CN114518755A - Global path planning method, device, equipment and storage medium - Google Patents
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Abstract
The invention discloses a global path planning method, a global path planning device, global path planning equipment and a storage medium, relates to the technical field of path planning, and solves the problem of low path planning efficiency. The global path planning method comprises the following steps: acquiring a road network topological map, wherein the road network topological map comprises a plurality of nodes, and the nodes are used for indicating channel information; respectively calculating cost values among the nodes to obtain a cost set of the nodes of the road network topological map, wherein the cost values are used for indicating the traffic cost of the nodes; acquiring starting point information and end point information, and acquiring a passing route according to the starting point information, the end point information and the cost set; and smoothing the passing route to obtain a planned path.
Description
Technical Field
The present invention relates to the field of path planning technologies, and in particular, to a method, an apparatus, a device, and a storage medium for planning a global path.
Background
With the development of artificial intelligence technology, multi-sensor fusion technology and control decision technology, the automatic driving technology gradually advances into people's daily life, and the travel mode of people is changed profoundly. Among them, the path planning technique plays an important role in the automatic driving technique.
The existing global path planning method mainly adopts a graph search algorithm to search paths in a road network topological map, but when the data volume of the road network map is large, the calculated amount of the graph search algorithm is large, so that the path search speed is low, and the path planning efficiency is low.
Disclosure of Invention
The invention provides a global path planning method, a global path planning device, global path planning equipment and a storage medium, and solves the problem of low path planning efficiency.
In a first aspect of the embodiments of the present application, a method for planning a global path is provided, where the method includes: acquiring a road network topological map, wherein the road network topological map comprises a plurality of nodes, and the nodes are used for indicating channel information; respectively calculating cost values among the nodes to obtain a cost set of the nodes of the road network topological map, wherein the cost values are used for indicating the traffic cost of the nodes; acquiring starting point information and end point information, and acquiring a passing route according to the starting point information, the end point information and the cost set; and smoothing the passing route to obtain a planned path.
In one embodiment, the nodes include an initial node, a current node and a previous node, each node includes a corresponding edge, and calculating a cost value between the nodes includes:
obtaining a cost value between a previous node and an initial node to obtain a first generation value;
obtaining a cost value of an edge between a previous node and a current node to obtain an edge cost value;
obtaining a cost value of a current node to obtain a second cost value;
and obtaining cost values of the current node and the initial node according to the first generation value, the edge cost value and the second generation value.
In one embodiment, the edge is used to indicate a channel connection area, where the connection area includes a channel change area or an indicator light, and the obtaining of the cost value of the edge between the previous node and the current node includes:
acquiring the area length of the corresponding channel connection area according to the edge;
and obtaining an edge cost value according to the length of the area, a first preset value and a second preset value, wherein the first preset value is used for indicating the punishment coefficient of the lane changing area, and the second preset value is used for indicating the punishment coefficient of the indicator lamp.
In one embodiment, the obtaining the cost value of the current node includes:
and obtaining the cost value of the current node according to the length of the channel, the passing speed of the channel and the turning type of the channel corresponding to the current node.
In one embodiment, obtaining the transit route according to the start point information, the end point information and the cost set comprises:
inputting the starting point information, the end point information and the cost set into a preset heuristic searching model to obtain a plurality of target node identifications and the sequence of each target node identification;
and obtaining the passing route according to the target node identifications and the sequence of the target node identifications.
In one embodiment, obtaining the passing route according to the target node identifiers and the sequence of the target node identifiers includes:
obtaining the central line of the corresponding channel according to the identification of each target node;
and connecting the central lines according to the sequence of the target node identifications to obtain the passing route.
In one embodiment, smoothing the passing route to obtain the planned path includes:
the method comprises the steps of conducting subsection sampling on a traffic route to obtain a plurality of sampling points, and conducting fitting processing on the sampling points to obtain a fitting equation;
solving the fitting equation according to a preset constraint condition to obtain a solution of the fitting equation;
and inputting the solution of the passing route and the fitting equation into a preset quadratic programming algorithm to obtain a programmed path.
