CN110598957B

CN110598957B - Path planning method and device, computer equipment and storage medium

Info

Publication number: CN110598957B
Application number: CN201910943189.0A
Authority: CN
Inventors: 周巍; 欧阳国灵; 欧阳砚池; 李永韬; 杨帝海; 何俊池; 刘轶斌; 胡长鸿; 何煦; 李震; 刘海波; 马侠霖; 章效培; 刘太平; 冯腾霄; 尹兴伟; 李玉
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2019-09-30
Filing date: 2019-09-30
Publication date: 2021-10-29
Anticipated expiration: 2039-09-30
Also published as: CN110598957A

Abstract

The application relates to a path planning method, a path planning device, computer equipment and a storage medium, and relates to the technical field of security and protection. The method comprises the following steps: the method comprises the steps of obtaining a time sequence map of a specified area at a first moment, conducting N-round updating on position points where planning objects are located according to the time sequence map of the first moment, obtaining time sequence maps of N moments after the first moment, enabling the time sequence map of the ith moment in the N moments to be based on the time sequence map of the (i-1) -th moment, enabling the position points where the planning objects are located to move towards an exit of the specified area in sequence according to occupation information of the position points in the specified area, and obtaining paths where the planning objects reach the exit of the specified area according to the time sequence maps of the N moments. According to the scheme, the situation that two or more individuals reach a certain position at the same time according to the optimal path and are blocked mutually so as to cause congestion can be avoided, the accuracy of path planning is improved, and the crowd evacuation efficiency is improved.

Description

Path planning method and device, computer equipment and storage medium

Technical Field

The present application relates to the field of security technologies, and in particular, to a path planning method and apparatus, a computer device, and a storage medium.

Background

At present, with the development of society and the increase of population, the situation of gathering a large number of people in a space is more and more common, and when an emergency situation occurs and people need to be evacuated urgently, a set of route planning scheme needs to be formulated quickly due to the fact that the number of people is large and the number of exits is limited, so that the people can reach the exits safely and orderly.

In the related art, when path planning is carried out, each person is regarded as an independent individual, a road sign graph is established, then the optimal path from each person to an exit is independently calculated by algorithms such as Astar, and the like, and the optimal paths are combined to obtain the overall path planning scheme for crowd evacuation. For example, there are A, B, C people in the space, there is an exit D, and the whole path plan is obtained by calculating the optimal paths from a to D, B to D, and C to D, respectively.

However, in the related art, the individuals may be influenced by each other, and when the optimal paths of the multiple individuals overlap, two or more individuals may arrive at a certain position at the same time according to the optimal paths to block each other, so that congestion occurs, and the crowd evacuation efficiency is influenced.

Disclosure of Invention

The embodiment of the application provides a path planning method, a path planning device, computer equipment and a storage medium, which can improve crowd evacuation efficiency, and the technical scheme is as follows:

in one aspect, a method for path planning is provided, where the method includes:

acquiring a time sequence map of a designated area at a first moment, wherein the time sequence map comprises position points where planning objects in the designated area are located and occupation information of the position points in the designated area, and the occupation information comprises occupied or unoccupied position points;

according to the time sequence map of the first moment, N rounds of updating are carried out on the position point where each planning object is located, and the time sequence map of each of N moments after the first moment is obtained; the time sequence map of the ith moment in the N moments is obtained by sequentially moving the position point where each planning object is located to the outlet of the designated area according to the occupation information of each position point in the designated area on the basis of the time sequence map of the (i-1) th moment; n is an integer greater than or equal to 1, i is greater than or equal to 1 and less than or equal to N, and i is an integer;

and acquiring paths of the planning objects reaching the exit of the designated area respectively according to the time sequence maps of the N moments.

In one aspect, a path planning apparatus is provided, the apparatus including:

the map acquisition module is used for acquiring a time sequence map of a specified area at a first moment, wherein the time sequence map comprises position points where planning objects in the specified area are located and occupation information of the position points in the specified area, and the occupation information comprises occupied or unoccupied position points;

the map updating module is used for performing N-round updating on the position point of each planning object according to the time sequence map of the first moment to obtain respective time sequence maps of N moments after the first moment; the time sequence map of the ith moment in the N moments is obtained by sequentially moving the position point where each planning object is located to the outlet of the designated area according to the occupation information of each position point in the designated area on the basis of the time sequence map of the (i-1) th moment; n is an integer greater than or equal to 1, i is greater than or equal to 1 and less than or equal to N, and i is an integer;

and the path acquisition module is used for acquiring paths of the planning objects reaching the exit of the specified area according to the respective time sequence maps at the N moments.

In a possible implementation manner, the map updating module further includes:

a path calculation submodule, configured to calculate, in an ith round of update, a next position point at which a first object moves to an exit of the designated area when a position of the first object in the planning objects is updated; the first object is any object of the planning objects;

a position point updating submodule, configured to update a position point of the first object on the temporary time series map according to the occupancy information of each position point on the temporary time series map and the next position point; when the first object is a first object of the N planning objects, the temporary time series map is the time series map for the (i-1) th time instant;

and the time sequence map acquisition sub-module is used for acquiring the temporary time sequence map obtained after updating the position point of the last planning object in each planning object as the time sequence map of the ith moment.

In one possible implementation, the location point update sub-module includes:

an occupation information acquisition unit, configured to acquire occupation information of a next location point of the first object on the target path in the temporary time series map;

an occupancy processing unit configured to keep a location point of the first object on the temporary time series map unchanged when the occupancy information of the next location point indicates that the next location point is occupied;

an idle processing unit, configured to update the location point of the first object on the temporary time series map to the next location point when the occupancy information of the next location point indicates that the next location point is unoccupied.

In one possible implementation, the map update module is further configured to,

after the position point of the first object on the temporary time sequence map is updated to the next position point, the occupation information of the next position point is modified to be occupied, and the occupation information of the position point before the first object is updated is modified to be unoccupied.

In one possible implementation, the path computation sub-module is further configured to,

before updating the position of a first object in each planning object, acquiring a set of objects to be updated, wherein the set of objects to be updated is a set formed by planning objects which are not updated with position points in the ith round of updating;

randomly selecting one of the planning objects in the set of objects with updates as the first object.

In a possible implementation manner, the path obtaining module includes:

a target object obtaining sub-module, configured to obtain, for a time series map at a jth time in the N times, a target object in the time series map at the jth time, where the target object is a planning object located at a position point where an exit of the specified area is located in the time series map at the jth time; j is more than or equal to 1 and less than or equal to N, and j is an integer;

a target position point obtaining sub-module, configured to, when the target object is obtained, obtain position points of the target object on the time sequence map at each time between the first time and the jth time;

and the target path acquisition sub-module is used for acquiring a path formed by position points of the target object on the time sequence map at each time between the first time and the jth time as a path of the target object reaching the exit of the specified area.

