by the embodiment of the invention can recommend the empty parking space closest to the elevator on the floor to the user according to the real-time parking space state of the parking lot, plan the navigation route for the user, and indicate the user to drive to the target destination position, thereby facilitating the parking of the user in the parking lot, and improving the parking efficiency and the parking experience of the user.

Description

Path planning method and device, computer equipment and storage medium

Technical Field

The present application relates to the field of computer technologies, and in particular, to a path planning method and apparatus, a computer device, and a storage medium.

Background

With the development of economy, driving and traveling become the main traffic mode, and the problem of vehicle parking in a parking lot comes along. In the related art, a user drives into a parking lot and needs to find an empty parking space to park. The existing parking lot is generally only provided with an empty parking space number sign and a traffic light sign.

However, under the condition that the empty parking spaces in the parking lot are few, under the condition that no guidance is provided, the user can only blindly search the parking spaces in the parking lot, certain traffic safety hazards exist when the vehicles are many, the empty parking spaces in the previous area can also be occupied by other vehicles, and the elevator needs to be searched for going upstairs after parking, so that the parking process is complicated, and the parking efficiency is low.

Disclosure of Invention

In view of the above, it is necessary to provide a path planning method, an apparatus, a computer device, a computer readable storage medium and a computer program product, which can plan a driving route according to a current location and a path of a vehicle and guide the vehicle to find a recommended empty space.

In a first aspect, the present application provides a path planning method. The method comprises the following steps:

the method comprises the steps of obtaining the current position of a vehicle to be navigated, and determining a first position point of the current position in a road network corresponding to a preset parking area;

determining a target end point position according to the distance between each parking space and a preset position and the idle state of adjacent parking spaces of each parking space in a preset parking space data table;

determining a second position point of the target end point position in a road network corresponding to the preset parking area;

and calculating the shortest path of the first position point and the second position point in the road network by a preset shortest path calculation method, and taking the shortest path as a navigation path.

In one embodiment, the method further comprises: and generating navigation prompt information according to the navigation path and the current position of the vehicle to be navigated, wherein the navigation prompt information is used for prompting the vehicle to be navigated to run to the target end point position.

In one embodiment, the preset parking area comprises a plurality of parking levels;

in predetermined parking stall data table, according to each parking stall apart from the distance of predetermineeing the position and the idle state of the adjacent parking stall of each parking stall, confirm the target terminal position, include:

if the empty parking spaces exist in the same parking layer corresponding to the current position, determining the number of the continuous empty parking spaces closest to the preset position in the empty parking spaces of the same parking layer according to the preset parking space data table, and determining a target end point position in the continuous empty parking spaces with the largest number;

and if no empty parking spaces exist in the same parking layer corresponding to the current position, determining the number of the continuous empty parking spaces closest to the preset position in the parking spaces of other parking layers according to the preset parking space data table, and determining the target terminal position in the continuous empty parking spaces with the largest number.

In one embodiment, the parking space data table is generated through the following process:

for each parking space, generating first parking space data according to the distance from the parking space to a preset position, the information of the parking layer, the idle state and the recommended state;

generating a second parking data according to the distance between the adjacent parking space of the parking spaces and a preset position, the information of the parking layer where the adjacent parking space is located, the idle state and the recommended state;

and generating a parking space data table of the preset parking area according to the first parking space data and the second parking space data of the plurality of parking spaces.

In one embodiment, the preset parking area includes a plurality of parking layers, and the road network corresponding to the preset parking area is generated through the following processes:

acquiring a map image of the preset parking area;

for the map image of each parking layer, marking a pass line segment, the passing direction of the pass line segment and the distance on the map according to the lane information of the parking layer to obtain a road network corresponding to the parking layer;

marking a first ramp point in a road network of the parking layer, and marking a second ramp point in a road network of an adjacent parking layer of the parking layer, wherein the first ramp point is an entrance point of the parking layer to the adjacent parking layer, and the second ramp point is an exit point of the parking layer to the adjacent parking layer;

and connecting the first ramp point and the second ramp point to obtain a cross-layer ramp of the parking layer and the adjacent parking layer, and marking a distance on the cross-layer ramp to obtain a road network corresponding to the preset parking area.

In one embodiment, the method further comprises:

acquiring a plurality of positioning results of the vehicle to be navigated corresponding to a preset time window and timestamp information corresponding to each positioning result;

inputting the plurality of positioning results of the vehicle to be navigated and timestamp information corresponding to each positioning result into a preset positioning model to obtain a real-time position of the vehicle to be navigated;

if the real-time position deviates from the navigation path, generating alarm prompt information, wherein the alarm prompt information is used for enabling the vehicle to be navigated to correct the driving direction; or if the real-time position deviates from the navigation path, taking the real-time position as the current position of the vehicle to be navigated, executing the step of acquiring the current position of the vehicle to be navigated, and performing the step of generating navigation prompt information.

