CN110530391A - A kind of paths planning method and device based on hierarchical road network - Google Patents
A kind of paths planning method and device based on hierarchical road network Download PDFInfo
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- CN110530391A CN110530391A CN201910937214.4A CN201910937214A CN110530391A CN 110530391 A CN110530391 A CN 110530391A CN 201910937214 A CN201910937214 A CN 201910937214A CN 110530391 A CN110530391 A CN 110530391A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
Abstract
The present invention relates to a kind of paths planning method and device based on hierarchical road network, wherein method includes: the beginning and end according to setting, carries out path planning by A* searching algorithm in bottom road network.If judgement knows that the iterative search number of bottom road network reaches preset times threshold value, starting point to be planned and terminal to be planned are mapped to upper layer road network by the first path program results based on bottom road network.According to starting point to be planned and terminal to be planned, path planning is carried out by A* searching algorithm in the road network of upper layer.Second route programming result of upper layer road network is transformed into bottom road network and is exported.Bottom road network is not planned that the part of completion mentions layer into upper layer road network, continues path planning by paths planning method provided by the invention when the iterative search number of bottom road network reaches preset times threshold value；Since upper layer road network is sparse, remaining path planning can be rapidly completed in upper layer road network after mentioning layer, improve path planning efficiency.
Description
Technical field
The present invention relates to navigation of electronic map application and automatic Pilot fields more particularly to a kind of based on hierarchical road network
Paths planning method and device.
Background technique
With the extensive use of automatic Pilot technology, vehicle end is further important to the dependence of high-precision map, high-precision map
Acquisition range it is also increasingly wider, and during automatic Pilot, need to calculate the road of long range within limited time and space
Diameter program results.
Traditional paths planning method, the road net data based on the bottom execute A* search from starting point to terminal, to obtain
Route programming result.However, the road network of bottom road net data is dense, data volume is huge, the searching algorithm based on bottom road network
Operand is larger, takes a long time, it is difficult to which meet automatic Pilot needs the path planning for calculating long range in a short time in the process
As a result demand.
Summary of the invention
The present invention for the technical problems in the prior art, provides a kind of paths planning method based on hierarchical road network
And device, it solves traditional paths planning method and takes a long time, it is difficult to which meet automatic Pilot needs to calculate in a short time in the process
Out the problem of the route programming result of long range.
The technical scheme to solve the above technical problems is that
In a first aspect, the present invention provides a kind of paths planning method based on hierarchical road network, comprising:
According to the beginning and end of setting, path planning is carried out by A* searching algorithm in bottom road network；
If judgement knows that the iterative search number of bottom road network reaches preset times threshold value, first based on bottom road network
Route programming result obtains starting point to be planned and terminal to be planned, and the starting point to be planned and terminal to be planned are mapped to
Layer road network；
According to starting point to be planned and terminal to be planned, path planning is carried out by A* searching algorithm in the road network of upper layer；
Second route programming result of upper layer road network is transformed into bottom road network and is exported, destination path planning knot is obtained
Fruit.
Further, according to the beginning and end of setting, in bottom road network by A* searching algorithm carry out path planning it
Before, the method also includes:
By high-precision map road net data bedding storage, bottom road network and upper layer road network are obtained；Wherein, the data of upper layer road network
Amount is less than the data volume of bottom road network.
Further, the beginning and end according to setting carries out path rule by A* searching algorithm in bottom road network
It draws, specifically includes:
The beginning and end of setting is matched to respectively on the link of bottom road network；
Forward direction A* search is executed from starting point to terminal, executes reversed A* search from terminal to starting point.
Further, the first path program results based on bottom road network, obtain starting point to be planned and terminal to be planned,
It specifically includes:
After the iterative search number of bottom road network reaches preset times threshold value, the terminal node of the forward direction A* search is obtained
Point is used as starting point to be planned, obtains the terminal node of the reversed A* search as terminal to be planned.