In one possible implementation, the outlets of the designated area include at least two outlets;

the device further comprises:

a corresponding relation obtaining module, configured to, at the map updating module, perform N-round updating on the location point where each planning object is located according to the time sequence map at the first time, and obtain an exit corresponding relation combination set before obtaining the time sequence map at each of N times after the first time, where the exit corresponding relation combination set includes different exit corresponding relation combinations, and each exit corresponding relation combination includes a corresponding relation between each planning object and one of the at least two exits;

a correspondence selecting module for selecting a target exit correspondence combination from the exit correspondence combination set;

the map updating module is configured to perform N-round updating on the location point where each planning object is located according to the target exit correspondence combination and the time sequence map at the first time, and obtain respective time sequence maps at N times after the first time;

and the path acquisition module is configured to acquire a path set of the target exit correspondence combination according to the respective time sequence maps at the N times, where the path set includes paths through which the planning objects respectively reach the exit of the designated area.

In one possible implementation, the apparatus further includes:

a total path obtaining module, configured to combine respective total path costs of the different exit correspondence combinations, where the total path cost is a sum of path costs of each path in a path set of the corresponding exit correspondence combination;

the target path determining module is used for determining the path set with the minimum total path cost as a target path set;

and the path distribution module is used for respectively sending paths of the planning objects reaching the exit of the designated area in the target path set to the target objects.

In one possible implementation manner, the map obtaining module is configured to,

acquiring the position point of each planning object in the designated area at the first moment;

and generating a time sequence map of the first time according to the position point of each planning object in the designated area at the first time.

In a possible implementation, the map obtaining module, when obtaining the location point of the planning object in the designated area at the first time, is configured to,

positioning each planning object in a wireless signal positioning mode at the first moment to obtain a position point of each planning object in the designated area at the first moment;

alternatively, the first and second electrodes may be,

and identifying pedestrians in the image acquired by the global monitoring camera arranged in the designated area at the first moment, and obtaining the position points of each planning object corresponding to the pedestrians in the designated area at the first moment.

In a possible implementation manner, before generating the time-series map of the first time according to the position point of each planning object in the designated area at the first time, the map obtaining module is further configured to,

carrying out obstacle identification on an image acquired by a global monitoring camera arranged in the designated area at the first moment to obtain a position point where an obstacle in the designated area is located at the first moment;

the map acquisition module is used for acquiring a map,

and generating a time sequence map of the first moment according to the position point of each planning object in the specified area at the first moment and the position point of the obstacle in the specified area.

In one possible implementation, the apparatus is configured to,

the time sequence map is obtained by dividing position points on a two-dimensional plane map of the designated area;

alternatively, the first and second electrodes may be,

the time-series map is a map obtained by dividing position points on the topological map of the specified area.

In one aspect, a computer device is provided, which comprises a processor and a memory, wherein at least one instruction, at least one program, a set of codes, or a set of instructions is stored in the memory, and the at least one instruction, the at least one program, the set of codes, or the set of instructions is loaded and executed by the processor to implement the above path planning method.

In one aspect, a computer-readable storage medium is provided, in which at least one instruction, at least one program, a set of codes, or a set of instructions is stored, and loaded and executed by a processor to implement the above-mentioned path planning method.

The technical scheme provided by the application can comprise the following beneficial effects:

acquiring a time sequence map of a designated area at a first moment, wherein the time sequence map comprises position points where planning objects in the designated area are located and occupation information of the position points in the designated area, and the occupation information comprises occupied or unoccupied positions; according to the time sequence map of the first moment, N times of updating are carried out on the position point where each planning object is located, and respective time sequence maps of N moments after the first moment are obtained; the time sequence map of the ith moment in the N moments is obtained by sequentially moving the position point of each planning object to the outlet of the designated area according to the occupation information of each position point in the designated area on the basis of the time sequence map of the (i-1) th moment; n is an integer greater than or equal to 1, i is greater than or equal to 1 and less than or equal to N, and i is an integer; and acquiring paths of the planning objects reaching the exit of the designated area respectively according to the time sequence maps of the N moments. By updating the occupation conditions of all positions at all times in real time, the situation that two or more individuals reach a certain position at the same time according to the optimal path and block each other to cause congestion can be effectively avoided, the accuracy of path planning is improved, and the crowd evacuation efficiency is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.

FIG. 1 is a block diagram of a path planning system provided in an exemplary embodiment of the present application;

fig. 2 is a flowchart illustrating a path planning method according to an exemplary embodiment of the present application;

FIG. 3 is a flow chart of a path planning scheme according to the embodiment shown in FIG. 2;

fig. 4 is a flowchart illustrating a path planning method according to an exemplary embodiment of the present application;

fig. 5 is a schematic diagram of a method for positioning a planning object according to the embodiment shown in fig. 4;

FIG. 6 is a diagram illustrating an initial position of a timing map according to the embodiment shown in FIG. 4;

FIG. 7 is a flow chart of a timing path planning algorithm according to the embodiment shown in FIG. 4;

FIG. 8 is a block diagram illustrating the structure of a path planner according to an exemplary embodiment;

FIG. 9 is a schematic diagram illustrating a configuration of a computer device, according to an example embodiment.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

It is to be understood that reference herein to "a number" means one or more and "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.

The application provides a path planning method, which can effectively avoid the situation that two or more individuals reach a certain position at the same time according to an optimal path and block each other, so that congestion occurs, the accuracy of path planning is improved, and the crowd evacuation efficiency is improved. For example, the method provided by the application can improve the crowd evacuation efficiency in the Artificial Intelligence (AI) -based path planning scenario. For ease of understanding, several terms referred to in this application are explained below.

1) Artificial intelligence

Artificial intelligence is a theory, method, technique and application system that uses a digital computer or a machine controlled by a digital computer to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use the knowledge to obtain the best results. In other words, artificial intelligence is a comprehensive technique of computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can react in a manner similar to human intelligence. Artificial intelligence is the research of the design principle and the realization method of various intelligent machines, so that the machines have the functions of perception, reasoning and decision making.

The artificial intelligence technology is a comprehensive subject and relates to the field of extensive technology, namely the technology of a hardware level and the technology of a software level. The artificial intelligence infrastructure generally includes technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technologies, operation/interaction systems, mechatronics, and the like. The artificial intelligence software technology mainly comprises a computer vision technology, a voice processing technology, a natural language processing technology, machine learning/deep learning and the like.

2) Computer Vision technology (Computer Vision, CV)

The computer vision technology is a science for researching how to make a machine "see", and in particular, it refers to that a camera and a computer are used to replace human eyes to make machine vision of identifying, tracking and measuring target, and further make image processing, so that the computer processing becomes an image more suitable for human eye observation or transmitted to an instrument for detection. As a scientific discipline, computer vision research-related theories and techniques attempt to build artificial intelligence systems that can capture information from images or multidimensional data. The computer vision technology generally includes image processing, image Recognition, image semantic understanding, image retrieval, Optical Character Recognition (OCR), video processing, video semantic understanding, video content/behavior Recognition, three-dimensional object reconstruction, 3D technology, virtual reality, augmented reality, synchronous positioning, map construction, and other technologies, and also includes common biometric technologies such as face Recognition and fingerprint Recognition.

