CN112197779A - Navigation path planning method and device and printing equipment - Google Patents
Navigation path planning method and device and printing equipment Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3476—Special cost functions, i.e. other than distance or default speed limit of road segments using point of interest [POI] information, e.g. a route passing visible POIs
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3679—Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities
- G01C21/3682—Retrieval, searching and output of POI information, e.g. hotels, restaurants, shops, filling stations, parking facilities output of POI information on a road map
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Abstract
The application discloses a navigation path planning method, belongs to the technical field of computers, and is beneficial to improving the accuracy of a planned path. The navigation path planning method comprises the following steps: acquiring pre-constructed information point trees, wherein each information point tree corresponds to one information plane, and the information point trees are constructed according to the parent-child relationship of each information point in the corresponding information plane; determining information points which are related to the navigation destination and have passable attributes in the information point tree containing the navigation destination as candidate passing information points; filtering the candidate passing information points based on historical navigation data in a specified time period to determine passable passing information points; and planning a navigation path according to the navigation parameters including the passable passing information point and the navigation destination. According to the method, the route points of the navigation path are mined according to historical navigation data, and navigation path planning is intervened, so that the navigation path planning quality is improved, and the feasibility of the terminal navigation path is ensured.
Description
Technical Field
The embodiment of the application relates to the technical field of computers, in particular to a navigation path planning method, a navigation path planning device, electronic equipment and a computer-readable storage medium.
Background
In the existing vehicle navigation scene, after a user selects a POI (Point of Information) of a navigation start Point and a navigation end Point, a navigation engine plans an optimal route from the start Point to the end Point. However, the conditions of roads near the end point are complex and changeable, and in the prior art, the navigation engine only ensures that the planned route distance is shortest or the time consumption is shortest, and the terminal navigation cannot be ensured to pass. For example, for a navigation request with a navigation end point being a certain cell, the navigation engine may select a cell entry with the shortest distance or shortest time of the planned path in the map data as the end point of the planned path, regardless of whether the entry allows passage. For example, if a cell has two entrances, one of which is a pedestrian entrance and the other is a vehicle entrance, the navigation engine plans the emphasis of the navigation route of the vehicle as the pedestrian entrance if the path from the pedestrian entrance to the navigation starting point is shortest.
It can be seen that the navigation engine in the prior art plans an inaccurate route.
Disclosure of Invention
The embodiment of the application provides a navigation path planning method, which can improve the accuracy of path planning by combining the excavated navigation path points with the navigation starting point and the navigation destination for navigation.
In order to solve the above problem, in a first aspect, an embodiment of the present application provides a navigation path planning method, including:
acquiring pre-constructed information point trees, wherein each information point tree corresponds to one information plane, and the information point trees are constructed according to the parent-child relationship of each information point in the corresponding information plane;
determining information points which are related to the navigation destination and have passable attributes in the information point tree containing the navigation destination as candidate passing information points;
filtering the candidate passing information points based on historical navigation data in a specified time period to determine passable passing information points;
and planning a navigation path according to the navigation parameters including the passable passing information point and the navigation destination.
In a second aspect, an embodiment of the present application provides a navigation path planning apparatus, including:
the information point tree acquisition module is used for acquiring pre-constructed information point trees, wherein each information point tree corresponds to one information plane and is constructed according to the parent-child relationship of each information point in the corresponding information plane;
a candidate route information point determining module, configured to determine, in the information point tree including a navigation destination, an information point having a passable attribute associated with the navigation destination as a candidate route information point;
the passable passing information point determining module is used for filtering the candidate passing information points based on historical navigation data in a specified time period and determining passable passing information points;
and the route planning module is used for planning a navigation route according to the navigation parameters including the passable information point and the navigation destination.
In a third aspect, an embodiment of the present application further discloses an electronic device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the navigation path planning method according to the embodiment of the present application is implemented.
In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the steps of the navigation path planning method disclosed in the present application.