Further, described according to starting point to be planned and terminal to be planned, it is carried out in the road network of upper layer by A* searching algorithm
Path planning specifically includes:
The starting point to be planned and terminal to be planned are matched on the link of upper layer road network respectively；
Forward direction A* search is executed from starting point to be planned to terminal to be planned, is executed from band planning terminal to starting point to be planned anti-
It is searched for A*, when forward direction A* search is met with reversed A* search, obtains the second route programming result of upper layer road network.
Further, described second route programming result of upper layer road network is transformed into bottom road network exports, and obtains target
Route programming result specifically includes:
According to each upper layer road network link in the second route programming result, inquire each upper layer road network link it is corresponding under
Layer road network link set；
First path program results and whole lower layer road network link set are matched, destination path planning knot is obtained
Fruit.
Second aspect, the present invention provide a kind of path planning apparatus based on hierarchical road network, comprising:
Bottom railway network planning module passes through A* searching algorithm for the beginning and end according to setting in bottom road network
Carry out path planning；
A layer module is proposed, if being based on for judging to know that the iterative search number of bottom road network reaches preset times threshold value
The first path program results of bottom road network, obtain starting point to be planned and terminal to be planned, by the starting point to be planned and wait advise
It draws terminal and maps to upper layer road network；
Upper layer railway network planning module, for being searched by A* in the road network of upper layer according to starting point to be planned and terminal to be planned
Rope algorithm carries out path planning；
Layer output module is dropped, exports, obtains for the second route programming result of upper layer road network to be transformed into bottom road network
Obtain destination path program results.
Further, the path planning apparatus further include:
Hierarchy of road network module, for obtaining bottom road network and upper layer road network for high-precision map road net data bedding storage；Its
In, the data volume of upper layer road network is less than the data volume of bottom road network.
The third aspect, the present invention provides a kind of electronic equipment, including memory, processor and storage are on a memory and can
The computer program run on a processor, the processor realize the method as provided by first aspect when executing described program
The step of.
Fourth aspect, the present invention provide a kind of non-transient computer readable storage medium, are stored thereon with computer program,
It is realized when the computer program is executed by processor as provided by first aspect the step of method.
Paths planning method and device provided by the invention based on hierarchical road network, is searched in bottom road network by A* first
Rope algorithm carries out path planning, and when the iterative search number of bottom road network reaches preset times threshold value, and path planning is not yet complete
Bottom road network is not then planned that the part of completion mentions layer into upper layer road network, continues path planning by Cheng Shi；Due to overlying roaduay
Net sparse, remaining path planning can be rapidly completed in upper layer road network after mentioning layer, finally by the second path planning of upper layer road network
As a result it is transformed into bottom road network and exports, obtain destination path program results.When the present invention realizes limited through the above scheme
Interior quick outgoing route program results meet automatic Pilot in the application demand of long range planning.Improve path planning
Speed.
Detailed description of the invention
Fig. 1 is the paths planning method flow diagram provided in an embodiment of the present invention based on hierarchical road network；
Fig. 2 is hierarchy of road network schematic diagram provided in an embodiment of the present invention；
Fig. 3 is the structural block diagram of the path planning apparatus provided in an embodiment of the present invention based on hierarchical road network；
Fig. 4 is the entity structure schematic diagram of electronic equipment provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
Existing paths planning method, the road net data based on the bottom execute A* search from starting point to terminal, to obtain
Route programming result.However, the road network of bottom road net data is dense, data volume is huge, the searching algorithm based on bottom road network
Operand is larger, takes a long time, it is difficult to which meet automatic Pilot needs the path planning for calculating long range in a short time in the process
As a result demand.
For the above problem of existing route planing method, the embodiment of the invention provides a kind of roads based on hierarchical road network
Diameter planing method, Fig. 1 are the paths planning method flow diagram provided in an embodiment of the present invention based on hierarchical road network, such as Fig. 1
It is shown, this method comprises:
110, according to the beginning and end of setting, path planning is carried out by A* searching algorithm in bottom road network.
Step 110 can specifically include following steps:
111, the beginning and end of setting is matched to respectively on the link of bottom road network；Wherein, link is navigation map
In for indicating path connected network fictionalize the shaped form object of access between the node NODE and NODE that come, can be approximate
The Duan Daolu for being interpreted as real road and connecting two crossings.