3) Speech Technology (Speech Technology)

The key technologies of the Speech technology are Automatic Speech Recognition (ASR), text-to-Speech (TTS), and voiceprint Recognition. The computer can listen, see, speak and feel, and the development direction of the future human-computer interaction is provided, wherein the voice becomes one of the best viewed human-computer interaction modes in the future.

4) Natural Language Processing (NLP)

Natural language processing is an important direction in the fields of computer science and artificial intelligence. It studies various theories and methods that enable efficient communication between humans and computers using natural language. Natural language processing is a science integrating linguistics, computer science and mathematics. Therefore, the research in this field will involve natural language, i.e. the language that people use everyday, so it is closely related to the research of linguistics. Natural language processing techniques typically include text processing, semantic understanding, machine translation, robotic question and answer, knowledge mapping, and the like.

5) Machine Learning (Machine Learning, ML)

Machine learning is a multi-field cross discipline, and relates to a plurality of disciplines such as probability theory, statistics, approximation theory, convex analysis, algorithm complexity theory and the like. The special research on how a computer simulates or realizes the learning behavior of human beings so as to acquire new knowledge or skills and reorganize the existing knowledge structure to continuously improve the performance of the computer. Machine learning is the core of artificial intelligence, is the fundamental approach for computers to have intelligence, and is applied to all fields of artificial intelligence. Machine learning and deep learning generally include techniques such as artificial neural networks, belief networks, reinforcement learning, transfer learning, inductive learning, and teaching learning.

6) Automatic driving technique

The automatic driving technology generally comprises technologies such as high-precision maps, environment perception, behavior decision, path planning, motion control and the like, and the self-determined driving technology has wide application prospects.

With the research and progress of artificial intelligence technology, the artificial intelligence technology is developed and applied in a plurality of fields, such as common smart homes, smart wearable devices, virtual assistants, smart speakers, smart marketing, unmanned driving, automatic driving, unmanned aerial vehicles, robots, smart medical care, smart customer service, and the like.

The scheme shown in the application mainly relates to the aspects of computer vision technology, machine learning and the like in the artificial intelligence technology.

Each of the illustrated aspects of the present application may be applied to a designated area containing at least one outlet. The at least one exit is an exit which can be reached by users and the reaching sequence is not limited or not completely limited. For example, the designated area may be a scenic spot (such as a scenic spot or a scenic spot), and the exits may be exits in the scenic spot; alternatively, the designated area may be an indoor public area such as a hospital or a mall, and the exit may be an emergency exit of the hospital or the mall. The embodiments of the present application are not limited to the specific implementation of the outlet and the designated area.

The application provides a path planning method which can improve crowd evacuation efficiency in a path planning scene based on a block chain. For ease of understanding, the following explains what is referred to by the blockchain.

The blockchain is a novel application mode of computer technologies such as distributed data storage, point-to-point transmission, a consensus mechanism and an encryption algorithm. A block chain (Blockchain), which is essentially a decentralized database, is a series of data blocks associated by using a cryptographic method, and each data block contains information of a batch of network transactions, so as to verify the validity (anti-counterfeiting) of the information and generate a next block. The blockchain may include a blockchain underlying platform, a platform product services layer, and an application services layer.

The block chain underlying platform can comprise processing modules such as user management, basic service, intelligent contract and operation monitoring. The user management module is responsible for identity information management of all blockchain participants, and comprises public and private key generation maintenance (account management), key management, user real identity and blockchain address corresponding relation maintenance (authority management) and the like, and under the authorization condition, the user management module supervises and audits the transaction condition of certain real identities and provides rule configuration (wind control audit) of risk control; the basic service module is deployed on all block chain node equipment and used for verifying the validity of the service request, recording the service request to storage after consensus on the valid request is completed, for a new service request, the basic service firstly performs interface adaptation analysis and authentication processing (interface adaptation), then encrypts service information (consensus management) through a consensus algorithm, transmits the service information to a shared account (network communication) completely and consistently after encryption, and performs recording and storage; the intelligent contract module is responsible for registering and issuing contracts, triggering the contracts and executing the contracts, developers can define contract logics through a certain programming language, issue the contract logics to a block chain (contract registration), call keys or other event triggering and executing according to the logics of contract clauses, complete the contract logics and simultaneously provide the function of upgrading and canceling the contracts; the operation monitoring module is mainly responsible for deployment, configuration modification, contract setting, cloud adaptation in the product release process and visual output of real-time states in product operation, such as: alarm, monitoring network conditions, monitoring node equipment health status, and the like.

The platform product service layer provides basic capability and an implementation framework of typical application, and developers can complete block chain implementation of business logic based on the basic capability and the characteristics of the superposed business. The application service layer provides the application service based on the block chain scheme for the business participants to use.

The scheme shown in the application mainly relates to the aspects of basic service, operation monitoring modules and the like in the block chain technology. The data information generated in various aspects of the present application may be stored in the block chain.

Referring to fig. 1, a block diagram of a path planning system according to various embodiments of the present application is shown. As shown in fig. 1, the system includes a terminal 110, a smart card 120, an access point 130, and a server 140.

The terminal 110 may be a terminal device having data transmission capabilities.

For example, the terminal 110 may be a mobile portable terminal such as a smart phone, a tablet computer, and an e-book reader, or the terminal 110 may also be a smart wearable device such as smart glasses and a smart watch.

Alternatively, the smart card 120 may be a card integrated by a radio frequency device and having a short range location technology.

For example, the smart card 120 may be an employee card with short range location technology.

The access point 130 may be a Wi-Fi access point device, a bluetooth low energy access point device, or a cellular communication access point device (such as a base station).

The mobile terminal 110 may perform data transmission with a Wi-Fi access point device, a bluetooth low energy access point device, or a cellular communication access point device, and the smart card 120 may perform data transmission with a Wi-Fi access point device or a bluetooth low energy access point device.

The server 120 may be a server, or the server 120 may be a server cluster composed of several servers, or the server 120 may include one or more virtualization platforms, or the server 120 may also be a cloud computing service center.

The server 120 may perform an and operation on the data according to an algorithm.

The server 120 may be composed of one or more functional units.

The access point 130 may be coupled to the server 140 via a communication network. Optionally, the communication network is a wired network or a wireless network.

Optionally, the system may further include a monitoring device, for example, the monitoring device may be a monitoring camera, a panoramic camera, or the like.