The navigation path planning method disclosed by the embodiment of the application acquires pre-constructed information point trees, wherein each information point tree corresponds to one information plane and is constructed according to the parent-child relationship of each information point in the corresponding information plane; determining information points which are related to the navigation destination and have passable attributes in the information point tree containing the navigation destination as candidate passing information points; filtering the candidate passing information points based on historical navigation data in a specified time period to determine passable passing information points; and planning a navigation path according to the navigation parameters including the passable passing information point and the navigation destination, so that the accuracy of the planned path can be improved.
The foregoing description is only an overview of the technical solutions of the present application, and the present application can be implemented according to the content of the description in order to make the technical means of the present application more clearly understood, and the following detailed description of the present application is given in order to make the above and other objects, features, and advantages of the present application more clearly understandable.
Drawings
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a flowchart of a navigation path planning method according to a first embodiment of the present application;
fig. 2 is a schematic diagram of an information point tree constructed by a navigation path planning method in the first embodiment of the present application;
fig. 3 is a schematic diagram illustrating a navigation path planning effect in an embodiment of the present application;
FIG. 4 is a schematic structural diagram of a navigation path planning apparatus according to a second embodiment of the present application;
FIG. 5 is a second schematic structural diagram of a navigation path planning apparatus according to a second embodiment of the present application;
FIG. 6 schematically shows a block diagram of an electronic device for performing a method according to the present application; and
fig. 7 schematically shows a storage unit for holding or carrying program code implementing a method according to the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Example one
As shown in fig. 1, a navigation path planning method disclosed in an embodiment of the present application includes: step 110 to step 140.
And step 110, acquiring a pre-constructed information point tree.
Each information point tree corresponds to one information plane, and the information point trees are constructed according to the parent-child relationship of each information point in the corresponding information plane. Each node in the information Point tree corresponds to an information Point, the area where each child node corresponds to the information Point is contained in the area where the parent node of the corresponding child node corresponds to the information Point, and the area where the leaf node of the information Point tree corresponds to is the minimum granularity area in a POI (Point of information) database.
Before determining the effective navigation path, information points capable of normally passing can be determined as route points or navigation end points. Therefore, in the embodiment of the present application, information points in the POI database are managed by a data structure based on AOI (Area of information, information plane) dimensions, so that it can be determined by traversing the data structure in which information plane (e.g. XX building, XX park, XX cell, etc.) a certain target information point (e.g. XX cafe) is included, and which information points such as building doors, courtyard doors, parking lot, etc. are included in the information plane (e.g. XX building, XX park, XX cell, etc.) the target information point is seated in, so that a feasible path to reach the target Area can be selected in a wider range.
In some embodiments of the present application, before the obtaining of the pre-constructed information point tree, the method further includes: for each information point in a preset information point database, determining a father node of the information point in the information point database layer by layer according to the father-son relationship of each information point in the preset information point database until a root node, and obtaining an information point sub-tree of the information point, wherein each root node corresponds to an information surface; and merging the information point sub-trees with the same root node to obtain the information point tree corresponding to the corresponding information plane. And the area of the information point corresponding to each child node under the root node is contained in the area of the information surface corresponding to the root node.
In the prior art, a navigation application platform, a geographic position application platform, a map service platform, or the like provides a POI database, which includes: the name of the information point, the node identification, the father node identification, the node type and other information. For example, the POI information base may include: information points such as streets, buildings, parks, park entrances and exits, parking lots and the like, node identifications (usually identified by numbers) of the information points, parent node identifications (usually identified by numbers) of the information points, node types (such as office buildings, parks, frontier doors, building doors, parking lots and the like). For example, the POI database contains the following POI data: the name of the information point is 'XX International', the node identifier is '1', the father node identifier is '0', and the node type is 'park'; the name of the information point is 'XX International (southeast door)', the node identifier is '2', the father node identifier is '1', and the node type is 'linkage courtyard gate'; the name of the information point is 'XX International (south door)', the node identifier is '3', the father node identifier is '1', and the node type is 'linkage courtyard gate'; the name of the information point is 'XX International (south 1 door)', the node identifier is '4', the father node identifier is '1', and the node type is 'linkage courtyard door'; the name of the information point is 'XX international A seat', the node mark is '5', the father node mark is '1', and the node type is 'building'; the name of the information point is ' XX International A seat ' (southeast door) ', the node identification is ' 6 ', the father node identification is ' 5 ', and the node type is ' building door '; the name of the information point is 'XX international C seat', the node mark is '7', the father node mark is '1', and the node type is 'building'; the information point name "XX medical insurance office" has a node identification of "8", a parent node identification of "7", and a node type of "company".
