CN114386721B - Path planning method and system for power exchange station, medium and power exchange station - Google Patents

Path planning method and system for power exchange station, medium and power exchange station Download PDF

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CN114386721B
CN114386721B CN202210284865.XA CN202210284865A CN114386721B CN 114386721 B CN114386721 B CN 114386721B CN 202210284865 A CN202210284865 A CN 202210284865A CN 114386721 B CN114386721 B CN 114386721B
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CN114386721A (en
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王逸飞
邹积勇
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Weilai Automobile Technology Anhui Co Ltd
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Abstract

The present invention provides a path planning method for a power exchange station, a system, a medium and a power exchange station for performing such a path planning method, the path planning method comprising the following steps performed by the power exchange station: a path planning method for a power exchange station, comprising the steps performed by the power exchange station of: s100: acquiring an image of a pre-station preset area according to a preset trigger condition and determining a drivable area based on a pre-trained model and current driving environment information, wherein the current driving environment information comprises information about obstacles in the pre-station preset area; s200: acquiring position information of a vehicle in a preset area in front of a station; s300: one or more planned paths are generated and transmitted to the vehicle based on the drivable area and the location information of the vehicle. By dividing the image into different sub-images and measuring the drivable sub-areas in the respective sub-images with different accuracies, the calculation amount can be further reduced while ensuring the calculation accuracy.

Description

Path planning method and system for power exchange station, medium and power exchange station
Technical Field
The present invention relates to a path planning method for a power exchange station, a system for performing such a path planning method, a medium and a power exchange station.
Background
Currently, two modes of whole vehicle charging and battery replacement (namely battery replacement) mainly exist for energy supply of an electric vehicle. The whole vehicle charging mode can be divided into alternating current slow charging and direct current fast charging, wherein the time required by the alternating current slow charging is long and limited by a parking lot. In addition, the direct current fast charge has high power and short charging time, but has larger impact on a power grid, and the service life of the battery is also reduced. Conversely, the battery replacement mode can realize quick energy supply to the electric automobile and simultaneously reduce the damage to the service life of the battery. In addition, the power conversion mode can realize peak regulation energy storage of the power load of the power grid and improve the comprehensive utilization efficiency of the power equipment.
The driving environment in the area in front of the station is relatively complex, especially when the station is located at a high-speed intersection, and it is therefore necessary to provide the necessary assistance for the parking of vehicles into the station and the exiting from the station. For example, a planned path is provided for the vehicle during parking in order to perform an automatic parking operation or to assist the driver in performing a parking operation. Furthermore, in the case of a box-type power exchange station, it is difficult for the driver to perform overall control of the front drivable area during the exit due to the line of sight being blocked, which may cause scraping or collision of the vehicle.
Disclosure of Invention
According to various aspects, the present invention is directed to a path planning method for a power exchange station, a system, a medium and a power exchange station for performing such a path planning method.
In addition, the invention aims to solve or alleviate other technical problems in the prior art.
The present invention solves the above-mentioned problems by providing a path planning method for a power exchange station, in particular comprising the following steps performed by the power exchange station:
s100: acquiring an image of a pre-station preset area according to a preset trigger condition and determining a drivable area based on a pre-trained model and current driving environment information, wherein the current driving environment information comprises information about obstacles in the pre-station preset area;
s200: acquiring position information of a vehicle in a preset area in front of the station;
s300: generating one or more planned paths based on the drivable area and the position information of the vehicle and transmitting the planned paths to the vehicle;
wherein, step S100 comprises the following sub-steps:
s110: dividing an image to be input into the model into a far-terminal image and a near-terminal image based on a distance of an obstacle from a camera for acquiring the image;
s120: based on the model, respectively acquiring travelable subareas in the far-terminal image and the near-terminal image according to different accuracies;
s130: and splicing the drivable subareas for obtaining the whole drivable area.
According to the path planning method proposed in one aspect of the present invention, in step S120, a drivable sub-area in the far sub-image and the near sub-image is acquired based on movement information of the vehicle, wherein the movement information includes a movement direction and/or a movement speed of the vehicle.
