CN109409612A - A kind of paths planning method, server and computer storage medium - Google Patents
A kind of paths planning method, server and computer storage medium Download PDFInfo
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Abstract
The embodiment of the present application discloses a kind of paths planning method, server and computer storage medium, it is related to the statistical model in intelligent decision field, wherein method includes: to receive user's request content from terminal device, the position data of the terminal device is obtained, user's request content includes visiting time and scene types；The first position of the position data in the default map is determined according to position transformation rule, and destination path is generated according to the first position, the visiting time and the scene types using default heuritic approach；The result data comprising the destination path of threedimensional model format is generated, Xiang Suoshu terminal device sends the result data, can provide personalized stroke planning and path and recommend, and improves the real-time of travel information offer, accuracy and comprehensive.
Description
Technical field
This application involves field of computer technology more particularly to a kind of paths planning methods, server and computer storage
Medium.
Background technique
Current internet development is rapid, and intelligent mobile terminal is universal, and China's tourist industry is also with " smart travel " concept
It is proposed has carried out the optimization and upgrading of industry, is converted from traditional tourist industry to modern service industry.Tourism consumption generalization makes people
It can more consider that personalization is gone on a tour in trip, it would be desirable to access the good personalized Tourist Experience for being satisfied with tourist.
In general tourism process, tourist can follow tour guide to go sight-seeing according to the route planned in advance, Huo Zhe
Tour strategy is searched and selected on network, each sight spot is voluntarily gone to go sight-seeing by digital map navigation, these modes mainly by
Tourist passively receives information, completes tour schedule according to other people suggestion or planning, it is seen that the travel information of Most current provides
Source is from realizing real-time, accuracy and comprehensive there is also gaps.
Summary of the invention
The embodiment of the present application provides a kind of paths planning method, server and computer storage medium, can provide individual character
The stroke planning of change and path are recommended, and real-time, accuracy that travel information provides and comprehensive are improved.
In a first aspect, the embodiment of the present application provides a kind of paths planning method, it is applied to server, the method packet
It includes:
User's request content from terminal device is received, obtains the position data of the terminal device, the user asks
Seeking content includes visiting time and scene types；
The first position of the position data in the default map is determined according to position transformation rule, it is heuristic using presetting
Algorithm generates destination path according to the first position, the visiting time and the scene types；
The result data comprising the destination path of threedimensional model format is generated, Xiang Suoshu terminal device sends the knot
Fruit data.
As a kind of possible embodiment, described to determine the position data in default map according to position transformation rule
In first position include:
The position data is filtered based on Kalman filter, obtains filtered position data；
The filtered position data is converted to the locating point data for meeting the default format map；
The candidate region in the default map is determined based on the locating point data and default candidate rule；
By map-matching algorithm, matching road, and base are determined in the candidate region based on the locating point data
In the locating point data and the matching road, determine that the locating point position projected on the matching road is described first
Position.
As a kind of possible embodiment, the map-matching algorithm is Hidden Markov Model.
As a kind of possible embodiment, described to use default heuritic approach according to the first position, the trip
Looking at time and the scene types generates destination path and includes:
It determines the scenic spot mark in user's request content, obtains the scenic spot and identify corresponding scenic spot digraph；
Preconditioning matrix is constructed according to the node in the scenic spot digraph；
According to the first position, the visiting time and the scene types, based on the preconditioning matrix, pass through institute
It states default heuritic approach to scan for the scenic spot digraph, obtains search result；
The destination path is determined in described search result according to path evaluation rule.
As a kind of possible embodiment, the scenic spot digraph is digraph G=<V, E>, wherein the V and E point
The set on side in the set and the digraph of the digraph interior joint is not indicated；
The preconditioning matrix is N rank matrix M, for indicating the correlation between all nodes:
Wherein, Xij(1 < i, j < n) indicates i-th of node to the relationship of j-th of node.
As a kind of possible embodiment, described to determine the mesh in described search result according to path evaluation rule
Mark path includes:
Sight spot history popularity degree, sight spot favorable comment degree or sight spot based on the path interior joint in described search result
Volume of the flow of passengers degree calculates path income, determines that the path of path Income Maximum is the destination path.
As a kind of possible embodiment, the income in the path is scored by scene types multiplied by preset weights r and its
His scene types scoring is summed multiplied by weight (1-r) to be obtained.
Second aspect, the embodiment of the present application provide a kind of server, comprising: interactive module and service processing module,
In:
Interactive module obtains the positional number of the terminal device for receiving user's request content from terminal device
According to user's request content includes visiting time and scene types；
Service processing module, for determining first of the position data in the default map according to position transformation rule
It sets, destination path is generated according to the first position, the visiting time and the scene types using default heuritic approach；
The interactive module is also used to, and the result data comprising the destination path of threedimensional model format is generated, to institute
It states terminal device and sends the result data.
The third aspect, the embodiment of the present application provides a kind of processor, input equipment, output equipment and memory, described
Processor, input equipment, output equipment and memory are connected with each other, wherein the memory is for storing computer program, institute
Stating computer program includes program instruction, and the processor is configured for calling described program instruction, executes such as first aspect
And its method described in any possible embodiment.
Fourth aspect, the embodiment of the present application provide a kind of computer storage medium, the computer storage medium storage
There is computer program, the computer program includes program instruction, and described program instruction makes the place when being executed by a processor
The method that reason device executes above-mentioned first aspect and its any possible embodiment.