In one embodiment, the inputting the plurality of positioning results of the vehicle to be navigated and the timestamp information corresponding to each positioning result into a preset positioning model to obtain the real-time position of the vehicle to be navigated includes:

and carrying out mean value calculation on the plurality of positioning results of the vehicle to be navigated and the timestamp information corresponding to each positioning result, and taking the calculation result as the real-time position of the vehicle to be navigated.

In a second aspect, the present application further provides a path planning apparatus. The device comprises:

the system comprises an acquisition module, a navigation module and a navigation module, wherein the acquisition module is used for acquiring the current position of a vehicle to be navigated and determining a first position point of the current position in a road network corresponding to a preset parking area;

the first determining module is used for determining a target end point position according to the distance between each parking space and a preset position and the idle state of the adjacent parking spaces of each parking space in a preset parking space data table;

the second determining module is used for determining a second position point of the target end point position in the road network corresponding to the preset parking area;

and the calculation module is used for calculating the shortest path of the first position point and the second position point in the road network through a preset shortest path calculation method, and taking the shortest path as a navigation path.

In one embodiment, the apparatus further comprises:

and the navigation module is used for generating navigation prompt information according to the navigation path and the current position of the vehicle to be navigated, wherein the navigation prompt information is used for prompting the vehicle to be navigated to run to the target end point position.

the first determining module is specifically configured to:

In one embodiment, the apparatus further comprises:

the first generation module is used for generating first parking lot data according to the distance from each parking lot to a preset position, information of a parking layer where the parking lot is located, an idle state and a recommended state;

the second generation module is used for generating second parking data according to the distance between the adjacent parking spaces of the parking spaces and a preset position, the information of parking layers where the adjacent parking spaces are located, the idle state and the recommended state;

and the third generation module is used for generating a parking space data table of the preset parking area according to the first parking space data and the second parking space data of the plurality of parking spaces.

In one embodiment, the preset parking area includes a plurality of parking levels, and the apparatus further includes:

the map image acquisition module is used for acquiring a map image of the preset parking area;

the road network acquisition module is used for marking a traffic line segment, the traffic direction of the traffic line segment and the distance on the map according to the lane information of each parking layer aiming at the map image of each parking layer to obtain a road network corresponding to the parking layer;

the system comprises a first marking module, a second marking module and a third marking module, wherein the first marking module is used for marking a first ramp point in a road network of the parking layer and marking a second ramp point in a road network of an adjacent parking layer of the parking layer, the first ramp point is an entrance point of the parking layer to the adjacent parking layer, and the second ramp point is an exit point of the parking layer to the adjacent parking layer;

and the second labeling module is used for connecting the first ramp point and the second ramp point to obtain a cross-layer ramp of the parking layer and the adjacent parking layer, and labeling a distance on the cross-layer ramp to obtain a road network corresponding to the preset parking area.

In one embodiment, the apparatus further comprises:

the positioning result acquisition module is used for acquiring a plurality of positioning results of the vehicle to be navigated corresponding to a preset time window and timestamp information corresponding to each positioning result;

the real-time position acquisition module is used for inputting the plurality of positioning results of the vehicle to be navigated and timestamp information corresponding to each positioning result into a preset positioning model to obtain the real-time position of the vehicle to be navigated;

a fourth generating module, configured to generate warning prompt information if the real-time location deviates from the navigation path, where the warning prompt information is used to enable the vehicle to be navigated to correct a driving direction; or if the real-time position deviates from the navigation path, taking the real-time position as the current position of the vehicle to be navigated, executing the step of acquiring the current position of the vehicle to be navigated, and performing the step of generating navigation prompt information.

In one embodiment, the real-time location obtaining module is specifically configured to:

In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor implementing the following steps when executing the computer program:

calculating the shortest path of the first position point and the second position point in the road network by a preset shortest path calculation method, and taking the shortest path as a navigation path;

and generating navigation prompt information according to the navigation path and the current position of the vehicle to be navigated, wherein the navigation prompt information is used for prompting the vehicle to be navigated to run to the target end point position.

In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:

In a fifth aspect, the present application further provides a computer program product. The computer program product comprising a computer program which when executed by a processor performs the steps of:

According to the path planning method, the path planning device, the computer equipment, the storage medium and the computer program product, the second position point corresponding to the target end point position is determined through the first position point corresponding to the current position of the vehicle to be navigated and the preset parking space data table according to the distance between each parking space and the preset position and the idle state of the adjacent parking space of each parking space. In this way, the shortest path can be calculated from the first position point and the second position point, and the shortest path can be used as the navigation path. The method provided by the embodiment of the invention can recommend the empty parking space closest to the preset position on the floor to the user according to the real-time parking space state of the parking lot, plan the navigation route for the user, and indicate the user to drive to the target destination position, so that the user can conveniently park in the parking lot, and the parking efficiency and the parking experience of the user are improved.