112, forward direction A* search is executed from starting point to terminal, executes reversed A* search from terminal to starting point.
Specifically, the road net data of high-precision map is huge, and the present embodiment makes hierarchy of road network when data are charted.Fig. 2
For hierarchy of road network schematic diagram provided in an embodiment of the present invention, referring to Fig. 2, bottom road network is dense, and data volume is huge.Upper layer road network is dilute
It dredges, eliminates many branches, remain the data such as major trunk roads.
The present embodiment executes A* search from forward and reverse, when the A* of forward and reverse search is met, that is, completes path
Planning, two-way A* search can be improved the efficiency of path planning.Specifically, positive A* search is opened from link where starting point
Begin to be iterated search by A* searching algorithm, constantly looks for connecting link, the link where searching out terminal.
120, if judgement knows that the iterative search number of bottom road network reaches preset times threshold value, based on bottom road network
First path program results obtain starting point to be planned and terminal to be planned, and the starting point to be planned and terminal to be planned are mapped
To upper layer road network.
Specifically, since during automatic Pilot, vehicle needs obtain out over long distances within limited time and space
Route programming result, therefore, the path planning algorithm operand based on bottom road network is larger, takes a long time, it is difficult to meet short
The demand that the route programming result of long range is calculated in time needs to improve the efficiency of path planning.For this problem, originally
It, will be not complete when the iterative search number of bottom road network reaches preset times threshold value, and path planning does not complete also in embodiment
At path planning promoted and continue into the sparse road network on upper layer, to improve path planning efficiency.
130, according to starting point to be planned and terminal to be planned, path rule are carried out by A* searching algorithm in the road network of upper layer
It draws.
Specifically, obtaining bottom road network forward direction A* after the iterative search number of bottom road network reaches preset times threshold value
The terminal node of search obtains the terminal node of the reversed A* search of bottom road network as terminal to be planned as starting point to be planned.
It is based on starting point to be planned and terminal to be planned in the road network of upper layer, path planning is continued by A* searching algorithm, due to upper
Layer road network is sparse, can be completed in a short time remaining path planning.
140, the second route programming result of upper layer road network is transformed into bottom road network and is exported, destination path planning is obtained
As a result.
Specifically, the second route programming result is obtained, by the second path planning after the completion of the path planning of upper layer road network
As a result it is transformed into bottom road network and exports.Referring to Fig. 2, it is assumed that the second route programming result includes link13, then link13 is converted
Destination path is obtained in conjunction with the first path program results that step 110 obtains to the link3-link5-link6 of bottom road network
Program results.Herein, destination path program results, that is, bottom road network fullpath program results.
Paths planning method provided by the invention based on hierarchical road network passes through A* searching algorithm first in bottom road network
Path planning is carried out, when the iterative search number of bottom road network reaches preset times threshold value, and path planning is not yet completed, then
Bottom road network is not planned that the part of completion mentions layer into upper layer road network, continues path planning；Since upper layer road network is sparse,
Remaining path planning can be rapidly completed in upper layer road network after mentioning layer, finally convert the second route programming result of upper layer road network
It is exported into bottom road network, obtains destination path program results.The present invention realizes in the limited time quickly through the above scheme
Outgoing route program results meet automatic Pilot in the application demand of long range planning.Improve the speed of path planning.
Content based on the above embodiment, prior to step 110, paths planning method provided in this embodiment further include:
By high-precision map road net data bedding storage, bottom road network and upper layer road network are obtained；Wherein, the data volume of upper layer road network is less than bottom
The data volume of layer road network.
Specifically, it before executing step 110, needs that hierarchy of road network is made and stored.Referring to Fig. 2, bottom road network is thick
Close, data volume is huge.Upper layer road network is sparse, eliminates many branches, remains the data such as major trunk roads.