Based on the POI data as described above, an information point tree as shown in fig. 2 can be constructed according to the node parent-child relationship of the information points in the POI database.
Firstly, processing the parent-child relationship attributes of the information points in the POI data, finding the corresponding primary parent POI, secondary parent POI, … and the root node parent POI layer by layer aiming at each POI (namely the information point), and creating an information point sub-tree of each POI. Then, the information point sub-trees created for each POI are merged to form an information point tree with AOI (information plane) as a dimension.
For example, when an information point tree is constructed based on the parent-child relationship of each information point in the preset information point database, regarding POI "XX international (southeast door)", the node identifier is "2", the parent node identifier is "1", and further, it can be determined from the information in the POI database that the information point name of the information point with the node identifier "1" is "XX international", the parent node identifier is "0", and the node identifier "0" is the following node identifier, that is, the information point with the node identifier "0" is the root node, and corresponds to one information plane. Based on the traversal result, an information point sub-tree can be determined, in which a leaf node corresponds to the information point "XX international (southeast door)", a parent node of the leaf node corresponds to the information point "XX international", and the parent node of the parent node is a root node and corresponds to an information plane (e.g., XX international park).
According to the method for constructing the information point sub-tree, the following information point sub-trees can be constructed based on the information in the POI database: the leaf node corresponds to the information point "XX international (south door)", the father node of the leaf node corresponds to the information point "XX international", and the father node of the father node is a subtree of the root node (for example, the father node corresponds to the information plane "XX international garden"); the leaf node corresponds to the information point "XX international (south 1 gate)", the father node of the leaf node corresponds to the information point "XX international", and the father node of the father node is a subtree of the root node (for example, the father node corresponds to the information plane "XX international garden"); the leaf node corresponds to the information point 'XX International A seat', the father node of the leaf node corresponds to the information point 'XX International', and the father node of the father node is a subtree of a root node (such as a subtree corresponding to the information plane 'XX International park'); the father node of the leaf node corresponds to an information point ' XX international A seat ' (southeast door) ', the father node of the leaf node corresponds to an information point ' XX international A seat ', the father node of the father node corresponds to an information point ' XX international ', and the father node of the upper layer is a subtree of a root node (such as corresponding to an information surface ' XX international park '); the leaf node corresponds to the information point 'XX International C seat', the father node of the leaf node corresponds to the information point 'XX International', and the father node of the father node is a subtree of a root node (such as a subtree corresponding to the information plane 'XX International park'); the leaf node's father node corresponds to the information point "XX medical insurance office", the leaf node's father node corresponds to the information point "XX international C seat", the father node of the father node corresponds to the information point "XX international", and the next higher level father node is a subtree of the root node (e.g., corresponds to the information plane "XX international campus").
And further, merging the information point sub-trees with the same root node to obtain the information point tree corresponding to the corresponding information plane. Still taking the constructed information point sub-trees as an example, if the root node of each sub-tree corresponds to an information plane (e.g. XX international park), merging the information point sub-trees to obtain the information point tree shown in fig. 2. As shown in fig. 2, the leaf node 20141 corresponds to the information point "XX international a seat (southeast gate)", the leaf node 20151 corresponds to the information point "XX medical insurance office", the leaf node 2011 corresponds to the information point "XX international (southeast gate)", the leaf node 2012 corresponds to the information point "XX international (southwest gate)", and the leaf node 2013 corresponds to the information point "XX international (southwest 1 gate)"; further, the parent node of the leaf node 20141 is the node 2014, the parent node of the leaf node 20151 is the node 2015, the parent nodes of the nodes 2011-2015 are the nodes 201, and the root node is the node 200.
