CN111735454A - Path planning method, device, electronic equipment, medium and path navigation method - Google Patents

Abstract

The embodiment of the disclosure provides a path planning method, a path planning device, electronic equipment, a medium and a path navigation method. The path planning method comprises the following steps: determining a first endpoint and a second endpoint, wherein the first endpoint is located in a first space, and the second endpoint is located in a second space; acquiring each passage port between the first space and the second space; respectively determining a first optimal path between each passage port and a first end point and a weight value of each first optimal path; and determining a target optimal path between the first end point and the second end point based on the first optimal paths and the weight values of the first optimal paths. The path planning method, the device, the electronic equipment, the medium and the path navigation method provided by the embodiment of the disclosure further determine the target optimal path between the first end point and the second end point through the first optimal paths of the first end point and the through ports of the first space, so that the integrated path planning result fused in different spaces can be optimized.

Description

Path planning method, device, electronic equipment, medium and path navigation method

Technical Field

The present disclosure relates to the field of path planning and navigation, and in particular, to a path planning method, an apparatus, an electronic device, a medium, and a path navigation method.

Background

The current path planning and path navigation methods are mainly divided into outdoor path planning and navigation and indoor walking path planning and navigation. With the continuous appearance of concepts and products such as e-commerce, group purchase, intelligent retail, online and offline, the demand of users on the travel scene is more refined. For example, when the navigation starting point is outdoor and the terminal point is a restaurant in a certain store, the user demand cannot be met by simply relying on the pure indoor or pure outdoor route planning and route navigation method.

Therefore, a new path planning method, apparatus, electronic device, medium, and path navigation method are needed.

It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present disclosure, and thus may include information that does not constitute prior art known to those of ordinary skill in the art.

Disclosure of Invention

The embodiment of the disclosure provides a path planning method, a path planning device and an electronic device, so as to overcome the defect that indoor and outdoor integrated navigation cannot be realized in the related technology at least to a certain extent.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.

The embodiment of the disclosure provides a path planning method, which includes: determining a first end point and a second end point, wherein the first end point is located in a first space, the second end point is located in a second space, and the first space and the second space are communicated through a passage; acquiring each passage port between the first space and the second space; respectively determining a first optimal path between each passage port and the first end point and a weight value of each first optimal path; determining a target optimal path between the first endpoint and the second endpoint based on the respective first optimal paths and the weight values of the respective first optimal paths.

The embodiment of the disclosure provides a path planning method, which includes: acquiring a first endpoint and a second endpoint, wherein the first endpoint is positioned in a first space, the second endpoint is positioned in a second space, and the first space is communicated with the second space through a passage port; and determining a target optimal path between the first end point and the second end point through path planning based on target road network data and target interest point data, wherein the target road network data is obtained by fusing first road network data of the first space and second road network data of the second space, and the target interest point data is obtained by fusing the interest point data of the first space and the interest point data of the second space.

The embodiment of the disclosure provides a path navigation method, which includes: responding to a navigation request of a target object, determining a first endpoint and a second endpoint, wherein the first endpoint is located in a first space, the second endpoint is located in a second space, and the first space is communicated with the second space through a first passage port and a second passage port; displaying a target optimal path of the first end point and the second end point, wherein the target optimal path passes through a first passage port of the first space; the sum of the linear distances between the first passage opening and the first end point and between the first passage opening and the second end point is larger than the sum of the linear distances between the second passage opening and the first end point and between the second passage opening and the second end point.

The embodiment of the present disclosure provides a path planning apparatus, including: the system comprises an endpoint data acquisition module, a first endpoint acquisition module and a second endpoint acquisition module, wherein the first endpoint is positioned in a first space, the second endpoint is positioned in a second space, and the first space is communicated with the second space through a passage port; the traffic port data acquisition module is used for acquiring each traffic port between the first space and the second space; the first path planning module is used for respectively determining first optimal paths between the passage ports and the first end points and weight values of the first optimal paths; and the target path planning module is used for determining a target optimal path between the first end point and the second end point based on the first optimal paths and the weight values of the first optimal paths.