According to the path planning method proposed in one aspect of the present invention, the step S100 further comprises the following sub-steps:
s140: in response to detecting a non-stationary obstacle, acquiring a motion parameter of the non-stationary obstacle and predicting an occupied channel of the non-stationary obstacle based on the motion parameter;
s150: and correcting the whole drivable area based on the occupied channel.
According to the path planning method proposed in one aspect of the present invention, in step S200, based on the identifier of the battery exchange station, position information of a vehicle in a preset area in front of the station is acquired.
According to a path planning method proposed in one aspect of the present invention, step S200 comprises the following sub-steps:
s210: acquiring an image of a preset area in front of a station;
s220: and acquiring the position information of the vehicle in the preset area in front of the station according to an image comparison algorithm based on the position of the marker in the image.
According to a path planning method proposed by one aspect of the present invention, the markers include a planar marker and a stereoscopic marker disposed in a pre-set area in front of the station.
According to a path planning method proposed by an aspect of the present invention, the preset trigger condition includes a passive trigger condition triggered by a user and/or an active trigger condition triggered by a vehicle behavior.
The path planning method according to one aspect of the present invention further comprises the steps of:
s400: attribute information of a vehicle is acquired and whether the vehicle is a service vehicle is judged based on the attribute information.
The path planning method according to one aspect of the present invention further comprises the steps of:
s500: in response to receiving a confirmation command characterizing a theoretical planned path selected by the vehicle, parameters of the theoretical planned path are transmitted to the vehicle.
According to another aspect of the invention there is also provided a system provided in a power exchange station and operable for path planning in the power exchange station, comprising:
a memory;
a processor;
a computer program stored on the memory and executable on the processor, the execution of the computer program causing the following steps to be performed:
s100: acquiring an image of a pre-station preset area according to a preset trigger condition and determining a drivable area based on a pre-trained model and current driving environment information, wherein the current driving environment information comprises information about obstacles in the pre-station preset area;
s200: acquiring position information of a vehicle in a preset area in front of the station;
s300: generating one or more planned paths based on the drivable area and the position information of the vehicle and transmitting the planned paths to the vehicle;
wherein, step S100 comprises the following sub-steps:
s110: dividing an image to be input into the model into a far-terminal image and a near-terminal image based on a distance of an obstacle from a camera for acquiring the image;
s120: based on the model, respectively acquiring travelable subareas in the far-terminal image and the near-terminal image according to different accuracies;
s130: and splicing the drivable subareas for obtaining the whole drivable area.
According to a system proposed by another aspect of the present invention, in step S120, a drivable sub-area in the far and near sub-images is acquired based on movement information of the vehicle, wherein the movement information comprises a movement direction and a movement speed of the vehicle.
According to a system proposed by another aspect of the invention, step S100 further comprises the sub-steps of:
s140: in response to detecting a non-stationary obstacle, acquiring a motion parameter of the non-stationary obstacle and predicting an occupied channel of the non-stationary obstacle based on the motion parameter;
s150: and correcting the whole drivable area based on the occupied channel.
According to a system proposed by another aspect of the present invention, in step S200, position information of a vehicle in a pre-set area in front of the station is acquired based on an identifier of the station.
According to a system proposed by another aspect of the invention, step S200 comprises the following sub-steps:
s210: acquiring an image of a preset area in front of a station;
s220: and acquiring the position information of the vehicle in the preset area in front of the station according to an image comparison algorithm based on the position of the marker in the image.
According to another aspect of the invention, a system is proposed, the markers comprising a planar marker and a stereoscopic marker arranged in a pre-set area in front of the station.
According to a further aspect of the invention a system is proposed, the preset trigger conditions comprising passive trigger conditions triggered by a user and/or active trigger conditions triggered by a vehicle behaviour.
According to a further aspect of the invention a system is proposed, the execution of which computer program further causes the following steps to be performed:
s400: attribute information of a vehicle is acquired and whether the vehicle is a service vehicle is judged based on the attribute information.
According to a further aspect of the invention a system is proposed, the execution of which computer program further causes the following steps to be performed:
s500: in response to receiving a confirmation command characterizing a theoretical planned path selected by the vehicle, parameters of the theoretical planned path are transmitted to the vehicle.
