CN112633600B - Path generation method and device, unmanned equipment and storage medium - Google Patents
Path generation method and device, unmanned equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the application relates to the field of path planning, and provides a path generation method, a device, unmanned equipment and a storage medium, when a specified point of an original path is changed, firstly, position information and auxiliary information of the current specified point are acquired, and an auxiliary line passing through the current specified point is generated; then, an intersection point where the auxiliary line and the original path intersect for the first time is determined, a first road section between the currently specified point and the intersection point is generated, and then the target path is generated based on the intersection point and the first road section, so that the target path can be generated without discarding the original path, and the path planning efficiency and the unmanned equipment operation efficiency are improved.
Description
Technical Field
The embodiment of the application relates to the field of path planning, in particular to a path generation method and device, unmanned equipment and a storage medium.
Background
The existing path planning method firstly needs to determine a starting point, an end point and a working area, and then plans a path from the starting point to the end point in the working area. However, in practical applications, the start point or the end point may need to be changed due to the job requirement, and in this case, the original path needs to be discarded, and the path needs to be re-planned according to the new start point or the new end point. Therefore, when the start point or the end point is changed, the route needs to be re-planned, which takes a lot of time and affects the work efficiency of the unmanned aerial vehicle.
Disclosure of Invention
An embodiment of the present application aims to provide a path generation method, a path generation device, an unmanned device, and a storage medium, so as to solve the problem that the operation efficiency of the unmanned device is affected by the need to re-plan a path when a start point or an end point is changed in the existing path planning method.
In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:
in a first aspect, an embodiment of the present application provides a path generation method, where the method includes: responding to the appointed point change instruction, and acquiring the position information and auxiliary information of the current appointed point; generating an auxiliary line according to the position information of the current designated point and the auxiliary information, wherein the current designated point is positioned on the auxiliary line; determining the intersection point of the auxiliary line and the original path for the first time; generating a first road section between the current designated point and the intersection point; and generating a target path based on the intersection point and the first path segment.
Optionally, the step of generating a target path based on the intersection point and the first segment includes: determining a road section to be processed from the original path based on the intersection point and the original designated point of the original path; and combining the first road section and the road section to be processed to obtain the target path.
Optionally, the step of determining a road segment to be processed from the original path based on the intersection point and the originally-designated point of the original path includes: determining whether the intersection point is the original designated point; if the intersection point is the original designated point, determining the road section to be processed as the original path; and if the intersection point is not the original designated point, deleting a second road section between the original designated point and the intersection point, which are in the same type as the current designated point, in the original path to obtain the road section to be processed.
Optionally, the step of deleting a second road segment between the original designated point and the intersection point in the original path to obtain the road segment to be processed includes: if the current designated point is the current starting point, the original designated point is the original starting point, and a second road section between the original starting point and the intersection point in the original path is deleted to obtain the road section to be processed; and if the current designated point is the current end point, the original designated point is the original end point, and a second road section between the original end point and the intersection point in the original path is deleted to obtain the road section to be processed.
Optionally, the auxiliary information is a set point; the step of generating an auxiliary line based on the position information of the currently specified point and the auxiliary information includes: and connecting the current designated point and the set point, and using a connecting line of the current designated point and the set point as the auxiliary line.
Optionally, the auxiliary information is a set line, and the set line passes through the currently specified point; the step of generating an auxiliary line based on the position information of the currently specified point and the auxiliary information includes: and extending the setting line until the setting line intersects with the original path, and taking the extended setting line as the auxiliary line.
Optionally, the auxiliary information is a set straight line slope; the step of generating an auxiliary line based on the position information of the currently specified point and the auxiliary information includes: and generating a straight line according to the current specified point and the set straight line slope, and taking the straight line as the auxiliary line.
