CN111561947B - Path planning method and device and computer storage medium - Google Patents
Path planning method and device and computer storage medium Download PDFInfo
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- CN111561947B CN111561947B CN202010677271.6A CN202010677271A CN111561947B CN 111561947 B CN111561947 B CN 111561947B CN 202010677271 A CN202010677271 A CN 202010677271A CN 111561947 B CN111561947 B CN 111561947B
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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
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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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 invention discloses a path planning method, a device and a computer storage medium, wherein the method comprises the following steps: acquiring a starting path point and an ending path point; determining a common father path point of the starting path point and the ending path point and a related path point set related to path planning between the starting path point and the ending path point on the regional connection tree; determining a relevant path set related to path planning between the starting path point and the ending path point from the multi-level topological graph according to the starting path point, the ending path point and the common father path point; and performing optimal path planning on the starting path point and the ending path point on the basis of the relevant path point set and the relevant path set. By the mode, the route planning speed can be increased.
Description
Technical Field
The present invention relates to the field of path planning, and in particular, to a path planning method, apparatus, and computer storage medium.
Background
With the rise of automation, map navigation becomes a research hotspot, and map navigation at present generally acquires an optimal path by constructing all path points of the whole map into a graph and then performing shortest path search based on the graph.
For multi-maps and large maps with more route points, the calculation amount of calculation directly based on all the route points is large, and the navigation efficiency is low.
Disclosure of Invention
The invention provides a path planning method, a path planning device and a computer storage medium, which aim to solve the problem of low navigation efficiency in the prior art.
In order to solve the technical problems, the invention adopts a technical scheme that: a method of path planning is provided, the method comprising: acquiring a starting path point and an ending path point; determining a common father path point of the starting path point and the ending path point and a related path point set related to path planning between the starting path point and the ending path point on a regional connection tree; determining a related path set related to path planning between the starting path point and the ending path point from a multi-level topological graph according to the starting path point, the ending path point and the common father path point; and performing optimal path planning on the starting path point and the ending path point on the basis of the relevant path point set and the relevant path set.
In order to solve the technical problem, the invention adopts another technical scheme that: provided is a path planning device, characterized in that the path planning device comprises: the acquisition module is used for acquiring a starting path point and an ending path point; a planning module, configured to determine, on a regional junction tree, a common parent waypoint of the start waypoint and the end waypoint and a related waypoint set related to path planning between the start waypoint and the end waypoint; a determining module, configured to determine, according to the start path point, the end path point, and the common parent path point, a relevant path set related to path planning between the start path point and the end path point from a multi-level topological graph; and the planning module is used for carrying out optimal path planning on the starting path point and the ending path point on the basis of the relevant path point set and the relevant path point set.
In order to solve the technical problem, the invention adopts another technical scheme that: providing a path planning apparatus, the path planning apparatus comprising a processor and a memory; the memory has stored therein a computer program for execution by the processor to implement the steps of the method as claimed in any one of the above.
In order to solve the above technical problem, another technical solution of the present invention is to provide a computer storage medium, in which a computer program is stored, and the computer program implements the steps of the above path planning method when executed.
Different from the prior art, the method comprises the steps of obtaining a starting path point and a terminating path point, determining a common father path point of the starting path point and the terminating path point and a related path point set related to path planning between the starting path point and the terminating path point according to a region connection tree, and then determining a related path set related to path planning between the starting path point and the terminating path point from a multi-level topological graph according to the starting path point, the terminating path point and the common father path point. And performing optimal path planning on the starting path point and the ending path point on the basis of the relevant path point set and the relevant path set. And then the route points and the routes to be calculated are greatly reduced, and the search range is greatly reduced, so that the calculation amount is reduced, and the route planning efficiency of a large map and multiple maps can be improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart diagram illustrating a first embodiment of a path planning method according to the present invention;
FIG. 2 is a schematic diagram of one embodiment of a map connection provided by the present invention;
FIG. 3 is a flow diagram illustrating the sub-steps of step S23 of FIG. 1;
FIG. 4 is a schematic diagram of one embodiment of an initial topology provided by the present invention;
FIG. 5 is a diagram illustrating an embodiment of a second layer topology layer provided by the present invention;
FIG. 6 is a diagram illustrating an embodiment of a third layer topology layer provided by the present invention;
FIG. 7 is a flowchart illustrating a second embodiment of a path planning method according to the present invention;
FIG. 8 is a diagram illustrating an embodiment of a tree of area links provided by the present invention;
FIG. 9 is a flow diagram illustrating the sub-steps of step S12 of FIG. 7;
FIG. 10 is a flow chart illustrating the sub-steps of step S13 of FIG. 7;
FIG. 11 is a schematic structural diagram of a first embodiment of a path planning apparatus according to the present invention;
FIG. 12 is a schematic structural diagram of a second embodiment of the route planning apparatus according to the present invention;
FIG. 13 is a schematic structural diagram of an embodiment of a computer storage medium according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic flow chart of a path planning method according to a first embodiment of the present application. When planning a path, a multilevel topological graph needs to be constructed first, and the flow diagram specifically includes the following steps:
and S21, acquiring a plurality of maps, wherein each map comprises a plurality of path points and paths connecting the path points, and the path points further comprise common path points and switching path points, wherein the common path points can reach the path points on another map only by passing through the switching path points.