According to a further aspect of the present invention, there is also provided a computer readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the path planning method for a power exchange station set forth above.
According to a further aspect of the present invention there is also provided a power exchange station comprising a system of the above-described path planning method for a power exchange station.
By dividing the image into different sub-images and measuring the drivable sub-areas in the respective sub-images with different accuracies, the calculation amount can be further reduced while ensuring the calculation accuracy.
Drawings
The above and other features of the present invention will become apparent with reference to the accompanying drawings, in which,
fig. 1 to 5 show main steps of a path planning method according to an embodiment of the present invention;
fig. 6 shows a schematic representation of the overall travelable region determined by the method according to the invention;
fig. 7 shows a schematic diagram of a process of acquiring a travelable subregion;
fig. 8 shows a schematic diagram of a system for path planning in a power exchange station according to an embodiment of the invention.
Detailed Description
It is to be understood that, according to the technical solution of the present invention, those skilled in the art may propose various alternative structural modes and implementation modes without changing the true spirit of the present invention. Accordingly, the following detailed description and drawings are merely illustrative of the invention and are not intended to be exhaustive or to limit the invention to the precise form disclosed.
Terms of orientation such as up, down, left, right, front, rear, front, back, top, bottom, etc. mentioned or possible to be mentioned in the present specification are defined with respect to the configurations shown in the drawings, which are relative concepts, and thus may be changed according to different positions and different use states thereof. These and other directional terms should not be construed as limiting terms. Furthermore, the terms "first," "second," "third," and the like are used for descriptive and distinguishing purposes only and are not to be construed as indicating or implying a relative importance of the corresponding components.
The invention relates to a method for path planning in a power exchange station, which comprises the following steps, see fig. 1 to 5, which are carried out by the power exchange station:
s100: acquiring an image of a pre-station preset area according to a preset trigger condition and determining a drivable area based on a pre-trained model and current driving environment information, wherein the current driving environment information comprises information about obstacles in the pre-station preset area;
s200: acquiring position information of a vehicle in a preset area in front of the station;
s300: generating one or more planned paths based on the drivable area and the position information of the vehicle and transmitting the planned paths to the vehicle;
wherein, step S100 comprises the following sub-steps:
s110: dividing an image to be input into the model into a far-terminal image and a near-terminal image based on a distance of an obstacle from a camera for acquiring the image;
s120: based on the model, respectively acquiring travelable subareas in the far-terminal image and the near-terminal image according to different accuracies;
s130: and splicing the drivable subareas for obtaining the whole drivable area.
It should be noted that the above-mentioned (and the following further mentioned) step names are only used for distinguishing between steps and facilitating the reference of steps, and do not represent a sequential relationship between steps, and the flowcharts including the figures are only examples of performing the method. The steps may be performed in various orders or concurrently without significant conflict.
The term "power exchange station" used herein is understood to mean, on the one hand, a power exchange station of a building type that is isolated from the outside, and on the other hand, a power exchange device, for example, a stationary, movable or foldable power exchange device, for performing a replacement operation on a vehicle power cell. This type of power plant can also be referred to as a so-called charging plant.
The pre-station area is located in front of the power exchange station and is used to provide the necessary parking and driving areas. Accordingly, the "pre-station drivable zone" can be understood as a zone occupied by the entire pre-station preset zone excluding the obstacle, that is, as a zone available for the vehicle to run. In the absence of an obstacle, the pre-station drivable area is equivalent to the pre-station preset area. Furthermore, the concept of "obstacle" can relate to pedestrians, living beings, obstacle avoidance, non-service vehicles, etc., which are classified as stationary or non-stationary obstacles.
Here, providing one or more planned paths for the service vehicle of the power exchange station based on the acquired drivable region (which may also be referred to as a pre-station drivable region) can assist the driver in completing the parking or driving-out operation or in completing the automatic parking or driving-out operation. The travelable region can be represented here in an abstract topological map, see fig. 6. Instead of the vehicle itself, autonomous planning of the path by the station (station) can to some extent avoid parking errors or driving errors due to malfunctions of the vehicle sensors (for example, a contaminated camera or a blocked camera). In addition, in the case of point-to-point path planning (in particular, path planning from a predetermined parking point to a fixed line on the power exchange platform, for example), the power exchange station can call up the stored planned path and plan the path based thereon, which is advantageous in the case of memory parking rules and also reduces the data throughput to a certain extent.
