US 12,253,383 B2
Systems and methods for route planning on topographical map using vehicle motion
Yuanqiang Yuan, Hangzhou (CN); Wei Lu, Hangzhou (CN); Yidong Jin, Hangzhou (CN); Jun Yin, Hangzhou (CN); and Fangbo Mu, Hangzhou (CN)
Assigned to ZHEJIANG HUARAY TECHNOLOGY CO., LTD., Hangzhou (CN)
Filed by ZHEJIANG HUARAY TECHNOLOGY CO., LTD., Zhejiang (CN)
Filed on Jul. 14, 2021, as Appl. No. 17/305,722.
Application 17/305,722 is a continuation of application No. PCT/CN2020/070820, filed on Jan. 8, 2020.
Claims priority of application No. 201910032301.5 (CN), filed on Jan. 14, 2019.
Prior Publication US 2021/0341309 A1, Nov. 4, 2021
Int. Cl. G01C 21/00 (2006.01); G01C 21/34 (2006.01); G01C 21/36 (2006.01)
CPC G01C 21/3889 (2020.08) [G01C 21/3461 (2013.01); G01C 21/3614 (2013.01); G01C 21/3874 (2020.08)] 14 Claims
OG exemplary drawing
 
1. A system for route planning, comprising:
at least one storage device including a set of instructions; and
at least one processor in communication with the at least one storage device, wherein when executing the set of instructions, the at least one processor is configured to cause the system to:
obtain a start location and a destination of a target vehicle;
obtain a map of a target region including the start location and the destination, the map including node information of each of a plurality of nodes;
obtain motion status information associated with one or more vehicles other than the target vehicle in the target region; and
determine a target route of the target vehicle based at least in part on the start location, the destination, the motion status information associated with the one or more vehicles, and the map;
wherein to determine the target route of the target vehicle based at least in part on the start location, the destination, the motion status information associated with the one or more vehicles, and the map, the at least one processor is configured to cause the system to:
identify one or more static vehicles from the one or more vehicles based on the motion status information;
for each of the one or more static vehicles, determine a preset region including one or more nodes associated with the static vehicle;
for each of the one or more nodes associated with the static vehicle, modify the node information of the node by designating the node as a barrier;
identify one or more moving vehicles from the one or more vehicles based on the motion status information;
for each of the one or more moving vehicles, determine one or more nodes associated with a predetermined route corresponding to the moving vehicle;
for each of the one or more nodes associated with the moving vehicle, modify the node information of the node by assigning a weight value larger than a predetermined threshold to the node;
determine the target map based on the map, the modified node information of the one or more nodes associated with each of the one or more static vehicles, and the modified node information of the one or more nodes associated with each of the one or more moving vehicles;
determine a start node from the plurality of nodes based on the start location in the target map;
determine a destination node from the plurality of nodes based on the destination in the target map; and
determine the target route of the target vehicle based on a plurality of costs associated with a plurality of target nodes between the start node and the destination node, wherein each cost associated with each target node of the plurality of target nodes is a sum of a first cost from the start node to the target node and a second cost from the target node to the destination node, the first cost is determined according to formula (1) below:
g(n)=cost(n)+g(npre)+dis(npre,n)+angle(npre,n)  (1)
where cost(n) refers to a weight value of the target node, g(npre) refers to a cost of a parent node of the target node, dis(npre, n) refers to a cost from the parent node of the target node to the target node, and angle(npre, n) refers to a turn cost from the parent node of the target node to the target node, and
the second cost is determined according to formula (2) below:
h(n)=|xs0−xn|+|ys0−yn|  (2)
where xs0 and ys0 refer to an X-coordinate and a Y-coordinate of the destination node respectively and xn and yn refer to an X-coordinate and a Y-coordinate of the target node respectively.