The embodiment of the present disclosure provides a path planning apparatus, including: the system comprises an endpoint acquisition module, a first endpoint acquisition module and a second endpoint acquisition module, wherein the first endpoint is located in a first space, and the second endpoint is located in a second space; and the path planning module is used for determining a target optimal path between the first end point and the second end point through path planning based on target road network data and target interest point data, wherein the target road network data is obtained by fusing first road network data of the first space and second road network data of the second space, and the target interest point data is obtained by fusing the interest point data of the first space and the interest point data of the second space.

An embodiment of the present disclosure provides an electronic device, including: one or more processors; a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement a path planning method and/or a path navigation method as described in the embodiments above.

An embodiment of the present disclosure provides an electronic device, on which a computer program is stored, where the program is executed by a processor to implement a path planning method and/or a path navigation method as described in the above embodiments.

In the technical solutions provided in some embodiments of the present disclosure, first, each access port between a first space and a second space is obtained, and a first optimal path and a weight value of each first optimal path of a first endpoint and each access port are determined; and obtaining a target optimal path between the first end point and the second end point based on the first optimal paths and the weight values of the first optimal paths. The path planning when the starting point and the stopping point are in different spaces can be realized. Meanwhile, when the fused path planning of the first space and the second space is realized, the target optimal path between the first end point and the second end point is obtained according to the weight value of the first optimal path of each passage port in the first space, and the integrated path planning result fused in different spaces can be optimized.

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 disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. It is to be understood that the drawings in the following description are merely exemplary of the disclosure, and that other drawings may be derived from those drawings by one of ordinary skill in the art without the exercise of inventive faculty.

In the drawings:

fig. 1 illustrates a schematic diagram of an exemplary system architecture 100 to which the path planning method or apparatus of embodiments of the present disclosure may be applied;

fig. 2 schematically shows a flow diagram of a path planning method according to an embodiment of the present disclosure;

FIG. 3 is a flowchart in an exemplary embodiment based on step S240 of FIG. 2;

fig. 4 schematically shows a flow chart of a path planning method according to another embodiment of the present disclosure;

FIG. 5 is a flowchart in an exemplary embodiment based on step S410 of FIG. 4;

FIG. 6 is a flowchart in an exemplary embodiment based on step S242 of FIG. 3;

FIG. 7 is a flowchart in an exemplary embodiment based on step S230 of FIG. 2;

fig. 8 schematically shows a flow chart of a path planning method according to another embodiment of the present disclosure;

FIG. 9 is a flowchart in an exemplary embodiment based on step S820 of FIG. 8;

FIG. 10 schematically illustrates a flow diagram of a path navigation method according to one embodiment of the present disclosure;

fig. 11 illustrates an interface presentation of a first endpoint, a second endpoint, according to an embodiment of the disclosure;

FIG. 12 shows a schematic diagram of a target optimal path according to an embodiment of the present disclosure;

FIG. 13 is a diagram schematically illustrating a target optimal path according to the related art;

fig. 14 schematically shows a flow chart of a path planning method according to a further embodiment of the present disclosure;

FIG. 15 schematically illustrates a flow chart of a path planning method according to yet another embodiment of the present disclosure;

fig. 16 schematically shows a block diagram of a path planner according to an embodiment of the present disclosure;

fig. 17 schematically shows a block diagram of a path planning apparatus according to another embodiment of the present disclosure;

FIG. 18 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present disclosure.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different 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 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 disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the disclosure.

The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.

The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to 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 actual execution sequence may be changed according to the actual situation.

In the field of path planning and navigation, because the correlation between outdoor data and indoor data (such as point of interest) is low, and the outdoor path planning service and the indoor path planning service have independence and unicity, the docking between other travel modes and the indoor path planning is facilitated, and the like, such as driving navigation, riding navigation and the like. For the above reasons, the current outdoor path planning service and the current indoor path planning service are two independent services.

The indoor and outdoor integrated travel scene can comprise the following scenes:

(1) starting point (indoor), ending point (indoor), same building.

(2) Starting point (indoor), ending point (indoor), different buildings.

(3) Starting point (outdoor), ending point (indoor).

(4) Starting point (indoor), ending point (outdoor).

(5) Starting point (outdoors), ending point (outdoors).