The embodiment of the present application obtains the position of above-mentioned terminal device by receiving user's request content from terminal device
Data, above-mentioned user's request content include visiting time and scene types, determine above-mentioned position data according to position transformation rule
First position in the default map, using default heuritic approach according to above-mentioned first position, above-mentioned visiting time and above-mentioned
Scene types generate destination path, generate the result data comprising above-mentioned destination path of threedimensional model format, Xiang Shangshu terminal
Equipment sends the above results data, can provide personalized stroke planning and path and recommend, improve the reality that travel information provides
Shi Xing, accuracy and comprehensive.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in embodiment description
Attached drawing is briefly described.
Fig. 1 is a kind of flow diagram of paths planning method provided by the embodiments of the present application；
Fig. 2 a is a kind of flow diagram for paths planning method that another embodiment of the application provides；
Fig. 2 b is a kind of system architecture schematic diagram that another embodiment of the application provides；
Fig. 3 is a kind of structural schematic diagram of server provided by the embodiments of the present application；
Fig. 4 is the structural schematic diagram of another server provided by the embodiments of the present application.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiment is some embodiments of the present application, instead of all the embodiments.Herein
" embodiment " is referred to it is meant that a particular feature, structure, or characteristic described may be embodied in the application at least in conjunction with the embodiments
In one embodiment.The phrase, which occurs, in each position in the description might not each mean identical embodiment, nor
With the independent or alternative embodiment of other embodiments mutual exclusion.Those skilled in the art explicitly and implicitly understand,
Embodiment described herein can be combined with other embodiments.
Based on the embodiment in the application, those of ordinary skill in the art are obtained without making creative work
The every other embodiment obtained, shall fall in the protection scope of this application.
The description and claims of this application and term " first " in above-mentioned attached drawing, " second " etc. are for distinguishing
Different objects, are not use to describe a particular order.In addition, term " includes " and " having " and their any deformations, it is intended that
It is to cover and non-exclusive includes.Such as the process, method, system, product or equipment for containing a series of steps or units do not have
It is defined in listed step or unit, but optionally further comprising the step of not listing or unit, or optionally also wrap
Include other step or units intrinsic for these process, methods, product or equipment.
It is also understood that mesh of the term used in this present specification merely for the sake of description specific embodiment
And be not intended to limit the application.As present specification and it is used in the attached claims, unless on
Other situations are hereafter clearly indicated, otherwise " one " of singular, "one" and "the" are intended to include plural form.
It will be further appreciated that the term "and/or" used in present specification and the appended claims is
Refer to any combination and all possible combinations of one or more of associated item listed, and including these combinations.
As used in this specification and in the appended claims, term " if " can be according to context quilt
Be construed to " when ... " or " once " or " in response to determination " or " in response to detecting ".Similarly, phrase " if it is determined that " or
" if detecting [described condition or event] " can be interpreted to mean according to context " once it is determined that " or " in response to true
It is fixed " or " once detecting [described condition or event] " or " in response to detecting [described condition or event] ".
In order to more fully understand the embodiment of the present application, will be situated between below to the method for application the embodiment of the present application
It continues.
The terminal device mentioned in the embodiment of the present application is the equipment that can be communicated with server, above-mentioned server
Claim servomechanism, is to provide the equipment of the service of calculating, can permit multiple terminal devices and access.Above-mentioned terminal device can be
Mobile terminal including the various handheld devices with wireless communication function, wearable device, calculates equipment or is connected to wireless tune
Other processing equipments of modulator-demodulator and various forms of user equipmenies (User Equipment, UE), mobile station
(Mobile Station, MS) etc..
Terminal user can connect server (server end) by above-mentioned terminal device.Such as: when terminal user is connected to
Microsoft terminal services device, server will distribute an independent session to user, provide desktop environment or journey is used alone
Sequence environment is used to terminal user.The terminal device (client) of user, such as computer do not handle the journey of run application
Sequence, only sends the click signal of keyboard and mouse to server, and all processing operations will be completed by server.
System in the embodiment of the present application can use the development mode of client end/server end, i.e. C/S framework.Service
Device end can be responsible for the storage to user information, location information, update, maintenance and the request at customer in response end, return to user
Information and data processed result.Client can be responsible for acquiring the display of location data, three-dimensional scenic, provide user's interaction
The processing of operation and path planning navigation.
It referring to Figure 1, is a kind of schematic flow diagram of paths planning method provided by the embodiments of the present application, this method can be with
Applied to server, this method as shown in Figure 1 can include:
101, user's request content from terminal device is received, the position data of above-mentioned terminal device, above-mentioned use are obtained
Family request content includes visiting time and scene types.
The embodiment of the present application can be adapted for user and enter in scenic spot, be set using the terminal that can run intelligent tour system
Standby offer service.
Firstly, terminal device can be needed with server communication when receiving user's request content from terminal device
The position of user is obtained, terminal device can obtain the gps data information of user by positioning function to realize to user
Position positioning.
Terminal device in the embodiment of the present application mainly can be mobile terminal.Specifically, user can be set by terminal
The application program (Application, App) of standby middle installation realizes the present embodiment step: the available terminal device of App first
User right, wherein user right may include browsing IP address permission, obtain GPRS permission and/or obtain the mobile terminal
The permissions such as number, after obtaining above-mentioned user right, which can determine the terminal device according to IP address and/or GPRS
The position being presently in.
