CN114812566B

CN114812566B - Method and device for planning driving path of mine vehicle and computer equipment

Info

Publication number: CN114812566B
Application number: CN202210732243.9A
Authority: CN
Inventors: 赵秉辉; 张宏韬; 魏辉
Original assignee: Qingdao Vehicle Intelligence Pioneers Inc
Current assignee: Qingdao Vehicle Intelligence Pioneers Inc
Priority date: 2022-06-27
Filing date: 2022-06-27
Publication date: 2022-10-04
Anticipated expiration: 2042-06-27
Also published as: CN114812566A

Abstract

The invention discloses a method and a device for planning a driving path of a mine vehicle and computer equipment, relates to the technical field of automation, and mainly aims to improve the efficiency of planning the driving path of the mine vehicle. The method comprises the following steps: acquiring an operation point and a preset point corresponding to a mine vehicle; performing linear expansion from the operation point and the preset point respectively to obtain a global line constructed by a plurality of straight lines; according to the global line, performing initial path planning by adopting a corresponding path mode to obtain an initial path of which a first end point is the operation point; performing path search between a second end point corresponding to the initial path and the preset point to obtain a remaining path corresponding to the mining area vehicle; and determining a corresponding driving path of the mine vehicle based on the residual path and the initial path.

Description

Method and device for planning driving path of mine vehicle and computer equipment

Technical Field

The application relates to the technical field of automation, in particular to a method and a device for planning a driving path of a vehicle in a mining area and computer equipment.

Background

In order to ensure that unmanned mine vehicles can complete unloading or loading operation in a working area, the driving path of the mine vehicles needs to be planned.

At present, a route searching mode is generally adopted to plan the driving route of a mine vehicle. However, because the mining area environment is complex, part of the operation area is narrow, and the mining area vehicle can accurately reach the operation point only by backing when driving, if the path searching mode in the prior art is adopted, the driving path containing multiple backing can be planned in the narrow operation area only by multiple searching iterations, so that the planning efficiency of the driving path is low, and the probability of failure of path planning is increased.

Disclosure of Invention

The invention provides a method, a device and computer equipment for planning a driving path of a mine vehicle, which mainly aim to improve the planning efficiency of the driving path of the mine vehicle and increase the success probability of path planning.

According to a first aspect of the invention, a method for planning a driving path of a mine vehicle is provided, which comprises the following steps: acquiring an operation point and a preset point corresponding to a mine vehicle; performing linear expansion from the operation point and the preset point respectively to obtain a global line constructed by a plurality of straight lines; according to the global line, performing initial path planning by adopting a corresponding path mode to obtain an initial path of which a first end point is the operation point; performing path search between a second end point corresponding to the initial path and the preset point to obtain a remaining path corresponding to the mining area vehicle; and determining a corresponding driving path of the mine vehicle based on the residual path and the initial path.

According to a second aspect of the present invention, there is provided a driving path planning device for mine vehicles, comprising: the acquisition unit is used for acquiring an operation point and a preset point corresponding to the mining area vehicle; the expansion unit is used for performing linear expansion from the operation point and the preset point respectively to obtain a global line constructed by a plurality of straight lines; the planning unit is used for planning an initial path by adopting a corresponding path mode according to the global line to obtain an initial path of which a first end point is the operation point; the searching unit is used for searching a path between a second end point corresponding to the initial path and the preset point to obtain a residual path corresponding to the mining area vehicle; and the determining unit is used for determining a driving path corresponding to the mine vehicle based on the residual path and the initial path.

According to a third aspect of the present invention, there is provided a chip comprising at least one processor and a communication interface, the communication interface being coupled to the at least one processor, the at least one processor being configured to run a computer program or instructions to implement the steps of the method for planning a driving path of a mine vehicle as described above.

According to a fourth aspect of the invention, a terminal is provided, which comprises the running path planning device for the mine vehicles.

According to a fifth aspect of the present invention, there is provided a computer apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the method of planning a path of travel of a mine vehicle as described above.

According to a sixth aspect of the present invention, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method of driving path planning for a mine vehicle as described above.

Compared with the mode of carrying out multiple searches in a narrow operation area in the prior art, the method, the device and the computer equipment for planning the driving path of the mine vehicle can obtain the operation point and the preset point corresponding to the mine vehicle; performing linear expansion from the operation point and the preset point respectively to obtain a global line constructed by a plurality of straight lines; meanwhile, according to the global line, performing initial path planning by adopting a corresponding path mode to obtain an initial path of which a first end point is the operation point; performing path search between a second end point corresponding to the initial path and the preset point to obtain a remaining path corresponding to the mining area vehicle; and finally, determining a corresponding driving path of the mine vehicle based on the residual path and the initial path. Aiming at the path characteristics of the narrow operation area, the method can plan the initial path by adopting a corresponding path mode directly according to the global line of the narrow operation area, and then plan the path by adopting a path searching mode aiming at the residual open operation area, so that compared with the mode of searching and planning the initial path for multiple times in the prior art, the method has higher path planning efficiency aiming at the narrow area, and meanwhile, the success rate of path planning is increased.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

fig. 1 shows a flowchart of a method for planning a driving path of a mine vehicle according to an embodiment of the present invention;

FIG. 2a is a schematic view of a linear expansion provided by an embodiment of the present invention;

FIG. 2b shows an embodiment of the invention providing a global circuit schematic diagram;

fig. 3 is a flowchart illustrating another method for planning a driving path of a mine vehicle according to an embodiment of the present invention;

FIG. 4a is a schematic diagram illustrating the path provided by an embodiment of the present invention as a whole to the left of the start point (end point);

FIG. 4b is a schematic diagram of the path provided by an embodiment of the present invention entirely to the right of the start point (end point);

FIG. 5a is a schematic diagram illustrating a first target path pattern from left to end provided by an embodiment of the present invention;

FIG. 5b is a schematic diagram illustrating a first target path mode for traveling from the starting point to the left according to an embodiment of the present invention;

FIG. 6 is a schematic diagram illustrating a second endpoint provided by an embodiment of the invention;

FIG. 7 is a diagram illustrating searched remnant paths provided by an embodiment of the present invention;

FIG. 8 is a diagram illustrating the remaining global lines provided by an embodiment of the present invention;

fig. 9 is a schematic diagram illustrating remnant paths obtained on the basis of remnant global lines according to an embodiment of the present invention;

fig. 10 is a schematic structural diagram illustrating a driving path planning apparatus for mine vehicles according to an embodiment of the present invention;

fig. 11 is a schematic structural diagram illustrating another driving path planning apparatus for mine vehicles according to an embodiment of the present invention;

FIG. 12 illustrates a schematic diagram of a computer-readable storage medium provided by an embodiment of the invention;

FIG. 13 is a block diagram of a computer device according to an embodiment of the present invention;

fig. 14 is a schematic structural diagram of a chip according to an embodiment of the present invention;

fig. 15 is a schematic structural diagram of a terminal according to an embodiment of the present invention.

Detailed Description

The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict.

Example one

At present, mine environments are complex, the areas of operation areas such as loading areas and unloading areas of vehicles are different, part of the operation areas are narrow and long due to requirements of field operation environments, and large curves can accompany the operation areas, so that the space near an operation point is narrow finally. The existing mining operation requires that an unmanned mine vehicle needs to accurately reach an operation point, and the vehicle usually needs to be backed for at least 1-2 times to accurately reach or drive out of a preset operation point, which puts a higher requirement on the planning of a driving path of the mining vehicle, namely, the path traced by the unmanned mine vehicle meets the constraints of vehicle kinematics, and meets the requirements of smooth path, continuous curvature and the like, and the path prepared for multiple backing is also quickly planned in a narrow operation area, and meanwhile, higher planning efficiency is also required due to the real-time requirement of the vehicle field operation. However, the driving path planning efficiency in the prior art is generally low, and the path planning success rate is not high.

In order to solve the above problem, an embodiment of the present invention provides a method for planning a driving path of a mine vehicle, as shown in fig. 1, the method includes:

101. and acquiring an operation point and a preset point corresponding to the mining area vehicle.

The mining area vehicles comprise mining transportation vehicles, and the mining transportation vehicles can be mine trucks, wide body vehicles, articulated mine cars and the like. In addition, the operation point and the preset point are points which are selected in advance before the path is planned, the operation point can be specifically an unloading point or a loading point, if the driving path is an entrance path, the preset point is a starting point, and the operation point is a terminal point; and if the driving path is the departure path, the operation point is a starting point, and the preset point is an end point.

The embodiment of the invention is mainly suitable for a scene of planning the driving path of the vehicle in the mining area in a narrow operation area. The execution main body of the embodiment of the invention is a device or equipment capable of planning the vehicle running path of the mining area in a narrow operation area, and can be specifically arranged on one side of a server or one side of a vehicle end.

For the embodiment of the invention, before planning the driving path, the coordinate information of the preset point and the coordinate information of the operation point and the course angle of the mining vehicle at the preset point and the operation point respectively need to be acquired, specifically, when the mining vehicle drives to the preset point and the operation point, the position coordinate information and the course angle of the mining vehicle at the preset point and the operation point are respectively acquired, the operation point and the preset point of the mining vehicle can be pre-selected in a map, and the preset point is a starting point and the operation point is an end point for the incoming path; and aiming at the departure path, taking the operation point as a starting point and taking the preset point as an end point.

In addition, the coordinate information of the map boundary and the coordinate information of the obstacle need to be acquired, so that whether the mine vehicle will contact the map boundary at the preset point and the operation point and whether the mine vehicle will collide with the obstacle or not can be respectively determined according to the coordinate information of the map boundary and the coordinate information of the obstacle. Wherein, the barrier can be a soil pit, a soil heap, a large stone block, a fixed facility and the like in a mining area. If the mining vehicle is in contact with the map boundary at the operation point or the preset point or is in collision with the obstacle, the operation point or the preset point needs to be reselected; if the mining vehicle does not contact the map boundary at the operation point and the preset point and does not collide with the obstacle, the global route planning can be performed through linear expansion.

102. And respectively carrying out linear expansion from the operation point and the preset point to obtain a global line constructed by a plurality of straight lines.

For the embodiment of the invention, in order to avoid multiple path searches in a narrow operation area, the embodiment of the invention plans the initial path by adopting a corresponding path mode according to the characteristics of the initial path of the mining vehicle in the narrow operation area, and before planning the initial path by utilizing the path mode, global path planning needs to be carried out between the preset point and the operation point, so that the adopted first target path mode is determined according to the global path between the preset point and the operation point.