It is described according to starting point to be planned and terminal to be planned in step 130 based on any of the above-described embodiment, in overlying roaduay
Path planning is carried out by A* searching algorithm in net, is specifically included:
131, the starting point to be planned and terminal to be planned are matched on the link of upper layer road network respectively；
132, forward direction A* search is executed from starting point to be planned to terminal to be planned, is held from band planning terminal to starting point to be planned
The reversed A* search of row obtains the second path planning knot of upper layer road network when forward direction A* search is met with reversed A* search
Fruit.
It is described that second route programming result of upper layer road network is transformed into bottom in step 140 based on any of the above-described embodiment
It is exported in layer road network, obtains destination path program results, specifically include:
141, according to each upper layer road network link in the second route programming result, it is corresponding to inquire each upper layer road network link
Lower layer road network link set；
142, first path program results and whole lower layer road network link set are matched, destination path planning is obtained
As a result.
Specifically, referring to Fig. 2, it is assumed that the second route programming result includes link13, then the corresponding lower layer's road network of link13
Link set includes link3, link5 and link6.The first path program results and whole lower layers road network that step 110 is obtained
Link set carries out connecting matching, obtains destination path program results.Herein, destination path program results, that is, bottom road network is complete
Whole route programming result.
Fig. 3 is the structural block diagram of the path planning apparatus provided in an embodiment of the present invention based on hierarchical road network, such as Fig. 3 institute
Show, the embodiment of the present invention provides a kind of path planning apparatus based on hierarchical road network, comprising:
Bottom railway network planning module 301 is searched for by A* in bottom road network and is calculated for the beginning and end according to setting
Method carries out path planning.
Specifically, firstly, the beginning and end of setting is matched to bottom road network respectively by bottom railway network planning module 301
On link.Then, forward direction A* search is executed from starting point to terminal, executes reversed A* search from terminal to starting point.The present embodiment from
Forward and reverse executes A* search from starting point, when the A* of forward and reverse search is met, that is, completes path planning, two-way A*
Search can be improved the efficiency of path planning.Wherein, positive A* search is to begin through A* search from link where starting point to calculate
Method is iterated search, constantly looks for connecting link, the link where searching out terminal.
Layer module 302 is proposed, if for judging to know that the iterative search number of bottom road network reaches preset times threshold value, base
In the first path program results of bottom road network, obtain starting point to be planned and terminal to be planned, by the starting point to be planned and to
Planning terminal maps to upper layer road network.
Specifically, since during automatic Pilot, vehicle needs obtain out over long distances within limited time and space
Route programming result, therefore, the path planning algorithm operand based on bottom road network is larger, takes a long time, it is difficult to meet short
The demand that the route programming result of long range is calculated in time needs to improve the efficiency of path planning.For this problem, originally
In embodiment, judge to know that the iterative search number of bottom road network reaches preset times threshold value when proposing layer module 302, and path is advised
When drawing also unfinished, proposes layer module 302 and continue unfinished path planning promotion into the sparse road network on upper layer, to mention
High path planning efficiency.
Upper layer railway network planning module 303, for passing through A* in the road network of upper layer according to starting point to be planned and terminal to be planned
Searching algorithm carries out path planning.
Specifically, after the iterative search number of bottom road network reaches preset times threshold value, bottom road network forward direction A* is obtained
The terminal node of search obtains the terminal node of the reversed A* search of bottom road network as terminal to be planned as starting point to be planned.
Upper layer road network is based on starting point to be planned and terminal to be planned, continues path planning by A* searching algorithm, due to overlying roaduay
It nets sparse, remaining path planning can be completed in a short time.
Layer output module 304 is dropped, is exported for the second route programming result of upper layer road network to be transformed into bottom road network,
Obtain destination path program results.
Specifically, after the completion of the path planning of upper layer road network, the second route programming result is obtained, drops layer output module
Second route programming result is transformed into bottom road network and exports by 304.Referring to Fig. 2, it is assumed that the second route programming result includes
Link13, then link13 is transformed into the link3-link5-link6 of bottom road network, in conjunction with first path program results, obtains mesh
Mark route programming result.Herein, destination path program results, that is, bottom road network fullpath program results.