In the above scenario, the start and stop points of the scenario (1) are all in the same building and belong to pure indoor planning, and the start and stop points of the scenario (5) are all outdoors and belong to pure outdoor planning, so that no discussion is provided herein. Scenes (3), (4) and (5) are all scenes for indoor and outdoor integrated path planning, and the related path planning problems are the same. In the following, a technical scheme related to indoor and outdoor integrated path planning in the related art is described by taking the scenario (3) as an example.

(1) Obtaining a plurality of sub-doors of a building where a terminal is located: and selecting a target sub-door with the minimum sum of the distances between the straight line and the starting point and the ending point according to the spatial position relation between the starting point and the ending point and each sub-door of the building.

(2) And performing outdoor path planning according to the starting point and the target sub-door.

(3) And calling the indoor service, and planning an indoor path according to the target sub-door and the indoor terminal.

(4) And (4) connecting the two sections of path schemes planned in the step (2) and the step (3) by using a straight line to obtain a target planned path.

However, in the case that the indoor and outdoor paths are unknown, the related art does not consider the user preference, and determines the target sub-gate only according to the minimum linear distance between each sub-gate and the start and end points, and performs indoor path planning and outdoor path planning respectively according to the target sub-gate to obtain the target optimal path. According to the scheme, whether the actual paths of the target sub-door, the starting point and the end point are optimal or not is not considered, and the situations that the selected target sub-door is not communicated with the end point, the actual path detour from the indoor end point to the target sub-door, the actual path detour from the outdoor starting point to the target sub-door and the like can occur possibly. In summary, the path planning method of the related art cannot obtain an overall better indoor and outdoor integrated path planning result.

Therefore, a new path planning method, a new path planning device, an electronic device, and a path navigation method are needed.

It should be noted that "indoor" herein includes closed buildings such as houses and the like, and may also include open buildings such as stadiums, and various spaces communicating with the outside through the passage openings, i.e., the first space or the second space mentioned herein.

Fig. 1 shows a schematic diagram of an exemplary system architecture 100 to which the path planning method or apparatus of the embodiments of the present disclosure may be applied.

As shown in fig. 1, the system architecture 100 may include one or more of terminal devices 101, 102, 103, a network 104, and a server 105. The network 104 serves as a medium for providing communication links between the terminal devices 101, 102, 103 and the server 105. Network 104 may include various connection types, such as wired, wireless communication links, or fiber optic cables, to name a few.

It should be understood that the number of terminal devices, networks, and servers in fig. 1 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation. For example, server 105 may be a server cluster comprised of multiple servers, or the like.

The user may use the terminal devices 101, 102, 103 to interact with the server 105 via the network 104 to receive or send messages or the like. The terminal devices 101, 102, 103 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smartphones, tablets, portable computers, desktop computers, wearable devices, virtual reality devices, smart homes, and so forth.

The server 105 may be a server that provides various services. For example, terminal device 103 (which may also be terminal device 101 or 102) uploads first endpoint data and second endpoint data to server 105. The server 105 may determine a first endpoint and a second endpoint, where the first endpoint is located in a first space and the second endpoint is located in a second space, and the first space and the second space are communicated through a traffic port; acquiring each passage port between the first space and the second space; respectively determining a first optimal path between each passage port and the first end point and a weight value of each first optimal path; determining a target optimal path between the first endpoint and the second endpoint based on the respective first optimal paths and the weight values of the respective first optimal paths. And feeding back the target optimal path to the terminal device 103, so that the terminal device 103 can generate navigation data according to the target optimal path, thereby realizing more optimal path planning and path navigation results.

For another example, server 105 may obtain a first endpoint and a second endpoint, where the first endpoint is located in a first space and the second endpoint is located in a second space; determining a target optimal path between the first end point and the second end point through path planning based on target road network data and target interest point data, wherein the target road network data is obtained by fusing first road network data of the first space and second road network data of the second space, the target interest point data is obtained by fusing the interest point data of the first space and the interest point data of the second space, and feeding the target optimal path back to the terminal device 101 (which may also be the terminal device 102 or 103), so that a user can browse a recommended target optimal path based on content displayed on the terminal device 101.