The method comprises the steps of obtaining a plurality of maps, wherein each map comprises a plurality of path points and paths between connecting path points, and the path points further comprise common path points and switching path points, wherein the common path points can reach the common path points or the switching path points on another map only by passing through the switching path points.
As shown in fig. 2, the multiple maps include a map M1 and a map M2, wherein the map M1 includes normal waypoints D1, D2, D3 and a switch waypoint D4, and the map M2 includes normal waypoints D5, D6 and a switch waypoint D7. And the map M1 and the map M2 can be connected by switching the route points D4 and D7.
In an alternative scenario, the map M1 may be a cell map, which corresponds to a cell, the map M2 may be a street map, which corresponds to a street, and the cell is connected to the street, and when entering the street from the cell, the cell needs to pass through a cell gate, which connects the cell and the street, so that the cell gate corresponds to the switching waypoint D4 in the map M1, and corresponds to the switching waypoint D7 in the map M2, which is a waypoint in an actual scenario for the switching waypoint connecting the two maps.
S22, merging the switching path points to merge the maps into an initial topological graph, and allocating corresponding grades to the path points in the initial topological graph, wherein the grade of the switching path points is higher than that of the common path points.
Because the switching point path point can connect at least two maps and is a path point in an actual scene, the switching point path point can combine a plurality of maps to form an initial topological graph by switching the path point, and further allocate a corresponding grade to the path point of the initial topological graph, wherein the grade of the switching point path point is higher than that of a common path point.
Alternatively, the level of the normal waypoint may be set to 0, and the levels of the switch waypoints may be set to 1, 2 and 3, the specific levels of which are determined according to the hierarchy and level of the map.
As shown in fig. 4, the acquired multiple maps may be a map M3, a map M4, a map M5, and a map M6, respectively. Among them, the map M3 may be connected with the map M4 by switching the route point D8, the map M5 may be connected with the map M6 by switching the route point D9, and the map M5 may be connected with the map M4 by switching the route point D10. Wherein, the grades of D8 and D9 can be set to 1, and the grade of D10 can be set to 2; a larger number corresponding to a grade represents a higher grade.
In an alternative scenario, D8 and D9 may correspond to connection points of cells and D10 may correspond to connection points between cells.
And connecting the map M3, the map M4, the map M5 and the map M6 according to the switching route points to obtain an initial topological graph.
And S23, performing hierarchical planning on the initial topological graph to generate a multi-level topological graph.
And then, carrying out hierarchical planning on the initial topological graph, and further generating a multi-level topological graph. Optionally, generating the multi-level topological graph is actually an iterative process, so that the multi-level topological graph layer is built step by step.
Referring to fig. 3, fig. 3 is a sub-step of S23 in step S1, which specifically includes the following steps:
s231, taking the initial topological graph as a topological layer to be planned, and taking a path in the initial topological graph as an intra-layer shortest path of the topological layer to be planned.
When a multi-level topological graph is generated, a topological graph layer of a first layer is established first. Specifically, the initial topology map may be used as the topology map layer of the first layer, where path points of the initial topology layer are used as path points of the topology map layer of the first layer, and paths in the initial topology map are used as intra-layer shortest paths of the topology map layer of the first layer, and since the topology map layer of the first layer is the topology map layer of the lowest level, the structure of the entire topology map layer has only intra-layer shortest paths, and there is no inter-layer shortest path.