In one embodiment, the method further comprises:
generating a target node identifier and a sequence of the target node identifiers by adopting a first thread;
outputting the target node identification and the sequence of the target node identification by adopting a second thread;
and smoothing the passing route by adopting a third thread to obtain a planned path.
In a second aspect of the embodiments of the present application, a global path planning apparatus is provided, where the apparatus includes:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a road network topological map, the road network topological map comprises a plurality of nodes, and the nodes are used for indicating channel information;
the calculation module is used for respectively calculating cost values among the nodes to obtain a cost set of the nodes of the road network topological map, and the cost values are used for indicating the passing cost of the nodes;
the second acquisition module is used for acquiring the starting point information and the end point information and acquiring the passing route according to the starting point information, the end point information and the cost set;
and the processing module is used for carrying out smoothing processing on the passing route to obtain a planned path.
In a third aspect of the embodiments of the present application, a computer device is provided, where the computer device includes a memory and a processor, and the memory stores a computer program, and when the computer program is executed by the processor, the method for planning a global path according to the first aspect of the embodiments of the present application is implemented.
In a fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the method for planning a global path according to the first aspect of the embodiments of the present application is implemented.
According to the global path planning method provided by the embodiment of the application, the road network topological map is obtained, the cost values among the nodes in the road network topological map are calculated, the cost set of the nodes in the road network topological map is obtained, the passing route is obtained according to the starting point information, the end point information and the cost set, and finally the passing route is subjected to smoothing processing, so that the planned path is obtained. According to the global path planning method provided by the embodiment of the application, the path is searched according to the cost values among the nodes to obtain the passing route, wherein the cost values refer to the passing costs of the nodes, and the path searching and planning efficiency can be improved.
Drawings
Fig. 1 is a schematic internal structural diagram of a computer device according to an embodiment of the present application;
fig. 2 is a flowchart of a global path planning method according to an embodiment of the present application;
fig. 3 is a flowchart of a technical process for calculating cost values between nodes according to an embodiment of the present application;
fig. 4 is a structural diagram of a global path planning apparatus according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the following, the terms "first", "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present disclosure, "a plurality" means two or more unless otherwise specified.
In addition, the use of "based on" or "according to" means open and inclusive, as a process, step, calculation, or other action that is "based on" or "according to" one or more conditions or values may in practice be based on additional conditions or values beyond those that are present.
In order to solve the problem of low path planning efficiency, embodiments of the present application provide a method, an apparatus, a device, and a storage medium for planning a global path, where a road network topological map is obtained, a cost value between nodes in the road network topological map is calculated, a cost set of the nodes in the road network topological map is obtained, a traffic route is obtained according to start point information, end point information, and the cost set, and finally, a smooth process is performed on the traffic route, so as to obtain a planned path. According to the global path planning method provided by the embodiment of the application, the path is searched according to the cost values among the nodes to obtain the passing route, wherein the cost values refer to the passing costs of the nodes, and the path searching and planning efficiency can be improved.
The execution main body of the global path planning method provided by the embodiment of the application may be a computer device, a terminal device, or a server, wherein the terminal device may be a vehicle-mounted terminal, various personal computers, notebook computers, smart phones, tablet computers, portable wearable devices, and the like, and the application is not particularly limited.
Fig. 1 is a schematic internal structural diagram of a computer device according to an embodiment of the present disclosure. As shown in fig. 1, the computer device includes a processor and a memory connected by a system bus. Wherein the processor is configured to provide computational and control capabilities. The memory may include a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The computer program can be executed by a processor for implementing the steps of a global path planning method provided in the above embodiments. The internal memory provides a cached execution environment for the operating system and computer programs in the non-volatile storage medium.
Those skilled in the art will appreciate that the architecture shown in fig. 1 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.