Fig. 2 schematically shows a flow chart of a path planning method according to an embodiment of the present disclosure. The method provided by the embodiment of the present disclosure may be processed by any electronic device with computing processing capability, for example, the server 105 and/or the terminal devices 102 and 103 in the embodiment of fig. 1 described above, and in the following embodiment, the server 105 is taken as an execution subject for example, but the present disclosure is not limited thereto.

As shown in fig. 2, a path planning method provided by the embodiment of the present disclosure may include the following steps.

In step S210, a first endpoint and a second endpoint are determined, where the first endpoint is located in the first space, the second endpoint is located in the second space, and the first space and the second space are communicated through the passage.

In the embodiment of the present disclosure, the first space may be, for example, indoor or outdoor, and may also be, for example, a garden, a forest, and the like. The second space is similar to the first space, and the specific properties of the first space and the second space are not particularly limited in the technical solution of the present disclosure.

In an exemplary embodiment, the first end point is a start point of the path and the second end point is an end point of the path; or the second end point is the starting point of the path, and the first end point is the end point of the path. The path planning method includes receiving a path planning request of an equipment terminal, wherein the path planning request includes identifiers of a first endpoint and a second endpoint, and determining the first endpoint and a first space to which the first endpoint belongs, the second endpoint and a second space to which the second endpoint belongs according to the identifiers of the first endpoint and the second endpoint.

In step S220, the respective passage ports between the first space and the second space are acquired.

In the embodiment of the present disclosure, the passage opening is a communication portion connecting the first space and the second space.

In an exemplary embodiment, if the first space is inside the building a and the second space is outside the building a, the sub-doors of the building a that open to the outside are the access openings between the first space and the second space. For another example, if the first space is outside the building B and the second space is inside the building B, the sub-doors of the building B that open to the outside are the openings between the first space and the second space.

In an exemplary embodiment, if the first space is a building, the point-of-interest data corresponding to the building may be parent node data. The point of interest data corresponding to the building has a parent-child relationship with the point of interest data such as a plurality of shops, passes and the like in the building. That is, the point-of-interest data corresponding to a certain building is parent node data, the point-of-interest data corresponding to a shop inside the building is child node data subordinate to the parent node data, and the two kinds of point-of-interest data form an parent-child relationship. The parent-child relationship can be distinguished according to the type of the parent-child relationship. For example, a building and the point of interest data of a store inside the building belong to a first kind of parent-child relationship, and the point of interest data of the building and the traffic crossing of the building belong to a second kind of parent-child relationship. The parent-child relationship of the type to which the traffic port belongs can be obtained, so that child node data of the first father node data in the parent-child relationship type can be traversed, and each traffic port can be obtained.

In step S230, first optimal paths between the respective traffic ports and the first end points and weight values of the respective first optimal paths are determined, respectively.

In the embodiment of the present disclosure, each of the access ports corresponds to one first optimal path, that is, the number of the access ports is the same as the number of the first optimal paths. If no passage exists between a certain passage port and the first end point, the first optimal path corresponding to the passage port is empty. The weight value of each first optimal path is determined according to the weight value of each road included in the path and the weight value between the roads. The weight value represents the cost paid through one road or a junction between two roads. For example, the weight value of a road may be related to the length, width, real-time road conditions, etc. of the road. For another example, the weight value of an indoor road may be related to whether the road is a staircase, an elevator, or a staircase. For another example, the weight value of a junction between two roads is related to the historical red time of the junction, the number of connected roads, and the like. The weight value of each road can be obtained through the ranking model, and can also be obtained through the cost model based on historical data training, and the technical scheme of the disclosure is not particularly limited in this respect.

In an exemplary embodiment, if the first space in which the first endpoint is located is inside a building, an indoor path planning service may be invoked to determine a first optimal path between the first endpoint and each access port. If the first space where the first end point is located is outdoor, the outdoor path planning service can be called to determine the first optimal path between the first end point and each access port.

In step S240, a target optimal path between the first end point and the second end point is determined based on the respective first optimal paths and the weight values of the respective first optimal paths.

In the embodiment of the present disclosure, the target optimal path between the first endpoint and the second endpoint may include any one of the first optimal paths. The second optimal path between each access port and the second endpoint may be determined first, and the target optimal path may be determined according to the second optimal path of each access port and each first optimal path. For example, the weight value of the first optimal path and the weight value of the second optimal path of each intersection may be added, and the combination of the first optimal path and the second optimal path with the minimum weight values may be determined as the target optimal path.