Considering the battery storage capacity of the power exchange station, before the path planning is executed, whether the vehicle is a vehicle to be serviced should be judged so as not to generate the queue insertion phenomenon and reduce the user experience. Specifically, the method according to the invention further comprises a step S400 (authentication step): attribute information of a vehicle is acquired and whether the vehicle is a service vehicle is judged based on the attribute information. The attribute information of the vehicle can include a model, license plate number, owner information, and the like of the vehicle. This step can be accomplished by means of the owner's cell phone or other wireless communication device.
The topology map generated can be transmitted by the battery exchange station to the cloud and can be shared with other control processes, which is advantageous, for example, if a plurality of vehicles to be serviced or serviced are simultaneously driven in a pre-station area. In addition, the station end can communicate with the vehicle end (vehicle) by means of a cloud platform or other relay devices and share the generated plurality of planning paths to the vehicle so as to select and confirm the required planning paths by the vehicle end or a driver, which ensures the control right of the vehicle end to the vehicle to a certain extent and improves the user experience. The plurality of planned paths can relate to planned paths with shorter trips, planned paths with easier operation, planned paths with safer operation. The properties of the plurality of planned paths can be provided, for example, by a controller of the power exchange station or the vehicle itself. The provision of multiple planned paths is particularly advantageous in the case of assisted driving, in view of the non-uniformity of the driving level of the driver.
Accordingly, the path planning method according to the present invention can also optionally include step S500: in response to receiving a confirmation command characterizing a theoretical planned path selected by the vehicle, parameters of the theoretical planned path are transmitted to the vehicle, which parameters can include steering wheel torque and/or vehicle speed.
Alternatively, the preset trigger condition in step S100 can relate to a passive trigger condition triggered by the user. For example, the station starts to perform the above-described steps according to the invention after receiving a path planning request from a user.
Optionally, the preset trigger condition can also relate to an active trigger condition triggered by vehicle behavior. The above-described steps according to the present invention are started to be performed when it is detected that the vehicle is parked to a preset parking space, for example, when parking path planning is performed. The predetermined parking space can be configured in a simple manner as a rectangular area in front of the power exchange station, in particular directly in front of the power exchange station (for example a rectangular area of length 5 meters and width 3 meters).
Furthermore, for the acquisition of images input into the model, it can be realized by a single camera with a large coverage. Alternatively, the image acquisition process can also be implemented by two or more cameras arranged at the power exchange station in order to cover the pre-station area more comprehensively and thereby increase the redundancy and reliability of the determination. In the case of a plurality of cameras, the specific position and the shooting angle of the individual cameras in the coordinate system of the battery exchange station are predetermined, whereby the images captured by the individual cameras can be stitched and the image of the entire pre-set area in front of the station can be obtained therefrom. It should be noted that this image stitching process can be omitted in the case where only a single camera is provided.
Step S100 will now be described in more detail with reference to fig. 7. It should be noted at first that the image that is or is to be input into the model can be, but is not limited to being, divided into two sub-images, the number of which can be selected in dependence on the computing power of the computing device. "distal" and "proximal" refer to a camera or infrared camera used to capture the image, where "distal" refers to the area of the image that is away from the camera, and "proximal" refers to the area of the image that is closer to the camera. For an image, the cell size of the near-terminal image close to the camera represents a smaller length than the far-terminal image far from the camera, for example, a cell size of one centimeter in the far-terminal sub-image can represent a distance of ten centimeters or more, while the cell size of one centimeter in the near-terminal image represents a distance of only 0.5 centimeter. Therefore, if the same accuracy (which can also be referred to as granularity) is used to acquire the travelable region, this brings about a certain error. By dividing the image into different sub-images and acquiring the drivable sub-areas in the respective sub-images with different accuracies, the computational accuracy can be improved to some extent and the computational effort reduced, mainly because accurate control can be performed according to specific needs without retraining the model.