Based on the execution main body, the embodiment of the application provides a global path planning method. As shown in fig. 2, the method comprises the steps of:
Optionally, a road network topology map may be generated according to the high-precision map, where the road network topology map includes a plurality of nodes and edges connecting the nodes, where the nodes are used to represent roads or channels, and the edges are used to represent channel connection areas entering a next channel from a current channel.
The cost value is used for indicating the traffic cost of the nodes, and the optimal node in the plurality of nodes connected with the current node can be determined according to the cost value between the nodes.
And step 203, acquiring the starting point information and the end point information, and acquiring the traffic route according to the starting point information, the end point information and the cost set.
The obtaining of the start point information and the end point information may be to obtain the start point information and the end point information input by the user, and then perform node search according to the start point information, the end point information, and the cost set to obtain the passing route.
And step 204, smoothing the passing route to obtain a planned path.
According to the global path planning method provided by the embodiment of the application, the road network topological map is obtained, the cost values among the nodes in the road network topological map are calculated, the cost set of the nodes in the road network topological map is obtained, the passing route is obtained according to the starting point information, the end point information and the cost set, and finally the passing route is subjected to smoothing processing, so that the planned path is obtained. According to the global path planning method provided by the embodiment of the application, the path is searched according to the cost values among the nodes to obtain the passing route, wherein the cost values refer to the passing costs of the nodes, and the path searching and planning efficiency can be improved.
As shown in fig. 3, where nodes include an initial node, a current node, and a previous node, and each node includes a corresponding edge, an embodiment of the present application provides a technical process for calculating a cost value between nodes, where the process includes the following steps:
and 301, obtaining a cost value between the previous node and the initial node to obtain a first generation value.
And 303, acquiring a cost value of the current node to obtain a second generation value.
And 304, obtaining cost values of the current node and the initial node according to the first generation value, the edge cost value and the second generation value.
Optionally, the edge is used to indicate a channel connection area, where the connection area includes a channel change area or an indicator light, and a cost value of the edge between the previous node and the current node is obtained to obtain an edge cost value, including:
and obtaining the zone length of the corresponding channel connection zone according to the edge, and obtaining an edge cost value according to the zone length, a first preset value and a second preset value, wherein the first preset value is used for indicating the punishment coefficient of the channel changing zone, and the second preset value is used for indicating the punishment coefficient of the indicator lamp.
Optionally, the obtaining of the cost value of the current node includes:
and obtaining the cost value of the current node according to the length of the channel corresponding to the current node, the passing speed of the channel and the turning type of the channel.
In practical applications, the cost value between two nodes can be calculated by equation (1):
Gi＝Gi-1+ω1cost(edge)i+ω2cost(node)iformula (1)
Wherein, G in the formula (1)iRepresenting the cost value, G, from the current node to the starting nodei-1Representing the cost value of the last node to the starting node, cost (edge)iCost value representing the edge from the previous node to the current node, cost (node)iRepresenting the cost value, ω, of the current node1And omega2Is a proportionality coefficient; g when the current node coincides with the start nodeiEqual to 0.
Specifically, the cost value of the edge from the previous node to the current node may be calculated by equation (2).
cost (edge) change _ dependency × f (x) + light _ dependency (2)
Wherein, change _ penalty is a penalty coefficient of the track change area, light _ penalty is a penalty coefficient of the indicator light, x is the length of the track change area, and base _ change _ length is the basic length of the track change area.
And (4) calculating the cost value of the current node.
cost (node) ═ lane _ length × f (limit _ speed) + turn _ type _ cost formula (4)
The lane _ length is the length of the passageway, the limit _ speed is the maximum passing speed of the passageway, the base _ speed is the basic passing speed of the lane, the turn _ type _ cost is the cost value of the turning type of the passageway, and the turning type of the passageway comprises left turning, right turning and turning around.
And obtaining a cost set by obtaining cost values among all nodes in the road network topological map.
In one embodiment, obtaining the transit route according to the start point information, the end point information and the cost set comprises: inputting the starting point information, the end point information and the cost set into a preset heuristic searching model to obtain a plurality of target node identifications and the sequence of each target node identification; and obtaining the passing route according to the target node identifications and the sequence of the target node identifications.