Optionally, the step of generating the first road segment between the currently specified point and the intersection point includes: if an obstacle exists between the current designated point and the intersection point, acquiring position information of the obstacle; and planning an obstacle avoidance path according to the position information of the obstacle so as to generate the first road section without the obstacle.
In a second aspect, an embodiment of the present application further provides a path generating apparatus, where the apparatus includes: the acquisition module is used for responding to the appointed point change instruction and acquiring the position information and the auxiliary information of the current appointed point; a processing module to: generating an auxiliary line according to the position information of the current designated point and the auxiliary information, wherein the current designated point is positioned on the auxiliary line; determining the intersection point of the auxiliary line and the original path for the first time; generating a first road section between the current designated point and the intersection point; and generating a target path based on the intersection point and the first path segment.
In a third aspect, an embodiment of the present application further provides an unmanned device, where the unmanned device includes: one or more processors; a memory for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the path generation method described above.
In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the above-mentioned path generation method.
Compared with the prior art, according to the path generation method, the path generation device, the unmanned equipment and the storage medium provided by the embodiment of the application, when the designated point of the original path is changed, the position information and the auxiliary information of the current designated point are firstly acquired, and the auxiliary line passing through the current designated point is generated; then, an intersection point where the auxiliary line and the original path intersect for the first time is determined, a first road section between the currently specified point and the intersection point is generated, and then the target path is generated based on the intersection point and the first road section, so that the target path can be generated without discarding the original path, and the path planning efficiency and the unmanned equipment operation efficiency are improved.
Drawings
Fig. 1 shows a flowchart of a path generation method provided in an embodiment of the present application.
Fig. 2 illustrates an exemplary diagram of a target path provided by an embodiment of the present application.
Fig. 3 is a diagram illustrating another example of a target path provided by an embodiment of the present application.
Fig. 4 shows an exemplary diagram of an auxiliary line provided in an embodiment of the present application.
Fig. 5 is a diagram illustrating another example of an auxiliary line provided in an embodiment of the present application.
Fig. 6 shows still another exemplary diagram of an auxiliary line provided in an embodiment of the present application.
Fig. 7 is a flowchart illustrating step S104 in the path generating method illustrated in fig. 1.
Fig. 8 is a flowchart illustrating step S105 in the path generating method illustrated in fig. 1.
Fig. 9 is a diagram illustrating yet another example of a target path provided by an embodiment of the application.
Fig. 10 is a diagram illustrating another example of a target path provided by an embodiment of the application.
Fig. 11 shows a block schematic diagram of a path generation apparatus provided in an embodiment of the present application.
Fig. 12 shows a block schematic diagram of an unmanned aerial device provided by an embodiment of the present application.
Icon: 100-path generation means; 101-an acquisition module; 102-a processing module; 10-unmanned equipment; 11-a processor; 12-a memory; 13-bus.
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.
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a path generation method according to an embodiment of the present disclosure. The path generation method is applied to the unmanned equipment and comprises the following steps:
s101, responding to the appointed point changing instruction, and acquiring the position information and the auxiliary information of the current appointed point.
In one embodiment, the specified point change instruction is input by a user through a control device in communication connection with the unmanned device, the specified point change instruction includes location information of a currently specified point and auxiliary information, and the auxiliary information can represent a direction from the currently specified point to an original path.
Alternatively, the control device may be a controller provided with RTK (Real-time kinematic), for example, a single hand control or the like.
The user can walk to a specific position with the single-hand control, then point positioning is performed through the single-hand control, so that the specified point change is triggered, and then the user inputs auxiliary information through the single-hand control.
The user can also hand the single hand control to reach the starting point or the ending point of the original path, and then at the starting point or the ending point of the original path, the single hand control is used for dotting operation or a single hand control command sending button is pressed, so that the change of the appointed point is triggered; then, the user moves along a certain path section, and simultaneously, the dotting operation is continuously carried out through single hand control, or a command sending button of the single hand control is pressed all the time; and stopping dotting operation or loosening an instruction sending button until the vehicle travels to a destination point so as to change the starting point or the end point of the original path. At this time, the destination point is the current designated point, and the travel track of the user is the auxiliary information.