Referring to fig. 7, (wherein the upper left part is a far-end sub-image and the lower left part is a near-end sub-image and the right half is a spliced entire travelable region, the obstacle is schematically represented by a triangle and a rectangle with hatching, and the travelable sub-regions are represented by bar-shaped regions with broken-line frame columns, respectively) in order to obtain higher calculation accuracy, the far-end sub-image is image-processed with higher accuracy than the near-end sub-image, that is, the travelable sub-regions in the far-end sub-image are smaller in size. By determining whether the boundary of the travelable subregion is the ground, obtaining the boundary of the final travelable subregion and thereby generating the boundary of the entire pre-station travelable region, this method can be referred to as a cut-out determination algorithm, which can be, but is not limited to, classification, regression, etc. methods.
Alternatively, the model described above can be constructed, for example, as a convolutional neural network model, which is trained beforehand by sets of training data comprising sample images and corresponding labeling information. The convolutional neural network model comprises a convolutional layer, a normalization layer, an activation layer, a maximum pooling layer, a full connection layer and an output layer, which are not described in detail. In order to diversify the training data set and increase the robustness of the model during training of the model, the training data set can optionally also be augmented in an online data enhancement manner.
Alternatively, the parts of the sub-images can be selectively deleted based on movement information of the vehicle, which includes the movement direction and movement speed of the vehicle, or on a movement task of the vehicle, which includes the movement into or out of the battery exchange station, when determining the drivable sub-areas of the respective sub-images. Specifically, in the case where a travel task of a service vehicle is acquired in advance, detection of an area that the service vehicle does not relate to can be omitted according to the travel task. As shown in fig. 6 (in which the vehicle outlined with a dashed line is a service vehicle and is in the parking process into the station, accordingly, the vehicle at the upper left can be regarded as an obstacle and the respective drivable subregions are shown equi-dimensionally for the sake of clarity), the detection of the region behind the service vehicle and remote from the station entrance is omitted. In this way, the calculation processing amount can be further reduced.
In another embodiment, it is also possible to omit image processing of the area at the rear in the direction away from the vehicle movement, that is, image processing in compliance with a rule that a larger obstacle (for example, the obstacle is a vehicle) is not to be crossed, taking into consideration the actual driving situation.
Optionally, the path planning method according to the invention can also comprise a travelable region correction step, taking into account the possible movement tendency of the obstacle, i.e. the method comprises the following sub-steps:
s140: in response to detecting a non-stationary obstacle, acquiring a motion parameter of the non-stationary obstacle and predicting an occupied channel of the non-stationary obstacle based on the motion parameter;
s150: and correcting the whole drivable area based on the occupied channel.
The final determined travelable region should be the region from which the occupied path is removed. In addition, the occupied passage of the obstacle which can leave quickly can still be regarded as a driving area before the station in consideration of the low speed of the vehicle during parking.
The vehicle position acquisition step (step S200) according to the present method can be implemented by means of the identification of the power exchange station. For example, the actual position of the vehicle is acquired in the battery-exchange station coordinate system (that is to say the image coordinate system) directly or on the basis of the identifier, on the basis of the image of the pre-station preset area acquired by the camera device of the battery-exchange station. In addition, this step can also be implemented based on the image acquired by the vehicle camera, specifically, the vehicle position acquisition step includes the following sub-steps:
s210: an image of a pre-set area in front of the station is acquired,
s220: and acquiring the position information of the vehicle in the preset area in front of the station according to an image comparison algorithm based on the position of the marker in the image.
Here, the marker can relate to a planar marker (e.g., an arrow-shaped marker, a single right-angle-shaped marker, a triangular marker, a polygonal marker, or a two-dimensional code marker) or a stereoscopic marker arranged in a pre-set area in front of the station. Furthermore, the identifier can also relate to a component of the station itself, such as a ramp at the inlet of the station. The location of the identifier can be chosen as desired, it can be arranged at the station inlet or at any other location.
Referring to fig. 8, a schematic diagram of a proposed system 100 according to another aspect of the invention is shown, comprising a memory 110 (e.g. a flash memory, a ROM, a hard disk drive, a magnetic disk, an optical disk, etc. nonvolatile memory), a processor 120, and a computer program 130 stored on the memory 110 and executable on the processor 120, the execution of which implements a method for path planning in a power exchange station according to one or more embodiments of the invention. The description of the system may refer to the description of the method for path planning in a power exchange station above, and will not be repeated.