Optionally, obtaining the passing route according to the destination node identifiers and the sequence of the destination node identifiers includes: obtaining the center line of the corresponding channel according to the identification of each target node; and connecting the central lines according to the sequence of the target node identifications to obtain the passing route.
In practical application, a corresponding channel or lane can be determined in the high-precision map according to each target node identifier, center lines of the lanes are extracted from the lanes, and then the center lines are connected to obtain a passing route.
In one embodiment, smoothing the passing route to obtain the planned path includes: the method comprises the steps of conducting segmented sampling on a communication route to obtain a plurality of sampling points, and conducting fitting processing on the sampling points to obtain a fitting equation; solving the fitting equation according to preset constraint conditions to obtain a solution of the fitting equation; and inputting the solution of the passing route and the fitting equation into a preset quadratic programming algorithm to obtain a programmed path.
In practical application, when the passing route is subjected to smoothing processing, the passing route can be subjected to rough processing firstly, and then the passing path is subjected to fine processing to obtain a planned path, so that the processing efficiency of the route smoothing processing can be improved.
Wherein, the rough smoothing treatment of the passing route comprises the following steps: the transit route is segmented and coarsely sampled,
and equation fitting is carried out on the rough sampling points by adopting a third-order polynomial interpolation algorithm, and a group of solutions of low-order equation coefficients can be obtained by establishing a constraint condition of continuous smoothness at each sampling point.
In the rough smoothing algorithm, a parametric equation is selected to represent a curve segment, as shown in formula (7) and formula (8):
xi＝ai0+ai1*(s-si)+ai2*(s-si)2+…+ain*(s-si)nformula (7)
yi＝bi0+bi1*(s-si)+bi2*(s-si)2+…+bin*(s-si)nFormula (8)
Assuming that the reference line is divided into k segments, there are k lower-order polynomial equations (k > - [ 3 ]), where n is 3.
By establishing interpolation and differential continuity constraints (the highest is second order differential continuity), and introducing first order differential constraints on two end points, an equation set can be obtained:
wherein: h isiRepresents the step size of the sampling point, hi＝si+1-si；miRepresenting the parametric equations x(s), y(s) at xi(yi) The second derivative of (c). I.e. mi＝xi′′(mi＝yi′′)。
After solving the system of equations, the general solution of the coefficients can be obtained as:
and after the solution of the rough smoothing algorithm is obtained, taking the solution of the rough smoothing algorithm as an initial condition of a secondary planning algorithm, and inputting the solution of the rough smoothing algorithm and the passing route into a preset secondary planning algorithm to pass. And carrying out fine smoothing treatment on the route to obtain a planned route. Because the initial condition is introduced into the fine smoothing algorithm, the iteration times of the algorithm can be reduced, and the whole algorithm period is greatly shortened.
In one embodiment, the method further comprises: generating a target node identifier and a sequence of the target node identifiers by adopting a first thread; outputting the target node identification and the sequence of the target node identification by adopting a second thread; and smoothing the passing route by adopting a third thread to obtain a planned path.
In practical application, when the global path is planned, node searching can be carried out through one thread according to starting point information and end point information to obtain a target node identifier and a target node identifier sequence, then the searched target node identifier and target node identifier sequence are output through a second thread, finally a passing route is subjected to smooth processing through a third thread to obtain a planned path, and meanwhile, data processing in the global path planning is carried out through three threads, so that the data processing efficiency can be improved, and meanwhile, the requirement of automatic driving on data processing instantaneity can be met.
It should be noted that, when it is detected that the start point information or the end point information in the first thread is updated, the history data in the first thread may be cleared, node search is performed again using the updated start point information or end point information, the target node identifier obtained by the search and the sequence of the target node identifier are output through the second thread, then the history data in the third thread is cleared, and the traffic route obtained by the search is smoothed.