In the embodiment of the invention, no matter the driving path is a departure path or a departure path, the bidirectional straight line expansion can be carried out from the preset point and the operation point, specifically, in the process of the straight line expansion, the length and the direction of the straight line expansion from the preset point and the operation point can be respectively set, so that when a mining vehicle drives along the expanded straight line, the mining vehicle does not contact with a map boundary and does not collide with an obstacle, and finally a plurality of mutually perpendicular straight lines respectively starting from the preset point and the operation point are expanded, when the shortest distance between the straight lines bidirectionally expanded from the preset point and the operation point is smaller than the preset distance, the straight line expansion can be stopped, and a global line constructed by the straight lines can be obtained. For example, the preset point may be used as a starting point to expand the preset length forward or backward to obtain an initial expansion straight line corresponding to the preset point according to the heading angle direction corresponding to the preset point, and meanwhile, the operation point may be used as a starting point to expand the preset length forward or backward to obtain an initial expansion straight line corresponding to the operation point according to the heading angle direction corresponding to the operation point. Further, the end point of the initial extension straight line corresponding to the preset point and the end point of the initial extension straight line corresponding to the operation point are respectively used as new start points, and the preset lengths are extended towards two sides along the vertical direction, as shown in fig. 2 a. Then aiming at the two expansion straight lines corresponding to the operation points, the expansion straight line which is not in contact with the map boundary when the vehicles in the middle mine area of the two expansion straight lines run and is not in collision with the obstacle is taken as a first target expansion straight line to be added into the Tree1 combination, and similarly aiming at the two expansion straight lines corresponding to the preset points, the expansion straight line which is not in contact with the map boundary when the vehicles in the middle mine area of the two expansion straight lines run and is not in collision with the obstacle is taken as a second target expansion straight line to be added into the Tree2 combination.

Further, when a first target expansion straight line and a second target expansion straight line are newly added in the Tree1 combination and the Tree2 combination, two points with the shortest distance on the newly added first target expansion straight line and the newly added second target expansion straight line are determined and respectively used as a first target point and a second target point, and then if the distance between the first target point and the second target point is smaller than a preset distance, the first target expansion straight line and the second target expansion straight line are closer to each other and can be defaulted to be connected, and at this moment, the straight line expansion is stopped; if the distance between the first target point and the second target point is greater than the preset distance, it indicates that the first target expansion straight line and the second target expansion straight line are far away from each other and are not connected, at this time, the terminal point of the first target expansion straight line and the terminal point of the second target expansion straight line are respectively taken as new starting points to continue to perform straight line expansion towards two sides along the vertical direction, and the process of straight line expansion is repeated until the first target expansion straight line and the second target expansion straight line which are newly increased in the Tree1 combination and the Tree2 combination are close to each other, and the connection between the first target expansion straight line and the second target expansion straight line can be defaulted to be connected.

Further, after the linear expansion is completed, the reverse pushing is performed on the operation point and the preset point respectively from the first target point and the second target point whose point distance is smaller than the preset distance, and all points on the linear line connecting the first target point and the operation point and all points on the linear line connecting the second target point and the preset point are found, so that a global line between the operation point and the preset point can be obtained, as shown in fig. 2 b.

Therefore, according to the mode, global planning can be carried out between the preset points and the operation points to obtain the global route, so that the initial route of the mine vehicle can be planned by adopting a corresponding route mode based on the global route.

103. And according to the global line, performing initial path planning by adopting a corresponding path mode to obtain an initial path of which the first end point is the operation point.

Wherein each path mode comprises at least two curve combinations, the curvatures of the curve combinations are continuous, and the curvatures of two end points are 0. Specifically, the curvature of the curve refers to the rotation rate of the tangent direction angle of a certain point on the curve to the arc length, and indicates the degree of deviation of the curve from the straight line, the larger the curvature is, the larger the bending degree of the curve is, and when the curvature is 0, the bending degree of the curve is the smallest, and at this time, the curve is most conveniently connected with the straight line. Further, the curve combination may be a clothoid combination or other curve combinations with continuous curvatures, wherein the clothoid combination may include a plurality of clothoids connected end to end, or a plurality of clothoids and at least one circular arc alternately connected with the clothoid. The clothoid curve is also called a radial spiral line and refers to a section of arc line with the radius changing from infinity to a certain design value, the curvature of the clothoid curve changes in proportion to the length of the curve, and based on the change, the clothoid curve has the characteristics of continuous curvature and stable curvature change. Furthermore, each curve combination has a corresponding direction of motion, which may specifically include straight, forward, reverse, left turn, and right turn. Preferably, when the curve combination comprises a plurality of motion directions, the plurality of motions is continuous.

For example, a path pattern where there are two reversals may be LRLR pnpn, which means that the mine vehicle turns first forward left, then backward right, then forward left, and finally backward right. For another example, the path patterns where there are two reverse operations may be RLRL _ pnpn, RLRLR _ pnpnp, and LRLRL _ pnpnp.

In the embodiment of the present invention, after knowing the path patterns, the path patterns that can be adopted by the global links may be determined according to the global links, and in the embodiment of the present invention, for different types of travel paths (such as a left-side entry path, a left-side exit path, a right-side entry path, and a right-side exit path), the path patterns that match the travel paths may be determined according to the global links.

Further, after the path mode is determined, planning an initial path of the mine vehicle by adopting the path mode according to the coordinate information and the course angle of the operation point, namely determining the initial path in the path mode, wherein a first endpoint of the initial path is the operation point, and for the entry path, the first endpoint is the endpoint; for the departure path, the first end point is the starting point. When the initial path is planned by adopting the path mode, firstly, the coordinate information corresponding to the second end point of the initial path is reversely deduced according to the coordinate information corresponding to the first end point, and after the second end point of the initial path is determined, the coordinate information of each point on at least two curve combinations contained in the path mode is determined. According to the embodiment of the invention, the initial path is planned by directly utilizing the path mode, so that multiple path searches can be avoided, and the path planning efficiency of the mining area vehicle can be improved.

It should be noted that the path modes involved in the initial path planning process in the embodiments of the present invention are not limited to the path mode in which there are two reversing operations, and may also include the path mode in which there are three reversing operations or the path mode in which there is one reversing operation.

104. And searching a path between a second end point corresponding to the initial path and the preset point to obtain a remaining path corresponding to the mining area vehicle.

When the mining area vehicle runs to a relatively spacious operation area, the planned path between two points can be quickly determined by adopting the path searching mode, so in order to further improve the path planning efficiency, the embodiment of the invention plans the residual path between the second end point and the preset point by adopting the path searching mode after the second end point corresponding to the initial path is determined. In the embodiment of the present invention, the remaining path between the second end point and the preset point may be planned by using an algorithm such as an a-algorithm, a D-algorithm, an LPA-algorithm, a Dijkstra algorithm, a genetic algorithm, an artificial potential field method, a curve combination search, and a path planning algorithm.

Taking curve combination search and a path planning algorithm as an example to explain a specific process of planning a surplus path, regarding an incoming path, taking a preset point as a starting point, and planning a path from the preset point to a second end point; and regarding the departure path, taking the preset point as an end point, and planning the path from the second end point to the preset point. The embodiment of the invention takes the entrance path as an example to explain the specific planning process, and the planning process of the exit path is the same as the specific planning process. Firstly, starting from a preset point, performing path search by taking a curve combination as a basic unit to obtain a plurality of curve combinations starting from the preset point, wherein the curvatures of the curve combinations are continuous and the curvatures of two end points are 0, the curve combination can be a clothoid curve combination or other curve combinations with continuous curvatures, and during specific search, because the directions of each curve combination are different and the course angle of the preset point is known, when the course angle difference value of two end points of any one curve combination is determined, the course angle of the end point of the curve combination is determined, so that the coordinate information of each point on the curve combination can be determined. Specifically, because the difference value of the heading angles of the two end points of any one curve combination is between [ -pi, pi ], the difference values of the heading angles corresponding to the curve combinations can be set according to the value range of the difference value of the heading angles, for example, a difference value of a navigation angle is taken every 10 degrees between [ -pi, pi ], so that a heading angle difference sequence is generated, each heading angle difference value in the heading angle difference sequence corresponds to one curve combination, and because the difference value of the heading angles determines that the curve combination is basically determined, the coordinate information of each point on the curve combination corresponding to any one heading angle difference value can be calculated according to the coordinate information of a preset point and the navigation angle, the minimum turning radius, the maximum curvature change rate and any heading angle difference value. In this way, a plurality of curve combinations starting from the preset point can be obtained according to the path search method.

Further, whether the mine area vehicle is in contact with the map boundary or not and whether the mine area vehicle is in collision with the obstacle or not when the mine area vehicle runs on the multiple curve combinations are judged according to the searched coordinate information of each point on the multiple curve combinations. According to the judgment result, a target curve combination which is not in contact with the map boundary when the mine vehicle runs and is not in collision with the obstacle is screened from the plurality of curve combinations.

Further, with the end point of the target curve combination as a new start point, an attempt is made to connect the new start point and the second end point using a search path mode. The search path mode in the process of planning the residual path comprises at least two curve combinations, each curve combination has a corresponding action direction, and the action directions comprise straight movement, forward movement, backward movement, left turning and right turning. During the connection process, the new starting point and the second end point can be tried to be connected by taking the curve combination and the straight line as the minimum unit, wherein the straight line can also be regarded as the curve combination with the curvature of 0. Specifically, a search path pattern may be preset according to the curve combination C and/or the straight line S and the action direction (forward p or backward n) corresponding to the curve combination and/or the straight line, for example, a certain path pattern is set as CSC _ pnn, and the path pattern represents that the mine vehicle turns forward first, then turns backward, and finally turns backward; for another example, setting a certain path mode as CCC _ pnn, wherein the path mode represents that the mining vehicle firstly turns forwards, then turns backwards and finally continues to turn backwards; for another example, CCSCC _ pppppn is set as a path pattern representing that the mine vehicle is turning forward first, then continues to turn forward, then straight forward, turns forward, and finally turns backward. In this embodiment, the multiple path modes are set according to actual application scenarios, and the multiple path modes corresponding to different application scenarios are different, and the multiple path modes are not further limited herein. If the new starting point and the second end point can be connected in the search path mode, the planned path in the search path mode is determined and is connected with the target curve in a combined mode, and the residual path between the preset point and the second end point is obtained. It should be noted that the remnant paths may be planned by using an a-algorithm, a D-algorithm, an LPA-algorithm, a Dijkstra algorithm, a genetic algorithm, and an artificial potential field method, and the specific planning method of each algorithm is not described in detail herein in this embodiment.