Alternatively, the system 100 can be a cloud computing device. Illustratively, the memory 110 and the processor 120 as cloud computing resources can be located not only within the same physical device (e.g., the same server), but also at different physical devices (e.g., different servers).
Alternatively, the system 100 can also be an edge computing device, which is arranged in the power exchange station. In this way, the vehicle is routed close to the data source (i.e. in the local edge calculation layer), so that the real-time performance and stability of the data processing can be ensured. In addition, by means of one or more edge computing devices, the computing load of the cloud can be reduced to a certain extent, and the implementation of the Internet of things is facilitated.
It should be noted that the description of the system according to the invention can refer to the explanation of the path planning method in the power exchange station according to the invention, which is not repeated.
In summary, by acquiring the front drivable region and providing one or more planned paths for the service vehicle of the power exchange station based thereon, it is possible to assist the driver in completing the parking or driving-out operation or in completing the automatic parking or driving-out operation. In an embodiment of the present invention, by dividing an image into different sub-images and performing recognition of a drivable sub-region with different accuracies, it is possible to further reduce the calculation amount and improve the calculation flexibility while ensuring the calculation accuracy. In an embodiment of the present invention, the control right of the driver to the vehicle itself can be ensured to some extent by selecting a desired planned path by the vehicle end or the user. In another embodiment of the invention, the route planning of the vehicle is performed by means of the edge computing device, so that the real-time performance and the stability of data transmission and processing can be ensured, and the computing load of the cloud can be reduced to a certain extent.
The invention further relates to a computer-readable storage medium for carrying out a method for path planning for a vehicle in a power exchange station according to one or more embodiments of the invention. References herein to computer-readable storage media include various types of computer storage media, and can be any available media that can be accessed by a general purpose or special purpose computer. By way of example, a computer-readable storage medium may comprise a RAM, ROM, EPROM, E PROM, register, hard disk, removable disk, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage device, or any other temporary or non-temporary medium that can be used to carry or store desired program code elements in the form of instructions or data structures and that can be accessed by a general-purpose or special-purpose computer, or a general-purpose or special-purpose processor. The description of the computer-readable storage medium according to the present invention can refer to the explanation of the method according to the present invention, and will not be repeated.
Finally, the invention also proposes a power exchange station comprising a system according to one or more embodiments of the invention. The description of the power exchange station according to the invention can refer to an explanation of the method according to the invention, which is not repeated.
It should be understood that all of the above preferred embodiments are exemplary and not limiting, and that various modifications or variations of the above-described specific embodiments, which are within the spirit of the invention, should be made by those skilled in the art within the legal scope of the invention.

Claims (20)

1. A path planning method for a power exchange station, comprising the steps performed by the power exchange station of:
s100: acquiring an image of a pre-station preset area according to a preset trigger condition and determining a drivable area based on a pre-trained model and current driving environment information, wherein the current driving environment information comprises information about obstacles in the pre-station preset area;
s200: acquiring position information of a vehicle in a preset area in front of the station;
s300: generating one or more planned paths based on the drivable area and the position information of the vehicle and transmitting the planned paths to the vehicle; wherein, step S100 comprises the following sub-steps:
s110: dividing an image to be input into the model into a far-sub image and a near-sub image based on a distance of an obstacle from a camera for acquiring an image provided at a power exchange station;
s120: based on the model, respectively acquiring travelable subareas in the far-terminal image and the near-terminal image according to different accuracies;
s130: and splicing the drivable subareas for obtaining the whole drivable area.
2. The path planning method according to claim 1, characterized in that in step S120, a travelable sub-area in the far and near sub-images is acquired based on movement information of the vehicle, wherein the movement information comprises a movement direction and/or a movement speed of the vehicle.
3. The path planning method according to claim 2, wherein the step S100 further comprises the sub-steps of:
s140: in response to detecting a non-stationary obstacle, acquiring a motion parameter of the non-stationary obstacle and predicting an occupied channel of the non-stationary obstacle based on the motion parameter;
s150: and correcting the whole drivable area based on the occupied channel.