Alternatively, the control device may also be a terminal, for example, any one of a smartphone, a tablet, a laptop, a desktop, a server, and the like. The terminal is provided with an APP (Application) related to the unmanned equipment control, an original path and an operation map are displayed in the APP interface, and a user can perform appointed point change operation through the APP interface.
The user can change the designated point by clicking, for example, the user can click a certain point in the job map displayed on the APP interface to serve as the changed designated point, thereby triggering the change of the designated point. Subsequently, the APP interface may display prompt information to prompt the user to enter auxiliary information.
The user can also realize the change of the designated point and the input of the auxiliary information simultaneously in a dragging mode. For example, the user may select an originally specified point of an original path displayed by the APP interface, that is, a starting point or an end point of the original path; and then, carrying out dragging operation on the selected original appointed point so as to change the position of the original appointed point, wherein the point where the dragging operation is finished is the current appointed point, and the dragging track of the dragging operation is auxiliary information.
As can be seen from the above-described designated point changing method, each time the designated point is changed, the user needs to travel to a specific position or perform an operation on the APP interface. Therefore, for a scene requiring multiple changes of a specified point, such as fruit loading, a user needs to perform multiple operations, which causes an excessive operation trouble and is not favorable for user experience, and also affects the efficiency of path planning and the operation efficiency of the unmanned device.
Therefore, in another embodiment, the user can store a plurality of designated points that need to be worked in order and the trigger condition of each designated point in advance into the unmanned device through the control device that is connected in communication with the unmanned device. In this way, when the unmanned device reaches the trigger condition of a certain designated point during operation, the processor of the unmanned device generates a designated point change instruction, and takes the next designated point of the designated point as the current designated point, thereby realizing the change of the designated point.
For example, when a trigger condition of a first designated point is reached, a processor of the unmanned device generates a designated point change instruction, changes a current designated point to a second designated point, plans a corresponding path by using the path generation method provided by the embodiment of the application, and performs operation according to the corresponding path; and executing the steps repeatedly until the operation of the paths corresponding to all the specified points is completed.
Alternatively, the trigger condition may be a job duration corresponding to each designated point, for example, after the job duration corresponding to a certain designated point is reached, a designated point subsequent to the designated point is taken as the current designated point. The triggering condition may also be a switching instruction sent by the user remotely through the control device, for example, after the user sees that the unmanned device completes the operation of a certain specified point corresponding to the path through a remote or on-site monitoring mode, the switching instruction is sent remotely through the control device, and after receiving the switching instruction, the unmanned device takes the next specified point of the specified point as the current specified point.
S102, generating an auxiliary line according to the position information and the auxiliary information of the current designated point, wherein the current designated point is positioned on the auxiliary line.
Since the auxiliary information can characterize the direction from the currently specified point to the original path, an auxiliary line can be generated based on the position information of the target point and the auxiliary information. The auxiliary line passes through the currently specified point and intersects the original path.
Alternatively, the auxiliary information may be a point, a slope of a straight line, or a line passing through the currently specified point, such as a curve or a straight line.
And S103, determining an intersection point of the first intersection of the auxiliary line and the original path.
And S104, generating a first road section between the current designated point and the intersection point.
In this embodiment, the first segment between the currently specified point and the intersection may be generated by using an existing interpolation algorithm or other technologies based on two-point path generation, which is not described herein again.
And S105, generating a target path based on the intersection point and the first segment.
In this embodiment, after the intersection point where the auxiliary line and the original path first intersect and the first segment between the currently specified point and the intersection point are obtained, the target path may be generated by determining whether the intersection point is the originally specified point of the original path, that is, the start point or the end point of the original path.