In an exemplary embodiment, if the first space is inside a building a, the second space is inside a building B, and there is no access port between the building a and the building B, a third space having access ports with both the first space and the second space may be determined first; respectively determining each first passage port between the first space and the third space and each second passage port between the second space and the third space; determining first optimal paths between the first end points and the first traffic ports and weight values of the first optimal paths; determining second optimal paths between the second end points and each second access port and the weight value of each second optimal path; and determining a target optimal path between the first end point and the second end point according to each first optimal path, the weight value of each first optimal path, each second optimal path and the weight value of each second optimal path. For example, a third road network and a third topological structure of a third space may be obtained, and a target road network including a first endpoint and a second endpoint is determined according to the third road network, each first optimal path, a weight value of each first optimal path, each second optimal path, and a weight value of each second optimal path; determining a target topological structure comprising a first end point and a second end point according to the third topological structure, the first optimal paths and the second optimal paths; and planning a path between the first end point and the second end point based on the target road network and the target topological relation, and generating a target optimal path between the first end point and the second end point.

In the exemplary embodiment, if the first space is a first subspace in the building a, and the second space is a second subspace in the building a, the first subspace and the second subspace are communicated through the passage opening. The access opening may be, for example, an interior door, a staircase, an elevator, an escalator, or the like. For example, when the passage is an indoor door, the first subspace and the second subspace may be two independent spaces of the same floor, and respectively adopt different path planning services or are respectively located in different road networks. First optimal paths between the first end point and each indoor door and the weight values of each first optimal path can be determined firstly; and determining a target optimal path between the first end point and the second end point based on the first optimal paths and the weight values of the first optimal paths. For another example, when the passage is a staircase, an elevator or an escalator, the first subspace and the second subspace may be two independent spaces of different floors, and respectively adopt different path planning services or are respectively located in different road networks. First optimal paths of a first end point and each passage port in the first subspace and weight values of each first optimal path can be determined; and determining a target optimal path between the first end point and the second end point based on the first optimal paths and the weight values of the first optimal paths.

The path planning method provided by the embodiment of the disclosure includes the steps of firstly obtaining each passage port between a first space and a second space, and determining a first endpoint, a first optimal path of each passage port and a weight value of each first optimal path; and obtaining a target optimal path between the first end point and the second end point based on the first optimal paths and the weight values of the first optimal paths. The path planning when the starting point and the stopping point are in different spaces can be realized. Meanwhile, when the fused path planning of the first space and the second space is realized, the target optimal path between the first end point and the second end point is obtained according to the weight value of the first optimal path of each passage port in the first space, and the integrated path planning result fused in different spaces can be optimized.

Fig. 3 is a flowchart in an exemplary embodiment based on step S240 of fig. 2.

As shown in fig. 3, step S240 in the above-described embodiment of fig. 2 may include the following steps.

In step S241, the roads whose distances to the respective communication ports are smaller than the distance threshold and the weights of the respective roads are determined based on the second road network in the second space and the weight values of the respective first optimal paths, and the first queues are generated by sorting according to the weights of the respective roads.

In the embodiment of the present disclosure, the road network describes road information of a road, and the road information may include position information, shape information, attribute information (road grade, width, etc.), and the like. Wherein the second road network of the second space describes the road information in the second space. The first optimal path of each passage opening belongs to the first space, and the second road network does not comprise road information of the first optimal path of each passage opening. In this step, the first traffic port queue corresponding to each traffic port can be determined respectively. The first line describes the roads in the second space and the weights of the roads to the respective gates. For example, taking a certain traffic intersection as an example, the weight value from each road in the second road network to the traffic intersection may be determined according to the road information of the road; and determining the final weight value from the road to the traffic entrance according to the weight value from the road to the traffic entrance and the weight value of the first optimal path of the traffic entrance, and putting the final weight value from the road to the traffic entrance and the road information of the road into the first queue of the traffic entrance. The weight value of the road to the traffic entrance and the weight value of the first optimal path of the traffic entrance can be summed to determine the final weight value of the road to the traffic entrance.