In order to facilitate understanding of those skilled in the art, an embodiment of the present application further provides a global path planning method, and specifically, the method includes:
(1) acquiring a road network topological map, wherein the road network topological map comprises a plurality of nodes, and the nodes are used for indicating channel information;
(2) obtaining a cost value between a previous node and an initial node to obtain a first generation value;
(3) acquiring the area length of the corresponding channel connection area according to the edge;
(4) and obtaining an edge cost value according to the length of the area, a first preset value and a second preset value, wherein the first preset value is used for indicating the punishment coefficient of the lane changing area, and the second preset value is used for indicating the punishment coefficient of the indicator lamp.
(5) And obtaining the cost value of the current node according to the length of the channel, the passing speed of the channel and the turning type of the channel corresponding to the current node.
(6) And obtaining the cost values of the current node and the initial node according to the first generation value, the edge cost value and the second generation value.
(7) Obtaining a cost set of nodes of the road network topological map according to the cost values of each current node and each initial node, wherein the cost values are used for indicating the passing cost of the nodes;
(8) acquiring starting point information and end point information;
(9) inputting the starting point information, the end point information and the cost set into a preset heuristic searching model to obtain a plurality of target node identifications and the sequence of each target node identification;
(10) obtaining the central line of the corresponding channel according to the identification of each target node;
(11) and connecting the central lines according to the sequence of the target node identifications to obtain the passing route.
(12) The method comprises the steps of conducting subsection sampling on a communication route to obtain a plurality of sampling points, and conducting fitting processing on the sampling points to obtain a fitting equation;
(13) solving the fitting equation according to a preset constraint condition to obtain a solution of the fitting equation;
(14) and inputting the solution of the passing route and the fitting equation into a preset quadratic programming algorithm to obtain a programmed path.
(15) Generating a target node identifier and a sequence of the target node identifiers by adopting a first thread;
(16) outputting the target node identification and the sequence of the target node identification by adopting a second thread;
(17) and smoothing the passing route by adopting a third thread to obtain a planned path.
According to the global path planning method provided by the embodiment of the application, the road network topological map is obtained, the cost values among the nodes in the road network topological map are calculated, the cost set of the nodes in the road network topological map is obtained, the passing route is obtained according to the starting point information, the end point information and the cost set, and finally the passing route is subjected to smoothing processing, so that the planned path is obtained. According to the global path planning method provided by the embodiment of the application, the path is searched according to the cost values among the nodes to obtain the passing route, wherein the cost values refer to the passing costs of the nodes, and the path searching and planning efficiency can be improved. Meanwhile, when the passing route is subjected to smoothing treatment, rough smoothing treatment can be carried out on the passing route firstly, and then fine smoothing treatment is carried out on the passing route to obtain a planned route, so that the treatment efficiency of route smoothing treatment can be improved. Furthermore, the data processing in the global path planning is carried out by utilizing the three threads, so that the data processing efficiency can be improved, and meanwhile, the requirement of automatic driving on the real-time performance of data processing can be met.
For the implementation processes of (1) to (17), reference may be specifically made to the description of the above embodiments, and the implementation principles and technical effects thereof are similar and will not be described herein again. It should be understood that, in the embodiment of the global path planning method, the steps in the step flow chart are sequentially displayed as indicated by the arrows, but the steps are not necessarily sequentially executed in the order 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 of the above-mentioned flowcharts may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or the stages is not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a part of the steps or the stages in other steps.
The scheme provided by the embodiment of the application is mainly introduced from the perspective of a method. To implement the above functions, it includes hardware structures and/or software modules for performing the respective functions. Those of skill in the art would readily appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is performed as hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
As shown in fig. 4, an embodiment of the present application provides a global path planning apparatus, including:
a first obtaining module 11, a calculating module 12, a second obtaining module 13 and a processing module 14.
The system comprises a first acquisition module 11, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a road network topological map, the road network topological map comprises a plurality of nodes, and the nodes are used for indicating channel information;
the calculating module 12 is configured to calculate cost values between nodes respectively to obtain a cost set of the nodes of the road network topology map, where the cost values are used to indicate traffic costs of the nodes;
the second obtaining module 13 is configured to obtain starting point information and end point information, and obtain a passing route according to the starting point information, the end point information, and the cost set;
and the processing module 14 is used for performing smoothing processing on the passing route to obtain a planned path.