If the intersection point is not the original designated point of the original path, firstly, generating a road section between the current designated point and the intersection point; deleting the road section between the original specified point with the same type as the current specified point in the original path and the intersection point to obtain a residual road section; the same type means that: if the current designated point is the starting point, the original designated point is also the starting point, namely, the road section between the starting point and the intersection point in the original path is deleted; if the current designated point is the end point, the original designated point is also the end point, namely, the road section between the end point and the intersection point in the original path is deleted; and thirdly, merging the road section between the current specified point and the intersection point obtained in the first step with the residual road section obtained in the second step, thereby generating the target path.
For example, please refer to 2,A → B as the original path, a as the starting point and B as the ending point; a is the changed starting point, l is the auxiliary line, M is the intersection point of the auxiliary line and the original path, and since M is not the starting point or the end point of the original path, a road segment between the changed starting point a and the intersection point M is generated, such as a → M; then, deleting the road section between the original starting point A and the intersection point M in the original path, namely A → M, and obtaining a residual road section M → B; finally, the link a → M and the remaining link M → B between the changed starting point a and the intersection M are merged to obtain the target route a → M → B.
If the intersection point is the original designated point of the original path, firstly, generating a road section between the current designated point and the intersection point; and a second step of merging the road section between the current specified point and the intersection point obtained in the first step with the original path, thereby generating the target path.
For example, please refer to 3,A → B as the original path, a as the starting point and B as the ending point; a is the changed starting point, l is the auxiliary line, the intersection point of the auxiliary line and the original path for the first time is A, and because the intersection point A is the starting point of the original path, a road segment between the changed starting point a and the intersection point A is generated, such as a → A; then, the link a → a between the changed starting point a and the intersection a and the original path a → B are merged to obtain the target path a → B.
Step S102 will be described in detail below.
In one embodiment, the auxiliary information is a set point, e.g., a point input by a user via a control device. In this case, step S102 may include sub-step S1021.
And S1021, connecting the current appointed point and the set point, and taking a connecting line of the current appointed point and the set point as an auxiliary line.
For example, please refer to 4,A → B as the original path, a as the starting point and B as the ending point; and a is the changed starting point, b is the set point, and a and b are connected to obtain a connecting line l of the two, wherein l is the auxiliary line.
In another embodiment, the auxiliary information is a set line and the set line passes through the currently designated point, for example, a line which passes through the currently designated point and is input by the user through the control device, and the set line may be a straight line or a curved line, which is not limited herein. In this case, step S102 may include sub-step S1022.
S1022, the setting line is extended until it intersects the original route, and the extended setting line is used as an auxiliary line.
For example, please refer to 5,A → B as the original path, a as the starting point and B as the ending point; and a is the changed starting point, and l is a set line passing through a, and is extended until the original path is intersected, wherein the extended l is an auxiliary line.
In a further embodiment the auxiliary information is a set slope of a line, e.g. a slope of a line entered by the user via the control device. In this case, step S102 may include sub-step S1023.
And S1023, generating a straight line according to the current specified point and the set straight line slope, and taking the straight line as an auxiliary line.
For example, please refer to 6,A → B as the original path, a as the starting point and B as the ending point; a is the changed starting point, k is the set slope of the straight line, and a straight line l is generated according to the changed starting point a and the slope k, and l is the auxiliary line.
In one possible case, since the first link is generated by the unmanned device based on the currently specified point and the intersection point at which the auxiliary line first intersects with the original path, an obstacle may exist in the generated first link. In order to solve the problem, before the first road segment is generated, the position of the obstacle may be obtained in advance, and obstacle avoidance path planning may be performed to generate the first road segment without the obstacle.
Therefore, referring to fig. 7 on the basis of fig. 1, step S104 may include the following sub-steps:
and S1041, if an obstacle exists between the current designated point and the intersection point, acquiring position information of the obstacle.