Optionally, the wireless network or wired network described above uses standard communication techniques and/or protocols. The Network is typically the Internet, but may be any Network including, but not limited to, a Local Area Network (LAN), a Metropolitan Area Network (MAN), a Wide Area Network (WAN), a mobile, wireline or wireless Network, a private Network, or any combination of virtual private networks. In some embodiments, data exchanged over a network is represented using techniques and/or formats including HyperText Mark-up Language (HTML), Extensible Mark-up Language (XML), and so forth. All or some of the links may also be encrypted using conventional encryption techniques such as Secure Socket Layer (SSL), Transport Layer Security (TLS), Virtual Private Network (VPN), Internet Protocol Security (IPsec). In other embodiments, custom and/or dedicated data communication techniques may also be used in place of, or in addition to, the data communication techniques described above.

Referring to fig. 2, a flow chart of a path planning method according to an exemplary embodiment of the present application is shown. The path planning method can be executed by computer equipment, and the computer equipment can be a server, and also can comprise a terminal and a server; for example, when the computer device comprises a server and a terminal, the method is interactively performed by the terminal and the server. The terminal may be the terminal 110 shown in fig. 1, and the server may be the server 140 shown in fig. 1. As shown in fig. 2, the path planning method may include the following steps:

step 210, obtaining a time sequence map of the designated area at the first time, where the time sequence map includes location points where planning objects in the designated area are located and occupancy information of the location points in the designated area, where the occupancy information includes occupied or unoccupied.

In this embodiment, the two-dimensional planar map of the designated area may be divided into square squares of equal size, and each square corresponds to a position point, for example, the center point of each square may be a position point.

The designated area may be a public place including a scenic spot, a hospital, a stadium, a school, a mall, and other places.

For example, taking the above-mentioned designated area as a scenic spot as an example, the computer device obtains a two-dimensional plane map of the scenic spot in advance, and divides the two-dimensional plane map of the scenic spot into a plurality of square squares, the areas of the squares can be set according to the area occupied by a human body, wherein a human body can be completely accommodated in each square, and the central point of each square is regarded as a position point. When planning a route, the computer device may obtain position information of each person (i.e., the planning object, including visitors, staff, and the like) in the scenic spot at an initial time (i.e., the first time), and determine a position point of each person in the two-dimensional plane map at the first time according to the position information of each person in the scenic spot, to obtain occupation information of each position point in the two-dimensional plane map, where a position point where a person exists is an occupied position point, and a position point where no person exists is an unoccupied position point; the computer equipment can obtain the time sequence map of the first moment by combining the two-dimensional plane map and the occupation information of each position point in the two-dimensional plane map at the first moment.

When the computer device performs path planning, the positions of each planning object at a plurality of moments after the first moment can be planned, that is, a time sequence map of a plurality of moments after the first moment is generated in the path planning process.

In a possible implementation manner, the time sequence map of the multiple time instants can be represented as a multidimensional array, wherein the coordinates of each position point in the time sequence map are the coordinates of each position point in the two-dimensional plane map, and the time sequence map can be represented by M [ width, height ]. The occupancy of each time-sequential position point may be represented by N [ k ] ═ 0 or 1, where N [ k ] ═ 0 or 1 represents whether the position point is unoccupied or occupied at time k, respectively. M [ dw ] [ dh ] ═ N [0,0, …,1, …,0] indicates the occupancy of each timing of the current position point.

For example, when N [0] is 1, it indicates that the initial position point is occupied, and when N [0] is 0, it indicates that the initial position point is not occupied. M [ d1] [ d1] ═ N [0,1,0,0] can represent a position point with coordinates (1,1), unoccupied at a first time, i.e., an initial time, occupied at a second time, and unoccupied at a third time and a fourth time.

The first time is an initial time N [0], a multi-dimensional array corresponding to a time sequence map of the initial situation in the designated area is obtained, the position information of each planning object and the position information of each exit are obtained, and the occupation situation of all position points is judged.

Step 220, according to the time sequence map of the first time, performing N-round updating on the position point where each planning object is located, and obtaining respective time sequence maps of N times after the first time; the time sequence map of the ith moment in the N moments is obtained by sequentially moving the position point where each planning object is located to the outlet of the designated area according to the occupation information of each position point in the designated area on the basis of the time sequence map of the (i-1) th moment; n is an integer greater than or equal to 1, i is greater than or equal to 1 and less than or equal to N, and i is an integer.

In the embodiment of the application, the updating of the time sequence map at each time depends on the occupation condition of each position point in the time sequence map updated at the previous time, and each planning object moves to the exit of the specified area in sequence according to a random sequence, that is, at most only one planning object moves at each time, and at most one position point can be moved by each planning object at one time.

For example, after the current planning object has moved at the first time, the movement of the next planning object at the second time is started according to the updated time-series map after the first time is finished.

For example, also taking the above-mentioned designated area as a scenic spot as an example, when planning a path for each person in the scenic spot, for each time after the first time, a position to be reached at the next time is planned for each person in the scenic spot, and when planning, it is necessary to consider occupancy information of each position point in the scenic spot, that is, for the currently planned person, it may move to a nearby position point which is not occupied at the current time at the next time.

Step 230, obtaining the route of each planning object to the exit of the designated area according to the time sequence map of each of the N times.

In the embodiment of the application, the computer device can plan the complete path from the position of each planning object to the exit of the designated area through the time sequence map updated at each moment.

Taking the above-mentioned designated area as a scenic spot as an example, after N times, for a planner who has reached the exit of the scenic spot, the path formed by the planner corresponding to each position point in the time series map is the path from the first time to the exit of the scenic spot.

In the embodiment of the application, when the designated area has only one exit, the computer device takes the path of each planning object to the single exit as the evacuation path of each planning object.

Alternatively, there may be multiple exits from a given area, and each of the planning objects may reach any one of the exits, and thus, there may be many different combinations of the planning objects and the exits. Through the scheme shown in the application, the computer equipment can generate a group of planning paths for the combination between each planning object and the exit, and selects the optimal group of planning paths to push each planning object. For example, please refer to fig. 3, which shows a flowchart of a path planning scheme according to an embodiment of the present application. As shown in fig. 3, the path planning scheme flow is as follows:

and S31, starting to load the time sequence map and acquiring the position information of the planning object in the time sequence map.

And S32, adding the position points of the planning objects into the starting point set.

And S33, selecting any planning object from the starting point set as a starting point, and deleting the selected planning object from the starting point set.

S34, the exit position information is acquired from the time-series map.

And S35, adding each outlet position point into the end point set.

And S36, selecting any outlet from the end point set as an end point, and deleting the selected outlet from the end point set.

And S37, combining the arbitrarily selected starting points and the arbitrarily selected end points into corresponding relation combinations.

And S38, judging whether the exit position point does not exist in the terminal point set in the current state.

S39, when judging that there is exit position point in the end point set, selecting one exit position point in the end point set as the end point arbitrarily, deleting the exit position point from the end point set, and repeating the steps from S36 to S38.