When the path planning is needed, by reading the data in the information point tree constructed in advance, it is possible to determine the child information points of the designated information point (for example, the information points included in the area where the designated information point is located, for example, the information point "XX international a standard" in the area where the designated information point "XX international" is located), or the information points around the designated information point (that is, the information points having the same parent node as the designated information point, for example, the information points "XX international (south 1 gate)", "XX international C standard" having the same parent node as the designated information point "XX international a standard").
By executing this step, a plurality of information point trees corresponding to the POI database will be obtained. Taking a POI database as an example of a certain city, by executing the step, information point trees corresponding to AOIs of hundreds or even thousands of parks, business centers and the like of the city are obtained.
And 120, determining information points which are related to the navigation destination and have passable attributes in the information point tree containing the navigation destination as candidate passing information points.
In some embodiments of the present application, the information point tree including the navigation destination may be determined by information point comparison.
Next, a candidate route information point matching the navigation destination is determined based on the information described in the information point tree. The information points with passable attributes associated with the navigation destination are usually information points with passable attributes within a certain range around the navigation destination. In a POI database, the navigation destination and the associated information point with the passable attribute typically have the same parent node identification. In the POI database, the information points having the same parent node identifier are usually closer information points.
In some embodiments of the present application, determining, in the information point tree including a navigation destination, an information point having a passable attribute associated with the navigation destination as a candidate route information point includes: determining a node matched with a navigation destination in the information point tree as a current traversal node; determining a parent node of the current traversal node in the information point tree; responding to the father node including the leaf node corresponding to the information point with the passable attribute, taking the information point with the passable attribute corresponding to the leaf node of the father node as a candidate passing information point, and finishing traversal; and in response to the parent node does not comprise the leaf node corresponding to the information point with the passable attribute and the current traversal node is not the root node, determining the parent node of the current traversal node as the current traversal node, and jumping to the step of determining the parent node of the current traversal node in the information point tree.
Firstly, traversing the information point data stored in the information point tree, determining the node corresponding to the navigation destination, and traversing the information point tree layer by layer from the node corresponding to the navigation destination until searching the leaf node corresponding to the passable information point. Taking the navigation purpose as "XX medical insurance office" as an example, by performing node information matching with the information point tree, a node corresponding to the navigation destination, such as the node 20151 in fig. 2, can be determined. Then, with the node 20151 as the current traversal node, search for information points that are located near the navigation destination and whose areas are inseparable is started. The inseparable information point in the area in the embodiment of the present application is usually the smallest information point in the POI database, and includes: building doors, patio doors, parking lots, etc.
In the traversing process, firstly, a parent node (such as a node 2015) of a current traversing node (such as a node 20151) is determined, then, a child node (such as the node 20151) hung below the parent node (such as the node 2015) is traversed downwards layer by layer until leaf nodes with passable attribute information points, such as corresponding building doors, patio doors and the like, are found, and the found leaf nodes are used as candidate passing information points.
As shown in fig. 2, in the information point tree, when there is no leaf node corresponding to an information point with a passable attribute in leaf nodes hung under a parent node (e.g., node 2015) of a current traversal node (e.g., node 20151), the traversal continues to the upper layer, and whether the leaf node corresponding to the information point with the passable attribute is included under the parent node (e.g., node 201) of the current traversal node is searched.
As shown in fig. 2, the parent node (e.g., node 201) of the current traversal node includes leaf nodes 2011, 2012, and 2013, and further includes: the leaf nodes 20141 of the nodes 2014 and the leaf nodes 20151 of the nodes 2015, wherein the leaf nodes 2011, 2012, 2013 and 20141 correspond to information points with passable attributes (e.g., correspond to information points "XX international (southeast gate)", "XX international (southwest gate)") and "XX international a seat (southeast gate)"), the information points with passable attributes (i.e., "XX international (southeast gate)", "XX international (southwest gate)") and "XX international a seat (southeast gate)") corresponding to the leaf nodes 2011, 2012, 2013 and 20141 are used as candidate routing information points of the navigation destination "XX medical insurance office".