105. And determining a corresponding driving path of the mine vehicle based on the residual path and the initial path.

For the embodiment of the invention, after the surplus path is planned, the surplus path is connected with the initial path to obtain the driving path corresponding to the mine vehicle.

According to the driving path planning method for the mine vehicles, provided by the embodiment of the invention, aiming at the path characteristics of a narrow operation area, the initial path can be planned by adopting a corresponding path mode directly according to the global line of the narrow operation area, and then the path is planned by adopting a path searching mode aiming at the remaining open operation area, so that compared with the mode of searching and planning the initial path for multiple times in the prior art, the path planning efficiency of the embodiment of the invention for the narrow area is higher, and the path planning success rate is increased.

Example two

Further, in order to better explain the planning process of the driving path, as a refinement and an extension of the above embodiment, an embodiment of the present invention provides another driving path planning method for mine vehicles, as shown in fig. 3, where the method includes:

201. and acquiring an operation point and a preset point corresponding to the mine vehicle.

For the embodiment of the invention, before the global route planning is carried out, whether the mine vehicle is in contact with the map boundary when being positioned at the operation point and the preset point and whether the mine vehicle is in collision with the obstacle need to be judged, and if the mine vehicle is not in contact with the map boundary when being positioned at the operation point and the preset point and is not in collision with the obstacle, the global route planning is carried out. Based on this, the method comprises: acquiring the length and width corresponding to the mine vehicles, and coordinate information of a map boundary and coordinate information of an obstacle; respectively taking the coordinate information corresponding to the operation point and the coordinate information corresponding to the preset point as the coordinate information of the central point of the mining area vehicle; respectively determining the coordinate information of the vehicle boundary when the mining vehicle is positioned at the operation point and the preset point based on the coordinate information of the central point of the mining vehicle and the length and the width corresponding to the mining vehicle; respectively judging whether the mine vehicle is in contact with the map boundary when positioned at the operation point or the preset point and whether the mine vehicle is in collision with the obstacle or not based on the coordinate information of the vehicle boundary, the coordinate information of the map boundary and the coordinate information of the obstacle; and if the mining area vehicle does not contact the map boundary and does not collide with the obstacle, performing linear expansion from the operation point and the preset point respectively to obtain a global line constructed by a plurality of straight lines.

Specifically, the coordinate information of the preset point and the operation point can be respectively used as the coordinate information of the central point (rear axle center) of the mine vehicle, the coordinate information of the vehicle boundary can be expanded according to the coordinate information of the central point of the rear axle of the mine vehicle, the vehicle length and the vehicle width of the mine vehicle, and then whether the mine vehicle is in contact with the map boundary is judged according to the coordinate information of the vehicle boundary and the coordinate information of the map boundary, namely whether the mine vehicle is in the map boundary when the mine vehicle is positioned at the operation point and the preset point is respectively judged, if the coordinate information of the vehicle boundary is overlapped with the coordinate information of the map boundary, the mine vehicle is in contact with the map boundary, namely the mine vehicle is not in the map boundary, and the preset point or the operation point needs to be reset at the moment; if the coordinate information of the vehicle boundary does not coincide with the coordinate information of the map boundary, it is indicated that the mining vehicle does not contact the map boundary, namely the mining vehicle is inside the map boundary, at the moment, whether the mining vehicle collides with an obstacle when being positioned at a preset point and an operation point is respectively judged according to the coordinate information of the mining vehicle boundary and the coordinate information of the obstacle, and if the coordinate information of the obstacle coincides with the coordinate information of the vehicle boundary, it is indicated that the mining vehicle collides with the obstacle; if the coordinate information of the obstacle does not coincide with the coordinate information of the vehicle boundary, the mining area vehicle does not collide with the obstacle. And under the condition that the mine vehicles do not contact with the map boundary and do not collide with the obstacles, performing global route planning.

202. And respectively carrying out linear expansion from the operation point and the preset point to obtain a global line constructed by a plurality of straight lines.

For the embodiment of the invention, in order to avoid multiple path searches in a narrow operation area, the embodiment of the invention plans the initial path by adopting a corresponding path mode according to the characteristics of the initial path of the mining vehicle in the narrow operation area, and before planning the initial path by utilizing the path mode, global path planning needs to be carried out between the preset point and the operation point, so that the adopted first target path mode is determined according to the global path between the preset point and the operation point. For the global route planning process, step 202 specifically includes: respectively using the operation point and the preset point as starting points to linearly expand a preset length along the direction of the course angle corresponding to the operation point and the preset point respectively to obtain initial expansion straight lines corresponding to the operation point and the preset point respectively; performing linear expansion by taking the tail end point of the initial expansion straight line corresponding to the operation point and the preset point as a new starting point to obtain a first target expansion straight line corresponding to the operation point and a second target expansion straight line corresponding to the preset point; and repeating the linear extension process until the distance between a first target point on the first target extension straight line and a second target point on the second target extension straight line is smaller than a preset distance, and determining the global line according to the linear line connecting the first target point and the operation point and the linear line connecting the second target point and the preset point. Wherein, preset length can be set for according to actual need, for example preset length is 5 meters.

Further, the performing linear expansion by using the end point of the initial expansion straight line corresponding to the operation point and the preset point as a new starting point to obtain a first target expansion straight line corresponding to the operation point and a second target expansion straight line corresponding to the preset point includes: expanding the tail end points of the initial expansion straight lines corresponding to the operation points and the preset points respectively to be used as new starting points to expand preset lengths to straight lines on two sides along the vertical direction to obtain two expansion straight lines corresponding to the operation points and the preset points respectively; aiming at the two extension straight lines corresponding to the operation point, determining the extension straight line which does not contact with a map boundary when the mining area vehicle runs and does not collide with an obstacle as the first target extension straight line; and determining the extension straight line which does not contact with the map boundary when the mine vehicle runs and does not collide with the obstacle as the second target extension straight line according to the two extension straight lines corresponding to the preset points.

Further, the repeating the linear expansion process until a distance between a first target point on the first target expansion straight line and a second target point on the second target expansion straight line is smaller than a preset distance includes: determining two points with the shortest distance on the first target extension straight line and the second target extension straight line according to the coordinate information of each point on the first target extension straight line and the coordinate information of each point on the second target extension straight line, and respectively taking the two points with the shortest distance as the first target point and the second target point; if the distance between the first target point and the second target point is smaller than the preset distance, stopping linear expansion; and if the distance between the first target point and the second target point is greater than or equal to the preset distance, continuing to perform linear expansion by taking the end points corresponding to the first target expansion straight line and the second target expansion straight line as new starting points. The preset distance can be set according to actual needs, for example, the preset distance is set to be 0.5 m.

In the implementation of the invention, no matter the driving path is an exit path or an entry path, the bidirectional expansion is carried out from the preset point and the operation point, specifically, the preset point can be used as a starting point to expand the preset length forwards or backwards to obtain an initial expansion straight line corresponding to the preset point according to the course angle direction corresponding to the preset point, and meanwhile, the operation point is used as a starting point to expand the preset length forwards or backwards to obtain an initial expansion straight line corresponding to the operation point according to the course angle direction corresponding to the operation point. Further, the end point of the initial extension straight line corresponding to the preset point and the end point of the initial extension straight line corresponding to the operation point are respectively used as new starting points, and the preset length is extended towards two sides along the vertical direction, as shown in fig. 2 a. Then aiming at the two expansion straight lines corresponding to the operation points, the expansion straight line which is not in contact with the map boundary when the vehicles in the middle mine area of the two expansion straight lines run and is not in collision with the obstacle is taken as a first target expansion straight line to be added into the Tree1 combination, and similarly aiming at the two expansion straight lines corresponding to the preset points, the expansion straight line which is not in contact with the map boundary when the vehicles in the middle mine area of the two expansion straight lines run and is not in collision with the obstacle is taken as a second target expansion straight line to be added into the Tree2 combination.

Further, when a first target expansion straight line and a second target expansion straight line are newly added in the Tree1 combination and the Tree2 combination, two points with the shortest distance on the newly added first target expansion straight line and the newly added second target expansion straight line are determined and respectively used as a first target point and a second target point, and then if the distance between the first target point and the second target point is smaller than a preset distance, the first target expansion straight line and the second target expansion straight line are closer to each other and can be defaulted to be connected, and at this moment, the straight line expansion is stopped; if the distance between the first target point and the second target point is greater than the preset distance, it is indicated that the first target expansion straight line and the second target expansion straight line are far apart and are not connected, at this time, the terminal point of the first target expansion straight line and the terminal point of the second target expansion straight line are respectively taken as new starting points to continue to perform straight line expansion towards two sides along the vertical direction, the process of straight line expansion is repeated until the first target expansion straight line and the second target expansion straight line newly increased in the Tree1 combination and the Tree2 combination are close to each other, and the connection between the first target expansion straight line and the second target expansion straight line can be defaulted to be connected.

203. And determining the overall direction corresponding to the driving path according to the type of the global route and the type of the driving path, and determining a first target path mode corresponding to the mine vehicle based on the overall direction corresponding to the driving path.

For the embodiment of the present invention, after the global route planning is performed, the first target route mode adopted this time needs to be determined according to the types of the global route and the driving route, and for the process, step 203 specifically includes: if the driving route is an entrance route and the operation point is an end point, determining an overall direction corresponding to the entrance route according to two previous sections of linear lines connected with the end point in the global lines, and determining a first target route pattern corresponding to the mine vehicle according to the overall direction corresponding to the entrance route, wherein the overall action direction of the first target route pattern is towards the operation point, such as LRLRLR _ pnpn, RLRL _ pnpn and the like; if the driving route is a departure route and the operation point is a starting point, determining an overall direction corresponding to the departure route according to the first two sections of linear lines connected with the starting point in the global line, and determining a first target route pattern corresponding to the mine vehicle according to the overall direction corresponding to the departure route, wherein the overall action direction of the first target route pattern is a direction from the operation point, such as LRL _ pnp, RLR _ pnp, LRLRL _ pnp, etc.