And S310, judging whether the planning object position point exists in the starting point set or not when judging that the exit position point does not exist in the end point set.

S311, when it is determined that there is any planning target position point in the starting point set, selecting any planning target position point from the starting point set in the current state as the starting point, deleting the planning target position point from the starting point set, and repeating all steps from S33 to S310.

And S312, when the planning object position points are not judged to exist in the starting point set, adding a corresponding relation combination set to the corresponding relation combination between each selected planning object and the outlet, and performing a time sequence path planning algorithm on the corresponding relation combination set.

S313, a time sequence path planning algorithm is used to obtain the paths under the corresponding relation combination set.

And S314, adding the paths in the corresponding relation combination set into a path set.

Optionally, the path set includes a plurality of groups of paths, and each group of paths is a path corresponding to each planning object in the correspondence between the planning object and the exit. For example, assuming that there are 1000 corresponding relations between the planning objects and the exits, and the designated area includes M planning objects, the path set may finally include 1000 groups of paths, and each group of paths includes respective paths of the M planning objects.

S315, selecting the minimum value of the path from the path set as an optimal path; the path set is a set of different paths obtained under different corresponding relation combination sets.

The computer device may select a group of paths from the path set as the optimal paths for each of the M planning objects in the designated area.

And S316, sending the optimal path of each planning object to each planning object.

In summary, in the solution shown in the embodiment of the present application, a time sequence map of a specified area at a first time is obtained, where the time sequence map includes location points where planning objects in the specified area are located and occupancy information of the location points in the specified area, and the occupancy information includes occupied information or unoccupied information; according to the time sequence map of the first moment, N times of updating are carried out on the position point where each planning object is located, and respective time sequence maps of N moments after the first moment are obtained; the time sequence map of the ith moment in the N moments is obtained by sequentially moving the position point of each planning object to the outlet of the designated area according to the occupation information of each position point in the designated area on the basis of the time sequence map of the (i-1) th moment; n is an integer greater than or equal to 1, i is greater than or equal to 1 and less than or equal to N, and i is an integer; and acquiring paths of the planning objects reaching the exit of the designated area respectively according to the time sequence maps of the N moments. The occupation conditions of all positions at all times are updated in real time, so that the condition that two or more individuals reach a certain position at the same time according to the optimal path and block congestion is caused among the individuals is effectively avoided, the accuracy of path planning is improved, and the crowd evacuation efficiency is improved.

Referring to fig. 4, a flowchart of a path planning method according to an exemplary embodiment of the present application is shown. The path planning method can be executed by computer equipment, and the computer equipment can be a server, and also can comprise a terminal and a server; for example, when the computer device comprises a server and a terminal, the method is interactively performed by the terminal and the server. The terminal may be the terminal 110 shown in fig. 1, and the server may be the server 140 shown in fig. 1. Taking the example that the exit of the designated area includes at least two exits, as shown in fig. 4, the path planning method may include the following steps:

step 401, acquiring a time sequence map of a designated area at a first time, where the time sequence map includes location points where planning objects in the designated area are located and occupancy information of the location points in the designated area, where the occupancy information includes occupied or unoccupied location points.

Optionally, the time-series map is a map obtained by dividing position points on a two-dimensional plane map of the designated area.

In an exemplary scheme, the two-dimensional plane map of the designated area may be created by a laser instant positioning And Mapping (SLAM) technique or a visual SLAM technique, or the two-dimensional plane map of the designated area may be generated by a construction drawing of the designated area.

The two-dimensional plane map comprises information of all areas such as passageways, walls and partitions in the designated area, wherein the passageways are areas which can be passed through, and the walls and the partitions are areas which cannot be passed through. The map resolution of the two-dimensional plane map is 0.3m, i.e., one pixel on the two-dimensional plane map represents 0.3m of the actual ground. Alternatively, one pixel on the two-dimensional plane map may correspond to one location point in the designated area.

For example, when the designated area is a square area having a side length of 300m, the designated area may be divided into 10⁶Each square with the side length of 0.3m is set to be 0.3m in consideration of the size of space required by a single person to stand.

Optionally, the first time refers to an initial time when the path planning is not started, and the position points of each planning object in the designated area obtained at the first time are in an initial distribution state.

In a possible implementation manner, the position point of each planning object in the designated area can be determined by wireless positioning.

For example, please refer to fig. 5, which shows a schematic diagram of a method for positioning a planning object according to an embodiment of the present application. As shown in fig. 5, at least three access point devices, namely an access point a, an access point B and an access point C, may be arranged in the designated area, and when the planning object is a pedestrian, the pedestrian may be connected to the access point network through a handheld device. The distance between the handheld device and each base station can be calculated by the time of data transmission between the handheld device and the base station, wherein the distance between the base station a and the handheld device is R1, the distance between the base station B and the handheld device is R2, and the distance between the base station C and the handheld device is R3. At least three circles can be obtained by making circles with the centers of the base stations A, B and C and the radii of the distances R1, R2 and R3 between the base stations and the handheld device, and the intersection point D of the three circles is the position point of the handheld device. The position points of the handheld devices can be calculated in sequence in the mode.

Optionally, the handheld device may be a mobile terminal with a wireless communication function or an electronic card with a radio frequency function.

Optionally, the access point device may be a Wi-Fi access point device, a bluetooth low energy access point device, or a cellular communication access point device.

Optionally, in addition to obtaining the location point by wirelessly positioning each planning object in the above manner, the location point of each planning object may also be identified by global surveillance camera to obtain the location point of each planning object on the two-dimensional planar map.

Alternatively, the time-series map may be a map obtained by dividing the position points on a topological map of the designated area, in addition to the time-series map obtained by dividing the position points on a two-dimensional planar map of the designated area.

Step 402, an exit correspondence combination set is obtained, where the exit correspondence combination set includes different exit correspondence combinations, and each exit correspondence combination includes a correspondence between each planning object and one of at least two exits.

In the embodiment of the present application, by acquiring the time sequence map in the initial state, the computer device may obtain the number and the position of each planning object and each exit in the time sequence map, and correspondingly combine each planning object and each exit, so as to obtain a plurality of different combinations of planning objects and exits, and obtain a combination set of corresponding relationships between an exit and a planning object.

For example, please refer to fig. 6, which shows an initial position diagram of a time sequence map according to an embodiment of the present application. As shown in fig. 6, in the designated area, it may be determined that, in the initial state, when there are three planning objects a, b, and c, and there are two exits a and b, it may be obtained that any planning object may be combined with any exit, any planning object has two choices a and b, and the combination of exit correspondences collectively includes eight combinations, which are:

1) planning object a is combined with exit A, planning object b is combined with exit A, and planning object c is combined with exit A;

2) planning object a is combined with export A, planning object b is combined with export A, and planning object c is combined with export B;

3) planning object a is combined with export A, planning object b is combined with export B, and planning object c is combined with export B;

4) planning object a is combined with export A, planning object b is combined with export B, and planning object c is combined with export A;

5) planning object a is combined with export B, planning object b is combined with export A, and planning object c is combined with export A;

6) planning object a is combined with export B, planning object b is combined with export A, and planning object c is combined with export B;

7) planning object a is combined with export B, planning object b is combined with export B, and planning object c is combined with export B;

8) planning object a is combined with export b, planning object b is combined with export b and planning object c is combined with export a.

