CN111721310B - Determination method and device of navigation path to be optimized, medium and electronic equipment - Google Patents
Determination method and device of navigation path to be optimized, medium and electronic equipment Download PDFInfo
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- CN111721310B CN111721310B CN201910220554.5A CN201910220554A CN111721310B CN 111721310 B CN111721310 B CN 111721310B CN 201910220554 A CN201910220554 A CN 201910220554A CN 111721310 B CN111721310 B CN 111721310B
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- 238000004590 computer program Methods 0.000 claims description 9
- 238000009499 grossing Methods 0.000 abstract description 29
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- 238000010586 diagram Methods 0.000 description 18
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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Abstract
The embodiment of the invention provides a method, a device, a medium and electronic equipment for determining a navigation path to be optimized, which comprise the following steps: performing interpolation processing on the obtained original navigation path point set of the unmanned vehicle to obtain a first navigation path point set; selecting a path point with curvature change from the first navigation path point set to generate a second navigation path point set; selecting a path point which accords with a preset reserved distance from a second navigation path point set, and determining the path point as a path dividing point; and determining a non-linear navigation path point set between any two path division points as a navigation path to be optimized. According to the technical scheme provided by the embodiment of the invention, only the road section needing smoothing is put into smoothing treatment and enough transition paths are reserved, so that the connection of the smoothing treatment paths and non-smoothing treatment paths is ensured, the speed of smoothing treatment of the navigation paths is improved, the smoothing quality is improved from the source of data, and the feasible result of the unmanned vehicle can be obtained through smoothing treatment.
Description
Technical Field
The invention relates to the technical field of unmanned vehicles, in particular to a method and a device for determining a navigation path to be optimized, a medium and electronic equipment.
Background
In the autonomous navigation driving process of the unmanned vehicle, a navigation path leading to a target destination is required. Navigation paths are typically generated from high-precision maps, but this path does not meet the kinematic constraints of the drone, even in some cases it is impossible for the drone to reach. Therefore, the path needs to be smoothed, and a spline curve method can be utilized as the smoothing method, and a constraint-based optimization method can also be utilized.
The prior art ignores the essential requirement of path optimization, namely, the path which does not conform to the unmanned kinematic constraint is changed into the path which conforms to the unmanned vehicle kinematic constraint. Whereas in general the vast majority of the cases of a navigation path are long straight lines, no placement into the optimizer is required. More seriously, the current method has a high probability of segmenting a curve, so that the continuity of the road is ignored, and the smooth result is not available, even if the optimization fails.
It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the invention and thus may include information that does not form the prior art that is already known to those of ordinary skill in the art.
Disclosure of Invention
The embodiment of the invention aims to provide a method, a device, a medium and electronic equipment for determining a navigation path to be optimized, so that one or more problems that a path which does not meet unmanned kinematic constraint is changed into a path which meets unmanned vehicle kinematic constraint and continuity of a road is ignored to cause path optimization failure in the related art are overcome at least to a certain extent.
Other features and advantages of the invention will be apparent from the following detailed description, or may be learned by the practice of the invention.
According to a first aspect of an embodiment of the present invention, there is provided a method for determining a navigation path to be optimized, including:
performing interpolation processing on the obtained original navigation path point set of the unmanned vehicle to obtain a first navigation path point set;
selecting a path point with curvature change from the first navigation path point set to generate a second navigation path point set;
selecting a path point which accords with a preset reserved distance from a second navigation path point set, and determining the path point as a path dividing point;
and determining a non-linear navigation path point set between any two path division points as a navigation path to be optimized.
In one embodiment of the present invention, the interpolating the obtained original navigation path point set to obtain a first navigation path point set includes:
and linearly inserting the path points between any two path points in the original navigation path point set to form a navigation path between any two path points to obtain a first navigation path point set, wherein Euclidean distances between any two path points in the first navigation path point set are equal.
In one embodiment of the present invention, selecting a path point with a curvature change from the first set of navigation path points to generate a second set of navigation path points includes:
judging whether any adjacent three path points in the first navigation path point set are collinear or not;
when any adjacent three path points are not collinear, determining that curvature change occurs to a central path point in the adjacent three path points;
and selecting a central path point and generating a second navigation path point set.
In an embodiment of the present invention, selecting a path point that meets a preset reserved distance from the second navigation path point set, and determining the path point as a path splitting point includes:
determining the minimum turning radius of the unmanned vehicle as a reserved distance;
and determining the path points with the distance between two adjacent path points in the second navigation path point set being greater than the reserved distance as path division points.