And then, taking the topology layer of the first layer as a basis, namely taking the topology layer of the first layer as a topology layer to be planned, or directly taking the initial topology map as the topology layer to be planned, and taking a path in the initial topology map as an intra-layer shortest path of the topology layer to be planned.
S232, copying path points of other levels except the lowest level in the topological layer to be planned to the topological layer of the previous layer.
And then, constructing a topology layer of the previous layer based on the topology layer to be planned. Since the topology layer includes the path point and the path, the path point and the path need to be gradually added when the last topology layer is constructed.
And copying path points of other levels except the lowest level in the topological layer to be planned to the topological layer of the previous layer. That is, path points of other levels except the path point of the lowest level in the layer to be planned are copied and added to the topology layer of the upper layer.
For example, in an optional embodiment, if the topology layer to be planned is the initial topology layer, the path point at the lowest level is the path point at the level 0, that is, the ordinary path point. Other waypoints having a level other than 0 may be copied to the next higher topology layer.
If fig. 4 is a topology layer to be planned, copying path points with a level greater than 1 or equal to 1 to an upper topology layer, i.e. copying D8, D9 and D10 to an upper topology layer, i.e. fig. 5.
And S233, based on the shortest path in the layer, taking path points of other levels except the lowest level as starting points, and taking the rest path points in the topological layer to be planned as end points to plan the shortest path.
And then adding paths, wherein the paths need to be calculated again based on the shortest paths in the layer. Specifically, the shortest path is planned by taking path points of other levels except the lowest level as a starting point, taking the rest path points in the topology layer to be planned as an end point and calculating by a shortest path algorithm based on the shortest path in the layer.
And S234, adding the shortest paths not containing path points of other levels except the lowest level except the starting point and the end point into the upper topology layer, wherein the shortest paths of the path points of other levels except the lowest level of the starting point and the end point are respectively used as the intra-layer shortest paths of the upper topology layer, and the shortest paths of the path points of other levels except the lowest level of the starting point and the end point are used as the inter-layer shortest paths of the upper topology layer.
And then adding the shortest paths of path points of other levels except the starting point and the end point, wherein the path points do not contain path points of the lowest level, into the topology layer of the upper layer. That is, the shortest path not including the path points of the other levels except the start point and the end point is added to the topology layer of the upper layer.
Optionally, the path includes at least a start point and an end point, and other path points may be included between the start point and the end point. In the shortest path, if there are other path points between the starting point and the end point, that means that the shortest path between the starting point and the end point is actually a set of the shortest paths from the starting point to the other path points and the shortest paths from the end point to the other path points. Therefore, for a route having another route point between the start point and the end point, no addition is necessary to reduce the data amount.
In an alternative embodiment, the shortest path between the starting point K1, the ending point K2, the starting point K1 and the ending point K2 is K1K2, and the shortest path K1K2 further includes a path point K3, that is, the shortest path K1K2 is equivalent to the set of the paths K1K3 and K3K2, so that no addition is required to be performed to K1K2, only K1K3 and K3K2 need to be added, and repeated data are reduced.
The shortest paths of the starting point and the end point which are respectively path points of other levels except the lowest level are used as the shortest paths in the layer of the upper topology layer, namely, the starting point and the end point are both the path points copied to the upper topology layer, and the shortest paths can be used as the shortest paths in the layer of the upper topology layer. And the shortest path of the path point with the starting point of the other level except the lowest level and the ending point of the path point with the lowest level is used as the interlayer shortest path of the upper topological layer. That is, the shortest path whose starting point is the path point of the upper topology layer and whose end point is the lowest-level path point may be used as the inter-layer shortest path of the upper topology layer.
As shown in fig. 5, by calculation of the shortest paths, the shortest paths between D8, D9, and D10 are taken as intra-layer shortest path points, and the shortest paths between D8, D9, and D10 and path points in the topology layer to be planned and having a level of 0 are taken as inter-layer shortest paths.
In the steps of steps S232 to S234, the path and the path point are obtained and added to the upper topology layer, so that the upper topology layer is constructed.