Drawings

FIG. 1 is a schematic flow chart diagram of a path planning method in one embodiment;

FIG. 2 is a schematic flow chart illustrating the steps for determining a target destination location in one embodiment;

FIG. 3 is a flowchart illustrating a step of generating a predetermined parking space data table according to an embodiment;

FIG. 4 is a flow chart illustrating the steps of labeling road networks in one embodiment;

FIG. 5 is a flow chart illustrating the navigation steps in one embodiment;

FIG. 6 is a block diagram of a path planning apparatus according to an embodiment;

FIG. 7 is a diagram illustrating an internal structure of a computer device according to an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The path planning method provided by the embodiment of the invention can be applied to an application scene of forward parking in a parking lot, wherein the forward parking refers to a process that a user drives into the parking lot, searches for an empty parking space in the parking lot and parks on the empty parking space. The vehicle navigation means that a driving route is obtained by planning a path for the vehicle to be navigated according to the current location of the vehicle to be navigated, so that the vehicle to be navigated can be guided to drive to a target parking space.

Under a common scene, a user drives into a parking lot and needs to find an empty parking space to park. Parking areas in the related art have empty parking space quantity and traffic light prompts (indicating whether the parking space is free), and under the condition that the number of empty parking spaces is large, a certain auxiliary guiding effect can be achieved. However, when the number of empty parking spaces is small, finding the empty parking spaces for parking is difficult, and without route navigation, a user can only find the empty parking spaces blindly, and when the number of vehicles is large, certain traffic safety risks exist, and the empty parking spaces in the previous area can be occupied by other vehicles. It is also necessary to find an elevator to go upstairs after parking. The invention provides a path planning method for solving the problem that parking in a parking lot is difficult, and saving parking time and time for finding an elevator after parking.

In an embodiment, as shown in fig. 1, a path planning method is provided, and this embodiment is illustrated by applying the method to a terminal, it can be understood that the method may also be applied to a server, and may also be applied to a system including the terminal and the server, and is implemented by interaction between the terminal and the server, where the terminal may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, internet of things devices, and portable wearable devices, and the internet of things devices may be smart speakers, smart televisions, smart air conditioners, smart car-mounted devices, and the like. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device and the like, and the server can be realized by an independent server or a server cluster formed by a plurality of servers. In this embodiment, the path planning method includes the following steps:

step 102, obtaining the current position of a vehicle to be navigated, and determining a first position point of the current position in a road network corresponding to a preset parking area.

In particular, the vehicle to be navigated is a vehicle that is ready to travel to a preset parking area, which may be a parking area comprising one parking floor or a plurality of parking floors. The road network corresponding to the preset parking area may be a traffic network composed of a plurality of roads for vehicles to travel in the preset parking area. The current position of the vehicle to be navigated may be the result of the positioning of the vehicle to be navigated at the current time. The terminal can obtain the positioning result of the vehicle to be navigated at the current moment, and determine the position corresponding to the positioning result at the current moment in the road network of the preset parking area, that is, the first position point of the vehicle to be navigated in the road network corresponding to the preset parking area. Optionally, the first location point is a starting point of the vehicle to be navigated.

And step 104, determining a target end point position according to the distance between each parking space and the preset position and the idle state of the adjacent parking spaces of each parking space in a preset parking space data table.

Specifically, the preset parking space data table is a data table used for representing states of parking spaces in the preset parking area. The preset position can be an elevator, a floor exit, a staircase entrance and the like. The preset position is exemplified below as an elevator. The preset parking area is generally located underground and comprises a plurality of parking stalls, and the distance between each parking stall and the preset position is the distance from a vehicle driver to the preset position in an ascending mode from the parking stall, and the distance can also be the straight-line distance from the parking stall to the preset position. The idle states of the adjacent parking spaces include a parked state and an unparked state. The target end point position is a recommended parking space recommended to the vehicle to be navigated by the terminal. That is to say, the terminal may determine the recommended parking space recommended to the car to be navigated according to the distance between each parking space and the elevator, the idle state of the adjacent parking space of each parking space, the recommended state of each parking space, and the recommended state of the adjacent parking space of each parking space in the parking space data table by querying the preset parking space data table.

And 106, determining a second position point of the target end point position in the road network corresponding to the preset parking area.

Specifically, the process of the terminal determining the second position point of the target end point position in the road network corresponding to the preset parking area may be: and the terminal acquires the position coordinates of the target end point position in a geodetic coordinate system, performs coordinate system conversion with a preset coordinate system in a road network corresponding to the preset parking area, and calculates a corresponding position point of the target end point position in the road network, namely a second position point, through the coordinate system conversion.

Optionally, the process of the terminal determining the second position point of the target end point position in the road network corresponding to the preset parking area may be: a plurality of parking spaces can be marked in the road network of the preset parking area in advance, the terminal selects from the plurality of parking spaces, and the selected parking space is used as a second position point, namely a target end point position.

And step 108, calculating the shortest path of the first position point and the second position point in the road network by a preset shortest path calculation method, and taking the shortest path as a navigation path.