Step 403, selecting a target export correspondence combination from the export correspondence combination set.

In this embodiment, the computer device may select one of the sets of exit correspondence combinations as a combination of a start point and an end point of the path to be planned.

In one possible implementation, in the set of combinations of exit correspondences, the selection of each combination is arranged by priority.

The method comprises the steps that a group of exit corresponding relation combinations are selected from an exit corresponding relation combination set according to a priority sequence, the priorities of all planning objects and the exit combinations are arranged according to the straight-line distance between the planning objects and the exit, and the exit close to the planning objects is higher in priority compared with the exit far away from the planning objects.

For example, as shown in fig. 6, the plan object a is closer to the exit a than to the exit b, so the plan object a is preferentially combined with the exit a, and then with the exit b, and the plan object b is closer to the exit b than to the exit a, so the plan object b is preferentially combined with the exit b, and then with the exit a, and similarly, the plan object c is preferentially combined with the exit b, and then with the exit a.

The computer equipment can subsequently perform N rounds of updating on the position point of each planning object according to the target outlet corresponding relation combination and the time sequence map of the first moment to obtain respective time sequence maps of N moments after the first moment; and subsequently, when the route of each planning object reaching the exit of the designated area is acquired according to the time sequence map of each time, the computer device may acquire a route set of a combination of correspondence relationships between the target exits according to the time sequence map of each time, where the route set includes the route of each planning object reaching the exit of the designated area. The process may refer to subsequent steps.

Step 404, in the ith round of updating in the N round of updating the position point of each planning object, obtaining a set of objects to be updated, where the set of objects to be updated is a set of planning objects that have not been subjected to position point updating in the ith round of updating.

For example, as shown in fig. 6, the selected combination of the exit correspondences is the second type, and the plan object a is combined with the exit a, the plan object b is combined with the exit a, and the plan object c is combined with the exit b. In the first round of updating, the object to be updated may be an a-position point and a b-position point, where the first round of updating is the updating acquisition of the time-series map after the first time.

In step 405, a planning object is randomly selected from the set of objects to be updated as the first object.

For example, as shown in fig. 6, at a first time, a location point a, a location point b or a planning object at a location point c may be randomly selected as a first object, and when the planning object at the location point c is selected as the first object at the first time, the location point c may move to a node with the smallest F value among eight neighboring nodes of the location point c at the first time, that is, at a second time after the first time, the location of the location point c of the first object may be changed.

The F value of a node is an estimate of the distance from the planning object to the target exit via the node in the initial state, the G value of the node is the accumulated distance consumption which is the actual distance from the initial state to the node, and the H value of the node is the straight-line distance from the node to the target exit. The F value of the node can be obtained by adding the G value of the node to the H value of the node.

The adjacent nodes may be eight nodes adjacent to the current node, four first type nodes located in the up-down, left-right, and left-right directions of the node, and four second type nodes located in the upper left, lower left, upper right, and lower right of the node, where the distance consumption (i.e., G-finger) of the different types of nodes is also different. For example, in one possible implementation, the distance cost of the node from the first type node is 1, and the distance cost of the node from the second type node is 1.4.

Step 406, in the ith round of updating, when the position of the first object in each planning object is updated, calculating the next position point of the first object moving to the exit of the designated area; the first object is any object of the planning objects.

In this embodiment, in each round of updating, the position of the planned object may change, so that the occupancy state of each node in the time series map at the current time may change, and the computer device may calculate, by using a time series path planning algorithm, a next position point at which the first object moves to the exit.

When the path is calculated in the path planning scheme, a time-series path planning algorithm can be applied. Please refer to fig. 7, which shows a flowchart of a time-series path planning algorithm according to an embodiment of the present application. As shown in fig. 7, the flow of the time-series path planning algorithm is as follows:

s71, when the position point of the first object is selected, the first object is added to the starting point list of the first object, and the adjacent node of the first object is added to the starting point list at the first time.

And S72, automatically calculating the F value of each adjacent node in the starting point list, and sorting according to the numerical value of the F value.

And S73, selecting the node with the minimum F value in the starting point list.

And S74, judging whether the node with the minimum F value is the exit node.

And S75, when the node with the minimum F value is the target exit, backtracking the position of the node of the first object at each moment to obtain a path.

S76, when the node with the smallest F value is not the target exit, it is determined whether the node is occupied at this time.

And S77, when the node is judged to be occupied, the first object waits for a moment in place without moving, the G value of the node is increased by 1 every time the first object waits for a moment, so that the F value is increased by 1, the node with the minimum F value in the starting point list is selected again at the next moment, and the end point judgment and the time sequence judgment are also carried out.

And S78, when the node with the minimum F value is judged to be available at the current time and not the target exit, moving the first object to the node. Similarly, the adjacent nodes of the current first object are added into the starting point list to carry out the steps, and the nodes until the F value is the minimum are sequentially calculated to be the target exits.

When the nodes in the starting point list are not the minimum value through comparison of the F value, the detected nodes are moved out of the starting point list and added into the end point list, and the nodes in the end point list cannot be added into the starting point list again to participate in comparison of the magnitude of the next F value.

Step 407, updating the position point of the first object on the temporary time sequence map according to the occupation information of each position point on the temporary time sequence map and the next position point; when the first object is a first object of the N planning objects, the temporary time series map is the time series map for the i-1 st time instant.

In the embodiment of the application, the computer device updates the position occupation situation of the first object on the temporary time sequence map through the time sequence path planning algorithm according to the occupation information of each position point on the temporary time sequence map. And after the position point of the first object on the temporary time sequence map is updated to the next position point, modifying the occupation information of the next position point to be occupied, and modifying the occupation information of the position point before the first object is updated to be unoccupied.

Step 408, obtaining the temporary time sequence map obtained by updating the position point of the last planning object in the planning objects as the time sequence map of the ith time.

In this embodiment of the present application, each planning object moves according to a certain sequence, and after the location point of the last planning object is updated, all planning objects at this time complete moving, and the computer device may obtain the temporary time series map obtained after the location point of the last planning object is updated as the time series map at this time.

Step 409, obtaining the route of each planning object to the exit of the designated area according to the time sequence map of each of the N times.

In this embodiment of the application, after the planning object reaches the target exit, the computer device may obtain the location point of the planning object in the time sequence map at each passing time to obtain a path from the planning object to the target exit.

Step 410, obtaining the total path cost of each different exit corresponding relation combination, where the total path cost is the sum of the path costs of each path in the path set of the corresponding exit corresponding relation combination.