S235, judging whether the upper topological layer only contains the path point with the highest grade.
And judging whether the upper topological layer only comprises the path point with the highest grade, if the constructed upper topological layer only comprises the path point with the highest grade, indicating that the upper topological layer is the topological layer with the highest grade, and not needing to be iteratively constructed.
And S236, if not, taking the topology layer of the previous layer as the topology layer to be planned, and returning to the step of copying path points of other levels except the lowest level in the topology layer to be planned to the topology layer of the previous layer.
If the upper topological layer contains path points of other levels besides the path point of the highest level, the method can be used for carrying out iterative construction on the basis of the upper topological layer. Namely, the above topology layer is used as the topology layer to be planned, and then the step of copying path points of other levels except the lowest level in the topology layer to be planned to the topology layer of the above layer is returned on the basis of the topology layer to be planned. That is, returning to step S232, repeatedly performing step S232, step S233 and step S234, and performing the determination of step S235 again, if the constructed upper topology layer only includes the path point with the highest level, it represents that the entire multi-level topology map has been constructed, and step S236 does not need to be performed again.
As shown in fig. 5 and 6, the topology layer of the second layer is used as the topology layer to be planned, the path point with the level greater than or equal to 2, that is, D9, is copied to the topology layer of the previous layer, and the path calculation is started, and since the topology layer has only one path point of D9, the calculation of the shortest path between layers is not needed, and then the path point with the level of 1 in the topology layer to be planned, that is, the shortest path between D8 and D10 is obtained as the shortest path between layers.
Subsequently, when the determination in step S235 is performed, since the previous topology layer only includes the path point with the highest level, it indicates that the previous topology layer is already the topology layer with the highest level, and no iterative construction is required.
In the above embodiment, the multilevel topology map is generated by iterative construction (L1, L2, L3)
Referring to fig. 7, fig. 7 is a flowchart illustrating a second embodiment of the path planning method according to the present invention, where the path planning method includes the following steps.
And S11, acquiring the starting path point and the ending path point.
In path planning, a starting point and an end point need to be determined first, that is, a starting path point and an end path point are obtained.
In an alternative scenario, the start waypoint and the end waypoint may be determined by obtaining information input by the user. In another alternative scenario, the starting waypoint may also be determined by performing self-localization.
And S12, determining a common parent path point of the starting path point and the ending path point and a related path point set related to the path planning between the starting path point and the ending path point on the regional connection tree.
After the start path point and the end path point are determined, common father path points of the start path point and the end path point and a related path point set related to path planning between the start path point and the end path point are determined from the regional connection tree.
The region connection tree may be generated based on a multilevel topological graph, and the difference is that the multilevel topological graph focuses on the relationship between the path and the path point, and the region connection tree focuses more on the relationship between the path point and the path point.
Optionally, the area junction tree includes a plurality of path points, and each path point is assigned with a corresponding rank. The region connection tree is of a tree structure and comprises a plurality of hierarchies, and each hierarchy corresponds to one level. And each hierarchy includes a corresponding hierarchy and lower hierarchy path points, optionally, each hierarchy includes one or more nodes, each node corresponds to an area, and the corresponding hierarchy and lower hierarchy path points are located in the areas corresponding to the nodes. And waypoints within two regions of the same hierarchy need to pass through parent waypoints within the hierarchy at a higher level to reach each other. And for the path points in two areas in the non-same hierarchy, if the two areas have no parent-child relationship, the path points in the two areas also need to pass through the parent path point in the hierarchy at a higher level to reach each other.
Optionally, each node includes one or more waypoints due to the parent-child relationship between the nodes. Therefore, the parent-child relationship between the waypoints can be determined through the regional connection tree, so that the common parent node of the nodes where the two waypoints are located is determined, and the common parent waypoint of the two waypoints is determined.
Taking fig. 8 as an example, the regional connection tree includes three hierarchies, the lowest hierarchy includes four nodes, which are respectively a node a, a node B, a node C, and a node D, and the next hierarchy includes two nodes, which are respectively a node E and a node F, where the node E is a common father node of the node a and the node B, and the node F is a common father node of the node C and the node D. The highest level hierarchy includes a node M that is a common parent of node E and node F.