Position data can be sent to the service routine of server by terminal device, wait its response.Server receives
It after above-mentioned position data, can be handled by positioning analysis, determine the first position of terminal device, such as including terminal device
Current location (can be user visit initial position, can by user by manual operation choose).
Server can receive user's request content from terminal device, for determining that user needs in the planning that obtains
Hold, above-mentioned user's request content may include above-mentioned visiting time and scene types.Wherein, above-mentioned visiting time can be understood as
Time span of the user for visit, such as user can choose visiting time 2 hours, when being also possible to select specifically to go sight-seeing
Between section, such as when -14 when today 10.Above-mentioned scene types are used for geopark, can describe sight spot attribute, for example can be divided into
8 classes are art/amusement, shop, cuisines, night life, tourism, education, park, building respectively, in specific data handling procedure
In can be indicated respectively with numerical value.In a kind of optional embodiment, geopark can also be realized by sight spot label,
I.e. a sight spot can have one or more sight spot label to describe sight spot attribute.
102, the first position of above-mentioned position data in the default map is determined according to position transformation rule, is opened using default
Hairdo algorithm generates destination path according to above-mentioned first position, above-mentioned visiting time and above-mentioned scene types.
Specifically, can store default map in server, such as default two-dimensional map, server can be according to reception
To position data determine that first position in the default map, above-mentioned first position can be understood as in two-dimensional map
Two-dimensional coordinate can store map information database in server, wherein may include map reference, GPS position information
And attribute of each coordinate points etc., terminal device can be obtained mapping waypoint accordingly, adjusted eventually by inquiring database
Location updating is periodically realized when the position of end equipment.
Specifically, above-mentioned determining first position can be realized based on Kalman filter.
The Kalman filter mentioned in the embodiment of the present application is a kind of effective filtering method, and this filter is a kind of
Recursion filter (autoregressive filter), can be with the state variable of estimating system in the process of running.Kalman filter can be with
It applies in navigation system.The influence of error is reduced by the way of filtering.Concrete processing procedure is to calculate first with filtering
Method handles GPS location data, then data are mapped to planar two dimensional coordinate system by treated.It can also make in the embodiment of the present application
Realize and filter have the filtering algorithm that much can be improved GPS location precision, such as Mean Filtering Algorithm with other algorithms.
Server can also be using default heuritic approach according to above-mentioned first position, above-mentioned visiting time and above-mentioned sight spot
Classification generates destination path.
Heuritic approach (heuristic algorithm) in the embodiment of the present application is proposed relative to optimization algorithm
's.The optimal algorithm of one problem acquires the optimal solution of each example of the problem.Heuritic approach can be such defined that a base
In the algorithm that intuitive or experience constructs, Combinatorial Optimization to be solved is provided under acceptable cost (refer to and calculate time and space) and is asked
Inscribe a feasible solution of each example, the departure degree of the feasible solution and optimal solution cannot be generally expected.
Scenic spot (scenic spot map) can be abstracted as scenic spot digraph by server, and digraph includes set V and the side of node
Set E, the weight on side represents the time loss between two nodes, can be indicated with d.
The available above-mentioned scenic spot digraph of server, according to the node building pretreatment square in above-mentioned scenic spot digraph
Battle array.Above-mentioned preconditioning matrix can be used to indicate the correlation between all nodes.
After preconditioning matrix building is completed, above-mentioned default heuritic approach can be passed through based on above-mentioned preconditioning matrix
Above-mentioned digraph is scanned for, search result is obtained.Further according to path evaluation rule, determination is above-mentioned in mentioned above searching results
Destination path.
It specifically can receive search inquiry < V of user's request contents,T,Uc> (respectively indicate first position, visiting time
And scene types), it is extended layer by layer by above-mentioned default heuristic search algorithm, selects the node of Income Maximum to be expanded every time
Exhibition, reaches time upper limit and then stops search.
103, generate threedimensional model format the result data comprising above-mentioned destination path, Xiang Shangshu terminal device transmission on
State result data.
It in the embodiment of the present application, after terminal device receives the above results data, can be exported, specific above-mentioned knot
Fruit data can be generated based on threedimensional model format, and terminal device can show above-mentioned packet after receiving based on threedimensional model
Content containing destination path, to provide a user path planning scheme.It can be to building, plant and other objects in scenic spot such as
The model of dustbin, road sign and task is constructed, and specific choice is soft using 3 d modeling software such as 3dsmax and Maya etc.
Part designs and produces threedimensional model and role action.The three-dimensional space data of building needed for building model construction itself passes through
It is extracted from two-dimentional GIS-Geographic Information System (Geographic Information System, GIS).Next Unity3D is utilized
In need to control the movement of personage, Unity3D be by Unity Technologies is developed one can be light
Create the multi-platform comprehensive trip of the types interaction contents such as 3 D video game, building visualization, realtime three dimensional animation
Play developing instrument.The content of above-mentioned control mainly includes the athletic performance for importing personage, to the athletic performance of the personage of importing into
Row interactive operation interacts the personage's athletic performance imported with given scene.
Specifically, using the development mode of client end/server end, i.e. C/S framework.Server can be responsible for believing user
Breath, the storage of position data, update, maintenance, and the request of response terminal device, returned data processing result.Terminal device
It can be responsible for acquiring the position data of user and the display of three-dimensional scenic, processing and the path rule of user interactive operation are provided
Draw navigation.For example, the working frame process of whole system can be as follows:
User enters in scenic spot, provides clothes using the mobile terminal (such as smart phone) that can run intelligent tour system
Business.
