CN-121994226-A - Cruise path planning method and device and electronic equipment

CN121994226ACN 121994226 ACN121994226 ACN 121994226ACN-121994226-A

Abstract

The application provides a cruising path planning method, a cruising path planning device and electronic equipment, wherein the cruising path planning method comprises the steps of obtaining environment information of an area to be cruised, wherein the environment information comprises fixed object information and mobile object information; the method comprises the steps of predicting a motion track of a mobile object in a region to be cruised in a future time period based on mobile object information, determining a plurality of planning targets of a cruising path and weight coefficients among the planning targets based on a cruising task of the region to be cruised, and generating the cruising path of cruising equipment in the region to be cruised based on environment information, the motion track, the planning targets and the weight coefficients. The method and the system for planning the path by the cruise control system determine the weight coefficients of the plurality of planning targets through predicting the future motion trail of the moving object, and comprehensively consider the environment information, the motion trail, the plurality of planning targets and the weight coefficients to generate the cruise control path, so that the planning accuracy and the planning efficiency of path planning in a complex environment can be effectively improved.

Inventors

ZHAO WENBING
LI LIN
ZHANG YU
LI CHENGZHONG
YAN MIN

Assignees

浪潮通信信息系统有限公司

Dates

Publication Date: 20260508
Application Date: 20251215

Claims (10)

1. A cruise control method, characterized by comprising: acquiring environment information of an area to be cruised, wherein the environment information comprises fixed object information and mobile object information; Predicting a motion trail of the mobile object in the region to be cruised in a future time period based on the mobile object information; Determining a plurality of planning targets of a cruising path and a weight coefficient among the planning targets based on the cruising task of the area to be cruised; And generating a cruising path of the cruising equipment in the area to be cruised based on the environment information, the motion trail, the planning targets and the weight coefficients.
2. The cruise control method according to claim 1, characterized in that the acquiring environmental information of the area to be cruised includes: acquiring a plurality of pieces of original environmental information based on at least two sensors of the laser radar, the vision sensor and the inertial measurement unit; And carrying out information denoising, space-time alignment and data fusion on the plurality of original environment information to generate an information matrix comprising the fixed object information and the mobile object information, wherein the mobile object information in the information matrix is used for predicting the motion trail.
3. The cruising path planning method according to claim 1, wherein the moving object information includes a position, a speed, and an acceleration of the moving object at a current time, wherein predicting a movement locus of the moving object in the area to be cruised over a future period of time based on the moving object information includes: inputting the position, the speed and the acceleration into a preset motion prediction model to obtain the motion trail predicted by the motion prediction model; And the motion prediction model carries out integral operation in a preset time interval based on the position, the speed and the acceleration to obtain a plurality of future position points of the moving object in the future time period, and predicts the motion trail based on the plurality of future position points.
4. The cruise route planning method according to claim 1, characterized in that the determining a plurality of planned targets of a cruise route based on the cruise task of the area to be cruised, and a weight coefficient between a plurality of the planned targets, includes: Analyzing the cruising task to obtain a plurality of planning targets and target priority of each planning target; and determining a weight coefficient among a plurality of planning targets based on the target priority.
5. The cruise control method according to claim 1, characterized in that the generating a cruise control path of a cruise control in the area to be cruised based on the environmental information, the motion trail, a plurality of the planned targets, and the weight coefficient includes: dividing the cruising region into a plurality of node grids; Determining a path segment cost between the node grids passing from a cruising start point to a cruising end point based on the fixed object information, a plurality of the planning targets and the weight coefficients; Determining a cruising global path based on the path segment costs; generating a cruising local path based on the global path, the moving object information and the motion trail; the cruise path is generated based on the global path and the local path.
6. The cruising path planning method according to claim 5, wherein the generating a cruising local path based on the global path, the moving object information, and the movement locus, comprises: Acquiring a plurality of local road sections of the global path; Generating a plurality of alternative local trajectories for each of the local road segments within a speed space of the cruise apparatus based on each of the local road segments, the moving object information, and the motion trajectories; The local path of each local road segment is selected from a plurality of alternative local tracks based on the weight coefficient and the motion trail.
7. The cruise control method according to claim 6, characterized in that the generating a cruise control device further includes, after the cruise control of the area to be cruised: selecting a plurality of control points from the cruising path, fitting the control points, and generating a smooth cruising path with continuous curvature; Taking the smooth cruising path as a final cruising path under the condition that the smooth cruising path meets a preset kinematic constraint condition; And regenerating the local path under the condition that the smooth cruising path does not meet the kinematic constraint condition, and updating the cruising path based on the latest generated local path until the smooth cruising path meets the kinematic constraint condition.
8. The cruise path planning method according to claim 6, characterized in that the method further comprises: And in the process that the cruising equipment cruises in the area to be cruised based on the cruising path, if the deviation between the actual cruising path of the cruising equipment and the planned cruising path is larger than or equal to a deviation threshold value, regenerating the local path, and updating the actual cruising path and the planned cruising path based on the latest generated local path.
9. A cruise control apparatus, comprising: the device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring environment information of an area to be cruised, and the environment information comprises fixed object information and mobile object information; A prediction module for predicting a motion trail of the mobile object in the region to be cruised within a future time period based on the mobile object information; the determining module is used for determining a plurality of planning targets of a cruising path and weight coefficients among the planning targets based on the cruising task of the area to be cruised; And the generation module is used for generating a cruising path of the cruising equipment in the area to be cruised based on the environment information, the motion trail, the planning targets and the weight coefficients.
10. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to execute the cruise route planning method according to any one of claims 1 to 8 by means of the computer program.