Accordingly, the common parent waypoint of the start waypoint and the end waypoint is located in the parent node of the node where the start waypoint is located and the parent node of the node where the end waypoint is located. Therefore, the common parent waypoint can be determined by connecting the common parent node in the region connection tree by the nodes where the start waypoint and the end waypoint are located. And determining a set of relevant path points associated with the path plan between the start path point and the end path point.
Referring to fig. 9, fig. 9 is a sub-step of step S12 in fig. 7, which specifically includes the following steps:
and S121, determining the minimum area to which the starting path point and the ending path point belong on the area connection tree.
And after determining the starting path point and the ending path point, sequentially determining the minimum areas to which the starting path point and the ending path point belong from the region connection tree.
Taking fig. 8 as an example, since the path points of the corresponding level and the lower levels are located in the areas corresponding to the nodes, for each node, the corresponding area is a set of areas of all child nodes of the node itself, for example, the area corresponding to the node E is actually a set of areas corresponding to the nodes a and B. Therefore, for any one path point, there may be regions corresponding to different nodes on the region connection tree. Therefore, it is necessary to determine that the minimum area corresponding to the waypoint is the actual area of the waypoint.
And S122, determining the lowest-level parent path point which passes from the minimum region to which the starting path point belongs to the minimum region to which the ending path point belongs as a common parent path point on the region connection tree.
And determining the parent path point of the lowest level, which passes from the minimum area to which the starting path point belongs to the minimum area to which the ending path point belongs, as the common parent path point on the area connection tree.
In the optional scenario, the minimum area to which the start path belongs corresponds to a node a, the minimum area to which the end path point belongs corresponds to a node B, and the lowest-level common parent node of the node a and the node B is a node E, and then the path point corresponding to the node E is the common parent path point of the start path point and the end path point.
And S123, taking the path point in the minimum area to which the common parent path point belongs as a related path point set.
And after the public parent path point is determined, taking the path point in the minimum area to which the public parent path point belongs as a related path point set. As an alternative scenario, if the common parent waypoint is in node E, the waypoint of the area corresponding to node E is taken as the relevant waypoint.
In an alternative embodiment, a common parent waypoint, a start waypoint and an end waypoint are taken as the set of related waypoints.
And S13, determining a relevant path set relevant to path planning between the starting path point and the ending path point from the multi-level topological graph according to the starting path point, the ending path point and the common father path point.
The multilevel topological graph is a graph structure, and comprises path points and paths, and the specific generation steps of the multilevel topological graph are described in detail above. And the multilevel topological graph comprises a plurality of topological graph layers, each topological graph layer corresponds to a grade, each topological graph layer comprises path points and paths, wherein for one topological graph layer, the topological graph layer comprises the path points corresponding to the grade and higher grade, and each topological graph layer also comprises the in-layer shortest path between the path points in the topological graph layer and the inter-layer shortest path between the path point in the topological graph layer and the path point in the adjacent topological graph layer of the next grade.
Because the multi-level topological graph comprises the path points and the paths, and the starting path point, the ending path point and the common father path point all exist in the multi-level topological graph as the path points, after the starting path point, the ending path point and the common father path point are determined, a related path set related to path planning between the starting path point and the ending path point can be determined from the multi-level topological graph.
Referring to fig. 10, fig. 10 shows the sub-steps of step S13 in fig. 7, which includes the following steps:
and S131, taking the intra-layer shortest path in the topological graph layer of the same level corresponding to the minimum area to which the common father path point belongs as a first path subset.
That is, the shortest path in the topological graph layer of the level corresponding to the minimum area to which the common parent waypoint belongs is used as the first path subset.
In an optional embodiment, if there is only one waypoint of the common parent waypoint in the topology layer of the same level corresponding to the minimum area described by the common parent waypoint, there is no intra-layer shortest path. I.e. the first subset of paths is an empty set.
And S132, searching the shortest paths connecting the initial path point and the rest path points in the minimum area to which the common father path point belongs in the interlayer shortest paths of the topology layers at the lower level than the topology layers at the same level as the second path subset.
And then searching the shortest paths connecting the starting path point and the rest path points in the minimum area to which the common parent path point belongs from the interlayer shortest paths of the topology layers at a lower level than the topology layer at the same level as the common parent path point to serve as a second path subset. I.e. the paths from the starting waypoint to waypoints within the topological graph layer at the level to which the common parent waypoint is equal, as the second subset of paths.
