CN-121994259-A - Path planning method, path planning device, electronic equipment and storage medium

CN121994259ACN 121994259 ACN121994259 ACN 121994259ACN-121994259-A

Abstract

The application provides a path planning method, a path planning device, electronic equipment and a storage medium, wherein the method comprises the steps of responding to input operation of a user, determining a starting point and a finishing point; the method comprises the steps of determining a first target area based on a starting point and an ending point, obtaining a plurality of road nodes in the first target area, establishing a first topology based on the plurality of road nodes in the first target area, wherein a passage is arranged between two road nodes in the first topology and used for representing a passable state between the two road nodes, determining estimated passing time and/or estimated energy consumption of the passage corresponding to the plurality of road nodes in the first target area based on real-time road conditions of the plurality of road nodes in the first target area, and carrying out path planning in the first topology based on the estimated passing time and/or the estimated energy consumption to obtain a first planned path. The method provided by the application can enable the planned path to be more suitable for the real-time road state, and is beneficial to improving the accuracy and reliability of navigation.

Inventors

LI MUYUN
LIU YUEHU
LIN YING

Assignees

魔门塔(苏州)科技有限公司

Dates

Publication Date: 20260508
Application Date: 20241105

Claims (10)

1. A path planning method, applied to an electronic device, the method comprising: determining a start point and an end point in response to an input operation by a user; Determining a first target region based on the start point and the end point; Acquiring a plurality of road nodes in the first target area, wherein the plurality of road nodes in the first target area comprise the starting point and the ending point; Establishing a first topology based on a plurality of road nodes in the first target area, wherein a passage is arranged between two road nodes in the first topology and used for representing a passable state between the two road nodes; determining estimated transit time and/or estimated energy consumption of paths corresponding to a plurality of road nodes in the first target area based on real-time road conditions of the plurality of road nodes in the first target area; And planning a path in the first topology based on the estimated transit time and/or the estimated energy consumption to obtain a first planned path.
2. The method of claim 1, wherein after the obtaining the first planned path, the method further comprises: monitoring real-time road conditions of all road nodes in a residual path in the process that the electronic equipment navigates based on the first planning path, wherein the residual path is a path from the current position of the electronic equipment in the first planning path to the terminal point; responding to the condition that the real-time road condition in the residual path meets the path change condition, and taking the current position of the electronic equipment as a new starting point; and carrying out path planning again based on the new starting point and the new ending point to obtain a second planned path, and updating the residual path into the second planned path.
3. The method of claim 2, wherein the re-routing based on the new start point and the end point, obtaining a second planned path comprises: determining a second target region based on the new start point and the end point; acquiring a plurality of road nodes in the second target area, wherein the plurality of road nodes in the second target area comprise the new starting point and the new ending point; Establishing a second topology based on a plurality of road nodes within the second target area; Determining estimated transit time and/or estimated energy consumption of paths corresponding to a plurality of road nodes in the second target area based on real-time road conditions of the plurality of road nodes in the second target area; And planning a path in the second topology based on the estimated transit time and/or the estimated energy consumption to obtain a second planned path.
4. A method according to any of claims 1-3, characterized in that path planning in the first topology based on the estimated time of traffic and/or the estimated energy consumption, obtaining a first planned path comprises: Determining a plurality of parent nodes between the starting point and the ending point based on the estimated time of passage and/or the estimated energy consumption in the first topology, the parent nodes being the last nodes of road nodes adjacent to the current road node in the planning process; A first planned path is determined based on a plurality of parent nodes between the plurality of start points and the end point.
5. The method of claim 4, wherein the current road node is determined by a target time cost, the target time cost comprising a first time cost and a second time cost, the first time cost being an estimated time cost from the start point to the current road node, the second time cost being an estimated time cost from the current road node to the end point, and/or, The current road node is determined by a target energy consumption cost, the target energy consumption cost comprises a first energy consumption cost and a second energy consumption cost, the first energy consumption cost is estimated energy consumption cost from the starting point to the current road node, and the second energy consumption cost is estimated energy consumption cost from the current road node to the end point.
6. The method according to any one of claims 1-5, further comprising: outputting the first planning path, wherein the first planning path comprises a shortest time path and/or a lowest energy consumption path.
7. The method of any of claims 1-6, wherein the establishing a first topology based on a plurality of road nodes within the first target area comprises: establishing a second topology based on a plurality of road nodes within the first target area, the second topology including a first pathway including pathways between the plurality of road nodes; updating the first path according to the real-time road conditions of the plurality of road nodes to obtain a second path, wherein the real-time road conditions comprise a road unblocked state, a road crowded state or a road forbidden state; determining a first topology based on the second path; And under the condition that a first road node in the plurality of road nodes is in the road congestion state or the road forbidden state, the established path with the first road node is withdrawn, wherein the first road node is any road node in the plurality of road nodes.
8. A path planning apparatus, the apparatus comprising: A determining module for determining a start point and an end point in response to an input operation by a user; The acquisition module is used for acquiring a plurality of road nodes in the first target area, wherein the plurality of road nodes in the first target area comprise the starting point and the ending point; The system comprises a building module, a first topology generation module and a second topology generation module, wherein the building module is used for building a first topology based on a plurality of road nodes in the first target area, a passage is arranged between two road nodes in the first topology, and the passage is used for representing a passable state between the two road nodes; The calculation module is used for determining estimated transit time and/or estimated energy consumption of the paths corresponding to the plurality of road nodes in the first target area based on the real-time road conditions of the plurality of road nodes in the first target area; and the planning module is used for planning a path in the first topology based on the estimated passing time and/or the estimated energy consumption to obtain a first planned path.
9. An electronic device comprising a processor and a memory for storing a program, the processor being configured to execute the program to implement the path planning method according to any one of claims 1-7.
10. A readable storage medium, characterized in that the readable storage medium stores a program which, when run on an electronic device, implements the path planning method according to any one of claims 1-7.