If the area between the current designated point and the intersection point has the obstacle, the user can input the position information of the obstacle into the unmanned equipment in advance through the control equipment for storage, so that the unmanned equipment can directly acquire the corresponding obstacle information when planning the path.
And S1042, planning an obstacle avoidance path according to the position information of the obstacle to generate a first road section without the obstacle.
The obstacle avoidance path planning between the currently specified point and the intersection point can be completed by adopting the existing obstacle avoidance path generation algorithm, which is not described herein again.
In addition, in practical application, a first road section can be generated directly based on the current designated point and the intersection point where the auxiliary line and the original path intersect for the first time, and obstacle avoidance can be achieved through the obstacle detection device in the subsequent operation process of the unmanned device along the first road section.
Step S105 will be described in detail below. On the basis of fig. 1, referring to fig. 8, step S105 may include the following sub-steps:
and S1051, determining the road section to be processed from the original path based on the intersection point and the original designated point of the original path.
And S1052, combining the first road section and the road section to be processed to obtain the target path.
In this embodiment, the original path includes a to-be-processed segment, that is, the to-be-processed segment may be the original path or a segment of the original path.
The process of determining the road segment to be processed from the original path based on the intersection point and the original designated point of the original path may include: firstly, determining whether an intersection point is an original designated point, namely determining whether the intersection point is a starting point or an end point of an original path; then, if the intersection point is the original designated point, determining the road section to be processed as the original path; and if the intersection point is not the original designated point, deleting a second road section between the original designated point and the intersection point which are in the same type as the current designated point in the original path to obtain the road section to be processed.
Namely, if the current designated point is the current starting point, the original designated point is the original starting point, and the second road section between the original starting point and the intersection point in the original path is deleted to obtain the road section to be processed; and if the current designated point is the current end point, the original designated point is the original end point, and the second road section between the original end point and the intersection point in the original path is deleted to obtain the road section to be processed.
For example, referring to fig. 9, a → B is the original path, a is the starting point, and B is the ending point; in the left image, a is a current starting point, M is an intersection point, a road segment A → M between the original starting point A and the intersection point M is deleted to obtain a road segment to be processed M → B, and if the first road segment is a → M, the first road segment a → M and the road segment to be processed M → B are combined to obtain a target path a → M → B; in the right diagram, B is the current terminal point, N is the intersection point, the link between the original terminal point B and the intersection point N is deleted to obtain the to-be-processed link a → N, and if the first link is B → N, the first link B → N and the to-be-processed link a → N are merged to obtain the target path a → N → B.
It should be noted that, the foregoing is described by taking a change starting point or a change ending point as an example, and it should be understood that the path generation method provided in the embodiments of the present application can also be applied to a scenario in which a starting point and an ending point are changed simultaneously.
For example, referring to fig. 10, in which a → B is an original route, a is a starting point, B is an end point, a is a changed starting point, B is a changed end point, and M and N are intersection points, a link between the original starting point a and the intersection point M and a link between the original end point and the intersection point N are deleted, so as to obtain a to-be-processed link M → N; assuming that the first road segment is a → M and b → N, the first road segment a → M, b → N and the road segment to be processed M → N are merged to obtain the target path a → M → N → b.
The path generation method provided by the embodiment of the application can be applied to: due to the operation requirement, the original operation area needs to be reduced or enlarged. The reason for the reduction of the original operation area may be: some sub-area within the original work area has completed the work or no work is needed due to other factors. The reason for the enlargement of the original working area may be: other areas outside the original operation area require operations. Therefore, for the application scenario, the path generation method provided by the embodiment of the application can be adopted to reserve the original path and generate the target path on the basis of the original path, so that the path planning process is simplified, and the operation efficiency of the unmanned equipment is improved.