Mobile terminal obtains user's GPS location data by positioning function and positions to realize to user location.
Mobile terminal will be sent to service routine by network comprising position data and user's request content, wait its sound
It answers.
Service routine response mobile terminal request with and receive above-mentioned client data, according to obtained data and request
Corresponding processing result is back to mobile terminal.
Handheld terminal receives above-mentioned processing result, using forms such as text, image and/or video specifications by service routine
Processing result shows passenger, the functions such as realizing route navigation.
The embodiment of the present application obtains the position of above-mentioned terminal device by receiving user's request content from terminal device
Data, above-mentioned user's request content includes visiting time and scene types；Above-mentioned position data is determined according to position transformation rule
First position in the default map, using default heuritic approach according to above-mentioned first position, above-mentioned visiting time and above-mentioned
Scene types generate destination path；Generate the result data comprising above-mentioned destination path of threedimensional model format, Xiang Shangshu terminal
Equipment sends the above results data, can provide personalized stroke planning and path in terminal device for user and recommend, mention
Real-time that high travel information provides, accuracy and comprehensive.
A referring to fig. 2 is the schematic flow diagram of another paths planning method provided by the embodiments of the present application, shown in Fig. 2 a
Embodiment can be and obtain on the basis of embodiment shown in Fig. 1, this method as shown in Figure 2 a can include:
201, user's request content from terminal device is received, the position data of the terminal device, the use are obtained
Family request content includes visiting time and scene types.
Wherein, above-mentioned steps 201 can refer to the specific descriptions in the step 101 of embodiment illustrated in fig. 1, no longer superfluous herein
It states.
202, above-mentioned position data is filtered based on Kalman filter, obtains filtered position data.
Above-mentioned position data can be handled based on Kalman filter.Above-mentioned position data can be global positioning system
(Global Positioning System, GPS) position data, converts the identifiable number of computer for GPS location data
According to, need to convert position data, conversion correspond in the planar two dimensional coordinate system in system.Above-mentioned Kalman filter
It is a kind of effective filtering method, this filter is a kind of recursion filter, can be with the shape of estimating system in the process of running
State variable.Kalman filter can apply in navigation system.Error can be reduced by the way of filtering.It is specific processed
Journey is to handle GPS location data with filtering algorithm first, then data are mapped to planar two dimensional coordinate system by treated.This Shen
The realization filtering of other algorithms please also can be used in embodiment, there are the filtering algorithms that much can be improved GPS location precision, such as
Value filtering algorithm etc..
203, above-mentioned filtered position data is converted to the locating point data for meeting above-mentioned default format map.
Map information database is stored in server, map has above-mentioned default format map, by GPS location data
The identifiable data of computer are converted into, need to convert GPS location data, conversion corresponds to the planar in system
In coordinate system, above-mentioned locating point data can be used for being mapped in the planar two dimensional coordinate system of default map, i.e., eventually for true
It makes the position data and is mapped to accurate anchor point in default map.
204, the candidate region in above-mentioned default map is determined based on above-mentioned locating point data and default candidate rule.
Map matching process in the embodiment of the present application may be generally divided into four-stage:
It is that data are pre-processed first: including step 202, i.e., location data is carried out at repair process and filtering
Then reason carries out coordinate conversion, data prediction is the basis of map match, guarantees the validity of map-matching algorithm.Secondly
Be screening candidate road section: according to the locating point position acquired, calculating, which acquires anchor point, can project to the range in neighbouring section.
Above-mentioned steps 204 propose the selection of above-mentioned candidate region, can greatly reduce the workload to section search, can solve electronics
The very big problem of road data amount on map.It is to determine matching section again: according to above-mentioned map-matching algorithm, in road network
It finds out and the matched road of anchor point institute.Last projection matching point: i.e. anchor point is mapped to institute with projection pattern by step 205
On the matching road of choosing.
205, by map-matching algorithm, matching road is determined in above-mentioned candidate region based on above-mentioned locating point data,
And it is based on above-mentioned locating point data and above-mentioned matching road, determine that the locating point position projected on above-mentioned matching road is above-mentioned
First position.
Above-mentioned map-matching algorithm can be Hidden Markov Model in the embodiment of the present application, be based on Hidden Markov Model
(HMM) map match (Map-Matching) algorithm flow can specifically include:
Initialize n, m；Obtain new GPS point；One group of candidate road is found in the pre-determined distance of the given GPS point of distance
Section forms state space { r1, r2 ..., rn }；
Obtain next GPS point (n-1GPS point) composition observation sequence { p1, p2 ..., pn }；Calculating observation probability；It calculates
The state transition probability of candidate road section；
The section sequence of maximum probability is obtained using Viterbi algorithm；
Observation sequence { p1, p2 ..., pn } projects the section sequence selected；
Judging whether it is GPS data；If so, saving the above results, it can execute step 205；If it is not, can return
The step of returning to above-mentioned acquisition new GPS point.
Wherein: n indicates number of states, and m indicates observation quantity；
State-transition matrix A:
Wherein rjSection where when being moment t+1, riSection where when being moment t, and rijThere are three types of different values:
(1) as section rjWith riWhen adjacent, rij=1；(2) as section rjWith riWhen non-conterminous, rij=∞；(3) as section rjWith riIt is same
When one section, i.e. when i=j, rij=0.
Observation probability matrix B:
Wherein DkjIt represents from okTo rjDistance, wherein DkiIt represents from okTo riDistance.