Specifically, the preset shortest path calculation method may be: ShortestPath (p1, p 2). Wherein p1 can be a first location point and p2 can be a second location point. The road network of the preset parking area is a traffic network consisting of a plurality of roads for vehicles to travel in the parking area, that is, the road network comprises a plurality of traffic roads (traffic line segments), the traffic direction (one-way traffic or two-way traffic) of the traffic line segments and the distance of the traffic line segments. The terminal can determine a plurality of passing line segments between the first position point and the second position point, namely a first passing mode, and calculate the sum of the distances of the passing line segments contained in the first passing mode, namely the path length of the first passing mode; the terminal can also determine other multiple passing modes between the first position point and the second position point, respectively calculate the path lengths of the various passing modes, take the passing line corresponding to the passing mode with the shortest path length as the shortest path, and take the shortest path as the navigation path.

According to the path planning method, a first position point corresponding to the current position of the vehicle to be navigated is combined, and a second position point corresponding to the target end point position is determined in a preset parking space data table according to the distance between each parking space and the preset position and the idle state of the adjacent parking space of each parking space. Therefore, the shortest path can be calculated according to the first position point and the second position point, and the vehicle to be navigated is prompted to travel to the target end point position. The method provided by the embodiment of the invention can recommend the empty parking space closest to the preset position on the floor to the user according to the real-time parking space state of the parking lot, plan the navigation route for the user, and indicate the user to drive to the target destination position, so that the user can conveniently park in the parking lot, and the parking efficiency and the parking experience of the user are improved.

In an embodiment, the path planning method further includes:

Specifically, the navigation prompt information may be text prompt information and voice prompt information, and may further include image prompt information and video prompt information in a virtual reality scene, and the like. The terminal acquires the current position of the vehicle to be navigated, determines the required driving direction and the required driving distance of the vehicle to be navigated according to the navigation path and the current position of the vehicle to be navigated, and generates navigation prompt information according to the required driving direction and the required driving distance, for example, the navigation prompt information may be 'turn left after 30 meters ahead'. The navigation prompt information may also be suggestive information, such as "forward is a downward slope", and the like.

In one embodiment, the preset parking area includes a plurality of parking levels. Correspondingly, as shown in fig. 2, the specific processing procedure of "determining the target end position according to the distance between each parking space and the preset position and the idle state of the adjacent parking space of each parking space in the preset parking space data table" includes:

step 202, if there are empty parking spaces in the same parking layer corresponding to the current position, determining the number of continuous empty parking spaces closest to the preset position in the empty parking spaces of the same parking layer according to a preset parking space data table, and determining the target end point position in the continuous empty parking spaces with the largest number.

In particular, the predetermined parking area comprises a plurality of parking levels, i.e. the predetermined parking area may be a parking lot, which may be a parking lot comprising a plurality of parking levels. The same parking floor corresponding to the current position of the vehicle to be navigated is the parking floor of the same floor as the position of the vehicle to be navigated. If the empty parking spaces exist in the same parking layer, the terminal firstly determines the number of the continuous empty parking spaces closest to the elevator, and the parking space at the center position of the continuous empty parking spaces can be selected as the target terminal position from the continuous empty parking spaces with the largest number.

Optionally, if it is determined that there is an empty parking space in the same parking floor according to the preset parking space data table, the terminal may obtain distances from all the empty parking spaces to the elevator according to the preset parking space data table. And the terminal determines a plurality of continuous empty parking spaces from the empty parking spaces corresponding to the nearest distance from the elevator, and respectively determines the number of the empty parking spaces contained in the plurality of continuous empty parking spaces. Therefore, the terminal can select the target end point position from the continuous empty parking spaces with the maximum number of the empty parking spaces. For example, an empty parking space at the center position of the consecutive empty parking spaces may be selected as the target end position.

For example, the preset parking area may include a parking floor B1, a parking floor B2, a parking floor B3, and a parking floor B4, and the floor where the real-time position of the vehicle to be navigated at the current time is located may be the parking floor B1. If there are empty spaces on the parking floor B1, the terminal can calculate the distance of all empty spaces on the parking floor B1 from the elevator, e.g. the distance of parking space a1, parking space a2, parking space A3, parking space a6, parking space a7, parking space a14 from the elevator is 5m, and 5m is the closest distance to the elevator on the parking floor B1. Thus, the terminal needs to calculate the number of the continuous empty parking spaces nearest to the elevator, wherein the parking spaces A1, A2 and A3 are three continuous empty parking spaces, and the number of the continuous empty parking spaces is 3; the parking space A6 and the parking space A7 are two continuous empty spaces, and the number of the continuous empty spaces is 2; parking space a14 is one empty space in succession, and the number of empty spaces in succession is 1; in this way, the terminal can determine that the continuous empty space with the largest number is 3, and the corresponding continuous empty space is "parking space a1, parking space a2, and parking space A3", so that the terminal can select "parking space a 2" as the target destination position from the center position of the parking space.

And 204, if no empty parking spaces exist in the same parking layer corresponding to the current position, determining the number of the continuous empty parking spaces closest to the preset position in the parking spaces of other parking layers according to a preset parking space data table, and determining the target end position in the continuous empty parking spaces with the largest number.