Specifically, if the driving route is an entry route and the operation point is an end point, it is necessary to obtain two previous linear routes connected to the end point in the global route, and then according to the two previous linear routes connected to the end point, it is determined whether the entry route reaches the end point from the left side or from the right side, where fig. 4a shows that the route is on the left side of the end point (start point) and fig. 4b shows that the route is on the right side of the end point (start point), and if the entry route reaches the end point from the left side, the first target route mode may be LRLR _ pnpn specifically, as shown in fig. 5 a; the first target path mode may specifically be RLRL _ pnpn if the entry path as a whole reaches the end point from the right side.

Further, if the driving route is an exit route and the operation point is a starting point, it is necessary to obtain the first two segments of straight lines connected to the starting point in the global line, and then determine whether the entire exit route starts from the starting point to the left side or to the right side according to the first two segments of straight lines connected to the starting point, and if the entire exit route starts from the starting point to the left side, the first target route mode may specifically be LRL _ pnp or LRLRL _ pnp, as shown in fig. 5 b; the first target path mode may be specifically RLR _ pnp or rlrlrlr _ pnp if the departure path as a whole travels from the starting point to the right side. Therefore, according to the global route and the type of the driving route, the first target route mode corresponding to the mine vehicle can be determined.

204. And planning an initial path based on the first target path mode to obtain an initial path with a first end point as the operation point.

For the embodiment of the present invention, after determining the first target path mode, the initial path needs to be planned by using the first target path mode, the first end point (working point) of the initial path in the first target path mode is known, and now the second end point of the initial path needs to be reversely deduced according to the coordinate information of the first end point (working point), so as to determine all other points in the middle on the initial path based on the coordinate information and the heading angle of the first end point (working point), and the coordinate information and the heading angle of the second end point. Based on this, step 204 specifically includes: determining coordinate information and a course angle corresponding to the first endpoint according to the coordinate information and the course angle corresponding to the operation point; calculating the coordinate information of the circle center of a second endpoint side curve combination according to the minimum turning radius and the maximum curvature change rate corresponding to the mining area vehicle and the coordinate information corresponding to the first endpoint; setting a course angle corresponding to the second endpoint, and calculating coordinate information corresponding to the second endpoint based on the coordinate information of the circle center of the second endpoint side curve combination and the course angle corresponding to the second endpoint; calculating coordinate information of each point on at least two curve combinations contained in the first target path mode based on the coordinate information and the course angle corresponding to the first endpoint and the coordinate information and the course angle corresponding to the second endpoint; and determining the initial path according to the coordinate information of each point on at least two curve combinations contained in the first target path mode.

Further, the calculating the coordinate information of the center of the second endpoint-side curve combination according to the minimum turning radius and the maximum curvature change rate corresponding to the mining area vehicle and the coordinate information corresponding to the first endpoint includes: calculating a distance threshold corresponding to the first target path mode according to the minimum turning radius and the maximum curvature change rate corresponding to the mining area vehicle; determining a circle center distance between a first endpoint side curve combination and a second endpoint side curve combination on the initial path according to the distance threshold and the combination mode of the curve combinations corresponding to the first target path mode; calculating the coordinate information of the circle center of the first endpoint side curve combination according to the coordinate information corresponding to the first endpoint; and determining the coordinate information of the circle center of the second endpoint side curve combination according to the coordinate information of the circle center of the first endpoint side curve combination and the circle center distance.

Specifically, the first target path mode includes at least two continuous curve combinations, when the circle center distance between the curve combinations at the two ends of the initial path in the first target path mode satisfies a certain condition, the initial path can be successfully planned by using the first target path mode, the combination modes of the first target path mode are different, and the corresponding determination conditions are different, for example, for some combination modes, when the circle center distance is greater than a distance threshold, the planning can be successfully planned by using the first target path mode, or when the circle center distance is less than the distance threshold, the planning can be successfully planned by using the first target path mode, and when the circle center distance is between [ a, b ], the planning can be successfully planned by using the first target path mode. The distance threshold value can be obtained by calculation according to the minimum turning radius and the maximum curvature change rate corresponding to the mining area vehicle.

Further, when the combination manner and the distance threshold of the first target path pattern are known, the circle center distance between the curve combinations (the first end point side curve combination and the second end point side curve combination) at the two ends of the initial path may be set. Then, according to the coordinate information of the first end point (operation point), the coordinate information of the circle center of the curve combination on the side of the first end point is calculated, then, the circle center of the curve combination on the side of the first end point can be used as the circle center, the distance of the calculated circle center is used as the radius to draw a circle, points are taken at equal intervals on the circle, and proper points are selected from the selected points through obstacle avoidance judgment to serve as the circle center of the curve combination on the side of the second end point. And further, setting a course angle corresponding to the second endpoint according to actual experience, and then calculating coordinate information corresponding to the second endpoint according to the course angle corresponding to the second endpoint and the coordinate information of the circle center of the curve combination at the side of the second endpoint. For the entry path, the second end point is a second end point, as shown in fig. 6; the second end point is a second starting point for the departure path. Therefore, the second end point corresponding to the initial path in the first target path mode can be deduced reversely.

Further, since the coordinate information and the heading angle corresponding to the first end point (the preset point) and the coordinate information and the heading angle corresponding to the second end point are known, the coordinate information of each point between the first end point and the second end point of the initial path, that is, the coordinate information of each point on the at least two curve combinations included in the first target path mode, can be calculated. Based on this, the method comprises: calculating the course angle difference value of two end points of each curve combination contained in the first target path mode according to the coordinate information and the course angle corresponding to the first end point, the coordinate information and the course angle corresponding to the second end point and the combination mode of the curve combination corresponding to the first target path mode; calculating the curvature change rate respectively corresponding to each curve combination contained in the first target path mode according to the coordinate information corresponding to the first endpoint, the minimum turning radius and the maximum curvature change rate corresponding to the mining area vehicle and the course angle difference value of the two endpoints of each curve combination; determining the maximum curvature corresponding to the mining area vehicle according to the minimum turning radius corresponding to the mining area vehicle, and calculating the total length of each curve combination contained in the target path mode according to the maximum curvature and the maximum curvature change rate corresponding to the mining area vehicle and the course angle difference value of two end points of each curve combination; and calculating the coordinate information of each point on at least two curve combinations contained in the first target path mode according to the total length of each curve combination, the curvature change rate respectively corresponding to each curve combination and the coordinate information corresponding to the first end point, so that the initial path in the first target path mode can be determined.

Specifically, the embodiment of the present invention only takes the curve combination connecting the first end points as an example, and describes a specific method for calculating the coordinate information of each point on the curve combination. It is understood that after the coordinate information of each point on the curve combination connected to the first end point is calculated, the coordinate information of the end point of the curve combination can be obtained, and the coordinate information of the end point is used as the starting point of the next curve combination connected to the curve combination, and the calculation mode is the same as the curve combination. Specifically, when calculating the coordinate information, the minimum turning radius and the maximum curvature change rate corresponding to the mine area vehicle may be first obtained from the factory parameters of the mine area vehicle, and then, for the course angle difference value of the two end points of the curve combination, the curvature change rate of the curve combination corresponding to the course angle difference value of the two end points of the curve combination may be calculated according to the coordinate information of the starting point (for the curve combination connected to the operation point, the first end point is the starting point), the minimum turning radius, the maximum curvature change rate, and the course angle difference value of the two end points of the curve combination according to the following formula one.

(formula one)

Where σ is the rate of change of curvature, C _f (x) And S _f (x) And the value of the variable mu is calculated according to the coordinate information of the starting point, the minimum turning radius and the maximum curvature change rate. Therefore, the curvature change rate of the curve combination corresponding to the heading angle difference value of the two end points of the curve combination can be obtained according to the formula.

The curve combination can be specifically a clothoid combination, the clothoid combination specifically includes two modes, one mode includes two clothoids and one arc, the other mode includes two clothoids, and the modes of calculating the total length of the clothoid combination in different modes are different, so that it is necessary to determine which mode the curve combination corresponding to any one navigation angle difference value belongs to through a heading angle difference threshold value during calculation, so as to calculate the total length in a corresponding mode. The heading angle difference threshold can be specifically calculated according to the maximum curvature and the maximum curvature change rate, and the specific formula is shown as a formula two:

(formula two)

Wherein, delta _min Is the heading angular difference threshold, ρ is the maximum curvature, σ _max The maximum rate of curvature change.

After calculating the heading angle difference threshold, if the heading angle difference value of two end points of the curve combination is greater than the heading angle difference threshold, determining that the curve combination comprises two clothoids and an arc, and for the combination, the total length calculation formula is shown as formula three:

(formula three)

Wherein l _clothoid Is the length of a single clothoid curve, l _arc Is the length of the arc, ρ is the maximum curvature, σ _max To maximum rate of curvature, δ _min And delta theta is a heading angle difference threshold value, and delta theta is a heading angle difference value. The length of a clothoid combination consisting of two clothoid curves and one circular arc can be calculated according to the formula.

Further, if the difference value of the heading angles of the two end points of the curve combination is smaller than or equal to the threshold value of the difference of the heading angles, it is determined that the curve combination comprises two clothoids, and for the combination formula, the total length calculation formula is as shown in formula four:

(formula four)

Wherein l _clothoid The length of the single clothoid curve, delta theta is the difference value of course angles, and sigma is the curvature change rate. The length of the clothoid combination of the two clothoids can be calculated according to the above formula.

Further, after calculating the total length of the curve combination, the coordinate information of each point on the curve combination may be calculated according to the total length and the curvature change rate, and for this process, as an optional implementation, the method includes: determining the length interval between each point on the curve combination corresponding to the heading angle difference value, and determining the length sequence between each point on the curve combination corresponding to the heading angle difference value and the starting point according to the length interval and the total length; and calculating the coordinate information of each point on the curve combination corresponding to the course angle difference according to the length sequence between each point on the curve combination and the starting point, the coordinate information of the starting point and the curvature change rate. In this embodiment, a coordinate calculation formula of an arbitrary point on the clothoid with respect to the coordinate information of the start point is shown as formula five.