4. The path planning method according to claim 1, characterized in that in step S200, based on the identifier of the station, position information of a vehicle in a pre-set area in front of the station is acquired.
5. The path planning method according to claim 4, wherein step S200 includes the sub-steps of:
s210: acquiring an image of a preset area in front of a station;
s220: and acquiring the position information of the vehicle in the preset area in front of the station according to an image comparison algorithm based on the position of the marker in the image.
6. The path planning method of claim 5, wherein the markers include a planar marker and a stereoscopic marker disposed in a pre-set area in front of the station.
7. A path planning method according to any one of claims 1 to 6, wherein the preset trigger conditions comprise passive trigger conditions triggered by a user and/or active trigger conditions triggered by vehicle behaviour.
8. The path planning method according to any one of claims 1 to 6, characterized in that the path planning method further comprises the steps of:
s400: attribute information of a vehicle is acquired and whether the vehicle is a service vehicle is judged based on the attribute information.
9. The path planning method according to any one of claims 1 to 6, characterized in that the path planning method further comprises the steps of:
s500: in response to receiving a confirmation command characterizing a theoretical planned path selected by the vehicle, parameters of the theoretical planned path are transmitted to the vehicle.
10. A system provided in a power exchange station and usable for path planning in the power exchange station, comprising:
a memory;
a processor;
a computer program stored on the memory and executable on the processor, the execution of the computer program causing the following steps to be performed:
s100: acquiring an image of a pre-station preset area according to a preset trigger condition and determining a drivable area based on a pre-trained model and current driving environment information, wherein the current driving environment information comprises information about obstacles in the pre-station preset area;
s200: acquiring position information of a vehicle in a preset area in front of the station;
s300: generating one or more planned paths based on the drivable area and the position information of the vehicle and transmitting the planned paths to the vehicle; wherein, step S100 comprises the following sub-steps:
s110: dividing an image to be input into the model into a far-sub image and a near-sub image based on a distance of an obstacle from a camera for acquiring an image provided at a power exchange station;
s120: based on the model, respectively acquiring travelable subareas in the far-terminal image and the near-terminal image according to different accuracies;
s130: and splicing the drivable subareas for obtaining the whole drivable area.
11. The system according to claim 10, wherein in step S120, a travelable sub-area in the far and near sub-images is acquired based on movement information of the vehicle, wherein the movement information includes a movement direction and a movement speed of the vehicle.
12. The system of claim 11, wherein step S100 further comprises the sub-steps of:
s140: in response to detecting a non-stationary obstacle, acquiring a motion parameter of the non-stationary obstacle and predicting an occupied channel of the non-stationary obstacle based on the motion parameter;
s150: and correcting the whole drivable area based on the occupied channel.
13. The system according to claim 10, characterized in that in step S200, based on the identity of the station of the exchange, position information of the vehicle in a pre-set area in front of the station is acquired.
14. The system of claim 13, wherein step S200 comprises the sub-steps of:
s210: acquiring an image of a preset area in front of a station;
s220: and acquiring the position information of the vehicle in the preset area in front of the station according to an image comparison algorithm based on the position of the marker in the image.
15. The system of claim 14, wherein the markers comprise planar markers and stereoscopic markers disposed in a pre-set area in front of the station.
16. The system according to any one of claims 10 to 15, wherein the preset trigger conditions comprise passive trigger conditions triggered by a user and/or active trigger conditions triggered by vehicle behaviour.
17. The system of any one of claims 10 to 15, wherein execution of the computer program further causes the following steps to be performed:
s400: attribute information of a vehicle is acquired and whether the vehicle is a service vehicle is judged based on the attribute information.
18. The system of any one of claims 10 to 15, wherein execution of the computer program further causes the following steps to be performed:
s500: in response to receiving a confirmation command characterizing a theoretical planned path selected by the vehicle, parameters of the theoretical planned path are transmitted to the vehicle.
19. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the path planning method for a power exchange station according to any one of claims 1 to 9.
20. A power exchange station, characterized by comprising a system according to any of claims 10 to 18.
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