In one embodiment of the present invention, the determining the set of non-linear navigation path points between any two path division points as the navigation path to be optimized includes:
adjusting the path dividing points along the path direction according to the length of the reserved distance to obtain an adjusted path dividing point set;
and determining the path between any two adjacent path dividing points in the adjusted path dividing point set as a navigation path to be optimized.
According to a second aspect of an embodiment of the present invention, a determination apparatus for a navigation path to be optimized includes:
the processing module is used for carrying out interpolation processing on the obtained original navigation path point set of the unmanned vehicle to obtain a first navigation path point set;
the first selecting module is used for selecting the path points with curvature change from the first navigation path point set and generating a second navigation path point set;
the second selecting module is used for selecting a path point which accords with a preset reserved distance from a second navigation path point set and determining the path point as a path dividing point;
and the determining module is used for determining a nonlinear navigation path point set between any two path division points as a navigation path to be optimized.
In one embodiment of the present invention, the processing module is configured to:
and linearly inserting the path points between any two path points in the original navigation path point set to form a navigation path between any two path points to obtain a first navigation path point set, wherein Euclidean distances between any two path points in the first navigation path point set are equal.
In an embodiment of the present invention, the first selecting module is configured to:
judging whether any adjacent three path points in the first navigation path point set are collinear or not; when any adjacent three path points are not collinear, determining that curvature change occurs to a central path point in the adjacent three path points; and selecting a central path point and generating a second navigation path point set.
In an embodiment of the present invention, the second selecting module is configured to:
determining the minimum turning radius of the unmanned vehicle as a reserved distance;
and determining the path points with the distance between two adjacent path points in the second navigation path point set being greater than the reserved distance as path division points.
In one embodiment of the present invention, the determining module is configured to:
adjusting the path dividing points along the path direction according to the length of the reserved distance to obtain an adjusted path dividing point set; and determining the path between any two adjacent path dividing points in the adjusted path dividing point set as a navigation path to be optimized.
According to a third aspect of embodiments of the present invention, there is provided a computer readable medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements the method for determining a navigation path to be optimized of the first aspect.
According to a fourth aspect of an embodiment of the present invention, there is provided an electronic device including: one or more processors; and the storage device is used for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors are enabled to realize the method for determining the navigation path to be optimized in the first aspect.
The technical scheme provided by the embodiment of the invention can have the following beneficial effects:
the embodiment of the invention provides a method, a device, a medium and electronic equipment for determining a navigation path to be optimized, which comprise the following steps: performing interpolation processing on the obtained original navigation path point set of the unmanned vehicle to obtain a first navigation path point set; selecting a path point with curvature change from the first navigation path point set to generate a second navigation path point set; selecting a path point which accords with a preset reserved distance from a second navigation path point set, and determining the path point as a path dividing point; and determining a non-linear navigation path point set between any two path division points as a navigation path to be optimized. According to the technical scheme provided by the embodiment of the invention, only the road section needing smoothing is put into smoothing treatment and enough transition paths are reserved, so that the connection of the smoothing treatment paths and non-smoothing treatment paths is ensured, the speed of smoothing treatment of the navigation paths is improved, the smoothing quality is improved from the source of data, and the feasible result of the unmanned vehicle can be obtained through smoothing treatment.
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 invention as claimed.
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Various objects, features and advantages of the present disclosure will become more apparent from the following detailed description of the preferred embodiments of the disclosure, when taken in conjunction with the accompanying drawings. The drawings are merely exemplary illustrations of the present disclosure and are not necessarily drawn to scale. In the drawings, like reference numerals refer to the same or similar parts throughout. Wherein:
FIG. 1 schematically illustrates a flow chart of a method of determining a navigation path to be optimized according to one embodiment of the invention;
FIG. 2 schematically illustrates a schematic diagram of interpolation processing of an original set of navigation path points for an unmanned vehicle in accordance with one embodiment of the invention;
FIG. 3 schematically illustrates a schematic diagram of determining a point of a path where a curvature change occurs, according to one embodiment of the invention;
FIG. 4 schematically illustrates a diagram of determining path splitting points from a second set of navigation path points, according to one embodiment of the invention;
FIG. 5 schematically illustrates a schematic diagram of adjusting path splitting points according to one embodiment of the invention;
FIG. 6 schematically illustrates a block diagram of a determination device of a navigation path to be optimized according to an embodiment of the invention;
fig. 7 shows a schematic diagram of a computer system suitable for use in implementing an embodiment of the invention.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, devices, steps, etc. In other instances, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the invention.