(formula five)

Wherein σ is a curvature change rate, l is a length between any point and the starting point on the clothoid, the relative coordinate value of each point on the clothoid can be calculated by the formula, and further, the absolute coordinate value of each point on the clothoid can be obtained by accumulating the relative coordinate value and the coordinate information of the starting point. In addition, it should be noted that, in this embodiment, other calculation formulas may also be used to calculate the coordinate information of each point on the clothoid, and for other calculation formulas, this embodiment is not listed one by one.

205. And searching a path between a second end point corresponding to the initial path and the preset point to obtain a remaining path corresponding to the mining area vehicle.

For the embodiment of the present invention, a plurality of path search algorithms may be used to plan the remaining path between the second end point and the preset point, where the path search algorithms include, but are not limited to, a-algorithm, D-algorithm, LPA-algorithm, dijkstra algorithm, genetic algorithm, artificial potential field method, and curve combination search combined with path planning algorithm, and the like.

Firstly, a process of performing path search between a second end point and a preset point is described by taking an a-algorithm as an example, and the method specifically comprises the following steps: taking one point of the second end point and the preset point as a search starting point and the other point as a search end point, and determining each point adjacent to the search starting point; respectively calculating cost evaluation values of points adjacent to the search starting point; screening a third target point from points adjacent to the search starting point based on the cost evaluation, and adding the third target point into a target point set; taking the third target point as a new search starting point, and repeating the search process until the search end point is searched; and determining the remnant paths according to the coordinate information corresponding to each third target point in the target point set. Further, the separately calculating cost estimates for points adjacent to the search starting point includes: calculating a cost value required for reaching the search starting point from any point in points adjacent to the search starting point; calculating the Manhattan distance between any point and the search end point according to the coordinate information corresponding to any point and the coordinate information corresponding to the search end point; and determining a cost estimation value corresponding to the any point based on the Manhattan distance and the cost value.

Specifically, for the entry path, the second end point is a search end point, and the preset point is a search starting point; and aiming at the departure path, the second endpoint is a search starting point, and the preset point is a search end point. The search process is explained by taking an entry path as an example, each point adjacent to a search starting point (a preset point) is determined at first, cost estimation values of the adjacent points are calculated, when the cost estimation values are specifically calculated, for any adjacent point, a cost value from the point to the search starting point and a Manhattan distance between the point and a search end point (a second end point) can be respectively calculated, and the cost estimation value corresponding to the point is obtained by adding the cost value and the Manhattan distance. Therefore, the cost evaluation values of the points adjacent to the search starting point can be obtained according to the above mode, then, one point with the minimum cost evaluation value is selected from the adjacent points and added into the target point set, the point is used as a new search starting point to start a new round of search until the search end point is reached, and finally, the remaining path is determined based on the coordinate information of the points in the target point set, as shown in fig. 7.

Secondly, a process of searching a path between a second end point and a preset point is described by taking a curve combination search and a path planning algorithm as an example, and the method specifically comprises the following steps: taking one point of the second end point and the preset point as a search starting point, and taking the other point as a search end point; starting from the search starting point, performing path search by using a preset curve combination as a basic unit to obtain a search path of the mining area vehicle, wherein the curvature of the curve combination is continuous and the curvatures of two end points are 0; taking the end point of the search path as a new starting point, and trying to connect the new starting point and the search end point by utilizing multiple preset path modes to obtain a second target path mode capable of connecting the search end point; and determining a connection path in the second target path mode, and determining a remaining path corresponding to the mining area vehicle according to the connection path and the search path.

Further, starting from the search starting point, performing path search by using a preset curve combination as a basic unit to obtain a search path of the mining area vehicle, including: determining a course angle difference sequence of two end points of a plurality of curve combinations starting from the search starting point in the path search process; calculating coordinate information of each point on the curve combination corresponding to any course angle difference value aiming at any course angle difference value in the course angle difference sequence; determining a target curve combination which does not contact with a map boundary and collide with an obstacle when the mining area vehicle runs according to the coordinate information of each point on the curve combination corresponding to the any one course angle difference; and determining a search path corresponding to the mine vehicle according to the target curve combination. The specific method for calculating the coordinate information of each point on the curve combination corresponding to any one heading angle difference is referred to as step 204, and is not described in detail herein.

Further, any one of the path patterns in the plurality of path patterns includes at least two curve combinations, each of the curve combinations has a corresponding action direction, and the attempting to connect the new start point and the search end point by using a plurality of preset path patterns results in a second target path pattern connectable to the search end point, including: judging whether the new starting point and the search end point can be connected by adopting any one path mode according to the combination mode of the at least two curve combinations and the action direction corresponding to each curve combination; and determining a second target path mode which can be connected with the search end point from the plurality of path modes according to the judgment result.

Further, determining the connection path in the second target path mode includes: calculating coordinate information of each point on at least two curve combinations contained in the second target path mode according to the course angle and the coordinate information corresponding to the new starting point and the course angle and the coordinate information corresponding to the searching end point; judging whether the mine vehicle is in contact with the map boundary and whether the mine vehicle is in collision with an obstacle when running in the second target path mode according to coordinate information of each point on at least two curve combinations contained in the second target path mode; and if the mine vehicle does not contact the map boundary when running and does not collide with the obstacle, determining a connection path in the second target path mode according to coordinate information of each point on at least two curve combinations included in the second target path mode. Further, if the search path mode can connect the new starting point and the second end point, the planned path in the search path mode is determined and is combined and connected with the target curve, and a residual path between the preset point and the second end point is obtained. The specific method for calculating the coordinate information of each point on the at least two curve combinations included in the second target path mode is referred to as step 204, and is not described herein in detail.

Specifically, for an entrance path, a preset point is taken as a starting point, and path planning is performed from the preset point to a second end point; and regarding the departure path, taking the preset point as an end point, and planning the path from the second end point to the preset point. The embodiment of the invention takes the entrance path as an example to explain the specific planning process, and the planning process of the exit path is the same as the specific planning process. Firstly, starting from a preset point, performing path search by taking a curve combination as a basic unit to obtain a plurality of curve combinations starting from the preset point, wherein the curvatures of the curve combinations are continuous and the curvatures of two end points are 0, the curve combinations can be clothoid combinations or other curve combinations with continuous curvatures, and the clothoid combinations can comprise a plurality of clothoids connected end to end or a plurality of clothoids and at least one circular arc which are alternately connected with the clothoid and the circular arc. During specific search, because the directions of each curve combination are different and the course angle of the preset point is known, when the difference value of the course angles of two end points of any one curve combination is determined, the navigation angle of the tail end point of the curve combination is determined, and therefore the coordinate information of each point on the curve combination can be determined. Specifically, because the difference value of the heading angles of the two end points of any one curve combination is between [ -pi, pi ], the difference values of the heading angles corresponding to the curve combinations can be set according to the value range of the difference value of the heading angles, for example, a difference value of a navigation angle is taken every 10 degrees between [ -pi, pi ], so that a heading angle difference sequence is generated, each heading angle difference value in the heading angle difference sequence corresponds to one curve combination, and because the difference value of the heading angles determines that the curve combination is basically determined, the coordinate information of each point on the curve combination corresponding to any one heading angle difference value can be calculated according to the coordinate information of a preset point and the navigation angle, the minimum turning radius, the maximum curvature change rate and any heading angle difference value. In this way, a plurality of curve combinations starting from the preset point can be obtained according to the path search method.

Further, whether the mine area vehicle is in contact with the map boundary or not and whether the mine area vehicle is in collision with the obstacle or not when the mine area vehicle runs on the multiple curve combinations are judged according to the searched coordinate information of each point on the multiple curve combinations. According to the judgment result, a second target curve combination which is not in contact with the map boundary when the mine vehicle runs and is not in collision with the obstacle is screened from the plurality of curve combinations.

Further, with the end point of the second target curve combination as a new start point, an attempt is made to connect the new start point and the second end point using a search path mode. The search path mode in the process of planning the residual path comprises at least two curve combinations, each curve combination has a corresponding action direction, and the action directions comprise straight movement, forward movement, backward movement, left turning and right turning. In the process of connection, the connection of the new starting point and the second end point can be tried by taking the curve combination and the straight line as minimum units. Specifically, a search path pattern may be preset according to the curve combination C and/or the straight line S and the action direction (forward p or backward n) corresponding to the curve combination and/or the straight line, for example, a certain path pattern is set as CSC _ pnn, and the path pattern represents that the mine vehicle turns forward first, then turns backward, and finally turns backward; for another example, setting a certain path mode as CCC _ pnn, wherein the path mode represents that the mining vehicle firstly turns forwards, then turns backwards and finally continues to turn backwards; for another example, CCSCC _ pppppn is set as a path pattern representing that the mine vehicle is turning forward first, then continues to turn forward, then straight forward, turns forward, and finally turns backward. In this embodiment, the multiple path modes are set according to actual application scenarios, and the multiple path modes corresponding to different application scenarios are different, and the multiple path modes are not further limited herein. Therefore, a plurality of path modes can be obtained according to the method, after the plurality of path modes are obtained, whether the new starting point and the search end point can be connected by adopting the path mode is judged for each path mode, and a second target path mode which can be connected with the search end point can be screened out from the plurality of path modes according to the judgment result.

Further, after the second target path mode is determined, the coordinate information of each point on the curve combination and/or the coordinate information of each point on the straight line contained in the second target path mode are calculated, a connection path in the second target path mode is determined, if a plurality of connection paths exist, one connection path which is the shortest and does not contact with a map boundary or collide with an obstacle when the mine area vehicle runs is selected and connected with the search path, and finally the remaining path corresponding to the mine area vehicle is obtained. If the first target path mode capable of being connected with the end point is not found, starting from a new starting point, and continuing to search the path for the next time by taking curve combination as a basic unit. And taking the end point of the search path obtained by the next search as a new starting point, and trying to connect the new starting point and the search end point again by using multiple path modes, namely in the embodiment of the invention, after each path search, trying to connect the end point by using multiple path modes, and if a second target path mode capable of connecting the end point does not exist, continuing the path search.

206. And determining a corresponding driving path of the mine vehicle based on the residual path and the initial path.

In a specific application scenario, if the path search fails, global route planning needs to be continuously performed between the second endpoint and the preset point. Based on this, the method comprises: if the remaining paths between the second end point and the preset point are not searched, proceeding straight line expansion from the second end point and the preset point respectively to obtain remaining global lines; respectively determining a first section of straight line and a last section of straight line in the remaining global lines; respectively taking each point on the first section of straight line and each point on the last section of straight line as a starting point sequence and an end point sequence; and performing path search by traversing each point in the starting point sequence and each point in the end point sequence until the path search is successful.

