Path planning method and device and electronic equipment

Abstract

The invention discloses a path planning method and device and electronic equipment. The method comprises the following steps: performing environmental modeling according to static road network information and dynamic road condition information of a road network to obtain an environmental model; determining a plurality of candidate paths according to the starting point and the terminal point; extracting environmental features corresponding to each candidate path from the environmental model by utilizing a feature extraction network of the path planning model; inputting the environmental features into a value estimation network of a path planning model to obtain estimated values of candidate paths output by the value estimation network; and determining an optimal path in the candidate pathsaccording to the estimated value. According to the technical scheme, the dynamic road condition information comprises motion states of a plurality of intelligent agents in a road network, and has spatial globality; when path planning is carried out, the environmental characteristics corresponding to the candidate paths determined according to the starting point and the terminal point are extractedaccording to the environmental model, so that full-path planning instead of planning in different time windows is achieved, and time globality is achieved.

Description

technical field [0001] The present application relates to the field of computer technology, in particular to a path planning method, device and electronic equipment. Background technique [0002] Path planning is the basis for realizing navigation and even automatic driving. At present, the commonly used methods of path planning mainly include static path planning and dynamic path planning. Static path planning is suitable for an environment where agents (such as agents) and tasks are relatively unchanged. This scenario is an ideal scene, but in real life, it is more a dynamic scene, and its dynamic elements include the agent's individual The number is dynamic, the speed of the agent is variable, the randomness of the task and the influence of various environmental noises, so the dynamic path planning has greater practicability and greater challenge. [0003] In the prior art, the dynamic path planning is mainly based on the dynamic planning of a single body (such as D*), b...

AI Technical Summary

Problems solved by technology

Static path planning is suitable for an environment where agents (such as agents) and tasks are relatively unchanged. This scenario is an ideal scene, but in real life, it is more a dynamic scene, and its dynamic elements include the agent's individual The number is dynamic, the speed of the agent is variable, the randomness of the task and the influence of various environmental noises, so the dynamic path planning has greater practicability and greater challenge

[0003] In the existing technology, the dynamic path planning is mainly based on the single dynamic planning (such as D*), but because the influence of other autonomous moving agents is not considered, the effect is not good in the multi-body dynamic environment

In addition, path planning methods such as DWA (Dynamic Window Approach, dynamic window method) have small time windows and have time limitations.

Images