TIME WINDOW-BASED MULTI-VEHICLE PATH PLANNING METHOD, SYSTEM, AND DEVICE, AND STORAGE MEDIUM

Provided are a time window-based multi-vehicle path planning method, system, and device, and a storage medium. The method comprises: traversing each edge between adjacent nodes in a road network node map, and obtaining the passage time of passing each edge, and a shortest estimated distance between any two points in the map (S101); obtaining a current access list of a first vehicle sequentially passing each node from a starting node and a past access list (S102); according to respective times of occupying nodes and edges in past access lists of all vehicles having path planning completed, updating a lock time window of the nodes and a lock time window of the edges (S103); obtaining a current access list of the next vehicle, which needs path planning, sequentially passing each node from the starting node and a past access list; if the time interval of a legal time window is included in the time interval of the lock time window of the nodes, discarding the node; and sequentially outputting predecessor nodes in the past access list as path planning (SI04). The path planning method can effectively prevent conflicts between different vehicles in multi-vehicle path planning, and improve the passage efficiency and security.