And step 130, filtering the candidate passing information points based on historical navigation data in a specified time period, and determining passable passing information points.
In an actual scene, some building doors or gate courtyards are closed recently for some reasons and are impassable, and an impassable path can be planned by taking an information point in an impassable state as a passing point during path planning. Therefore, after the route selection information points near the navigation destination are determined, the candidate route information points need to be filtered by combining historical navigation data, and the passable information points need to be mined from the candidate route information points.
In some embodiments of the application, the filtering the candidate route information points based on the historical navigation data in the specified time period to determine passable route information points includes: acquiring historical navigation data of the navigation destination in a specified time period; and matching the candidate route information points with the information points of the navigation route in the historical navigation data to determine the candidate route information points which are successfully matched as passable route information points. The specified time period may be a preset length time period before the navigation path planning is performed, and preferably, the specified time period may be a preset length time period which is the latest time when the navigation path planning is performed, such as a last month. For example, the navigation track of the historical navigation order of the navigation destination is searched firstly; then, calculating whether the navigation track passes through the candidate route information point or not, and marking a 'passable' label on the candidate route information point through which the navigation track passes; and finally, determining the candidate route information points with the 'passable' labels as passable route information points of the planned route of the navigation destination.
The determined candidate route information points with the navigation destination of "XX medical insurance office" include: for example, if there are historical navigation paths of the approaches "XX international (southeast gate)", "XX international (south gate)", and "XX international (south gate)" in the navigation trajectory in the historical navigation data, it is possible to determine that the information points "XX international (southeast gate)", "XX international (south gate)" and "XX international C seat" are passable, and put the information points "XX international (southeast gate)", "XX international (south gate)" and "XX international C seat" on a "passable" label. Thus, the information points "XX international (southeast door)", "XX international (south door)", and "XX international C seat" are determined as passable passing information points of the planned route whose navigation destination is "XX medical insurance office".
In other embodiments of the application, after determining that the candidate route information point that is successfully matched is used as a passable route information point by matching the candidate route information point with the route information point of the navigation route in the historical navigation data, the method further includes: and determining the heat of the passable passing information points. For example, for each candidate route information point which is successfully matched, the heat of each candidate route information point can be determined according to the number of times of successful matching, the more the number of times of successful matching is, the higher the heat of the candidate route information point is, and a "heat" label is set for the corresponding route information point according to the heat of the candidate route information point. The "hot" label is used to indicate the probability that the route information point is used as a route point information point of a planned path of the navigation destination.
And 140, planning a navigation path according to the navigation parameters including the passable passing information point and the navigation destination.
After the passable passing information points near the navigation destination are determined, the passable passing information points, the navigation destination, the navigation starting point, the traffic mode and other information are used as input parameters and input into a preset navigation path planning engine, and path planning is carried out through the navigation path planning engine, so that one or more navigation paths can be obtained.
Taking the road network information shown in fig. 3 as an example, assuming that the navigation starting point is point a and the navigation destination is a shopping mall (i.e. information point) D, the shopping mall D includes two entrances E1, E2 and E3, and for safety management reasons, the door E1 of the shopping mall D is not open to the outside. If the prior art method is used for route planning, after the navigation origin and the navigation destination are entered, the navigation route planning engine plans a shortest distance route from point a to door E1 of shopping mall D, as shown by arrow 310 in fig. 3. Since the E1 door of shopping mall D is not opened to the outside, the end of the navigation path is not accessible, and thus the user cannot enter shopping mall D through the navigation path. When the method disclosed in the embodiment of the present application is used to perform path planning, after a navigation start point, a navigation route point (e.g. door E2 of shopping mall D) and a navigation destination are input, the navigation path planning engine plans a path to reach shopping mall D through door E2 of shopping mall D, as shown by line segment 320 with an arrow in fig. 3. The E2 door is normally open and the user can enter shopping mall D through this navigation path.