Specifically, according to the method described in step 202, linear expansion is performed from the second endpoint and the preset point, respectively, to obtain the remaining global lines, such as the remaining global lines of the entry path shown in fig. 8. Further, determining the first and last two straight lines in the remaining global path, taking each point on the first straight line as a start point sequence, taking each point on the last straight line as an end point sequence, traversing the start point sequence and the end point sequence, and continuing to search the path, as shown in fig. 9, as long as any two points in the start point sequence and the end point sequence can be successfully planned, stopping the search, and outputting the remaining path. And finally, connecting the residual route with the initial route to obtain a driving route corresponding to the mining vehicle.

According to the other method for planning the driving path of the mine vehicle, which is provided by the embodiment of the invention, aiming at the path characteristics of the narrow operation area, the initial path can be directly planned by adopting a corresponding path mode according to the global line of the narrow operation area, and then the path is planned by adopting a path searching mode aiming at the remaining open operation area, so that compared with the mode of repeatedly searching and planning the initial path in the prior art, the method for planning the path of the narrow area is higher in efficiency, and meanwhile, the success rate of path planning is increased.

EXAMPLE III

Further, as a specific implementation of fig. 1, an embodiment of the present invention provides a driving path planning apparatus for mine vehicles, as shown in fig. 10, the apparatus includes: an acquisition unit 31, an expansion unit 32, a planning unit 33, a search unit 34 and a determination unit 35.

The obtaining unit 31 may be configured to obtain a working point and a preset point corresponding to the mine vehicle.

The expanding unit 32 may be configured to perform linear expansion from the working point and the preset point, respectively, to obtain a global line constructed by multiple straight lines.

The planning unit 33 may be configured to perform initial path planning by using a corresponding path mode according to the global line, so as to obtain an initial path of which the first end point is the operation point.

The searching unit 34 may be configured to perform a path search between a second endpoint corresponding to the initial path and the preset point to obtain a remaining path corresponding to the mine vehicle;

and the determining unit 35 is used for determining a driving path corresponding to the mine vehicle on the basis of the remaining path and the initial path.

In a specific application scenario, as shown in fig. 11, the extension unit 32 includes: an expansion module 321 and a first determination module 322. The expanding module 321 may be configured to respectively use the operation point and the preset point as starting points, and linearly expand a preset length along the direction of the heading angle corresponding to each of the operation point and the preset point to obtain initial expanding straight lines corresponding to each of the operation point and the preset point. The expanding module 321 may be further configured to perform linear expansion by using a terminal point of the initial expanding straight line corresponding to the operation point and the preset point as a new starting point, so as to obtain a first target expanding straight line corresponding to the operation point and a second target expanding straight line corresponding to the preset point. The first determining module 322 may be configured to repeat the linear expansion process until a distance between a first target point on the first target expansion line and a second target point on the second target expansion line is smaller than a preset distance, and determine the global line according to a linear line connecting the first target point and the operation point and a linear line connecting the second target point and the preset point.

Further, the expanding module 321 may be specifically configured to expand the end point of the initial expanding straight line corresponding to the operating point and the preset point respectively to two straight lines along a vertical direction by a preset length using the new starting point as a new starting point, so as to obtain two expanding straight lines corresponding to the operating point and the preset point respectively; aiming at the two extension straight lines corresponding to the operation point, determining the extension straight line which does not contact with a map boundary when the mining area vehicle runs and does not collide with an obstacle as the first target extension straight line; and determining the extension straight line which does not contact with the map boundary when the mine vehicle runs and does not collide with the obstacle as the second target extension straight line according to the two extension straight lines corresponding to the preset points.

Further, the first determining module 322 may be specifically configured to determine two closest points on the first target expansion straight line and the second target expansion straight line according to coordinate information of each point on the first target expansion straight line and coordinate information of each point on the second target expansion straight line, and take the two closest points as the first target point and the second target point, respectively; if the distance between the first target point and the second target point is smaller than the preset distance, stopping linear expansion; and if the distance between the first target point and the second target point is greater than or equal to the preset distance, continuing to perform linear expansion by taking the end points corresponding to the first target expansion straight line and the second target expansion straight line as new starting points.

In a specific application scenario, the planning unit 33 includes: a second determination module 331 and a planning module 332. The second determining module 331 may be configured to determine an overall direction corresponding to the travel path according to the global route and the type of the travel path, and determine a first target path mode corresponding to the mine vehicle based on the overall direction corresponding to the travel path. The planning module 332 may be configured to perform initial path planning based on the first target path mode, so as to obtain an initial path with a first end point as the operation point.

Further, the second determining module 331 may be specifically configured to, if the travel path is an entry path and the operation point is an end point, determine an overall direction corresponding to the entry path according to two previous linear lines connected to the end point in the global line, and determine a first target path mode corresponding to the mine vehicle according to the overall direction corresponding to the entry path; if the driving path is a departure path and the operation point is a starting point, determining the overall direction corresponding to the departure path according to the first two sections of linear lines connected with the starting point in the global line, and determining a first target path mode corresponding to the mining area vehicle according to the overall direction corresponding to the departure path.

Further, the planning module 332 includes: a determination submodule and a calculation submodule. The determining submodule can be used for determining the coordinate information and the course angle corresponding to the first endpoint according to the coordinate information and the course angle corresponding to the operation point. The calculation submodule may be configured to calculate, according to the minimum turning radius and the maximum curvature change rate corresponding to the mine vehicle and the coordinate information corresponding to the first endpoint, coordinate information of a circle center of a second endpoint-side curve combination. The calculation submodule can also be used for setting a course angle corresponding to the second endpoint, and calculating coordinate information corresponding to the second endpoint based on the coordinate information of the circle center of the second endpoint side curve combination and the course angle corresponding to the second endpoint. The calculation sub-module may be further configured to calculate, based on the coordinate information and the heading angle corresponding to the first endpoint and the coordinate information and the heading angle corresponding to the second endpoint, coordinate information of each point on the at least two curve combinations included in the first target path mode. The determining sub-module may be further configured to determine the initial path according to coordinate information of each point on at least two curve combinations included in the first target path pattern.

Further, the calculation sub-module may be specifically configured to calculate, according to a minimum turning radius and a maximum curvature change rate corresponding to the mine vehicle, a distance threshold corresponding to the first target path mode; determining a circle center distance between a first endpoint side curve combination and a second endpoint side curve combination on the initial path according to the distance threshold and a combination mode corresponding to the first target path mode; calculating the coordinate information of the circle center of the first endpoint side curve combination according to the coordinate information corresponding to the first endpoint; and determining the coordinate information of the circle center of the second endpoint side curve combination according to the coordinate information of the circle center of the first endpoint side curve combination and the circle center distance.

Further, the calculating sub-module may be specifically configured to calculate a heading angle difference value of two end points of each curve combination included in the first target path mode according to a combination manner of the coordinate information and the heading angle corresponding to the first end point, the coordinate information and the heading angle corresponding to the second end point, and the curve combination corresponding to the first target path mode; calculating the curvature change rate corresponding to each curve combination contained in the first target path mode according to the coordinate information corresponding to the first end point, the minimum turning radius and the maximum curvature change rate corresponding to the mining vehicle, and the course angle difference value of the two end points of each curve combination; determining the maximum curvature corresponding to the mining area vehicle according to the minimum turning radius corresponding to the mining area vehicle, and calculating the total length of each curve combination contained in the target path mode according to the maximum curvature and the maximum curvature change rate corresponding to the mining area vehicle and the course angle difference value of two end points of each curve combination; and calculating the coordinate information of each point on at least two curve combinations contained in the first target path mode according to the total length of each curve combination, the curvature change rate corresponding to each curve combination and the coordinate information corresponding to the first end point.

In a specific application scenario, the searching unit 34 may be specifically configured to use one of the second endpoint and the preset point as a search starting point, and use the other as a search ending point; starting from the search starting point, performing path search by using a preset curve combination as a basic unit to obtain a search path of the mining area vehicle, wherein the curvature of the curve combination is continuous and the curvatures of two end points are 0; taking the end point of the search path as a new starting point, and trying to connect the new starting point and the search end point by utilizing multiple preset path modes to obtain a second target path mode capable of connecting the search end point; and determining a connection path in the second target path mode, and determining a remaining path corresponding to the mine vehicle according to the connection path and the search path.

In a specific application scenario, the search unit 34 may be specifically configured to determine a sequence of course angle differences between two end points of a plurality of curve combinations starting from the search starting point in the process of searching the route this time; calculating coordinate information of each point on the curve combination corresponding to any course angle difference value aiming at any course angle difference value in the course angle difference sequence; determining a target curve combination which does not contact with a map boundary and collide with an obstacle when the mining area vehicle runs according to the coordinate information of each point on the curve combination corresponding to the any one course angle difference; and determining a search path corresponding to the mining area vehicle according to the target curve combination.

In a specific application scenario, the searching unit 34 may be specifically configured to determine whether the new starting point and the search end point can be connected by using any one of the path modes according to a combination manner of the at least two curve combinations and an action direction corresponding to each curve combination; and according to the judgment result, determining a second target path mode which can be connected with the search end point from the plurality of path modes.

In a specific application scenario, the searching unit 34 may be specifically configured to calculate, according to the course angle and the coordinate information corresponding to the new starting point and the course angle and the coordinate information corresponding to the search end point, coordinate information of each point on at least two curve combinations included in the second target path mode; judging whether the mine vehicle is in contact with the map boundary or not and whether the mine vehicle is in collision with an obstacle or not when the mine vehicle runs in the second target path mode according to the coordinate information of each point on at least two curve combinations contained in the second target path mode; and if the mine vehicle does not contact the map boundary during running and does not collide with the obstacle, determining a connection path in the second target path mode according to coordinate information of each point on at least two curve combinations included in the second target path mode.

In a specific application scenario, the search unit 34 includes: a third determination module 341, a calculation module 342, a filtering module 343, and a search module 344. The third determining module 341 may be configured to use one of the second endpoint and the preset point as a search starting point, and use the other as a search ending point, and determine each point adjacent to the search starting point. The calculating module 342 may be configured to calculate cost estimates for points adjacent to the search starting point respectively. The screening module 343 may be configured to screen a third target point from points adjacent to the search starting point based on the cost estimate, and add the third target point to the set of target points. The searching module 344 may be configured to repeat the searching process with the third target point as a new searching starting point until the searching ending point is searched. The third determining module 341 may be further configured to determine the remaining paths according to coordinate information corresponding to each third target point in the target point set.