Specifically, the same parking level corresponding to the current position of the vehicle to be navigated is the parking level on the same floor as the position of the vehicle to be navigated. If no empty parking space exists in the same parking floor, the terminal needs to determine the number of the continuous empty parking spaces nearest to the elevator in the parking floors of other floors, and the parking space at the center position of the continuous empty parking spaces can be selected as the target terminal position from the continuous empty parking spaces with the largest number.

Optionally, if it is determined that there is no empty parking space in the same parking floor according to the preset parking space data table, the terminal may obtain distances from all empty parking spaces in each parking floor of other floors to the elevator according to the preset parking space data table. And the terminal determines a plurality of continuous empty parking spaces from the empty parking spaces corresponding to the nearest distance from the elevator, and respectively determines the number of the empty parking spaces contained in the plurality of continuous empty parking spaces. Therefore, the terminal can select the target end point position from the continuous empty parking spaces with the maximum number of the empty parking spaces. For example, an empty parking space at the center position of the consecutive empty parking spaces may be selected as the target end position.

For example, the preset parking area may include a parking floor B1, a parking floor B2, and a parking floor B3, and the floor where the real-time position of the vehicle to be navigated at the current time is located may be the parking floor B1. If there are no empty spaces in the parking floor B1, the terminal may calculate the distance of all empty spaces from the elevator in the parking floor B2, parking floor B3, e.g. an empty space in the parking floor B2 includes: parking stall C1, parking stall C2, the empty parking stall of parking floor B3 includes: parking space C3, parking space C4, parking space C5, and parking space C14, where the distances from the empty spaces to the elevator are all 5m, and 5m is the closest distance to the elevator among parking floor B2 and parking floor B3. Thus, the terminal needs to count the number of consecutive empty slots nearest to the elevator: the parking spaces C1 and C2 are two continuous empty parking spaces, and the number of the continuous empty parking spaces is 2; the parking spaces C3, C4 and C5 are three consecutive empty spaces, and the number of consecutive empty spaces is 3; parking space C14 is one empty space in succession, and the number of empty spaces in succession is 1; in this way, the terminal can determine that the continuous empty space with the largest number is 3, and the corresponding continuous empty space is 'parking space C3, parking space C4 and parking space C5', so that the terminal can select 'parking space C4' as the target destination position from the center position of the parking space.

The selection of the target end point location may be described in connection with one embodiment as follows:

in a preset parking space data table, the terminal can determine the target end point position according to the distance between each parking space and the elevator and the idle state of the adjacent parking spaces of each parking space. That is to say, the terminal can inquire the target end position in the preset parking space data table according to the parking space recommendation priority. The parking space recommendation priority order can be that the parking layer of the same floor is prior to three continuous empty parking spaces nearest to the elevator, the parking layer of the same floor is prior to two continuous empty parking spaces nearest to the elevator, the parking layer of the same floor is prior to three continuous empty parking spaces in the parking layers of other floors, the parking layer of the other floors is prior to two continuous empty parking spaces nearest to the elevator, and the parking layer of the other floors is prior to the empty parking spaces nearest to the elevator. The terminal can query the empty parking spaces (target end positions) in a preset parking space data table through SQL query statements according to the recommended priority of the parking spaces.

The preset parking space data table is shown in the following table 1:

parking space	Adjacent parking space	Distance from elevator	Floor where the building is	Parking space state	Recommended states
						A226		9	B1	0 (Idle)	0 (not recommended)
A226	A225	9	B1	0 (Idle)	0 (not recommended)
						A226	A227	9	B1	0 (Idle)	0 (not recommended)

In the preset parking space data table, the parking space is the number of each parking space, such as a 226; the adjacent parking spaces are adjacent parking spaces of the parking space, for example, the adjacent parking spaces of a226 may be a225 and a 227; the elevator-taking distance is the distance between the parking spaces and the elevator, for example, the distances between the parking spaces A225, A226 and A227 and the elevator are all 9 (the unit can be m); the floor is the floor corresponding to the parking floor where the parking space is located, for example, the floor where the parking space a226 is located is B1; the parking space state in the first row indicates that the parking space of the parking space a226 is in an idle state, and the parking space state in the second row indicates that the parking space states of the parking space a226 and the adjacent parking space a225 of the parking space a226 are both idle, and the parking space state is an idle state (0); the recommended state in the first row indicates that the space of the space a226 is not determined as the target end position, that is, the space is not recommended to the user, and the recommended state in the second row indicates that the space states of the space a226 and the space a225 adjacent to the space a226 are not determined as the target end position, and the recommended state is the unrenominated state (0); therefore, when the terminal inquires in the preset parking space data table according to the preset SQL sentence, the empty parking spaces on the same floor in the parking space data table can be firstly sorted according to the distance from the elevator, then the occurrence frequency of the parking spaces in the first row is inquired in the multi-row parking space data table closest to the elevator, and the parking space with the highest occurrence frequency is determined as the target end point position.

In this embodiment, through the inquiry to the parking stall data table, can preferentially recommend three consecutive empty parking stalls, can realize in the navigation process, if the empty parking stall that the target end position corresponds is occupied, under the condition that is not fully occupied, do not influence the parking of waiting to navigate the vehicle, improve parking efficiency and user's parking experience. The recommended distance to the elevator is the closest distance, so that the user can conveniently take the elevator to go upstairs after stopping. And sequentially inquiring from high to low according to the priority, and inquiring the next priority if the current priority is empty until the empty parking space is inquired.