S133, searching for shortest paths connecting the terminating path point and the remaining path points in the minimum area to which the common parent path point belongs, from the interlayer shortest paths in the topology layers at a lower level than the topology layer at the same level, as a third path subset.
Correspondingly, the shortest paths connecting the termination path point and the rest path points in the minimum area to which the common parent path point belongs are searched from the interlayer shortest paths of the topology layers at a lower level than the topology layer at the same level as the common parent path point to serve as a third path subset. I.e., the paths from the terminating waypoint to waypoints within the same level of the topology graph as the common parent waypoint, as a third subset of paths.
And S134, taking the first path subset, the second path subset and the third path subset as a related path set.
And taking the first path subset, the second path subset and the third path subset as a related path set.
And S14, performing optimal path planning on the starting path point and the ending path point based on the relevant path point set and the relevant path set.
And after the relevant path point set and the relevant path set are obtained, performing optimal path planning on the starting path point and the ending path point on the basis of the relevant path point set and the relevant path set.
In an alternative embodiment, based on the relevant path point set and the relevant path set, a shortest path algorithm is then used to determine the starting path point and the ending path point for optimal path planning.
In an alternative embodiment, dijkstra's algorithm may be used for the calculation to determine the best path plan.
S15, dividing the optimal path into segment paths corresponding to the map according to the switch path point on the optimal path between the start path point and the end path point.
After the optimal path is determined, the optimal path is divided into segmented paths corresponding to the map according to the switching path points on the optimal path. Specifically, since the optimal route is planned based on the relevant route point set and the relevant route set, in an actual navigation task, navigation is required based on an actual map, and therefore, the optimal route needs to be divided into segments according to the switching route points, and a segment route corresponding to the map needs to be generated.
In an alternative scenario, after the segment path of the corresponding map is determined, starting from the start path point and passing through the path points on the segment path, the end path point is reached.
With reference to fig. 4, 5, 6 and 8, a specific scenario is taken as an example:
firstly, a start path point SD and an end path point ED are obtained, wherein a minimum area where the start path point SD is located corresponds to a node a, a minimum area where the end path point ED is located corresponds to a node C, and a lowest-level parent path point corresponding to the start path point SD and the end path point ED is a path point D9. Then the waypoints within the smallest region to which the common parent waypoint D9 belongs are taken as the relevant waypoint set. That is, the path points of the area corresponding to the node M are taken as the relevant path point set, and in an alternative embodiment, the common parent path point D9, the start path point SD and the end path point ED may be taken as the relevant path point set directly. And after the relevant path point set is determined, determining a first-off path set based on the multi-level topological graph. The intra-layer shortest path of the topology layer of the same level corresponding to the minimum area to which the common parent path point D9 belongs is used as a first path subset, and since the topology layer of the same level corresponding to the minimum area to which the common parent path point D9 belongs only has the common parent path point D9, the intra-layer shortest path is an empty set, that is, the first path subset is an empty set. Then, the shortest path in the minimum area to which the start path point SD and the common parent path point ED belong is used as a second path subset, and the shortest path in the minimum area to which the end path point ED and the common parent path point ED belong is used as a third path subset. And using the first path subset, the second path subset and the third path subset as a related path set. Further, optimal path planning is performed on the starting path point SD and the ending path point ED by a shortest path algorithm based on the relevant path point set and the relevant path set. After the optimal path is determined, the optimal path is divided into segment paths corresponding to the map according to the switching path point on the optimal path between the starting path point SD and the ending path point ED.
The path planning method is generally realized by a path planning device, so the invention also provides the path planning device. Referring to fig. 11, fig. 11 is a schematic structural diagram of a path planning apparatus according to an embodiment of the present invention. The path planning apparatus 300 of this embodiment includes an obtaining module 31, a planning module 32, and a determining module 33.
The obtaining module 31 is configured to obtain a starting path point and a terminating path point; the planning module 32 is configured to determine a common parent waypoint of the start waypoint and the end waypoint and a related waypoint set related to path planning between the start waypoint and the end waypoint on the regional connection tree; the determining module 33 is configured to determine, from the multi-level topological graph, a relevant path set related to path planning between the start path point and the end path point according to the start path point, the end path point, and the common parent path point; the planning module 32 is further configured to perform optimal path planning on the starting path point and the ending path point based on the relevant path point set and the relevant path point set.