Further, the calculating module 342 may be specifically configured to calculate, for any point of points adjacent to the search starting point, a cost value required to reach the search starting point from the any point; calculating the Manhattan distance between any point and the search end point according to the coordinate information corresponding to any point and the coordinate information corresponding to the search end point; and determining a cost estimation value corresponding to the any point based on the Manhattan distance and the cost value.

Further, the expanding unit 32 may be further configured to continue performing linear expansion from the second end point and the preset point to obtain a remaining global line if a remaining path between the second end point and the preset point is not searched. The determining unit 35 may be further configured to determine a first segment of straight line and a last segment of straight line in the remaining global lines, respectively. The determining unit 35 may be further configured to use each point on the first straight line and each point on the last straight line as a start point sequence and an end point sequence, respectively. The searching unit 34 may be further configured to perform a path search by traversing each point in the starting point sequence and each point in the ending point sequence until the path search is successful.

Further, the apparatus further comprises: a determination unit 36. The acquiring unit 31 may be further configured to acquire the length and width corresponding to the mine vehicle, and coordinate information of a map boundary and coordinate information of an obstacle. The determining unit 35 may be further configured to use the coordinate information corresponding to the operation point and the coordinate information corresponding to the preset point as the coordinate information of the central point of the mine vehicle, respectively. The determining unit 35 may be further configured to determine, based on the coordinate information of the central point of the mine vehicle and the length and width corresponding to the mine vehicle, coordinate information of vehicle boundaries when the mine vehicle is located at the working point and the preset point, respectively. The determination unit 36 may be configured to determine whether the mine vehicle will contact the map boundary and collide with the obstacle when the mine vehicle is located at the working point or the preset point, respectively, based on the coordinate information of the vehicle boundary, the coordinate information of the map boundary and the coordinate information of the obstacle. The expansion unit 32 may be further configured to perform linear expansion from the working point and the preset point respectively to obtain a global route constructed by a plurality of straight lines if the mine vehicle does not contact the map boundary and does not collide with the obstacle.

It should be noted that other corresponding descriptions of the functional modules involved in the driving path planning apparatus for vehicles in a mining area provided in the embodiment of the present invention may refer to the corresponding descriptions of the method shown in fig. 1, and are not described herein again.

Example four

Based on the method shown in fig. 1, correspondingly, the embodiment of the present invention further provides a computer-readable storage medium, as shown in fig. 12, a computer program is stored on the memory 720, the computer program is located in the program code space 730, and the program 731 implements the method steps of the first and second embodiments when executed by the processor 710. In the first and second embodiments, the driving path planning method for the mine vehicles has been described in detail, and is not described herein again.

The methods described in the above embodiments may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. Computer-readable media may include computer storage media and communication media, and may include any medium that can communicate a computer program from one place to another. A storage medium may be any target medium that can be accessed by a computer.

As one possible design, the computer-readable medium may include a compact disk read-only memory (CD-ROM), RAM, ROM, EEPROM, or other optical disk storage; the computer readable medium may include a disk memory or other disk storage device. Also, any connecting line may also be properly termed a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk and disc, as used herein, includes Compact Disc (CD), laser disc, optical disc, digital Versatile Disc (DVD), floppy disk and blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers.

EXAMPLE five

An embodiment of the present invention further provides an entity structure diagram of a computer device, as shown in fig. 13, where the computer device includes: a processor 41, a memory 42, and a computer program stored on the memory 42 and executable on the processor, wherein the memory 42 and the processor 41 are arranged on a bus 43 such that the steps of the method according to the first and second embodiments are performed when the processor 41 executes the program.

Aiming at the path characteristics of the narrow operation area, the method can plan the initial path by adopting a corresponding path mode directly according to the global line of the narrow operation area, and then plan the path by adopting a path searching mode aiming at the residual open operation area, so that compared with the mode of searching and planning the initial path for multiple times in the prior art, the method has higher path planning efficiency aiming at the narrow area, and meanwhile, the success rate of path planning is increased.

EXAMPLE six

Fig. 14 is a schematic structural diagram of a chip according to an embodiment of the present invention, and as shown in fig. 14, the chip 500 includes one or more than two (including two) processors 510 and a communication interface 530. The communication interface 530 is coupled to the at least one processor 510, and the at least one processor 510 is configured to execute a computer program or instructions to implement the method for planning a driving path of a mine vehicle according to the first embodiment and the second embodiment.

Preferably, the memory 540 stores the following elements: an executable module or a data structure, or a subset thereof, or an expanded set thereof.

In an embodiment of the invention, memory 540 may include both read-only memory and random access memory and provide instructions and data to processor 510. A portion of memory 540 may also include non-volatile random access memory (NVRAM).

In an embodiment of the present invention, memory 540, communication interface 530, and memory 540 are coupled together by bus system 520. The bus system 520 may include a power bus, a control bus, a status signal bus, and the like, in addition to the data bus. For ease of description, the various buses are labeled as bus system 520 in FIG. 14.

The method described in the embodiments of the present application may be applied to the processor 510, or implemented by the processor 510. Processor 510 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 510. The processor 510 may be a general-purpose processor (e.g., a microprocessor or a conventional processor), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an FPGA (field-programmable gate array) or other programmable logic device, discrete gate, transistor logic device or discrete hardware component, and the processor 510 may implement or execute the methods, steps and logic blocks disclosed in the embodiments of the present invention.

EXAMPLE seven

Fig. 15 is a schematic structural diagram of a terminal according to an embodiment of the present invention, and as shown in fig. 15, the terminal 600 includes the apparatus 100 for planning a driving path of a mine vehicle.

The terminal 600 may perform the method described in the above embodiment through the driving path planning apparatus 100 of the mine vehicle. It can be understood that the implementation manner of controlling the driving path planning apparatus 100 of the mine vehicle by the terminal 600 may be set according to an actual application scenario, and the embodiment of the present application is not particularly limited.

The terminal 600 includes but is not limited to: the vehicle can implement the method provided by the application through the vehicle-mounted terminal, the vehicle-mounted controller, the vehicle-mounted module, the vehicle-mounted component, the vehicle-mounted chip, the vehicle-mounted unit, the vehicle-mounted radar or the camera.

The terminal in the embodiment of the invention is used as a control or adjustment system for executing non-electric variables, can plan the driving path of the mine vehicle in a narrow operation area, and can improve the planning efficiency of the driving path of the mine vehicle.

It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made without departing from the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims

1. A method for planning a driving path of a mine vehicle is characterized by comprising the following steps:

acquiring an operation point and a preset point corresponding to a mine vehicle;

respectively performing linear expansion from the operating point and the preset point to obtain a global route constructed by a plurality of straight lines, wherein in the process of linear expansion, the length and the direction of the linear expansion from the operating point and the preset point are respectively set so that when a mining area vehicle runs along the expanded straight lines, the mining area vehicle does not contact with a map boundary and does not collide with an obstacle, so that a plurality of mutually perpendicular straight lines respectively started from the operating point and the preset point are expanded, and the shortest distance between the mutually perpendicular straight lines started from the operating point and the mutually perpendicular straight lines started from the preset point is smaller than a preset distance;

according to the global line, performing initial path planning by adopting a corresponding path mode to obtain an initial path of which a first end point is the operation point;

performing path search between a second end point corresponding to the initial path and the preset point to obtain a remaining path corresponding to the mining area vehicle;

and determining a corresponding driving path of the mine vehicle based on the residual path and the initial path.

2. The method according to claim 1, wherein the expanding the straight lines from the working point and the preset point respectively to obtain a global line constructed by a plurality of straight lines comprises:

respectively taking the operation point and the preset point as starting points, and linearly expanding a preset length along the direction of the course angle corresponding to the operation point and the preset point respectively to obtain initial expansion straight lines corresponding to the operation point and the preset point respectively;

performing linear expansion by taking the tail end point of the initial expansion straight line corresponding to the operation point and the preset point as a new starting point to obtain a first target expansion straight line corresponding to the operation point and a second target expansion straight line corresponding to the preset point;

and repeating the linear expansion process until the distance between a first target point on the first target expansion straight line and a second target point on the second target expansion straight line is smaller than a preset distance, and determining the global line according to a linear line connecting the first target point and the operation point and a linear line connecting the second target point and the preset point.

3. The method according to claim 2, wherein performing linear expansion by using a terminal point of an initial expansion straight line corresponding to each of the operation point and the preset point as a new starting point to obtain a first target expansion straight line corresponding to the operation point and a second target expansion straight line corresponding to the preset point comprises:

expanding the tail end points of the initial expansion straight lines corresponding to the operation points and the preset points respectively to be used as new starting points to expand preset lengths to straight lines on two sides along the vertical direction to obtain two expansion straight lines corresponding to the operation points and the preset points respectively;

aiming at the two extension straight lines corresponding to the operation point, determining the extension straight line which does not contact with a map boundary when the mining area vehicle runs and does not collide with an obstacle as the first target extension straight line;

and determining the extension straight line which does not contact with the map boundary when the mine vehicle runs and does not collide with the obstacle as the second target extension straight line according to the two extension straight lines corresponding to the preset points.

4. The method of claim 2, wherein repeating the line expansion process until a distance between a first target point on the first target expansion line and a second target point on the second target expansion line is less than a preset distance comprises:

determining two points with the shortest distance on the first target extension straight line and the second target extension straight line according to the coordinate information of each point on the first target extension straight line and the coordinate information of each point on the second target extension straight line, and taking the two points with the shortest distance as the first target point and the second target point respectively;

if the distance between the first target point and the second target point is smaller than the preset distance, stopping linear expansion;

and if the distance between the first target point and the second target point is greater than or equal to the preset distance, continuing to perform linear expansion by taking the end points corresponding to the first target expansion straight line and the second target expansion straight line as new starting points.

5. The method according to claim 1, wherein the performing initial path planning by using a corresponding path mode according to the global line to obtain an initial path with a first end point as the operation point comprises:

determining an overall direction corresponding to the driving path according to the global route and the type of the driving path, and determining a first target path mode corresponding to the mining area vehicle based on the overall direction corresponding to the driving path;

and planning an initial path based on the first target path mode to obtain an initial path with a first end point as the operation point.