In one embodiment, as shown in fig. 3, the path planning method further includes: the parking space data table is generated through the following processes:

step 302, aiming at each parking space, generating first parking space data according to the distance from the parking space to the preset position, the information of the parking layer where the parking space is located, the idle state and the recommended state.

Specifically, for each parking space in the preset parking area, the terminal acquires the distance from the elevator to the parking space, the information of the floor where the parking space is located, the information of whether the parking space is free at the current time, and the information of whether the parking space is determined as the target recommended parking space, and generates a first parking space data, for example, a first line in table 1 (a preset parking space data table).

And 304, generating a second parking lot data according to the distance between the adjacent parking lots of the parking lots and the preset position, the information of the parking layers where the adjacent parking lots are located, the idle state and the recommended state.

Specifically, there may be one or more parking spaces adjacent to the parking space, so that the terminal needs to acquire the distance from the elevator to the multiple adjacent parking spaces of the parking space, information of the floor where the parking space is located, information of whether the parking space is idle at the current time, and information of whether the parking space is determined as the target recommended parking space, and generate the first parking space data, for example, the second row and the third row in table 1 (a preset parking space data table) above.

And step 306, generating a parking space data table of the preset parking area according to the first parking space data and the second parking space data of the plurality of parking spaces.

Specifically, the terminal may combine the first parking space data and the second parking space data of each parking space in the preset parking area to generate a parking space data table of the preset parking area.

In this embodiment, a parking space data table reflecting the real-time status of each parking space can be formed by monitoring the parking space status of each parking space in the preset parking area, so that a user can conveniently determine the target end point position in the parking process.

In one embodiment, the preset parking area includes a plurality of parking levels, and as shown in fig. 4, the path planning method further includes: the road network corresponding to the preset parking area is generated through the following processes:

step 402, obtaining a map image of a preset parking area.

Step 404, for the map image of each parking layer, marking a pass line segment, the passing direction of the pass line segment and the distance on the map according to the lane information of the parking layer to obtain the road network corresponding to the parking layer.

Specifically, if the preset parking area includes a plurality of parking layers, the terminal needs to acquire a map image of each parking layer, where a plurality of traffic lanes (traffic line segments) for the vehicle to travel on the parking layer, a traffic direction (one-way traffic or two-way traffic) of each traffic lane, a traffic distance of each traffic lane, and the like may be displayed on the map image.

Alternatively, the terminal can mark a traffic line segment on the map image to indicate that the route can be used for vehicles to pass through, and a road network is formed by a plurality of connected traffic line segments. Each layer of the parking lot corresponds to one map image. Marking a road network according to the driving direction (passing direction) of a parking lot lane, marking two-way passing on a two-way lane, marking forward passing or reverse passing on a one-way lane, and keeping the line segment direction consistent with the lane direction. At two points p1 and p2 on the segment, the terminal can add the transit route through addEdge, w is the route weight, i.e. the route distance, and the physical distance between p1 and p 2.

Bidirectional passing:

addEdge(p1,p2,w)。

addEdge(p2,p1,w)。

forward passing:

addEdge(p1,p2,w)。

reverse passing:

addEdge(p2,p1,w)。

and 406, marking a first ramp point in the road network of the parking layer, and marking a second ramp point in the road network of the adjacent parking layer of the parking layer. Wherein the first ramp point is an entry point for a parking level to travel to an adjacent parking level and the second ramp point is an exit point for a parking level to travel to an adjacent parking level.

And step 408, connecting the first ramp point and the second ramp point to obtain a cross-layer ramp of the parking layer and the adjacent parking layer, and marking a distance on the cross-layer ramp to obtain a road network corresponding to the preset parking area.

Specifically, two adjacent parking floors are located on different floors, and if a vehicle to be navigated needs to travel from one parking floor to another, the vehicle to be navigated needs to pass through a cross-floor ramp between the two parking floors.

Alternatively, the adjacent parking level B1 may be located above the parking level B2, and the terminal may mark a first ramp point in the parking level B2 and a second ramp point in the road network of the adjacent parking level B1 of the parking level B2, so that the cross-level ramps of the parking level B2 and the adjacent parking level B1 are ascending ramps with respect to the parking level B2, the first ramp point marked in the parking level B2 is an entrance position point of the ascending ramp, and the second ramp point marked in the adjacent parking level B1 is an exit position point of the ascending ramp.

Alternatively, the adjacent parking level B3 may be located below the parking level B2, and the terminal may mark a first ramp point in the parking level B2 and a second ramp point in the road network of the adjacent parking level B3 of the parking level B2, so that the cross-level ramp of the parking level B2 and the adjacent parking level B3 is a down ramp with respect to the parking level B2, the first ramp point marked in the parking level B2 is an entrance position point of the down ramp, and the second ramp point marked in the adjacent parking level B3 is an exit position point of the down ramp.