Position of the terminal device i.e. user in map can be mainly accurately positioned by map-matching algorithm.
Specifically, match point (above-mentioned first of projection can be obtained according to vertical projection method behind selected matching section
It sets).Above-mentioned steps can realize map match to the processing of position data by server, provide to terminal device for showing
Accurate cartographic information and location information.I.e. user can determine each sight spot simply by the interactive operation on terminal device
The location of or itself, it is convenient for position enquiring.
206, it determines the scenic spot mark in user's request content, it is oriented to obtain the corresponding scenic spot of the scenic spot mark
Figure.
Wherein, above-mentioned user's request content can carry scenic spot mark, can store one or more in server
The corresponding relationship of scenic spot mark, one or more scenic spot digraph and scenic spot mark and scenic spot digraph, passes through above-mentioned scape
Area's mark can determine corresponding scenic spot digraph.In the embodiment of the present application, scenic spot can be abstracted as to digraph G=<V, E>,
Above-mentioned V and E respectively indicates the set on side in the set and above-mentioned digraph of above-mentioned digraph interior joint, and the weight on side represents two
Time loss between node can be indicated with d.
Definition: 1, node time consumes, and each node has the consumption of certain time, indicates (to can be understood as each with t
The time of sight spot visit)；
2, node category attribute is usedIt indicates, node category attribute (can be understood as scene types) is generally divided into 8
Class is arts_entertainment, shops, food, nightlife, travel, education, parks_ respectively
Outdoors, building are indicated with numerical value respectively.Node category attribute is expressed as follows in vector form: A={ c1,c2,
c3,c4,c5,c6,c7,c8, wherein c1~c8The popularity degree for successively representing above-mentioned node category attribute, in the embodiment of the present application
In above-mentioned popularity degree can be understood as scene types scoring, such as tourist to the scene types carry out marking acquisition sight spot class
Other comprehensive score, or the scoring obtained according to flowing of access statistics, for embodying the popular degree of scene types, the application
Embodiment is with no restriction.
3, the inquiry Q=< V searched fors,T,Uc>,VsThe start node of tourist's input is represented, T represents the time of tourist's input,
UcThe category set for representing the node of tourist's input, can be the favorite scene types of tourist.
4, path income, path income can be counted according to the popularity degree of the scene types attribute of nodes all in path
It calculates.By calculating the income of each path, the path of Income Maximum is selected to recommend user.Utilize the favorite sight spot class of tourist
Other scene types scoring (node category attribute ck) popularity degree score multiplied by weight r and other scene types multiplied by weight
1-r sums to calculate the income in path again.
The accuracy of heuritic approach depends primarily on the accuracy of estimating part, therefore uses and establish preconditioning matrix
Mode obtains the cost of estimating part functional value in heuritic approach, i.e. f to reducen=gn+hnMiddle hnValue, so as to fastly
Speed obtains calculated result.
207, preconditioning matrix is constructed according to the node in above-mentioned scenic spot digraph.
A n*n rank matrix M is defined, for indicating the correlation between all nodes:
Wherein, Xij(1 < i, j < n) indicates that i-th of node to the relationship of j-th of node, is showed in the form of structural body,
In comprising from i-node to j node total revenue P, path time L, visit node time t and process node set.
208, according to above-mentioned first position, above-mentioned visiting time and above-mentioned scene types, based on above-mentioned preconditioning matrix, lead to
It crosses above-mentioned default heuritic approach to scan for above-mentioned scenic spot digraph, obtains search result, existed according to path evaluation rule
Destination path is determined in mentioned above searching results.
After preconditioning matrix M building is completed, search inquiry < V of available users,T,Uc>, it is searched by heuristic
Rope algorithm extends layer by layer, selects the node of Income Maximum to be extended every time, reaches time upper limit and then stop search.
Specifically, can be based on the sight spot history popularity degree of the path interior joint in mentioned above searching results, sight spot favorable comment
Degree or sight spot volume of the flow of passengers degree calculate path income, determine that the path of path Income Maximum is above-mentioned destination path, can be with
Referring to above-mentioned steps 207.
It can be determined as the destination path of user's offer through the above steps, which includes the sense of user's selection
The scene types of interest, and can satisfy the visiting time demand of user, meet expected travel path for user's planning.
209, generate threedimensional model format the result data comprising above-mentioned destination path, Xiang Shangshu terminal device transmission on
State result data.
In the embodiment of the present application, 3D modeling software Google Sketchup software construction creation building mould can use
Type.Plant and other facilities in scenic spot are created using 3DSMax and assign material to model.Constructed by Unity3D control
The size variation of model, and the rotation angle of control building model.The topological structure at scenic spot is common scenic spot abstract model, is opened up
It flutters in structure and represents the scenic spot with the non-directed graph that node on behalf sight spot, side delegated path, node and side collectively constitute.On path
Weight is the distance between two nodes.
It is to be directly related to as the tie that user exchanges with system for the interactive module of server and terminal device
On the one hand the important module of user experience is responsible for the color applying drawing of three-dimensional scenic, on the one hand according to user to the operation of button with
And the response of event and server carry out data exchange.Client can be write using Unity3D, the user interface (User
Interface, UI) it can mainly be realized using NGUI plug-in unit, input text box, drop-down list, button in the interface etc.
All realized by NGUI.
Network service aspect can use HTTP mode.By the way that function set body is encapsulated in server end, client is only
It needs to call service, the data that can be needed, does not need to know how function is realized.