The path planning method is generally realized by a path planning device, so the invention also provides the path planning device. Referring to fig. 12, fig. 12 is a schematic structural diagram of a path planning apparatus according to an embodiment of the present invention. The path planning apparatus 100 of the present embodiment includes a processor 12 and a memory 11; the memory 11 stores a computer program, and the processor 12 is configured to execute the computer program to implement the steps of the path planning method as described above.
The logic process of the above path planning method is presented as a computer program, and in terms of the computer program, if the computer program is sold or used as a stand-alone software product, the computer program can be stored in a computer storage medium, so the invention provides a computer storage medium. Referring to fig. 13, fig. 13 is a schematic structural diagram of a computer storage medium 200 according to an embodiment of the present invention, in which a computer program 21 is stored, and the computer program is executed by a processor to implement the distribution network method or the control method.
The computer storage medium 200 may be a medium that can store a computer program, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, or may be a server that stores the computer program, and the server may send the stored computer program to another device for running or may run the stored computer program by itself. The computer storage medium 200 may be a combination of a plurality of entities from a physical point of view, for example, a plurality of servers, a server plus a memory, or a memory plus a removable hard disk.
In summary, the present invention provides a method, an apparatus and a computer storage medium for path planning. On one hand, by constructing the multi-level topological graph, the paths can be recalculated and screened in the construction process, more useless paths in the initial topological graph can be abandoned, the topological graph layer with smaller scale can be obtained, the calculated amount can be reduced, and the path planning speed can be improved. On the other hand, the method and the device determine the relevant path point set through the regional connection tree and determine the relevant path set through the multilevel topological graph, are suitable for the conditions of multiple maps and various complex maps, are suitable for searching of large maps, and have good applicability.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (9)
1. A method of path planning, the method comprising:
acquiring a starting path point and an ending path point;
determining a common father path point of the starting path point and the ending path point and a related path point set related to path planning between the starting path point and the ending path point on a regional connection tree;
determining a related path set related to path planning between the starting path point and the ending path point from a multi-level topological graph according to the starting path point, the ending path point and the common father path point;
based on the relevant path point set and the relevant path set, performing optimal path planning on the starting path point and the ending path point by adopting a shortest path algorithm;
the region connection tree is of a tree structure and comprises path points;
wherein, the multilevel topological graph is a graph structure and comprises the path points and the paths;
wherein the region connection tree is generated based on the multi-level topological graph;
wherein the regional connectivity tree comprises a plurality of waypoints each assigned a respective level, each level in the regional connectivity tree corresponding to one of the levels and comprising waypoints corresponding to the level and lower levels, each node within each level in the regional connectivity tree corresponding to a region, wherein waypoints within two of the regions of the same level need to pass through parent waypoints within the higher level of the level to be reachable from each other;
the step of determining a common parent path point of the start path point and the end path point and a related path point set related to path planning between the start path point and the end path point on the regional connection tree comprises:
determining the minimum region to which the starting path point and the ending path point belong on the region connection tree;
determining a parent path point of the lowest level, which passes from the minimum region to which the starting path point belongs to the minimum region to which the ending path point belongs, as the common parent path point on the region junction tree;
and taking the path point in the minimum area to which the common parent path point belongs as the related path point set.
2. The method of claim 1, wherein the multi-level topology map comprises a plurality of topology layers, each topology layer corresponding to one of the levels and comprising path points corresponding to the level and higher, each topology layer further comprising an intra-layer shortest path between path points within the topology map and an inter-layer shortest path between a path point within the topology map and a path point within the topology map of an adjacent next level;
the step of determining a relevant path set relevant to path planning between the starting path point and the ending path point from a multi-level topological graph according to the starting path point, the ending path point and the common parent path point comprises the following steps:
taking the intra-layer shortest path in the topological graph layer of the same level corresponding to the minimum area to which the common father path point belongs as a first path subset;
searching the interlayer shortest paths of the topology layers at a lower level than the topology layers at the same level for the shortest paths connecting the starting path point and the rest path points in the minimum area to which the common parent path point belongs as a second path subset;
searching the interlayer shortest paths of the topology layers at a lower level than the topology layers at the same level for the shortest paths connecting the termination path point and the rest path points in the minimum area to which the common parent path point belongs as a third path subset;
taking the first subset of paths, the second subset of paths, and the third subset of paths as the set of relevant paths.