Description

Path planning method, path planning device, electronic equipment and storage medium Technical Field The present application relates to the field of navigation, and in particular, to a path planning method, apparatus, electronic device, and storage medium. Background Path planning is a critical challenge in autopilot technology. Current autopilot systems typically rely on static map data and route planning by correlation algorithms. It will be appreciated that the path planned by the current autopilot system may be based on the shortest path or may be based on the shortest time. However, the path planned based on the static map data has low accuracy and reliability, and cannot meet the needs of the user. Disclosure of Invention The application provides a path planning method, a path planning device, electronic equipment and a storage medium, which can enable a planned path to be more suitable for a real-time road state and are beneficial to improving the accuracy and reliability of navigation. In a first aspect, the application provides a path planning method applied to electronic equipment, the method comprises the steps of responding to input operation of a user, determining a starting point and an ending point, determining a first target area based on the starting point and the ending point, obtaining a plurality of road nodes in the first target area, wherein the plurality of road nodes in the first target area comprise the starting point and the ending point, establishing a first topology based on the plurality of road nodes in the first target area, wherein a path is arranged between two road nodes in the first topology and used for representing a passable state between the two road nodes, determining expected passing time and/or expected energy consumption of the path corresponding to the plurality of road nodes in the first target area based on real-time road conditions of the plurality of road nodes in the first target area, and planning a path based on the expected passing time and/or the expected energy consumption in the first topology, so as to obtain a first planned path. In the application, when the path is planned, the real-time road conditions such as road blocking, road forbidden and the like are considered, so that the planned path is more suitable for the real-time road state, and the accuracy and the reliability of navigation are improved. In one possible implementation manner, after the first planned path is obtained, the method further comprises the steps of monitoring real-time road conditions of road nodes in a residual path in the process that the electronic device navigates based on the first planned path, wherein the residual path is a path from the current position of the electronic device to the end point in the first planned path, responding to the condition that the real-time road conditions in the residual path meet the condition of path change, taking the current position of the electronic device as a new starting point, planning the path again based on the new starting point and the end point, obtaining a second planned path, and updating the residual path to the second planned path. In the application, in the navigation process, the road condition information is monitored in real time, and the path can be re-planned based on the real-time road condition, so that the navigation path is adapted to the real-time road condition, the accuracy and the reliability of navigation are further improved, and the use experience of a user is improved. In one possible implementation manner, the path planning is performed again based on the new starting point and the end point, the obtaining of the second planned path includes determining a second target area based on the new starting point and the end point, obtaining a plurality of road nodes in the second target area, wherein the plurality of road nodes in the second target area include the new starting point and the end point, building a second topology based on the plurality of road nodes in the second target area, determining estimated transit time and/or estimated energy consumption of paths corresponding to the plurality of road nodes in the second target area based on real-time road conditions of the plurality of road nodes in the second target area, and performing path planning based on the estimated transit time and/or the estimated energy consumption in the second topology, so as to obtain a second planned path. In one possible implementation, path planning is performed in the first topology based on the expected transit time and/or the expected energy consumption, and obtaining a first planned path includes determining a plurality of parent nodes between the starting point and the end point in the first topology based on the expected transit time and/or the expected energy consumption, wherein the parent nodes are the last nodes of road nodes adjacent to the current road node in the planning process, and determining the first