Optionally, the entrance ramp point of the ascending ramp and the entrance ramp point of the descending ramp included in each parking level may be the same or different.

Optionally, the terminal may connect different parking levels through a labeled ramp point, so as to implement cross-level road network connection. For example, when a parking level B1 goes down to a parking level B2, a down ramp point p1 is marked on a parking level B1 map, a ramp exit point p2 is marked on a B2 map, B1 and B2 are connected through the down ramp point p1 and the ramp exit point p2, specifically, a down ramp route can be added through addEdge to connect two floors, and w is a route weight.

Descending the ramp:

addEdge(p1,p2,w)。

for example, on the uphill from the parking level B2 to the parking level B1, an ascending ramp point p2 needs to be marked on a map of the parking level B2, a ramp exit point p1 needs to be marked on a map of the parking level B1, B2 and B1 are connected through the ascending ramp point p2 and the ramp exit point p1, specifically, an ascending ramp route can be added through addEdge to connect two floors, and w is a route weight.

An ascending ramp:

addEdge(p2,p1,w)。

in one embodiment, as shown in fig. 5, the path planning method further includes:

step 502, obtaining a plurality of positioning results of the vehicle to be navigated corresponding to a preset time window and timestamp information corresponding to each positioning result.

Specifically, the preset time window may be a fixed time window, and the terminal may obtain the positioning results of the multiple vehicles to be navigated in a time sequence corresponding to the preset time window, that is, the terminal may obtain a series of positioning results corresponding to the preset time window and timestamp information corresponding to the positioning results.

Optionally, the terminal may further perform gaussian smoothing on a series of positioning results corresponding to the preset time window and timestamp information corresponding to the positioning results to obtain a series of positioning results after the gaussian smoothing and timestamp information corresponding to each positioning result.

Step 504, inputting the multiple positioning results of the vehicle to be navigated and the timestamp information corresponding to each positioning result into a preset positioning model to obtain the real-time position of the vehicle to be navigated.

Specifically, the preset positioning model may be a model capable of accurately estimating the real-time position of the vehicle. The terminal can input a series of positioning results corresponding to the preset time window and timestamp information corresponding to each positioning result into the preset positioning model, and the output result of the preset positioning model is the real-time position of the vehicle to be navigated at the current moment.

Step 506, if the real-time position deviates from the navigation path, generating warning prompt information, wherein the warning prompt information is used for enabling the vehicle to be navigated to correct the driving direction. Or if the real-time position deviates from the navigation path, taking the real-time position as the current position of the vehicle to be navigated, executing the step of acquiring the current position of the vehicle to be navigated, and executing the step of generating the navigation prompt information.

In the embodiment, the real-time position of the vehicle to be navigated, which is determined by the preset positioning model, is a high-precision vehicle positioning result, and positioning delay errors of the vehicle caused by factors such as data uploading of the vehicle-mounted terminal, network delay, server calculation and the like can be reduced. And the boundary condition is processed by using filtering in the preset positioning model, so that excessive deviation of a positioning estimation result is avoided, and the positioning precision of the vehicle is improved.

In one embodiment, the specific processing procedure of inputting a plurality of positioning results of the vehicle to be navigated and timestamp information corresponding to each positioning result into a preset positioning model to obtain a real-time position of the vehicle to be navigated includes:

and carrying out mean value calculation on a plurality of positioning results of the vehicle to be navigated and the timestamp information corresponding to each positioning result, and taking the calculation result as the real-time position of the vehicle to be navigated.

In an embodiment, the path planning method further includes:

specifically, the preset positioning model may be a positioning estimation model, the positioning error of the vehicle may be estimated based on the laser radar SLAM robot, the SLAM device may accurately position the vehicle, and the SLAM device records a timestamp and a positioning result corresponding to the timestamp. The vehicle-mounted terminal records a timestamp for sending positioning sensor data, the server side (server side) calculates a positioning result timestamp according to the sensor data sent by the vehicle-mounted terminal, the server side sends the positioning result timestamp, and the server side calculates the positioning result based on the group of sensor data and the vehicle-mounted terminal receives the positioning result timestamp, clock synchronization needs to be carried out on the SLAM equipment, the vehicle-mounted terminal and the server side, and the timestamps are guaranteed to be consistent. Based on the data, a positioning estimation model is generated by calculating the time stamp and the positioning result, and the positioning precision is improved.

Optionally, the process of performing clock synchronization on the SLAM device, the vehicle-mounted terminal, and the server may include: firstly, determining the standard time of a standard device, so that the time synchronization of the SLAM device and the standard time of the standard device can be realized, the timestamp information of the SLAM device is consistent with the standard timestamp information of the standard device, and the clock synchronization of the SLAM device and the standard device is realized; similarly, the time synchronization can be performed between the vehicle-mounted terminal and the standard time of the standard equipment, so that the timestamp information of the vehicle-mounted terminal is consistent with the standard timestamp information of the standard equipment, and the clock synchronization between the vehicle-mounted terminal and the standard equipment is realized; the standard time of the server and the standard equipment can be synchronized, so that the timestamp information of the server is consistent with the standard timestamp information of the standard equipment, and the clock synchronization of the server and the standard equipment is realized; through the process, clock synchronization of the SLAM equipment, the vehicle-mounted terminal and the server side can be realized, the positioning accuracy of the preset positioning model is improved, and clock errors are avoided.