3. The method of claim 1, further comprising, prior to the step of obtaining the start and end waypoints:
acquiring a plurality of maps, wherein each map comprises a plurality of path points and a path connecting the path points, and the path points further comprise common path points and switching path points, wherein the common path points can reach the path points on another map only after passing through the switching path points;
merging the switching path points to merge the maps into an initial topological graph, and distributing corresponding grades to the path points in the initial topological graph, wherein the grade of the switching path points is higher than that of the common path points;
and performing hierarchical planning on the initial topological graph to generate the multi-level topological graph.
4. The method of claim 3, wherein the step of hierarchically programming the initial topology map to generate the multi-level topology map comprises:
taking the initial topological graph as a topological layer to be planned, and taking a path in the initial topological graph as an intra-layer shortest path of the topological layer to be planned;
copying path points of other levels except the lowest level in the topological layer to be planned to the topological layer of the previous layer;
based on the intra-layer shortest path, taking path points of other levels except the lowest level as starting points, and taking the rest path points in the topological graph layer to be planned as end points to plan the shortest path;
adding shortest paths not including path points of other levels except the lowest level except the start point and the end point into the upper topology layer, wherein the shortest paths of the path points of other levels except the lowest level of the start point and the end point are respectively used as the shortest paths in the upper topology layer, and the shortest paths of the path points of other levels except the lowest level of the start point and the end point are used as the shortest paths between the layers of the upper topology layer.
5. The method of claim 4, wherein the step of hierarchically programming the initial topology map to generate the multi-level topology map further comprises:
judging whether the upper topological layer only contains the path point with the highest grade;
and if not, taking the last topological layer as the topological layer to be planned, and returning to the step of copying path points of other levels except the lowest level in the topological layer to be planned to the last topological layer.
6. The method of claim 3, further comprising:
and dividing the optimal path into segmented paths corresponding to the map according to a switching path point on the optimal path between the starting path point and the ending path point.
7. A path planning apparatus, characterized in that the path planning apparatus comprises:
the acquisition module is used for acquiring a starting path point and an ending path point;
a planning module, configured to determine, on a regional junction tree, a common parent waypoint of the start waypoint and the end waypoint and a related waypoint set related to path planning between the start waypoint and the end waypoint;
a determining module, configured to determine, according to the start path point, the end path point, and the common parent path point, a relevant path set related to path planning between the start path point and the end path point from a multi-level topological graph;
the planning module is used for carrying out optimal path planning on the starting path point and the ending path point by adopting a shortest path algorithm on the basis of the relevant path point set and the relevant path point set;
the region connection tree is of a tree structure and comprises path points;
wherein, the multilevel topological graph is a graph structure and comprises the path points and the paths;
wherein the region connection tree is generated based on the multi-level topological graph;
wherein the regional connectivity tree comprises a plurality of waypoints each assigned a respective level, each level in the regional connectivity tree corresponding to one of the levels and comprising waypoints corresponding to the level and lower levels, each node within each level in the regional connectivity tree corresponding to a region, wherein waypoints within two of the regions of the same level need to pass through parent waypoints within the higher level of the level to be reachable from each other;
the planning module determines a common parent path point of the starting path point and the ending path point and a related path point set related to path planning between the starting path point and the ending path point on the regional connection tree, and the planning module comprises:
the planning module is configured to determine a minimum region to which the start waypoint and the end waypoint belong on the region connection tree, determine, on the region connection tree, a parent waypoint of a lowest level that passes from the minimum region to which the start waypoint belongs to the minimum region to which the end waypoint belongs as the common parent waypoint, and determine, as the relevant waypoint set, a waypoint in the minimum region to which the common parent waypoint belongs.
8. A path planner, characterized in that the path planner comprises a processor and a memory; the memory has stored therein a computer program for execution by the processor to implement the steps of the method according to any one of claims 1-6.
9. A computer storage medium, characterized in that the computer storage medium stores a computer program which, when executed, implements the steps of the method according to any one of claims 1-6.
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