It can store the two-dimensional coordinate, GPS location data and each seat of planar map in map information database
The attribute etc. of punctuate, in server end these data of database purchase, client is reflected accordingly by inquiry database
Rays point, and then realize location updating.
Wherein, above-mentioned steps 209 can also refer to the specific descriptions in the step 109 of embodiment illustrated in fig. 1, herein no longer
It repeats.
Specifically, using the development mode of client end/server end, i.e. C/S framework.Server can be responsible for believing user
Breath, the storage of position data, update, maintenance, and the request of response terminal device, returned data processing result.Terminal device
It can be responsible for acquiring the position data of user and the display of three-dimensional scenic, processing and the path rule of user interactive operation are provided
Draw navigation.For example, the working frame process of whole system can be as follows:
User enters in scenic spot, provides clothes using the mobile terminal (such as smart phone) that can run intelligent tour system
Business.
Mobile terminal obtains user's GPS location data by positioning function and positions to realize to user location.
Mobile terminal will be sent to service routine by network comprising position data and user's request content, wait its sound
It answers.
Service routine response mobile terminal request with and receive above-mentioned client data, according to obtained data and request
Corresponding processing result is back to mobile terminal.
Mobile terminal receives above-mentioned processing result, using forms such as text, image and/or video specifications by service routine
Processing result shows passenger, and the functions such as path navigation may be implemented.
The System Back-end framework can realize that front end is realized using html language, and result is fed back to end using C# prophesy
The user of end equipment.Specific architecture design can refer to Fig. 2 b, wherein database can store position data (location information),
Figure information, user information, can be managed by user management subsystem, location management subsystem, scene management subsystem,
It obtains and applies；Specifically, the performance with terminal device may be implemented and interact function based on the map information database in server
It can and be rendered by 3D solid and path planning displaying service is provided.
In the embodiment of the present application, by receiving user's request content from terminal device, the terminal device is obtained
Position data, user's request content includes visiting time and scene types, based on Kalman filter to above-mentioned positional number
According to being filtered, filtered position data is obtained, above-mentioned filtered position data is converted to and meets above-mentioned preset
The locating point data of format map determines the candidate in above-mentioned default map based on above-mentioned locating point data and default candidate rule
Region determines matching road based on above-mentioned locating point data by map-matching algorithm in above-mentioned candidate region, and based on upper
Locating point data and above-mentioned matching road are stated, determines that the locating point position projected on above-mentioned matching road is above-mentioned first
It sets, determines the scenic spot mark in user's request content, obtain the scenic spot and identify corresponding scenic spot digraph, according to above-mentioned
Node in the digraph of scenic spot constructs preconditioning matrix, according to above-mentioned first position, above-mentioned visiting time and above-mentioned scene types,
Above-mentioned scenic spot digraph is scanned for based on above-mentioned preconditioning matrix, by above-mentioned default heuritic approach, obtains search knot
Fruit determines destination path according to path evaluation rule in mentioned above searching results, and generate threedimensional model format includes above-mentioned mesh
The result data in path is marked, Xiang Shangshu terminal device sends the above results data, can provide personalized stroke planning and road
Diameter is recommended, and real-time, accuracy and comprehensive that travel information provides are improved.
Fig. 3 is referred to, Fig. 3 is a kind of structural schematic diagram of server provided by the embodiments of the present application, the server 300 packet
Include interactive module 310 and service processing module 320, in which:
Interactive module 310 obtains the position of the terminal device for receiving user's request content from terminal device
Data, user's request content includes visiting time and scene types；
Service processing module 320, for determining of the position data in the default map according to position transformation rule
One position generates target according to the first position, the visiting time and the scene types using default heuritic approach
Path；
The interactive module 310 is also used to, and generates the result data comprising the destination path of threedimensional model format, to
The terminal device sends the result data.
Optionally, server further includes memory module 330, for storing above-mentioned position data.
Above-mentioned memory module 330 can be with the two-dimensional coordinate of memory plane two-dimensional map and the attribute of each coordinate points
Deng.
Optionally, the service processing module 320 is specifically used for:
The position data is filtered based on Kalman filter, obtains filtered position data；
The filtered position data is converted to the locating point data for meeting the default format map；
The candidate region in the default map is determined based on the locating point data and default candidate rule；
By map-matching algorithm, matching road, and base are determined in the candidate region based on the locating point data
In the locating point data and the matching road, determine that the locating point position projected on the matching road is described first
Position.
Optionally, above-mentioned map-matching algorithm is Hidden Markov Model.
Optionally, the service processing module 320 includes first processing module 321 and Second processing module 322, in which:
The first processing module 321, is used for:
It determines the scenic spot mark in user's request content, obtains the scenic spot and identify corresponding scenic spot digraph；
Preconditioning matrix is constructed according to the node in the scenic spot digraph；
The Second processing module 322, is used for:
According to the first position, the visiting time and the scene types, based on the preconditioning matrix, pass through institute
It states default heuritic approach to scan for the scenic spot digraph, obtains search result；
The destination path is determined in described search result according to path evaluation rule.
Optionally, the scenic spot digraph be digraph G=<V, E>, wherein the V and E respectively indicates the digraph
The set on side in the set of interior joint and the digraph；
The preconditioning matrix is N rank matrix M, for indicating the correlation between all nodes:
Wherein, Xij(1 < i, j < n) indicates i-th of node to the relationship of j-th of node.