In the embodiment of the present application, in each exit correspondence combination, the path from each planning object to the target exit may be obtained through the above steps, and the computer device adds the F values finally obtained by each planning path, so as to obtain the total path cost of the exit correspondence combination. The total path cost of all the exit corresponding relation combinations can be obtained through calculation.

Step 411, determining the path set with the minimum total path cost as the target path set.

In this embodiment of the present application, the computer device may compare the total path costs of all the exit correspondence combinations, and the exit correspondence combination with the minimum total path cost value is determined as the target path set. The target path set is an optimal scheme for path planning.

Step 412, sending the paths of the planning objects reaching the exit of the designated area in the target path set to the target object respectively.

In this embodiment of the present application, each corresponding target object may receive the optimal path sent by the server.

For example, when the target object is a pedestrian and the planning object is a mobile terminal held by the pedestrian, the server may send the calculated optimal path to the mobile terminal of each pedestrian, and the message received by each mobile terminal may be a route map with a navigation function, which indicates that the pedestrian performs a displacement of a specified direction distance in a fixed time period.

Fig. 8 is a block diagram illustrating a structure of a path planning apparatus according to an exemplary embodiment. The path planning apparatus may be implemented as all or part of a computer device in a hardware or software and hardware combination manner, so as to execute all or part of the steps of the method shown in the embodiment corresponding to fig. 2 or fig. 4. The path planning apparatus may include:

a map obtaining module 810, configured to obtain a time sequence map of a specified area at a first time, where the time sequence map includes location points where planning objects in the specified area are located and occupancy information of the location points in the specified area, and the occupancy information includes occupied or unoccupied;

a map updating module 820, configured to perform N rounds of updating on the location point where each planning object is located according to the time sequence map at the first time, so as to obtain respective time sequence maps at N times after the first time; the time sequence map of the ith moment in the N moments is obtained by sequentially moving the position point where each planning object is located to the outlet of the designated area according to the occupation information of each position point in the designated area on the basis of the time sequence map of the (i-1) th moment; n is an integer greater than or equal to 1, i is greater than or equal to 1 and less than or equal to N, and i is an integer;

a path obtaining module 830, configured to obtain, according to the time sequence map at each of the N times, a path through which each of the planning objects reaches the exit of the designated area.

In one possible implementation, the map updating module 820 includes:

In one possible implementation, the location point update sub-module includes:

an occupation information acquisition unit, configured to acquire occupation information of the next location point in the temporary time series map;

In one possible implementation, the map update module 820 is further configured to,

In a possible implementation manner, the path obtaining module 830 includes:

the device further comprises:

a corresponding relationship obtaining module, configured to, in the map updating module 820, perform N-round updating on the location point where each planning object is located according to the time sequence map at the first time, and obtain an exit corresponding relationship combination set before obtaining the time sequence map at each of N times after the first time, where the exit corresponding relationship combination set includes different exit corresponding relationship combinations, and each exit corresponding relationship combination includes a corresponding relationship between each planning object and one of the at least two exits;

the map updating module 820 is configured to perform N-round updating on the location point where each planning object is located according to the target exit correspondence combination and the time sequence map at the first time, so as to obtain respective time sequence maps at N times after the first time;

the path obtaining module 830 is configured to obtain a path set of the target exit correspondence combination according to the time sequence maps at the N times, where the path set includes paths of the planning objects reaching the exit of the designated area respectively.

In one possible implementation, the apparatus further includes:

In one possible implementation, the map obtaining module 810 is configured to,

In one possible implementation, when the location point of each planning object in the designated area at the first time is obtained, the map obtaining module 810 is configured to,

alternatively, the first and second electrodes may be,

In a possible implementation manner, before generating the time-series map of the first time according to the position point of each planning object in the designated area at the first time, the map obtaining module 810 is further configured to,

the map acquisition module 810 is configured to,

In one possible implementation form of the method,

alternatively, the first and second electrodes may be,

FIG. 9 is a schematic diagram illustrating a configuration of a computer device, according to an example embodiment. The computer device may be implemented as the server 140 in the implementation environment shown in FIG. 1 and described above. The computer device 900 includes a Central Processing Unit (CPU)901, a system memory 904 including a Random Access Memory (RAM)902 and a Read Only Memory (ROM)903, and a system bus 905 connecting the system memory 904 and the central processing unit 901. The server 900 also includes a basic input/output system (I/O system) 906 for facilitating the transfer of information between devices within the computer, and a mass storage device 907 for storing an operating system 913, application programs 914, and other program modules 915.

The basic input/output system 906 includes a display 908 for displaying information and an input device 909 such as a mouse, keyboard, etc. for user input of information. Wherein the display 908 and the input device 909 are connected to the central processing unit 901 through an input output controller 910 connected to the system bus 905. The basic input/output system 906 may also include an input/output controller 910 for receiving and processing input from a number of other devices, such as a keyboard, mouse, or electronic stylus. Similarly, input-output controller 910 also provides output to a display screen, a printer, or other type of output device.

The mass storage device 907 is connected to the central processing unit 901 through a mass storage controller (not shown) connected to the system bus 905. The mass storage device 907 and its associated computer-readable media provide non-volatile storage for the server 900. That is, the mass storage device 907 may include a computer-readable medium (not shown) such as a hard disk or CD-ROM drive.

Without loss of generality, the computer-readable media may comprise computer storage media and communication media. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes RAM, ROM, EPROM, EEPROM, flash memory or other solid state memory technology, CD-ROM, DVD, or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices. Of course, those skilled in the art will appreciate that the computer storage media is not limited to the foregoing. The system memory 904 and mass storage device 907 described above may be collectively referred to as memory.

The server 900 may be connected to the internet or other network device through a network interface unit 911 connected to the system bus 905.

The memory further includes one or more programs, the one or more programs are stored in the memory, and the central processor 901 implements the steps executed by the computer device in the path planning method shown in fig. 2 or 4 by executing the one or more programs.

The present application further provides a computer program product, which when run on a computer, causes the computer to execute the path planning method provided by the above method embodiments.

Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, which may be a computer readable storage medium contained in a memory of the above embodiments; or it may be a separate computer-readable storage medium not incorporated in the terminal. The computer readable storage medium has stored therein at least one instruction, at least one program, set of codes, or set of instructions that is loaded and executed by the processor to implement the path planning method as described in fig. 2 or fig. 4.