Compared with the prior art, the embodiment of the application has the following beneficial effects:
firstly, when a specified point of an original path is changed, generating an auxiliary line passing through the currently specified point by acquiring position information and auxiliary information of the currently specified point, determining an intersection point where the auxiliary line and the original path are intersected for the first time, and further generating a first road section between the currently specified point and the intersection point; then, a target path is generated on the basis of the original path by judging whether the intersection point is the starting point or the end point of the original path or not, so that the target path can be generated without discarding the original path, and the path planning efficiency and the operation efficiency of the unmanned equipment are improved;
secondly, before the first path between the current designated point and the intersection point is generated, the position of the obstacle can be obtained in advance and obstacle avoidance path planning is carried out, so that the first path without the obstacle is generated, and the operation efficiency of the unmanned equipment is further improved.
In order to perform the corresponding steps in the above method embodiments and various possible embodiments, an implementation of the path generation apparatus is given below. Referring to fig. 11, fig. 11 is a block diagram illustrating a path generating apparatus 100 according to an embodiment of the present disclosure. The path generation apparatus 100 is applied to an unmanned device, and the path generation apparatus 100 includes: an acquisition module 101 and a processing module 102.
The obtaining module 101 is configured to obtain, in response to the specified point change instruction, the position information and the auxiliary information of the current specified point.
The processing module 102 is configured to generate an auxiliary line according to the position information and the auxiliary information of the currently specified point, where the currently specified point is located on the auxiliary line; determining the intersection point of the first intersection of the auxiliary line and the original path; generating a first road section between the current designated point and the intersection point; and generating a target path based on the intersection point and the first path segment.
Optionally, the processing module 102 executes a manner of generating the target path based on the intersection point and the first segment, including: determining a road section to be processed from the original path based on the intersection point and the original designated point of the original path; and combining the first road section and the road section to be processed to obtain the target path.
Optionally, the processing module 102 executes a mode of determining the road segment to be processed from the original path based on the intersection point and the original designated point of the original path, where the mode includes: determining whether the intersection point is an originally designated point; if the intersection point is the original designated point, determining the road section to be processed as the original path; and if the intersection point is not the original designated point, deleting a second road section between the original designated point and the intersection point which are in the same type as the current designated point in the original path to obtain a road section to be processed.
Optionally, the method for deleting the second road segment between the original specified point and the intersection point in the original path, where the type of the original specified point is the same as that of the current specified point, by the processing module 102, to obtain the road segment to be processed includes: if the current designated point is the current starting point, the original designated point is the original starting point, and a second road section between the original starting point and the intersection point in the original path is deleted to obtain a road section to be processed; and if the current designated point is the current terminal point, the original designated point is the original terminal point, and the second road section between the original terminal point and the intersection point in the original path is deleted to obtain the road section to be processed.
Optionally, the auxiliary information is a set point;
the processing module 102 executes a mode of generating an auxiliary line according to the position information and the auxiliary information of the currently specified point, including: and connecting the currently specified point and the set point, and using a connecting line of the currently specified point and the set point as an auxiliary line.
Optionally, the auxiliary information is a set line, and the set line passes through the currently specified point;
the processing module 102 executes a manner of generating an auxiliary line according to the position information and the auxiliary information of the currently specified point, including: and extending the setting line until the setting line intersects with the original path, and taking the extended setting line as an auxiliary line.
Optionally, the auxiliary information is a set straight line slope;
the processing module 102 executes a manner of generating an auxiliary line according to the position information and the auxiliary information of the currently specified point, including: and generating a straight line according to the current specified point and the set straight line slope, and taking the straight line as an auxiliary line.
Optionally, the processing module 102 executes a manner of generating the first road segment between the current designated point and the intersection, including: if an obstacle exists between the current designated point and the intersection point, acquiring position information of the obstacle; and planning an obstacle avoidance path according to the position information of the obstacle so as to generate a first road section without the obstacle.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the path generating apparatus 100 described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
Referring to fig. 12, fig. 12 is a block schematic diagram illustrating an unmanned aerial vehicle 10 according to an embodiment of the present disclosure. The unmanned device in this embodiment may be an aircraft, or may also be an unmanned vehicle, an unmanned ship, a robot, or the like, and a user may select different devices according to an application scenario, which is not limited herein. The drone 10 includes a processor 11, a memory 12, and a bus 13, and the processor 11 is connected to the memory 12 through the bus 13.