The block diagrams depicted in the figures are merely functional entities and do not necessarily correspond to physically separate entities. That is, the functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
The flow diagrams depicted in the figures are exemplary only, and do not necessarily include all of the elements and operations/steps, nor must they be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the order of actual execution may be changed according to actual situations.
Fig. 1 schematically shows a flow chart of a method of determining a navigation path to be optimized according to an embodiment of the invention.
Referring to fig. 1, a method for determining a navigation path to be optimized according to an embodiment of the present invention includes the steps of:
s110, performing interpolation processing on the obtained original navigation path point set of the unmanned vehicle to obtain a first navigation path point set;
s120, selecting a path point with curvature change from the first navigation path point set, and generating a second navigation path point set;
s130, selecting a path point which accords with a preset reserved distance from a second navigation path point set, and determining the path point as a path division point;
and S140, determining a non-linear navigation path point set between any two path division points as a navigation path to be optimized.
According to the technical scheme provided by the embodiment of the invention, only the road section needing smoothing is put into smoothing treatment and enough transition paths are reserved, so that the connection of the smoothing treatment paths and non-smoothing treatment paths is ensured, the speed of smoothing treatment of the navigation paths is improved, the smoothing quality is improved from the source of data, and the feasible result of the unmanned vehicle can be obtained through smoothing treatment.
In step S110, interpolation processing is performed on the obtained original navigation path point set of the unmanned vehicle, so as to obtain a first navigation path point set.
In one embodiment of the present invention, based on the foregoing scheme, a linear insertion path point is inserted between any two path points in an original navigation path point set, so that a navigation path is formed between any two path points, and a first navigation path point set is obtained, where the euclidean distance between any two path points in the first navigation path point set is equal.
In one embodiment of the invention, the unmanned vehicle determines a navigation path to a target place through a high-precision map in autonomous navigation running, and the navigation path comprises a plurality of path points needing to act, for example: when the unmanned vehicle is required to turn, the starting path point and the exiting path point of the turn need to be determined, the path points form an original navigation path point set of the unmanned vehicle according to the order, wherein the distribution among the path points is not uniform, the optimization of the navigation path needs to ensure that the distance among the path points in the path to be optimized is uniform, therefore, linear difference values need to be carried out among the path points in the original navigation path point set, in practical application, the interpolation density can be selected through a path optimizer, and meanwhile, the Euclidean distance between two adjacent path points after interpolation needs to be ensured to be equal.
Fig. 2 schematically illustrates a schematic diagram of interpolation processing of an original navigation path point set of an unmanned vehicle according to an embodiment of the present invention, and referring to fig. 2, in performing linear difference processing on the original navigation path point set, a blank distance between original path points is inserted into other path points with consistent distances, so as to ensure that the distances between adjacent path points in a navigation path input to an optimizer in a subsequent step are uniform.
In step S120, a path point having a curvature change is selected from the first navigation path point set, and a second navigation path point set is generated.
In one embodiment of the present invention, based on the foregoing scheme, it is determined whether any adjacent three waypoints in the first navigation waypoint set are collinear; when any adjacent three path points are not collinear, determining that curvature change occurs to a central path point in the adjacent three path points; and selecting a central path point and generating a second navigation path point set.
FIG. 3 schematically illustrates a schematic diagram of determining a path point with curvature change according to one embodiment of the present invention, and referring to FIG. 3, starting from a starting path point of a first navigation path point set, determining whether two adjacent straight lines are collinear, that is, whether 3 adjacent path points are collinear, if the 3 path points are not collinear, determining that a center point of the 3 path points has curvature change, and marking the path point until the entire path of the first navigation path point set is traversed.
In step S130, a path point conforming to the preset reserved distance is selected from the second navigation path point set, and is determined as a path division point.
In one embodiment of the invention, a minimum turning radius of the unmanned vehicle is determined as the reserved distance; and determining the path points with the distance between two adjacent path points in the second navigation path point set being greater than the reserved distance as path division points.
FIG. 4 schematically illustrates a schematic diagram of determining a path division point from a second set of navigation path points according to one embodiment of the present invention, and referring to FIG. 4, it is determined whether two adjacent path points with curvature change are greater than 2 times of the reserved distance according to a minimum turning radius of an unmanned vehicle as the reserved distance, and if a condition is satisfied, labels of the two path points with curvature change are saved, and the path division point is determined; and deleting the mark of the path point if the condition is not satisfied.