Description

Cruise path planning method and device and electronic equipment Technical Field The application relates to the technical field of computers, in particular to a cruise path planning method and device and electronic equipment. Background Along with the wide application of the intelligent cruising technology in the fields of security inspection, material transportation and the like, higher requirements are put on path planning in a complex environment. The related path planning method generally has the problems of single environment perception information, lack of predictability and the like because the method can only avoid a moving object in real time, and low path planning accuracy. In addition, the traditional method is difficult to accurately plan paths when multiple targets such as obstacle avoidance safety, energy consumption economy, task timeliness and the like are involved, so that the accuracy and the planning efficiency of path planning are low. Therefore, how to improve the planning efficiency and the planning accuracy of the cruising path is a technical problem to be solved in the industry. Disclosure of Invention The application provides a cruise path planning method, a cruise path planning device and electronic equipment, which are used for solving the technical problem of how to improve the planning efficiency and the planning accuracy of a cruise path in the prior art. In a first aspect, the present application provides a cruise route planning method, including: acquiring environment information of an area to be cruised, wherein the environment information comprises fixed object information and mobile object information; Predicting a motion trail of the mobile object in the region to be cruised in a future time period based on the mobile object information; Determining a plurality of planning targets of a cruising path and a weight coefficient among the planning targets based on the cruising task of the area to be cruised; And generating a cruising path of the cruising equipment in the area to be cruised based on the environment information, the motion trail, the planning targets and the weight coefficients. In some embodiments, the acquiring the environmental information of the area to be cruised includes: acquiring a plurality of pieces of original environmental information based on at least two sensors of the laser radar, the vision sensor and the inertial measurement unit; And carrying out information denoising, space-time alignment and data fusion on the plurality of original environment information to generate an information matrix comprising the fixed object information and the mobile object information, wherein the mobile object information in the information matrix is used for predicting the motion trail. In some embodiments, the moving object information includes a position, a speed, and an acceleration of the moving object at a current time, and the predicting a motion trajectory of the moving object in the area to be cruised over a future time period based on the moving object information includes: inputting the position, the speed and the acceleration into a preset motion prediction model to obtain the motion trail predicted by the motion prediction model; And the motion prediction model carries out integral operation in a preset time interval based on the position, the speed and the acceleration to obtain a plurality of future position points of the moving object in the future time period, and predicts the motion trail based on the plurality of future position points. In some embodiments, the determining a plurality of planning targets of a cruise path based on the cruise task of the region to be cruised, and a weight coefficient between the planning targets, includes: Analyzing the cruising task to obtain a plurality of planning targets and target priority of each planning target; and determining a weight coefficient among a plurality of planning targets based on the target priority. In some embodiments, the generating a cruising path of the cruising device in the area to be cruised based on the environmental information, the motion trail, the plurality of planning targets and the weight coefficient includes: dividing the cruising region into a plurality of node grids; Determining a path segment cost between the node grids passing from a cruising start point to a cruising end point based on the fixed object information, a plurality of the planning targets and the weight coefficients; Determining a cruising global path based on the path segment costs; generating a cruising local path based on the global path, the moving object information and the motion trail; the cruise path is generated based on the global path and the local path. In some embodiments, the generating a cruising local path based on the global path, the moving object information, and the motion profile includes: Acquiring a plurality of local road sections of the global path; Generating a plurality of alternative