CN-122009154-A - Path planning method, device, equipment and storage medium

CN122009154ACN 122009154 ACN122009154 ACN 122009154ACN-122009154-A

Abstract

The embodiment of the application provides a path planning method, a path planning device, path planning equipment and a storage medium, and relates to the technical field of vehicles. The method comprises the steps of obtaining regional map data of a target region after determining that a vehicle enters the target region, determining a planned driving path according to the regional map data and a vehicle parking position in response to a confirmation instruction of the vehicle parking position in the regional map data, determining a recommended driving path matched with the planned driving path according to a historical driving path in the latest time period of the target region, and updating the planned driving path according to the recommended driving path to obtain a target driving path, wherein the target driving path is used for guiding the vehicle to drive to the vehicle parking position. The method can adapt to the dynamically-changed parking area, improves the reliability and the effectiveness of the path planning method, and further ensures the safety and the high efficiency of vehicle running.

Inventors

LIU DONGLIN
GUO HONGYU
SUN SHUCHANG
WANG CHENDONG
LIU KAI

Assignees

岚图汽车科技股份有限公司

Dates

Publication Date: 20260512
Application Date: 20260202

Claims (10)

1. A method of path planning, comprising: after determining that a vehicle enters a target area, acquiring area map data of the target area; Determining a planned driving path according to the regional map data and the vehicle parking position in response to a confirmation instruction of the vehicle parking position in the regional map data; determining a recommended driving track matched with the planned driving path according to the historical driving track in the latest time period of the target area; And updating the planned driving path according to the recommended driving track to obtain a target driving path, wherein the target driving path is used for guiding the vehicle to drive to the vehicle parking position.
2. The method of claim 1, wherein determining a recommended travel track that matches the planned travel path based on historical travel tracks over a most recent time period of the target area comprises: determining an optimal running track under each running route in the target area according to a historical running track in the latest time period of the target area, wherein the historical running track indicates the track of a vehicle running in the target area in the latest time period; And determining the recommended running track according to the matching degree between the optimal running track and the planned running path.
3. The method of claim 2, wherein determining an optimal travel path for each drivable path within the target area based on historical travel paths within a most recent time period of the target area comprises: And carrying out track fusion processing on at least part of the historical running tracks under each drivable path in the latest time period of the target area to obtain the optimal running track under each drivable path in the target area.
4. The method of claim 2, wherein the degree of matching includes at least a degree of route overlap, and/or a degree of end-point distance, wherein determining the recommended travel trajectory based on the degree of matching between the optimal travel trajectory and the planned travel path includes: determining the superposition degree of the routes according to the superposition proportion between each optimal running track and the planned running path; Determining the distance degree of the end point according to the distance between the travel end point corresponding to the planned travel path and each optimal travel track; And determining the optimal running track of which the superposition degree of the routes meets the superposition requirement and/or the distance degree of the end point meets the distance requirement as the recommended running track.
5. The method of claim 1, wherein updating the planned travel path according to the recommended travel track to obtain a target travel path comprises: the recommended driving track is used as a path reference mark line to update the planned driving path to obtain the target driving path, and/or, Updating the planned driving path according to the interest point information included in the recommended driving track to obtain the target driving path, wherein the interest point information is used for generating path prompt information.
6. The method according to any one of claims 1-5, further comprising: And if the fact that the vehicle does not travel according to the target travel path is detected, recording the real travel track of the vehicle.
7. The method of claim 6, wherein the method further comprises: after determining that the actual running track of the vehicle is recorded a plurality of times, the regional map data is updated according to the recorded actual running track.
8. A path planning apparatus, comprising: An acquisition unit configured to acquire area map data of a target area after determining that a vehicle enters the target area; A response unit configured to determine a planned travel path according to the regional map data and the vehicle parking position in response to a confirmation instruction of the vehicle parking position in the regional map data; A determining unit, configured to determine a recommended travel track that matches the planned travel path according to a historical travel track in a latest time period of the target area; And the updating unit is used for updating the planned running path according to the recommended running track to obtain a target running path, wherein the target running path is used for guiding the vehicle to run to the vehicle parking position.
9. A computer device comprises a memory and a processor; The memory stores computer-executable instructions; The processor executing computer-executable instructions stored in the memory, causing the processor to perform the method of any one of claims 1-7.
10. A computer readable storage medium having stored therein computer executable instructions which when executed by a processor are adapted to carry out the method of any one of claims 1-7.

Description

Path planning method, device, equipment and storage medium Technical Field The present application relates to the field of vehicle technologies, and in particular, to a path planning method, apparatus, device, and storage medium. Background In the running process of the vehicle, the path planning can be provided for the vehicle according to the running starting point and the running end point of the vehicle, so that the safe and efficient running of the vehicle is ensured. The existing path planning method mainly performs path planning according to a preset static map, for example, the path planning can be generated according to environmental information collected by vehicles and combining the fixed road and parking space layout of a parking area. However, with the development of urban design and the increase of the number of vehicles, a parking area, for example, a parking lot, may change the road in the parking area due to construction, road diversion, temporary restriction or obstacles, which may not only cause the failure of path planning determined according to a preset static map, but also present a certain safety risk. Disclosure of Invention The embodiment of the application provides a path planning method, a device, equipment and a storage medium, which can adapt to a dynamically-changed parking area, improve the reliability and the effectiveness of the path planning method, and further ensure the safety and the high efficiency of vehicle running. In a first aspect, an embodiment of the present application provides a path planning method, including: after determining that a vehicle enters a target area, acquiring area map data of the target area; Determining a planned driving path according to the regional map data and the vehicle parking position in response to a confirmation instruction of the vehicle parking position in the regional map data; determining a recommended driving track matched with the planned driving path according to the historical driving track in the latest time period of the target area; And updating the planned driving path according to the recommended driving track to obtain a target driving path, wherein the target driving path is used for guiding the vehicle to drive to the vehicle parking position. In one possible implementation, determining a recommended travel track matching the planned travel path according to the historical travel track in the latest time period of the target area includes: determining an optimal running track under each running route in the target area according to a historical running track in the latest time period of the target area, wherein the historical running track indicates the track of a vehicle running in the target area in the latest time period; And determining the recommended running track according to the matching degree between the optimal running track and the planned running path. In one possible implementation manner, determining an optimal running track under each drivable path in the target area according to the historical running track in the latest time period of the target area includes: And carrying out track fusion processing on at least part of the historical running tracks under each drivable path in the latest time period of the target area to obtain the optimal running track under each drivable path in the target area. In one possible implementation manner, the matching degree at least comprises a route overlapping degree and/or an end point distance degree, and the determining the recommended running track according to the matching degree between the optimal running track and the planned running path comprises the following steps: determining the superposition degree of the routes according to the superposition proportion between each optimal running track and the planned running path; Determining the distance degree of the end point according to the distance between the travel end point corresponding to the planned travel path and each optimal travel track; And determining the optimal running track of which the superposition degree of the routes meets the superposition requirement and/or the distance degree of the end point meets the distance requirement as the recommended running track. In one possible implementation manner, updating the planned driving path according to the recommended driving track to obtain a target driving path includes: the recommended driving track is used as a path reference mark line to update the planned driving path to obtain the target driving path, and/or, Updating the planned driving path according to the interest point information included in the recommended driving track to obtain the target driving path, wherein the interest point information is used for generating path prompt information. In one possible embodiment, the method further comprises: And if the fact that the vehicle does not travel according to the target travel path is detected, recording the real travel track of the vehic