In step S140, a set of non-linear navigation path points between any two path division points is determined as a navigation path to be optimized.
In one embodiment of the invention, path dividing points are adjusted along the path direction according to the length of the reserved distance, and an adjusted path dividing point set is obtained; and determining the path between any two adjacent path dividing points in the adjusted path dividing point set as a navigation path to be optimized.
FIG. 5 schematically illustrates a schematic diagram of adjusting path splitting points according to one embodiment of the present invention, and with reference to FIG. 5, the splitting points are moved left and right along the path direction by a predetermined distance to obtain an adjusted set of path splitting points to ensure and eliminate the need for engagement of smooth path portions; and determining the path between any two adjacent path dividing points in the adjusted path dividing point set as a navigation path to be optimized, and outputting the navigation path to a path optimizer.
According to the technical scheme provided by the embodiment of the invention, only the road section needing smoothing is put into smoothing treatment and enough transition paths are reserved, so that the connection of the smoothing treatment paths and non-smoothing treatment paths is ensured, the speed of smoothing treatment of the navigation paths is improved, the smoothing quality is improved from the source of data, and the feasible result of the unmanned vehicle can be obtained through smoothing treatment.
The following describes an embodiment of the apparatus of the present invention, which may be used to execute the above-described method for determining a navigation path to be optimized according to the present invention.
Fig. 6 schematically shows a block diagram of a determination device of a navigation path to be optimized according to an embodiment of the invention.
Referring to fig. 6, a determination apparatus 600 of a navigation path to be optimized according to an embodiment of the present invention includes:
the processing module 601 is configured to perform interpolation processing on the obtained original navigation path point set of the unmanned vehicle, so as to obtain a first navigation path point set;
a first selection module 602, configured to select a path point with a curvature change from the first set of navigation path points, and generate a second set of navigation path points;
a second selecting module 603, configured to select a path point that meets a preset reserved distance from a second set of navigation path points, and determine the path point as a path division point;
a determining module 604, configured to determine a set of non-linear navigation path points between any two path division points as a navigation path to be optimized.
In one embodiment of the present invention, the processing module 601 is configured to:
and linearly inserting the path points between any two path points in the original navigation path point set to form a navigation path between any two path points to obtain a first navigation path point set, wherein Euclidean distances between any two path points in the first navigation path point set are equal.
In one embodiment of the present invention, the first selecting module 602 is configured to:
judging whether any adjacent three path points in the first navigation path point set are collinear or not; when any adjacent three path points are not collinear, determining that curvature change occurs to a central path point in the adjacent three path points; and selecting a central path point and generating a second navigation path point set.
In one embodiment of the present invention, the second selecting module 603 is configured to:
determining the minimum turning radius of the unmanned vehicle as a reserved distance;
and determining the path points with the distance between two adjacent path points in the second navigation path point set being greater than the reserved distance as path division points.
In one embodiment of the present invention, the determining module 604 is configured to:
adjusting the path dividing points along the path direction according to the length of the reserved distance to obtain an adjusted path dividing point set; and determining the path between any two adjacent path dividing points in the adjusted path dividing point set as a navigation path to be optimized.
Since each functional module of the apparatus for determining a navigation path to be optimized according to the exemplary embodiment of the present invention corresponds to a step of the exemplary embodiment of the method for determining a navigation path to be optimized according to the first aspect, for details not disclosed in the apparatus embodiment of the present invention, please refer to the method for determining a navigation path to be optimized according to the first aspect of the present invention.
Referring now to FIG. 7, there is illustrated a schematic diagram of a computer system 700 suitable for use in implementing an electronic device of an embodiment of the present invention. The computer system 700 of the electronic device shown in fig. 7 is only an example and should not be construed as limiting the functionality and scope of use of embodiments of the invention.
As shown in fig. 7, the computer system 700 includes a Central Processing Unit (CPU) 701, which can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 702 or a program loaded from a storage section 705 into a Random Access Memory (RAM) 703. In the RAM703, various programs and data required for the system operation are also stored. The CPU 701, ROM 702, and RAM703 are connected to each other through a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
The following components are connected to the I/O interface 705: an input section 706 including a keyboard, a mouse, and the like; an output portion 707 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 708 including a hard disk or the like; and a communication section 709 including a network interface card such as a LAN card, a modem, or the like. The communication section 709 performs communication processing via a network such as the internet. The drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 710 as necessary, so that a computer program read therefrom is mounted into the storage section 708 as necessary.