6. The method according to claim 5, wherein the determining of the overall direction corresponding to the travel path according to the global route and the type of the travel path and the determining of the first target path mode corresponding to the mine vehicle based on the overall direction corresponding to the travel path comprise:

if the driving path is an entrance path and the operation point is an end point, determining the overall direction corresponding to the entrance path according to the first two sections of linear lines connected with the end point in the global lines, and determining a first target path mode corresponding to the mine vehicle according to the overall direction corresponding to the entrance path;

if the driving path is a departure path and the operation point is a starting point, determining the overall direction corresponding to the departure path according to the first two sections of linear lines connected with the starting point in the global line, and determining a first target path mode corresponding to the mining area vehicle according to the overall direction corresponding to the departure path.

7. The method according to claim 5, wherein the first target path mode comprises at least two continuous curve combinations, and the performing initial path planning based on the first target path mode to obtain the initial path with the first end point as the operation point comprises:

determining coordinate information and a course angle corresponding to the first endpoint according to the coordinate information and the course angle corresponding to the operation point;

calculating the coordinate information of the circle center of a second endpoint side curve combination according to the minimum turning radius and the maximum curvature change rate corresponding to the mining area vehicle and the coordinate information corresponding to the first endpoint;

setting a course angle corresponding to the second endpoint, and calculating coordinate information corresponding to the second endpoint based on the coordinate information of the circle center of the second endpoint side curve combination and the course angle corresponding to the second endpoint;

calculating the coordinate information of each point on at least two curve combinations contained in the first target path mode based on the coordinate information and the course angle corresponding to the first end point and the coordinate information and the course angle corresponding to the second end point;

and determining the initial path according to the coordinate information of each point on at least two curve combinations contained in the first target path mode.

8. The method according to claim 7, wherein the calculating the coordinate information of the center of the second endpoint-side curve combination according to the minimum turning radius and the maximum curvature change rate corresponding to the mine vehicle and the coordinate information corresponding to the first endpoint comprises:

calculating a distance threshold corresponding to the first target path mode according to the minimum turning radius and the maximum curvature change rate corresponding to the mining area vehicle;

determining a circle center distance between a first endpoint side curve combination and a second endpoint side curve combination on the initial path according to the distance threshold and the combination mode of the curve combinations corresponding to the first target path mode;

calculating the coordinate information of the circle center of the first endpoint side curve combination according to the coordinate information corresponding to the first endpoint;

and determining the coordinate information of the circle center of the second endpoint side curve combination according to the coordinate information of the circle center of the first endpoint side curve combination and the circle center distance.

9. The method of claim 7, wherein calculating the coordinate information of each point on the at least two curve combinations included in the first target path mode based on the coordinate information and the heading angle corresponding to the first endpoint and the coordinate information and the heading angle corresponding to the second endpoint comprises:

calculating the course angle difference value of two end points of each curve combination contained in the first target path mode according to the coordinate information and the course angle corresponding to the first end point, the coordinate information and the course angle corresponding to the second end point and the combination mode of the curve combination corresponding to the first target path mode;

calculating the curvature change rate corresponding to each curve combination contained in the first target path mode according to the coordinate information corresponding to the first end point, the minimum turning radius and the maximum curvature change rate corresponding to the mining vehicle, and the course angle difference value of the two end points of each curve combination;

determining the maximum curvature corresponding to the mining area vehicle according to the minimum turning radius corresponding to the mining area vehicle, and calculating the total length of each curve combination contained in the target path mode according to the maximum curvature and the maximum curvature change rate corresponding to the mining area vehicle and the course angle difference value of two end points of each curve combination;

and calculating the coordinate information of each point on at least two curve combinations contained in the first target path mode according to the total length of each curve combination, the curvature change rate corresponding to each curve combination and the coordinate information corresponding to the first end point.

10. The method according to any one of claims 1 to 9, wherein the performing a path search between the second endpoint corresponding to the initial path and the preset point to obtain the remaining path corresponding to the mine vehicle comprises:

taking one point of the second end point and the preset point as a search starting point, and taking the other point as a search end point;

starting from the search starting point, performing path search by using a preset curve combination as a basic unit to obtain a search path of the mining area vehicle, wherein the curvature of the curve combination is continuous and the curvatures of two end points are 0;

taking the end point of the search path as a new starting point, and trying to connect the new starting point and the search end point by utilizing multiple preset path modes to obtain a second target path mode capable of connecting the search end point;

and determining a connection path in the second target path mode, and determining a remaining path corresponding to the mining area vehicle according to the connection path and the search path.

11. The method according to claim 10, wherein the step of performing a path search using a preset curve combination as a basic unit starting from the search starting point to obtain the search path of the mine vehicle comprises:

determining a course angle difference sequence of two end points of a plurality of curve combinations starting from the search starting point in the path search process;

calculating coordinate information of each point on the curve combination corresponding to any course angle difference value aiming at any course angle difference value in the course angle difference sequence;

determining a target curve combination which does not contact with a map boundary and collide with an obstacle when the mining area vehicle runs according to the coordinate information of each point on the curve combination corresponding to the any one course angle difference;

and determining a search path corresponding to the mining area vehicle according to the target curve combination.

12. The method according to claim 10, wherein any one of the plurality of predetermined path patterns comprises at least two curve combinations, each curve combination having a corresponding direction of motion; the attempting to connect the new starting point and the search end point by using a plurality of preset path modes to obtain a second target path mode capable of connecting the search end point comprises the following steps:

judging whether the new starting point and the search end point can be connected by adopting any one path mode according to the combination mode of the at least two curve combinations and the action direction corresponding to each curve combination;

and determining a second target path mode which can be connected with the search end point from the plurality of preset path modes according to the judgment result.

13. The method of claim 10, wherein determining the connection path in the second target path mode comprises:

calculating coordinate information of each point on at least two curve combinations contained in the second target path mode according to the course angle and the coordinate information corresponding to the new starting point and the course angle and the coordinate information corresponding to the searching end point;

judging whether the mine vehicle is in contact with the map boundary and whether the mine vehicle is in collision with an obstacle when running in the second target path mode according to coordinate information of each point on at least two curve combinations contained in the second target path mode;

and if the mine vehicle does not contact the map boundary when running and does not collide with the obstacle, determining a connection path in the second target path mode according to coordinate information of each point on at least two curve combinations included in the second target path mode.

14. The method according to any one of claims 1 to 9, wherein the performing a path search between the second endpoint corresponding to the initial path and the preset point to obtain the remaining path corresponding to the mine vehicle comprises:

taking one point of the second end point and the preset point as a search starting point and the other point as a search end point, and determining each point adjacent to the search starting point;

respectively calculating cost evaluation values of points adjacent to the search starting point;

screening a third target point from points adjacent to the search starting point based on the cost evaluation, and adding the third target point into a target point set;

taking the third target point as a new search starting point, and repeating the search process until the search end point is searched;

and determining the remnant path according to the coordinate information corresponding to each third target point in the target point set.

15. The method of claim 14, wherein separately computing cost estimates for points adjacent to the search starting point comprises:

calculating a cost value required for reaching the search starting point from any point in points adjacent to the search starting point;

calculating the Manhattan distance between any point and the search end point according to the coordinate information corresponding to any point and the coordinate information corresponding to the search end point;

and determining a cost estimation value corresponding to the any point based on the Manhattan distance and the cost value.

16. The method of claim 1, further comprising:

if the remaining paths between the second end point and the preset point are not searched, proceeding straight line expansion from the second end point and the preset point respectively to obtain remaining global lines;

respectively determining a first section of straight line and a last section of straight line in the remaining global lines;

respectively taking each point on the first section of straight line and each point on the last section of straight line as a starting point sequence and an end point sequence;

and performing path search by traversing each point in the starting point sequence and each point in the end point sequence until the path search is successful.

17. The method according to claim 1, wherein before the expanding the straight lines from the working point and the preset point respectively to obtain the global line constructed by a plurality of straight lines, the method further comprises:

acquiring the length and width corresponding to the mine vehicles, and coordinate information of a map boundary and coordinate information of an obstacle;

respectively taking the coordinate information corresponding to the operation point and the coordinate information corresponding to the preset point as the coordinate information of the central point of the mining area vehicle;

respectively determining the coordinate information of the vehicle boundary when the mining vehicle is positioned at the operation point and the preset point based on the coordinate information of the central point of the mining vehicle and the length and the width corresponding to the mining vehicle;

respectively judging whether the mine vehicle is in contact with the map boundary when positioned at the operation point or the preset point and whether the mine vehicle is in collision with the obstacle or not based on the coordinate information of the vehicle boundary, the coordinate information of the map boundary and the coordinate information of the obstacle;

and if the mining area vehicle does not contact the map boundary and does not collide with the obstacle, performing linear expansion from the operation point and the preset point respectively to obtain a global line constructed by a plurality of straight lines.

18. A driving path planning device for mine vehicles is characterized by comprising:

the acquisition unit is used for acquiring an operation point and a preset point corresponding to the mining area vehicle;

the extension unit is used for respectively carrying out linear extension from the operation point and the preset point to obtain a global route constructed by a plurality of straight lines, wherein in the process of linear extension, the length and the direction of the linear extension from the operation point and the preset point are respectively set so that when a mining area vehicle runs along the extended straight lines, the mining area vehicle does not contact with a map boundary and does not collide with an obstacle, a plurality of mutually perpendicular straight lines respectively starting from the operation point and the preset point are extended, and the shortest distance between the mutually perpendicular straight lines starting from the operation point and the mutually perpendicular straight lines starting from the preset point is smaller than the preset distance;

the planning unit is used for planning an initial path by adopting a corresponding path mode according to the global line to obtain an initial path of which a first end point is the operation point;

the searching unit is used for searching a path between a second end point corresponding to the initial path and the preset point to obtain a residual path corresponding to the mining area vehicle;

and the determining unit is used for determining a driving path corresponding to the mining area vehicle based on the remaining path and the initial path.

19. A chip, characterized in that the chip comprises at least one processor and a communication interface, the communication interface being coupled with the at least one processor, the at least one processor being configured to run a computer program or instructions to implement the method of driving path planning for mine vehicles according to any of claims 1-17.

20. A terminal, characterized in that it comprises a driving path planning device for mine vehicles according to claim 18.

21. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 17 when executed by the processor.

22. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 17.