The specific implementation of the path planning method is described below in conjunction with a detailed embodiment: the user gets into the parking area and opens the parking applet on the terminal, triggers wisdom parking function, and the terminal acquires the preset parking stall data table in the preset parking area that the user position corresponds, according to the real-time parking stall state of each parking stall in the parking area in this preset parking area, recommends the nearest continuous empty parking stall of floor from the elevator to the user, if the current floor does not have the empty parking stall, recommends other floor empty parking stalls. Meanwhile, a route is planned, the starting point is the current location of the vehicle, the destination is the recommended empty parking space (target end position), and the user is guided to find the empty parking space through the generated navigation prompt information (route planning characters and voice prompt information). If the empty parking space is occupied by other vehicles, the terminal can automatically trigger re-recommendation and navigate to the re-recommended empty parking space, namely, the method for path planning is executed again.

Specifically, the terminal may generate a Graph according to a labeled road network corresponding to a plurality of parking levels included in a preset parking area, attach the current location position of the vehicle to be navigated to the road network, that is, find a point closest to the vehicle on the labeled road network as a starting point p1, take a recommended empty parking space (target end point position) as an end point p2, calculate a shortest path between the two points of the starting point and the end point in the road network Graph, and generate a navigation route, specifically, may calculate a shortest path between the two points p1 and p2 by using shortestPath (p1, p 2).

Specifically, the terminal pushes text prompts and voice prompts (such as left turn after 30 meters ahead and the like) to the user according to the real-time positioning result of the vehicle and the navigation route (shortest path), or has ramp prompts (such as prompt of descending a ramp ahead from B1 to B2) across floors. And the user drives to find the recommended empty parking space according to the navigation to park. In the navigation process, the navigation system can check whether a recommended parking space (target end position) is occupied or not in real time according to a preset parking space data table, and if the recommended parking space is occupied, the terminal automatically triggers to recommend an empty parking space again for navigation operation.

It should be understood that, although the steps in the flowcharts related to the embodiments as described above are sequentially displayed as indicated by arrows, the steps are not necessarily performed sequentially as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowcharts related to the embodiments described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order of the steps or stages is not necessarily sequential, but may be rotated or alternated with other steps or at least a part of the steps or stages in other steps.

Based on the same inventive concept, the embodiment of the present application further provides a path planning device for implementing the above related path planning method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the method, so the specific limitations in one or more embodiments of the path planning device provided below can be referred to the limitations of the path planning method in the foregoing, and details are not described herein again.

In one embodiment, as shown in fig. 6, there is provided a path planning apparatus 600, comprising: an obtaining module 601, a first determining module 602, a second determining module 603, and a calculating module 604, wherein:

the obtaining module 601 is configured to obtain a current position of a vehicle to be navigated, and determine a first position point of the current position in a road network corresponding to a preset parking area.

The first determining module 602 is configured to determine, in a preset parking space data table, a target end point position according to a distance between each parking space and a preset position and an idle state of a parking space adjacent to each parking space.

The second determining module 603 is configured to determine a second position point of the target end point in the road network corresponding to the preset parking area.

The calculating module 604 is configured to calculate a shortest path between the first location point and the second location point in the road network by using a preset shortest path calculating method, and use the shortest path as a navigation path.

In an embodiment, the path planning apparatus further includes:

and the navigation module is used for generating navigation prompt information according to the navigation path and the current position of the vehicle to be navigated, and the navigation prompt information is used for prompting the vehicle to be navigated to run to the target end point position.

the first determining module is specifically configured to:

In one embodiment, the apparatus further comprises:

The modules in the path planning apparatus 600 may be implemented in whole or in part by software, hardware, or a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 7. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing navigation related data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a path planning method.

Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is further provided, which includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method embodiments when executing the computer program.

In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.

In an embodiment, a computer program product is provided, comprising a computer program which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.

It should be noted that, the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), Magnetic Random Access Memory (MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing based data processing logic devices, etc., without limitation.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A method of path planning, the method comprising:

2. The method of claim 1, wherein the preset parking area comprises a plurality of parking levels;

3. The method of claim 1, wherein the parking space data table is generated by:

4. The method according to claim 1, wherein the preset parking area comprises a plurality of parking layers, and the road network corresponding to the preset parking area is generated by the following process:

acquiring a map image of the preset parking area;

5. The method of claim 1, further comprising:

6. The method according to claim 5, wherein the step of inputting the plurality of positioning results of the vehicle to be navigated and the timestamp information corresponding to each positioning result into a preset positioning model to obtain the real-time position of the vehicle to be navigated comprises:

7. A path planning apparatus, the apparatus comprising:

8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 6.

9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.

10. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 6 when executed by a processor.