Correspondingly, the planning of the navigation path according to the navigation parameters including the passable information point and the navigation destination further includes: and planning a navigation path according to the passable passing information points, the heat of the passable passing information points and the navigation parameters of the navigation destination to obtain the navigation path marked with the path heat information. Still taking the road network information shown in fig. 3 as an example, if it is determined that the popularity of the E3 gate of the shopping center D is higher than the popularity of the E2 gate (for example, more navigation tracks reaching the shopping center D pass through the E3 gate) according to the historical navigation data, after the navigation start point, the navigation route point (for example, the E2 gate and the popularity of the shopping center D, the E3 gate and the popularity of the navigation track) and the navigation destination are planned during the route planning, the navigation route planning engine plans a route 320 reaching the shopping center D through the E2 gate of the shopping center D and a route 330 reaching the shopping center D through the E3 gate of the shopping center D, and outputs the popularity information corresponding to each route for the user to refer to.
The navigation path planning method disclosed by the embodiment of the application acquires pre-constructed information point trees, wherein each information point tree corresponds to one information plane and is constructed according to the parent-child relationship of each information point in the corresponding information plane; determining information points which are related to the navigation destination and have passable attributes in the information point tree containing the navigation destination as candidate passing information points; filtering the candidate passing information points based on historical navigation data in a specified time period to determine passable passing information points; and planning a navigation path according to the navigation parameters including the passable passing information point and the navigation destination, so that the accuracy of the planned path can be improved.
According to the navigation path planning method disclosed by the embodiment of the application, the route points of the navigation path are mined according to the historical navigation data, and the navigation path planning is intervened, so that the navigation path planning quality is improved, and the feasibility of the terminal navigation path is ensured.
On the other hand, the navigation path planning method disclosed by the embodiment of the application can be used for determining the path points of the planned path by mining the historical navigation data, so that manual intervention is completely not needed, and the labor cost is saved. And moreover, new navigation data generated every day can support incremental mining, and the acquired via points are better in timeliness.
Example two
As shown in fig. 4, a navigation path planning apparatus disclosed in an embodiment of the present application includes:
an information point tree obtaining module 410, configured to obtain pre-constructed information point trees, where each information point tree corresponds to one information plane, and the information point trees are constructed according to parent-child relationships of information points in the corresponding information planes;
a candidate route information point determining module 420, configured to determine, in the information point tree including a navigation destination, an information point with a passable attribute associated with the navigation destination as a candidate route information point;
a passable passing information point determining module 430, configured to filter the candidate passing information points based on historical navigation data in a specified time period, and determine passable passing information points;
and a path planning module 440, configured to perform navigation path planning according to the navigation parameters including the passable information point and the navigation destination.
In some embodiments of the present application, the passable passing information point determining module 430 is further configured to:
acquiring historical navigation data of the navigation destination in a specified time period;
and matching the candidate route information points with the information points of the navigation route in the historical navigation data to determine the candidate route information points which are successfully matched as passable route information points.
In some embodiments of the application, after determining that the candidate route information point that is successfully matched is used as a passable route information point by matching the candidate route information point with the information point of the route of the navigation path in the historical navigation data, the method further includes:
and determining the heat of the passable passing information points.
Accordingly, the path planning module 440 is further configured to:
and planning a navigation path according to the passable passing information points, the heat of the passable passing information points and the navigation parameters of the navigation destination to obtain the navigation path marked with the path heat information.
In some embodiments of the present application, the candidate route information point determining module 420 is further configured to:
determining a node matched with a navigation destination in the information point tree as a current traversal node;
determining a parent node of the current traversal node in the information point tree;
responding to the father node including the leaf node corresponding to the information point with the passable attribute, taking the information point with the passable attribute corresponding to the leaf node of the father node as a candidate passing information point, and finishing traversal;
and in response to the parent node does not comprise the leaf node corresponding to the information point with the passable attribute and the current traversal node is not the root node, determining the parent node of the current traversal node as the current traversal node, and jumping to the step of determining the parent node of the current traversal node in the information point tree.
In some embodiments of the present application, as shown in fig. 5, the apparatus further comprises:
an information point tree building module 450, configured to determine, for each information point in a preset information point database, parent nodes of the information point layer by layer in the information point database according to a parent-child relationship of each information point in the preset information point database, until a root node, to obtain an information point sub-tree of the information point, where each root node corresponds to one information plane; and merging the information point sub-trees with the same root node to obtain the information point tree corresponding to the corresponding information plane.