The memory 12 is used for storing a program, such as the path generating apparatus 100 shown in fig. 11, where the path generating apparatus 100 includes at least one software functional module that may be stored in the memory 12 in the form of software or firmware (firmware), and the processor 11 executes the program after receiving an execution instruction to implement the path generating method disclosed in the foregoing embodiment.
The Memory 12 may include a Random Access Memory (RAM) and may also include a non-volatile Memory (NVM).
The processor 11 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 11. The processor 11 may be a general-purpose processor, and includes a Central Processing Unit (CPU), a Micro Control Unit (MCU), a Complex Programmable Logic Device (CPLD), a Field Programmable Gate Array (FPGA), and an embedded ARM.
The embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by the processor 11, the path generation method disclosed in the foregoing embodiment is implemented.
To sum up, according to the path generating method, the apparatus, the unmanned device and the storage medium provided in the embodiments of the present application, when a specified point of an original path is changed, first, position information and auxiliary information of a currently specified point are obtained, and an auxiliary line passing through the currently specified point is generated; then, an intersection point where the auxiliary line and the original path intersect for the first time is determined, a first road section between the currently specified point and the intersection point is generated, and then the target path is generated based on the intersection point and the first road section, so that the target path can be generated without discarding the original path, and the path planning efficiency and the unmanned equipment operation efficiency are improved.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (11)
1. A method for path generation, the method comprising:
responding to a designated point change instruction, and acquiring position information and auxiliary information of a current designated point, wherein the auxiliary information represents a direction from the current designated point to an original path, and the current designated point comprises a current starting point and/or a current end point;
generating an auxiliary line according to the position information of the current designated point and the auxiliary information, wherein the current designated point is positioned on the auxiliary line;
determining an intersection point of the auxiliary line and the original path, wherein the intersection point comprises an intersection point corresponding to the current starting point and/or an intersection point corresponding to the current end point;
generating a first road segment between the current designated point and the intersection point, wherein the first road segment comprises a first road segment between the current starting point and the intersection point corresponding to the current starting point and/or a first road segment between the current terminal point and the intersection point corresponding to the current terminal point;
generating a target path based on the intersection point and the first segment;
if the intersection point is not the original starting point and/or the original end point of the original path, the target path is the sum of the first road section, the road section between the intersection point corresponding to the current starting point and the original end point in the original path, and/or the road section between the intersection point corresponding to the current end point and the original starting point in the original path; and if the intersection point is the original starting point and/or the original end point of the original path, the target path is the sum of the first road section and the original path.
2. The method of claim 1, wherein the step of generating a target path based on the intersection point and the first segment comprises:
determining a road section to be processed from the original path based on the intersection point and the original designated point of the original path;
and combining the first road section and the road section to be processed to obtain the target path.
3. The method of claim 2, wherein the step of determining a road segment to be processed from the original route based on the intersection point and an originally specified point of the original route comprises:
determining whether the intersection point is the originally designated point;
if the intersection point is the original designated point, determining the road section to be processed as the original path;
and if the intersection point is not the original designated point, deleting a second road section between the original designated point and the intersection point, which are in the same type as the current designated point, in the original path to obtain the road section to be processed.
4. The method according to claim 3, wherein the step of deleting the second segment between the original designated point and the intersection point in the original path to obtain the segment to be processed comprises:
if the current designated point is the current starting point, the original designated point is the original starting point, and a second road section between the original starting point and the intersection point in the original path is deleted to obtain the road section to be processed;
and if the current designated point is the current end point, the original designated point is the original end point, and a second road section between the original end point and the intersection point in the original path is deleted to obtain the road section to be processed.