Optionally, the Second processing module 322 is specifically used for, the scape based on the path interior joint in described search result
Point history popularity degree, sight spot favorable comment degree or sight spot volume of the flow of passengers degree calculate path income, determine path Income Maximum
Path is the destination path.
According to the specific embodiment of the embodiment of the present application, the step of paths planning method shown in Fig. 1 and Fig. 2 a is related to
101~103,201~209 modules that can be in server 300 as shown in Figure 3 are performed.
By the server 300 of the embodiment of the present application, server 300 be can receive in the request of the user from terminal device
Hold, obtains the position data of above-mentioned terminal device, above-mentioned user's request content includes visiting time and scene types, according to position
Transformation rule determines the first position of above-mentioned position data in the default map, using default heuritic approach according to above-mentioned first
Position, above-mentioned visiting time and above-mentioned scene types generate destination path, and generate threedimensional model format includes above-mentioned target road
The result data of diameter, Xiang Shangshu terminal device send the above results data, can provide personalized stroke planning and path and push away
It recommends, improves real-time, the accuracy and comprehensive that travel information provides.
Referring to Fig. 4, Fig. 4 is the structural schematic diagram of another kind server disclosed in the embodiment of the present application.As shown in figure 4,
The server 400 includes processor 401 and memory 402, wherein server 400 can also include bus 403, processor 401
It can be connected with each other by bus 403 with memory 402, bus 403 can be Peripheral Component Interconnect standard (Peripheral
Component Interconnect, PCI) bus or expanding the industrial standard structure (Extended Industry Standard
Architecture, EISA) bus etc..Bus 403 can be divided into address bus, data/address bus, control bus etc..For convenient for table
Show, only indicated with a thick line in Fig. 4, it is not intended that an only bus or a type of bus.Wherein, server
400 can also include input-output equipment 404, and input-output equipment 404 may include display screen, such as liquid crystal display.It deposits
Reservoir 402 is used to store one or more programs comprising instruction；Processor 401 is stored in memory 402 for calling
Method and step some or all of is mentioned in the above-mentioned Fig. 1 and Fig. 2 a embodiment of instruction execution.
It should be appreciated that in the embodiment of the present application, alleged processor 401 can be central processing unit (Central
Processing Unit, CPU), which can also be other general processors, digital signal processor (Digital
Signal Processor, DSP), specific integrated circuit (Application Specific Integrated Circuit,
ASIC), ready-made programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic
Device, discrete gate or transistor logic, discrete hardware components etc..General processor can be microprocessor or this at
Reason device is also possible to any conventional processor etc..
Input equipment 402 may include that Trackpad, fingerprint adopt sensor (for acquiring the finger print information and fingerprint of user
Directional information), microphone etc., output equipment 403 may include display (LCD etc.), loudspeaker etc..
The memory 404 may include read-only memory and random access memory, and to processor 401 provide instruction and
Data.The a part of of memory 404 can also include nonvolatile RAM.For example, memory 404 can also be deposited
Store up the information of device type.
By the server 400 of the embodiment of the present application, server 400 be can receive in the request of the user from terminal device
Hold, obtains the position data of above-mentioned terminal device, above-mentioned user's request content includes visiting time and scene types, according to position
Transformation rule determines the first position of above-mentioned position data in the default map, using default heuritic approach according to above-mentioned first
Position, above-mentioned visiting time and above-mentioned scene types generate destination path, and generate threedimensional model format includes above-mentioned target road
The result data of diameter, Xiang Shangshu terminal device send the above results data, can provide personalized stroke planning and path and push away
It recommends, improves real-time, the accuracy and comprehensive that travel information provides.
The embodiment of the present application also provides a kind of computer storage medium, wherein computer storage medium storage is for electricity
The computer program of subdata exchange, it is as any in recorded in above method embodiment which execute computer
A kind of some or all of paths planning method step.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed device, it can be by another way
It realizes.For example, the apparatus embodiments described above are merely exemplary, such as the division of the module, it is only a kind of
Logical function partition, there may be another division manner in actual implementation, such as multiple units or components can combine or can
To be integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Coupling, direct-coupling or communication connection can be through some interfaces, the indirect coupling or communication connection of device or module,
It can be electrical or other forms.
The module as illustrated by the separation member may or may not be physically separated, aobvious as module
The component shown may or may not be physical module, it can and it is in one place, or may be distributed over multiple
On network module.Some or all of the modules therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
If the integrated module is realized in the form of software function module and sells or use as independent product
When, it can store in a computer-readable access to memory.Based on this understanding, technical solution of the present invention substantially or
Person says that all or part of the part that contributes to existing technology or the technical solution can body in the form of software products
Reveal and, which is stored in a memory, including some instructions are used so that a computer equipment
(can be personal computer, server or network equipment etc.) executes all or part of each embodiment the method for the present invention
Step.And memory above-mentioned includes: USB flash disk, read-only memory (Read-Only Memory, ROM), random access memory
The various media that can store program code such as (Random Access Memory, RAM), mobile hard disk, magnetic or disk.
Claims (10)
1. a kind of paths planning method is applied to server, which is characterized in that the described method includes:
User's request content from terminal device is received, obtains the position data of the terminal device, in user's request
Hold includes visiting time and scene types；
The first position of the position data in the default map is determined according to position transformation rule, using default heuritic approach
Destination path is generated according to the first position, the visiting time and the scene types；
The result data comprising the destination path of threedimensional model format is generated, Xiang Suoshu terminal device sends the number of results
According to.