The navigation path planning device disclosed in the embodiment of the present application is used to implement the navigation path planning method described in the first embodiment of the present application, and specific implementation manners of each module of the device are not described again, and reference may be made to specific implementation manners of corresponding steps in the method embodiments.
The navigation path planning device disclosed by the embodiment of the application acquires pre-constructed information point trees, wherein each information point tree corresponds to one information plane and is constructed according to the parent-child relationship of each information point in the corresponding information plane; determining information points which are related to the navigation destination and have passable attributes in the information point tree containing the navigation destination as candidate passing information points; filtering the candidate passing information points based on historical navigation data in a specified time period to determine passable passing information points; and planning a navigation path according to the navigation parameters including the passable passing information point and the navigation destination, so that the accuracy of the planned path can be improved.
The navigation path planning device disclosed by the embodiment of the application excavates the route points of the navigation path according to the historical navigation data, and intervenes in navigation path planning, so that the navigation path planning quality is improved, and the feasibility of the terminal navigation path is ensured.
On the other hand, the navigation path planning device disclosed by the embodiment of the application can determine the path points of the planned path by mining the historical navigation data, so that manual intervention is completely not needed, and the labor cost is saved. And moreover, new navigation data generated every day can support incremental mining, and the acquired via points are better in timeliness.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The navigation path planning method and device provided by the application are introduced in detail, a specific example is applied in the description to explain the principle and the implementation mode of the application, and the description of the embodiment is only used for helping to understand the method and a core idea of the application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
The various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some or all of the components in an electronic device according to embodiments of the present application. The present application may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present application may be stored on a computer readable medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
For example, fig. 6 illustrates an electronic device that may implement a method according to the present application. The electronic device can be a PC, a mobile terminal, a personal digital assistant, a tablet computer and the like. The electronic device conventionally comprises a processor 610 and a memory 620 and program code 630 stored on said memory 620 and executable on the processor 610, said processor 610 implementing the method described in the above embodiments when executing said program code 630. The memory 620 may be a computer program product or a computer readable medium. The memory 620 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. The memory 620 has a storage space 6201 for program code 630 of a computer program for performing any of the method steps described above. For example, the storage space 6201 for the program code 630 may include respective computer programs for implementing the various steps in the above method, respectively. The program code 630 is computer readable code. The computer programs may be read from or written to one or more computer program products. These computer program products comprise a program code carrier such as a hard disk, a Compact Disc (CD), a memory card or a floppy disk. The computer program comprises computer readable code which, when run on an electronic device, causes the electronic device to perform the method according to the above embodiments.
The embodiment of the present application also discloses a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the navigation path planning method according to the first embodiment of the present application.
Such a computer program product may be a computer-readable storage medium that may have memory segments, memory spaces, etc. arranged similarly to the memory 620 in the electronic device shown in fig. 6. The program code may be stored in a computer readable storage medium, for example, compressed in a suitable form. The computer readable storage medium is typically a portable or fixed storage unit as described with reference to fig. 7. Typically, the storage unit comprises computer readable code 630 ', said computer readable code 630' being code read by a processor, which when executed by the processor implements the steps of the method described above.
Reference herein to "one embodiment," "an embodiment," or "one or more embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Moreover, it is noted that instances of the word "in one embodiment" are not necessarily all referring to the same embodiment.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A navigation path planning method is characterized by comprising the following steps:
acquiring pre-constructed information point trees, wherein each information point tree corresponds to one information plane, and the information point trees are constructed according to the parent-child relationship of each information point in the corresponding information plane;
determining information points which are related to the navigation destination and have passable attributes in the information point tree containing the navigation destination as candidate passing information points;
filtering the candidate passing information points based on historical navigation data in a specified time period to determine passable passing information points;
and planning a navigation path according to the navigation parameters including the passable passing information point and the navigation destination.