In one embodiment, the nodes include a start node, a current node and a previous node, and each node includes a corresponding edge, and the calculation module 12 is specifically configured to: obtaining a cost value between a previous node and an initial node to obtain a first generation value; obtaining a cost value of an edge between a previous node and a current node to obtain an edge cost value; obtaining a cost value of a current node to obtain a second generation value; and obtaining cost values of the current node and the initial node according to the first generation value, the edge cost value and the second generation value.
In one embodiment, the edge is used to indicate a channel connection area, the connection area includes a channel change area or an indicator light, and the calculation module 12 is specifically configured to: acquiring the area length of the corresponding channel connection area according to the edge; and obtaining an edge cost value according to the length of the area, a first preset value and a second preset value, wherein the first preset value is used for indicating the punishment coefficient of the lane changing area, and the second preset value is used for indicating the punishment coefficient of the indicator lamp.
In one embodiment, the lane information includes a length of the lane, a traffic speed of the lane, and a turn type of the lane, and the calculation module 12 is specifically configured to: and obtaining the cost value of the current node according to the length of the channel corresponding to the current node, the passing speed of the channel and the turning type of the channel.
In an embodiment, the second obtaining module 13 is specifically configured to: inputting the starting point information, the end point information and the cost set into a preset heuristic searching model to obtain a plurality of target node identifications and the sequence of each target node identification;
and obtaining the passing route according to the target node identifications and the sequence of the target node identifications.
In an embodiment, the second obtaining module 13 is specifically configured to: obtaining the central line of the corresponding channel according to the identification of each target node; and connecting the center lines according to the sequence of the target node identifications to obtain the passing route.
In one embodiment, the processing module 14 is specifically configured to: the method comprises the steps of conducting subsection sampling on a communication route to obtain a plurality of sampling points, and conducting fitting processing on the sampling points to obtain a fitting equation; solving the fitting equation according to a preset constraint condition to obtain a solution of the fitting equation; and inputting the solution of the passing route and the fitting equation into a preset quadratic programming algorithm to obtain a programmed path.
In one embodiment, the processing module 14 is further configured to: generating a target node identifier and a sequence of the target node identifiers by adopting a first thread; outputting the target node identification and the sequence of the target node identification by adopting a second thread; and performing smoothing processing on the passing route by adopting a third thread to obtain a planned path.
The global path planning apparatus provided in this embodiment may implement the method embodiments, and the implementation principle and the technical effect are similar, which are not described herein again.
For the specific definition of the global path planning apparatus, reference may be made to the above definition of the global path planning method, which is not described herein again. The modules in the global path planning apparatus 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 of a processor in the server, and can also be stored in a memory in the server in a software form, so that the processor can call and execute operations corresponding to the modules.
In another embodiment of the present application, a computer device is further provided, which includes a memory and a processor, where the memory stores a computer program, and the computer program, when executed by the processor, implements the steps of the global path planning method according to an embodiment of the present application.
In another embodiment of the present application, a computer-readable storage medium is further provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the global path planning method according to the embodiment of the present application are implemented.
In another embodiment of the present application, a computer program product is further provided, where the computer program product includes computer instructions, and when the computer instructions are run on a global path planning apparatus, the global path planning apparatus is enabled to execute each step executed by the global path planning method in the method flow shown in the foregoing method embodiment.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented using a software program, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The processes or functions according to the embodiments of the present application are generated in whole or in part when the computer-executable instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). Computer-readable storage media can be any available media that can be accessed by a computer or can comprise one or more data storage devices, such as servers, data centers, and the like, that can be integrated with the media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
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 examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (11)
1. A method for planning a global path, the method comprising:
acquiring a road network topological map, wherein the road network topological map comprises a plurality of nodes, and the nodes are used for indicating channel information;
respectively calculating cost values among the nodes to obtain a cost set of the nodes of the road network topological map, wherein the cost values are used for indicating the passing cost of the nodes;
acquiring starting point information and end point information, and acquiring a passing route according to the starting point information, the end point information and the cost set;
and smoothing the passing route to obtain a planned path.