5. The method of claim 1, wherein the auxiliary information is a set point;
the step of generating an auxiliary line based on the position information of the currently specified point and the auxiliary information includes:
and connecting the current designated point and the set point, and using a connecting line of the current designated point and the set point as the auxiliary line.
6. The method of claim 1, wherein the auxiliary information is a set line passing through the currently specified point;
the step of generating an auxiliary line based on the position information of the currently specified point and the auxiliary information includes:
and extending the setting line until the setting line is intersected with the original path, and taking the extended setting line as the auxiliary line.
7. The method of claim 1, wherein the auxiliary information is a set straight line slope;
the step of generating an auxiliary line based on the position information of the currently specified point and the auxiliary information includes:
and generating a straight line according to the current specified point and the set straight line slope, and taking the straight line as the auxiliary line.
8. The method of claim 1, wherein the step of generating the first road segment between the currently specified point and the intersection point comprises:
if an obstacle exists between the current designated point and the intersection point, acquiring position information of the obstacle;
and planning an obstacle avoidance path according to the position information of the obstacle so as to generate the first road section without the obstacle.
9. A path generation apparatus, characterized in that the apparatus comprises:
the acquisition module is used for responding to a change instruction of the appointed point, and acquiring the position information and the auxiliary information of the current appointed point, wherein the auxiliary information represents the direction from the current appointed point to an original path, and the current appointed point comprises a current starting point and/or a current end point;
a processing module to:
generating an auxiliary line according to the position information of the current designated point and the auxiliary information, wherein the current designated point is positioned on the auxiliary line;
determining an intersection point of the auxiliary line and the original path, wherein the intersection point comprises an intersection point corresponding to the current starting point and/or an intersection point corresponding to the current end point;
generating a first road segment between the current designated point and the intersection point, wherein the first road segment comprises a first road segment between the current starting point and the intersection point corresponding to the current starting point and/or a first road segment between the current terminal point and the intersection point corresponding to the current terminal point;
generating a target path based on the intersection point and the first segment;
if the intersection point is not the original starting point and/or the original end point of the original path, the target path is the sum of the first road section, the road section between the intersection point corresponding to the current starting point and the original end point in the original path, and/or the road section between the intersection point corresponding to the current end point and the original starting point in the original path; and if the intersection point is the original starting point and/or the original end point of the original path, the target path is the sum of the first road section and the original path.
10. An unmanned device, comprising:
one or more processors;
memory storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-8.
11. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-8.
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| EP1550097B1 (en) * | 2003-07-17 | 2007-09-12 | Harman Becker Automotive Systems GmbH | Route calculation around traffic obstacles using marked diversions |
| JP4522294B2 (en) * | 2005-03-17 | 2010-08-11 | 三洋電機株式会社 | Route search apparatus and route search method |
| CN102200440A (en) * | 2010-03-25 | 2011-09-28 | 苏州汉扬精密电子有限公司 | Vehicle navigation system and method |
| JP6789893B2 (en) * | 2017-07-11 | 2020-11-25 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ | Information processing equipment, air vehicles, transportation network generation methods, transportation methods, programs, and recording media |
| US10964220B2 (en) * | 2018-09-11 | 2021-03-30 | The Boeing Company | Methods and apparatus for providing continuous flight trajectories for aircraft |
| CN111829539A (en) * | 2019-04-23 | 2020-10-27 | 广州数鹏通科技有限公司 | Navigation path planning method and device, navigation terminal and storage medium |
| CN110567479B (en) * | 2019-10-21 | 2021-03-09 | 合肥工业大学 | Shortest path acquisition method considering channel change in congestion |
| CN111752302B (en) * | 2020-02-26 | 2021-09-10 | 广州极飞科技股份有限公司 | Path planning method and device, electronic equipment and computer readable storage medium |
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