2. The method of claim 1, wherein the step of filtering the candidate route information points based on historical navigation data over a specified time period to determine passable route information points comprises:
acquiring historical navigation data of the navigation destination in a specified time period;
and matching the candidate route information points with the information points of the navigation route in the historical navigation data to determine the candidate route information points which are successfully matched as passable route information points.
3. The method according to claim 2, wherein after the step of determining the candidate route information point which is successfully matched as the passable route information point by matching the candidate route information point with information points of the route of the navigation path in the history navigation data, further comprising:
determining the heat degree of the passable passing information points;
the step of planning the navigation path according to the navigation parameters including the passable information point and the navigation destination further includes:
and planning a navigation path according to the passable passing information points, the heat of the passable passing information points and the navigation parameters of the navigation destination to obtain the navigation path marked with the path heat information.
4. The method according to claim 1, wherein the step of determining information points having a passable attribute associated with a navigation destination as route candidate information points in the information point tree including the navigation destination comprises:
determining a node matched with a navigation destination in the information point tree as a current traversal node;
determining a parent node of the current traversal node in the information point tree;
responding to the father node including the leaf node corresponding to the information point with the passable attribute, taking the information point with the passable attribute corresponding to the leaf node of the father node as a candidate passing information point, and finishing traversal;
and in response to the parent node does not comprise the leaf node corresponding to the information point with the passable attribute and the current traversal node is not the root node, determining the parent node of the current traversal node as the current traversal node, and jumping to the step of determining the parent node of the current traversal node in the information point tree.
5. The method according to any of claims 1 to 4, wherein the step of obtaining a pre-constructed information point tree is preceded by the steps of:
for each information point in a preset information point database, determining a father node of the information point in the information point database layer by layer according to the father-son relationship of each information point in the preset information point database until a root node, and obtaining an information point sub-tree of the information point, wherein each root node corresponds to an information surface;
and merging the information point sub-trees with the same root node to obtain the information point tree corresponding to the corresponding information plane.
6. A navigation path planning apparatus, comprising:
the information point tree acquisition module is used for acquiring pre-constructed information point trees, wherein each information point tree corresponds to one information plane and is constructed according to the parent-child relationship of each information point in the corresponding information plane;
a candidate route information point determining module, configured to determine, in the information point tree including a navigation destination, an information point having a passable attribute associated with the navigation destination as a candidate route information point;
the passable passing information point determining module is used for filtering the candidate passing information points based on historical navigation data in a specified time period and determining passable passing information points;
and the route planning module is used for planning a navigation route according to the navigation parameters including the passable information point and the navigation destination.
7. The apparatus of claim 6, wherein the passable passing information point determining module is further configured to:
acquiring historical navigation data of the navigation destination in a specified time period;
and matching the candidate route information points with the information points of the navigation route in the historical navigation data to determine the candidate route information points which are successfully matched as passable route information points.
8. The apparatus of claim 6, wherein the candidate route information point determining module is further configured to:
determining a node matched with a navigation destination in the information point tree as a current traversal node;
determining a parent node of the current traversal node in the information point tree;
responding to the father node including the leaf node corresponding to the information point with the passable attribute, taking the information point with the passable attribute corresponding to the leaf node of the father node as a candidate passing information point, and finishing traversal;
and in response to the parent node does not comprise the leaf node corresponding to the information point with the passable attribute and the current traversal node is not the root node, determining the parent node of the current traversal node as the current traversal node, and jumping to the step of determining the parent node of the current traversal node in the information point tree.
9. An electronic device comprising a memory, a processor, and program code stored on the memory and executable on the processor, wherein the processor implements the navigation path planning method of any of claims 1 to 5 when executing the program code.
10. A computer-readable storage medium, on which a program code is stored, which program code, when being executed by a processor, carries out the steps of the navigation path planning method according to any one of claims 1 to 5.
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| CN202010964025.9A CN112197779A (en) | 2020-09-14 | 2020-09-14 | Navigation path planning method and device and printing equipment |
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| CN202010964025.9A CN112197779A (en) | 2020-09-14 | 2020-09-14 | Navigation path planning method and device and printing equipment |
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