2. The method of claim 1, wherein the nodes include an initial node, a current node and a previous node, wherein each of the nodes includes a corresponding edge therebetween, and wherein calculating the cost value between the nodes comprises:
obtaining a cost value between the previous node and the initial node to obtain a first generation value;
obtaining a cost value of an edge between the previous node and the current node to obtain an edge cost value;
obtaining a cost value of the current node to obtain a second generation value;
and obtaining a cost value between the current node and the starting node according to the first generation value, the edge generation value and the second generation value.
3. The method according to claim 2, wherein the edge is used to indicate a channel connection area, the connection area includes a channel change area or an indicator light, and the obtaining a cost value of the edge between the previous node and the current node to obtain an edge cost value includes:
acquiring the area length of the corresponding channel connection area according to the edge;
and obtaining the edge cost value according to the region length, a first preset value and a second preset value, wherein the first preset value is a punishment coefficient of the lane changing region, and the second preset value is a punishment coefficient of the indicator light.
4. The method according to claim 2, wherein the path information includes a length of the path, a traffic speed of the path, and a turning type of the path, and the obtaining the cost value of the current node includes:
and obtaining the cost value of the current node according to the length of the channel, the passing speed of the channel and the turning type of the channel corresponding to the current node.
5. The method of claim 1, wherein obtaining a transit route from the start point information, the end point information, and the set of costs comprises:
inputting the starting point information, the end point information and the cost set into a preset heuristic searching model to obtain a plurality of target node identifications and the sequence of each target node identification;
and obtaining a passing route according to each target node identifier and the sequence of each target node identifier.
6. The method of claim 5, wherein obtaining the transit route according to each of the destination node identifiers and the order of each of the destination node identifiers comprises:
obtaining the central line of a corresponding channel according to each target node identifier;
and connecting the central lines according to the sequence of the target node identifiers to obtain the passing route.
7. The method of claim 1, wherein smoothing the transit route to obtain a planned path comprises:
the passing route is subjected to sectional sampling to obtain a plurality of sampling points, and the sampling points are subjected to fitting processing to obtain a fitting equation;
solving the fitting equation according to a preset constraint condition to obtain a solution of the fitting equation;
and inputting the passing route and the solution of the fitting equation into a preset quadratic programming algorithm to obtain the planned path.
8. The method of claim 6, further comprising:
generating the target node identification and the sequence of the target node identification by adopting a first thread;
outputting the target node identification and the sequence of the target node identification by adopting a second thread;
and smoothing the passing route by adopting a third thread to obtain a planned path.
9. An apparatus for planning a global path, the apparatus comprising:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a road network topological map, the road network topological map comprises a plurality of nodes, and the nodes are used for indicating channel information;
the calculation module is used for respectively calculating cost values among the nodes to obtain a cost set of the nodes of the road network topological map, wherein the cost values are used for indicating the passing cost of the nodes;
the second acquisition module is used for acquiring starting point information and end point information and acquiring a passing route according to the starting point information, the end point information and the cost set;
and the processing module is used for carrying out smoothing processing on the passing route to obtain a planned path.
10. A computer arrangement comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, implements the method of planning a global path according to any one of claims 1 to 8.
11. A computer-readable storage medium, characterized in that a computer program is stored thereon which, when being executed by a processor, carries out a method for planning a global path according to any one of claims 1 to 8.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116700298A (en) * | 2023-08-08 | 2023-09-05 | 浙江菜鸟供应链管理有限公司 | Path planning method, system, equipment and storage medium |
| CN116700298B (en) * | 2023-08-08 | 2023-11-21 | 浙江菜鸟供应链管理有限公司 | Path planning method, system, equipment and storage medium |
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