In particular, according to embodiments of the present invention, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via the communication portion 709, and/or installed from the removable medium 711. The above-described functions defined in the system of the present application are performed when the computer program is executed by a Central Processing Unit (CPU) 701.
The computer readable medium shown in the present invention may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present invention may be implemented by software, or may be implemented by hardware, and the described units may also be provided in a processor. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.
As another aspect, the present application also provides a computer-readable medium that may be contained in the electronic device described in the above embodiment; or may exist alone without being incorporated into the electronic device. The computer-readable medium carries one or more programs that, when executed by one of the electronic devices, cause the electronic device to implement the method of determining a navigation path to be optimized as in the above-described embodiments.
For example, the electronic device described above may implement the configuration shown in fig. 1: s110, performing interpolation processing on the obtained original navigation path point set of the unmanned vehicle to obtain a first navigation path point set; s120, selecting a path point with curvature change from the first navigation path point set, and generating a second navigation path point set; s130, selecting a path point which accords with a preset reserved distance from a second navigation path point set, and determining the path point as a path division point; and S140, determining a non-linear navigation path point set between any two path division points as a navigation path to be optimized.
It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functions of two or more modules or units described above may be embodied in one module or unit in accordance with embodiments of the invention. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present invention may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, and includes several instructions to cause a computing device (may be a personal computer, a server, a touch terminal, or a network device, etc.) to perform the method according to the embodiments of the present invention.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It is to be understood that the invention is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (8)
1. A method for determining a navigation path to be optimized, comprising:
performing interpolation processing on the obtained original navigation path point set of the unmanned vehicle to obtain a first navigation path point set;
selecting a path point with curvature change from the first navigation path point set to generate a second navigation path point set;
presetting a minimum turning radius of the unmanned vehicle as a reserved distance, and determining a path point with a distance between two adjacent path points in the second navigation path point set being greater than the reserved distance as a path division point;
and adjusting the path dividing points along the path direction according to the length of the reserved distance to obtain an adjusted path dividing point set, and determining the path between any two adjacent path dividing points in the adjusted path dividing point set as a navigation path to be optimized.
2. The method for determining a navigation path to be optimized according to claim 1, wherein the interpolating the obtained set of original navigation path points to obtain a first set of navigation path points comprises:
and linearly inserting the path points between any two path points in the original navigation path point set to form a navigation path between the any two path points to obtain a first navigation path point set, wherein Euclidean distances between any two path points in the first navigation path point set are equal.
3. The method for determining a navigation path to be optimized according to claim 1, wherein selecting a path point having a curvature change from the first set of navigation path points, generating a second set of navigation path points, comprises:
judging whether any adjacent three path points in the first navigation path point set are collinear or not;
when any adjacent three path points are not collinear, determining that the curvature change occurs to the central path point in the adjacent three path points;
and selecting the central path point and generating a second navigation path point set.
4. A determination apparatus for a navigation path to be optimized, comprising:
the processing module is used for carrying out interpolation processing on the obtained original navigation path point set of the unmanned vehicle to obtain a first navigation path point set;
the first selecting module is used for selecting the path points with curvature change from the first navigation path point set and generating a second navigation path point set;
the second selecting module is used for presetting the minimum turning radius of the unmanned vehicle as a reserved distance and determining the path points, of which the distance between two adjacent path points in the second navigation path point set is greater than the reserved distance, as path dividing points;
the determining module is used for adjusting the path dividing points along the path direction according to the length of the reserved distance to obtain an adjusted path dividing point set, and determining the path between any two adjacent path dividing points in the adjusted path dividing point set as a navigation path to be optimized.
5. The apparatus for determining a navigation path to be optimized of claim 4, wherein the processing module is configured to:
and linearly inserting the path points between any two path points in the original navigation path point set to form a navigation path between the any two path points to obtain a first navigation path point set, wherein Euclidean distances between any two path points in the first navigation path point set are equal.
6. The apparatus for determining a navigation path to be optimized according to claim 4, wherein the first selecting module is configured to:
judging whether any adjacent three path points in the first navigation path point set are collinear or not; when any adjacent three path points are not collinear, determining that the curvature change occurs to the central path point in the adjacent three path points; and selecting the central path point and generating a second navigation path point set.
7. A computer readable medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements a method of determining a navigation path to be optimized according to any one of claims 1 to 3.
8. An electronic device, comprising:
one or more processors;
storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the method of determining a navigation path to be optimized as claimed in any one of claims 1 to 3.
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