Path planning apparatus provided by the invention based on hierarchical road network passes through A* searching algorithm first in bottom road network
Path planning is carried out, when the iterative search number of bottom road network reaches preset times threshold value, and path planning is not yet completed, then
Bottom road network is not planned that the part of completion mentions layer into upper layer road network, continues path planning；Since upper layer road network is sparse,
Remaining path planning can be rapidly completed in upper layer road network after mentioning layer, finally convert the second route programming result of upper layer road network
It is exported into bottom road network, obtains destination path program results.The present invention realizes in the limited time quickly through the above scheme
Outgoing route program results meet automatic Pilot in the application demand of long range planning.Improve the speed of path planning.
Based on any of the above-described embodiment, the path planning apparatus further include:
Hierarchy of road network module, for obtaining bottom road network and upper layer road network for high-precision map road net data bedding storage；Its
In, the data volume of upper layer road network is less than the data volume of bottom road network.
Path planning apparatus provided in an embodiment of the present invention based on hierarchical road network is specifically used for executing above method implementation
Example in the paths planning method based on hierarchical road network the step of, due in above-described embodiment to the path based on hierarchical road network
Planing method describes in detail, does not repeat herein the functional module of the path planning apparatus based on hierarchical road network.
Based on any of the above-described embodiment, the upper layer railway network planning module 303 is specifically used for: respectively by described to be planned
Point and terminal to be planned are matched on the link of upper layer road network；Forward direction A* search is executed from starting point to be planned to terminal to be planned,
Reversed A* search is executed to starting point to be planned from band planning terminal to obtain when the forward direction A* is searched for and reversed A* search is met
Obtain the second route programming result of upper layer road network.
Based on any of the above-described embodiment, the drop layer output module 304 is specifically used for: according in the second route programming result
Each upper layer road network link, inquire each upper layer road network link corresponding lower layer's road network link set；First path is planned
As a result it is matched with whole lower layer's road network link set, obtains destination path program results.
Fig. 4 is the entity structure schematic diagram of electronic equipment provided in an embodiment of the present invention, as shown in figure 4, the electronic equipment
It may include: processor (processor) 401,402, memory communication interface (Communications Interface)
(memory) 403 and communication bus 404, wherein processor 401, communication interface 402, memory 403 pass through communication bus 404
Complete mutual communication.Processor 401 can call the meter that is stored on memory 403 and can run on processor 401
Calculation machine program, to execute the paths planning method based on hierarchical road network of the various embodiments described above offer, for example, according to setting
Beginning and end, in bottom road network by A* searching algorithm carry out path planning；If the iteration of bottom road network is known in judgement
Searching times reach preset times threshold value, then based on the first path program results of bottom road network, obtain starting point to be planned and to
It plans terminal, the starting point to be planned and terminal to be planned is mapped into upper layer road network；According to starting point to be planned and end to be planned
Point carries out path planning by A* searching algorithm in the road network of upper layer；Second route programming result of upper layer road network is transformed into
It is exported in bottom road network, obtains destination path program results.
The embodiment of the present invention also provides a kind of non-transient computer readable storage medium, is stored thereon with computer program,
The computer program is implemented to carry out the path planning based on hierarchical road network of the various embodiments described above offer when being executed by processor
Method, for example, according to the beginning and end of setting, path planning is carried out by A* searching algorithm in bottom road network；If
Judgement knows that the iterative search number of bottom road network reaches preset times threshold value, then the first path based on bottom road network plans knot
Fruit obtains starting point to be planned and terminal to be planned, and the starting point to be planned and terminal to be planned are mapped to upper layer road network；According to
Starting point to be planned and terminal to be planned carry out path planning by A* searching algorithm in the road network of upper layer；By the of upper layer road network
Two route programming results are transformed into bottom road network and export, and obtain destination path program results.
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness
Labour in the case where, it can understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It realizes by means of software and necessary general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be embodied in the form of software products in other words, should
Computer software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Method described in certain parts of example or embodiment.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of paths planning method based on hierarchical road network characterized by comprising
According to the beginning and end of setting, path planning is carried out by A* searching algorithm in bottom road network；
If judgement knows that the iterative search number of bottom road network reaches preset times threshold value, the first path based on bottom road network
Program results obtain starting point to be planned and terminal to be planned, and the starting point to be planned and terminal to be planned are mapped to overlying roaduay
Net；
According to starting point to be planned and terminal to be planned, path planning is carried out by A* searching algorithm in the road network of upper layer；
Second route programming result of upper layer road network is transformed into bottom road network and is exported, destination path program results are obtained.