Optionally, the computer-readable storage medium may include: a Read Only Memory (ROM), a Random Access Memory (RAM), a Solid State Drive (SSD), or an optical disc. The Random Access Memory may include a resistive Random Access Memory (ReRAM) and a Dynamic Random Access Memory (DRAM). The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method of path planning, the method comprising:

acquiring a time sequence map of a designated area at a first moment, wherein the time sequence map comprises position points where planning objects in the designated area are located and occupation information of the position points in the designated area, and the occupation information comprises occupied or unoccupied position points; the number of the planning objects is at least 2;

according to the time sequence map of the first moment, N rounds of updating are carried out on the position point where each planning object is located, and the time sequence map of each of N moments after the first moment is obtained; the time sequence map of the ith moment in the N moments is obtained by sequentially moving the position point where each planning object is located to the outlet of the designated area according to the occupation information of each position point in the designated area on the basis of the time sequence map of the (i-1) th moment; n is an integer greater than or equal to 1, i is greater than or equal to 1 and less than or equal to N, and i is an integer; the time sequence map of the ith moment is obtained after the planning objects corresponding to the ith moment move according to a certain sequence and the position point of the last planning object is updated;

acquiring paths of the planning objects reaching the exit of the designated area respectively according to the respective time sequence maps of the N moments;

wherein, the performing N-round update on the position point of each planning object according to the time sequence map of the first time to obtain the time sequence map of each of N times after the first time includes:

in the ith round of updating, when the position of a first object in each planning object is updated, calculating the next position point of the first object moving to the exit of the designated area; the first object is any object of the planning objects;

updating the position point of the first object on the temporary time sequence map according to the occupation information of each position point on the temporary time sequence map and the next position point; when the first object is a first one of the planning objects, the temporary time series map is the time series map for the i-1 st time instant;

and obtaining the temporary time sequence map obtained after updating the position point of the last planning object in each planning object as the time sequence map of the ith moment.

2. The method according to claim 1, wherein the updating the location point of the first object on the temporary time sequence map according to the occupancy information of each location point on the temporary time sequence map and the next location point comprises:

acquiring the occupation information of the next position point in the temporary time sequence map;

when the occupation information of the next position point indicates that the next position point is occupied, keeping the position point of the first object on the temporary time sequence map unchanged;

when the occupancy information of the next location point indicates that the next location point is unoccupied, updating the location point of the first object on the temporary time series map to the next location point.

3. The method of claim 2, further comprising:

4. The method of claim 1, further comprising, prior to updating the location of the first object of the planning objects:

acquiring a set of objects to be updated, wherein the set of objects to be updated is a set formed by planning objects which are not subjected to position point updating in the ith round of updating;

randomly selecting one planning object from the set of objects to be updated as the first object.

5. The method according to any one of claims 1 to 4, wherein the obtaining, according to the time-series map at each of the N times, a path of each of the planning objects to reach the exit of the designated area includes:

for the time sequence map of the jth time in the N times, acquiring a target object in the time sequence map of the jth time, wherein the target object is a planning object which is located on a position point where an exit of the specified area is located in the time sequence map of the jth time; j is more than or equal to 1 and less than or equal to N, and j is an integer;

when the target object is obtained, obtaining position points of the target object on the time sequence map at each time between the first time and the jth time;

and acquiring a path formed by position points of the target object on the time sequence map at each time between the first time and the jth time as a path of the target object reaching the exit of the specified area.

6. The method of any one of claims 1 to 4, wherein the outlets of the designated area comprise at least two outlets;

before the performing N-round update on the location point of each planning object according to the time sequence map of the first time to obtain the time sequence maps of N times after the first time, the method further includes:

acquiring an exit corresponding relation combination set, wherein the exit corresponding relation combination set comprises different exit corresponding relation combinations, and each exit corresponding relation combination comprises a corresponding relation between each planning object and one of the at least two exits;

selecting a target outlet correspondence combination from the outlet correspondence combination set;

the obtaining, according to the time-series map at the first time, time-series maps at N times after the first time by performing N-round update on the position point where each of the planning objects is located, includes:

according to the target exit corresponding relation combination and the time sequence map of the first moment, performing N-round updating on the position point of each planning object to obtain respective time sequence maps of N moments after the first moment;

the obtaining, according to the time-series map at each of the N times, a path through which each of the planning objects reaches the exit of the designated area includes:

and acquiring a path set of the target outlet corresponding relation combination according to the respective time sequence maps of the N moments, wherein the path set comprises paths of the planning objects reaching the outlets of the designated area respectively.

7. The method of claim 6, further comprising:

acquiring the total path cost of each different exit corresponding relation combination, wherein the total path cost is the sum of the path costs of each path in the path set of the corresponding exit corresponding relation combination;

determining a path set with the minimum total path cost as a target path set;

respectively sending paths of the planning objects reaching the exit of the designated area in the target path set to a target object, wherein the target object is a planning object which is positioned on a position point where the exit of the designated area is positioned in a time sequence map at the jth moment; j is more than or equal to 1 and less than or equal to N, and j is an integer.

8. The method according to any one of claims 1 to 5, wherein the obtaining of the time-series map of the designated area at the first time comprises:

9. The method of claim 8, wherein said obtaining location points of said respective planning objects in said designated area at said first time comprises:

alternatively, the first and second electrodes may be,

10. The method of claim 8, wherein before generating the time series map of the first time based on the location points of the respective planning objects in the designated area at the first time, further comprising:

the generating a time sequence map of the first time according to the position point of each planning object in the designated area at the first time comprises:

11. The method according to any one of claims 1 to 5,

alternatively, the first and second electrodes may be,

12. A path planning apparatus, the apparatus comprising:

the map acquisition module is used for acquiring a time sequence map of a specified area at a first moment, wherein the time sequence map comprises position points where planning objects in the specified area are located and occupation information of the position points in the specified area, and the occupation information comprises occupied or unoccupied position points; the number of the planning objects is at least 2;

the map updating module is used for performing N-round updating on the position point of each planning object according to the time sequence map of the first moment to obtain respective time sequence maps of N moments after the first moment; the time sequence map of the ith moment in the N moments is obtained by sequentially moving the position point where each planning object is located to the outlet of the designated area according to the occupation information of each position point in the designated area on the basis of the time sequence map of the (i-1) th moment; n is an integer greater than or equal to 1, i is greater than or equal to 1 and less than or equal to N, and i is an integer; the time sequence map of the ith moment is obtained after the planning objects corresponding to the ith moment move according to a certain sequence and the position point of the last planning object is updated;

a route obtaining module, configured to obtain, according to the time sequence map of each of the N times, a route through which each of the planning objects reaches the exit of the designated area;

wherein the map update module comprises:

a position point updating submodule, configured to update a position point of the first object on the temporary time series map according to the occupancy information of each position point on the temporary time series map and the next position point; when the first object is a first one of the planning objects, the temporary time series map is the time series map for the i-1 st time instant;

13. A computer device comprising a processor and a memory, the memory having stored therein at least one instruction, at least one program, set of codes, or set of instructions, the at least one instruction, the at least one program, the set of codes, or the set of instructions being loaded and executed by the processor to implement a path planning method according to any one of claims 1 to 11.

14. A computer readable storage medium having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, which is loaded and executed by a processor to implement a path planning method according to any one of claims 1 to 11.