2. the method according to claim 1, wherein described determine the position data according to position transformation rule
First position in the default map includes:
The position data is filtered based on Kalman filter, obtains filtered position data；
The filtered position data is converted to the locating point data for meeting the default format map；
The candidate region in the default map is determined based on the locating point data and default candidate rule；
By map-matching algorithm, matching road is determined in the candidate region based on the locating point data, and is based on institute
Locating point data and the matching road are stated, determines that the locating point position projected on the matching road is described first
It sets.
3. according to the method described in claim 2, it is characterized in that, the map-matching algorithm is Hidden Markov Model.
4. according to the method described in claim 3, it is characterized in that, described use default heuritic approach according to described first
It sets, the visiting time and the scene types generate destination path and include:
It determines the scenic spot mark in user's request content, obtains the scenic spot and identify corresponding scenic spot digraph；
Preconditioning matrix is constructed according to the node in the scenic spot digraph；
According to the first position, the visiting time and the scene types, based on the preconditioning matrix, by described pre-
If heuritic approach scans for the scenic spot digraph, search result is obtained；
The destination path is determined in described search result according to path evaluation rule.
5. according to the method described in claim 4, it is characterized in that, the scenic spot digraph be digraph G=<V, E>, wherein
The V and E respectively indicates the set on side in the set and the digraph of the digraph interior joint；
The preconditioning matrix is N rank matrix M, for indicating the correlation between all nodes:
Wherein, Xij(1 < i, j < n) indicates i-th of node to the relationship of j-th of node.
6. according to the method described in claim 4, it is characterized in that, it is described according to path evaluation rule in described search result
Determine that the destination path includes:
Sight spot history popularity degree, sight spot favorable comment degree or sight spot passenger flow based on the path interior joint in described search result
Amount degree calculates path income, determines that the path of path Income Maximum is the destination path.
7. according to the method described in claim 6, it is characterized in that, the income in the path is scored by scene types multiplied by default
Weight r and other scene types score to sum multiplied by weight (1-r) and obtain.
8. a kind of server characterized by comprising interactive module and service processing module, in which:
Interactive module obtains the position data of the terminal device, institute for receiving user's request content from terminal device
Stating user's request content includes visiting time and scene types；
Service processing module, for determining the first position of the position data in the default map according to position transformation rule,
Destination path is generated according to the first position, the visiting time and the scene types using default heuritic approach；
The interactive module is also used to, and the result data comprising the destination path of threedimensional model format is generated, to the end
End equipment sends the result data.
9. a kind of server, which is characterized in that including processor, input equipment, output equipment and memory, the processor,
Input equipment, output equipment and memory are connected with each other, wherein the memory is for storing computer program, the calculating
Machine program includes program instruction, and the processor is configured for calling described program instruction, is executed as claim 1-7 is any
Method described in.
10. a kind of computer storage medium, which is characterized in that the computer storage medium is stored with computer program, described
Computer program includes program instruction, and described program instruction makes the processor execute such as claim when being executed by a processor
The described in any item methods of 1-7.
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| CN201811349493.4A CN109409612B (en) | 2018-11-12 | 2018-11-12 | Path planning method, server and computer storage medium |
| PCT/CN2019/088797 WO2020098252A1 (en) | 2018-11-12 | 2019-05-28 | Route planning method, server, and computer storage medium |
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| WO2020098252A1 (en) * | 2018-11-12 | 2020-05-22 | 平安科技（深圳）有限公司 | Route planning method, server, and computer storage medium |
| CN111444302A (en) * | 2020-04-17 | 2020-07-24 | 中国传媒大学 | Mobility prediction method, system and device based on user classification |
| CN111707263A (en) * | 2020-05-22 | 2020-09-25 | 北京梧桐车联科技有限责任公司 | Path planning method and device, electronic equipment and storage medium |
| CN113723655A (en) * | 2020-12-31 | 2021-11-30 | 京东城市(北京)数字科技有限公司 | Path acquisition method and device, electronic equipment and storage medium |
| CN112985413A (en) * | 2021-03-18 | 2021-06-18 | 河南工业大学 | Scenic spot path planning method and device based on improved A-x algorithm |
| CN112985413B (en) * | 2021-03-18 | 2022-06-10 | 河南工业大学 | Scenic spot path planning method and device based on improved A-x algorithm |
| CN113283664A (en) * | 2021-06-09 | 2021-08-20 | 京东方科技集团股份有限公司 | Path recommendation method and device, electronic equipment and computer readable storage medium |
| CN116433269A (en) * | 2023-06-13 | 2023-07-14 | 四川交通职业技术学院 | Method and device for charging parking lot of zone type unmanned vehicle based on big data |
| CN116433269B (en) * | 2023-06-13 | 2023-08-18 | 四川交通职业技术学院 | Method and device for charging parking lot of zone type unmanned vehicle based on big data |
| CN117633372A (en) * | 2024-01-25 | 2024-03-01 | 四川轻化工大学 | Scenic spot playing path optimization method, system, terminal and medium based on Internet of things |
| CN117633372B (en) * | 2024-01-25 | 2024-04-09 | 四川轻化工大学 | Scenic spot playing path optimization method, system, terminal and medium based on Internet of things |
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| Publication number | Publication date |
|---|---|
| WO2020098252A1 (en) | 2020-05-22 |
| CN109409612B (en) | 2024-05-28 |
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