2. the paths planning method according to claim 1 based on hierarchical road network, which is characterized in that according to the starting point of setting
And terminal, before carrying out path planning by A* searching algorithm in bottom road network, the method also includes:
By high-precision map road net data bedding storage, bottom road network and upper layer road network are obtained；Wherein, the data volume of upper layer road network is small
In the data volume of bottom road network.
3. the paths planning method according to claim 1 based on hierarchical road network, which is characterized in that described according to setting
Beginning and end carries out path planning by A* searching algorithm in bottom road network, specifically includes:
The beginning and end of setting is matched to respectively on the link of bottom road network；
Forward direction A* search is executed from starting point to terminal, executes reversed A* search from terminal to starting point.
4. the paths planning method according to claim 3 based on hierarchical road network, which is characterized in that described to be based on bottom road
The first path program results of net, obtain starting point to be planned and terminal to be planned, specifically include:
After the iterative search number of bottom road network reaches preset times threshold value, the terminal node for obtaining the forward direction A* search is made
For starting point to be planned, the terminal node of the reversed A* search is obtained as terminal to be planned.
5. the paths planning method according to claim 4 based on hierarchical road network, which is characterized in that described according to be planned
Starting point and terminal to be planned carry out path planning by A* searching algorithm in the road network of upper layer, specifically include:
The starting point to be planned and terminal to be planned are matched on the link of upper layer road network respectively；
Forward direction A* search is executed from starting point to be planned to terminal to be planned, executes reversed A* from band planning terminal to starting point to be planned
Search obtains the second route programming result of upper layer road network when forward direction A* search is met with reversed A* search.
6. the paths planning method according to claim 4 based on hierarchical road network, which is characterized in that described by upper layer road network
The second route programming result be transformed into bottom road network and export, obtain destination path program results, specifically include:
According to each upper layer road network link in the second route programming result, the corresponding lower layer road each upper layer road network link is inquired
Net link set；
First path program results and whole lower layer road network link set are matched, destination path program results are obtained.
7. a kind of path planning apparatus based on hierarchical road network characterized by comprising
Bottom railway network planning module is carried out in bottom road network by A* searching algorithm for the beginning and end according to setting
Path planning；
A layer module is proposed, if being based on bottom for judging to know that the iterative search number of bottom road network reaches preset times threshold value
The first path program results of road network, obtain starting point to be planned and terminal to be planned, by the starting point to be planned and end to be planned
Point maps to upper layer road network；
Upper layer railway network planning module, for being searched for and being calculated by A* in the road network of upper layer according to starting point to be planned and terminal to be planned
Method carries out path planning；
Layer output module is dropped, is exported for the second route programming result of upper layer road network to be transformed into bottom road network, mesh is obtained
Mark route programming result.
8. the path planning apparatus according to claim 7 based on hierarchical road network, which is characterized in that further include:
Hierarchy of road network module, for obtaining bottom road network and upper layer road network for high-precision map road net data bedding storage；Wherein,
The data volume of upper layer road network is less than the data volume of bottom road network.
9. a kind of electronic equipment including memory, processor and stores the calculating that can be run on a memory and on a processor
Machine program, which is characterized in that the processor is realized when executing described program to be based on dividing as described in any one of claim 1~6
The step of paths planning method of layer road network.
10. a kind of non-transient computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer
The step of the paths planning method as described in any one of claim 1~6 based on hierarchical road network is realized when program is executed by processor
Suddenly.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112985443A (en) * | 2021-03-19 | 2021-06-18 | 深圳依时货拉拉科技有限公司 | Path planning method and device and terminal equipment |
| CN113485360A (en) * | 2021-07-29 | 2021-10-08 | 福州大学 | AGV robot path planning method and system based on improved search algorithm |
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