Wherein, the weight value from the road to the traffic entrance is determined according to the road information (such as position information, shape information, attribute information, etc.) of the road and the distance between the road and the perpendicular line of the traffic entrance. For example, if the road is narrow or the distance between the road and the perpendicular line of the first end point is large, the weight value of the road will be increased. The larger the weight value of a road, the greater the cost paid through the road. The first queue may be, for example, a top heap queue, but the technical solution of the present disclosure is not particularly limited thereto. The top heap queue is a non-linear structure. The top heap structure is similar to a binary tree structure. The first queue of embodiments of the present disclosure may be, for example, a small top heap. The value of each node in the small top heap is less than or equal to the values of its left and right child nodes.

Wherein, the road with the distance to each communication port less than the distance threshold value means: and when the distance from a certain road to any one of the communication ports is less than the distance threshold, the road is the road with the distance from each communication port less than the distance threshold.

In the embodiment of the present disclosure, a road having a distance from each communication port smaller than a distance threshold may be determined as an object to be placed in the first queue. And determining whether each road belongs to the distance threshold according to the road attribute of the road. For example, the road attribute may also include status information. When the position information of a certain road and each communication is smaller than the distance threshold value, but the state information of the road is not available, the calculation of the weight of the road can be abandoned, and the road can be abandoned to be put into the first queue.

In the exemplary embodiment, when a certain road is less than the proximity threshold from any of the respective passing openings, the passing opening is considered to be actually located on the road. When the above situation occurs, the road may be regarded as a road whose distance from the traffic gate is smaller than the proximity threshold, and the road of the next traffic gate that can be put into the first queue is performed.

In step S242, a target optimal path between the first endpoint and the second endpoint is determined based on the first queue.

In the embodiment of the disclosure, the pass gate queues of the communication gates can be processed through a path planning algorithm, so as to obtain the target optimal path between the first endpoint and the second endpoint. The path planning algorithm may be, for example, a bidirectional dijkstra algorithm. The bidirectional dijkstra algorithm is used for solving the shortest path from a node s to a node t in a graph, and the basic idea is as follows: respectively starting to execute a one-way Dijkstra algorithm from a node s and a node t, defining the Dijkstra algorithm executed from the node s as forward Dijkstra search, defining the Dijkstra algorithm executed from the node t as backward Dijkstra search, and ending the algorithm under the condition that: the forward (backward) dijkstra search finds the node on the current shortest path to be u, and the backward (forward) dijkstra search has computed the shortest path to node u that is large, at which time the shortest path from node s to node t can be represented as sp (s, u) + sp (t, u). It should be understood that the specific path planning algorithm is only an example, and the disclosure does not limit the specific path planning algorithm.

Fig. 4 schematically shows a flow chart of a path planning method according to another embodiment of the present disclosure.

As shown in fig. 4, a path planning method provided by the embodiment of the present disclosure may include the following steps.

In step S410, a second topological relation is generated according to a second route of the second space.

In the embodiment of the present disclosure, the topological relation describes a connection relation between roads. The topological relations may be generated from road network and node data. Wherein the node data refers to the start and end nodes of the road. The second road network of the second space comprises connection relations among roads in the second space. The first optimal path of each passage port belongs to the first space, and the second road network does not include information of each passage port. The step generates a second topological relation according to the position information of the roads in the second road network of the second space, so that the second topological relation can be the connection relation between the roads in the second space and also comprises the connection relation between each passage opening in the first space and the roads in the second space.

Fig. 5 is a flowchart in an exemplary embodiment based on step S410 of fig. 4.

As shown in fig. 5, step S410 in the above-described embodiment of fig. 4 may include the following steps.

In step S411, neighboring roads in the second road network whose distance from each intersection is smaller than the distance threshold are determined.

In the embodiment of the disclosure, the second road network may determine, according to the position relationship between roads, adjacent roads whose distances from the respective passing openings are smaller than the distance threshold. Each access opening may correspond to one or more adjacent roads. The adjacent roads may be regarded as roads communicating with the respective traffic openings.

In step S412, a second topological relation is generated from the second road network and each of the first optimal paths based on the roads adjacent to each of the traffic openings.

In the embodiment of the disclosure, each adjacent road in the first topological relation may be taken as a road communicated with each traffic port to generate the target topological relation.

Fig. 6 is a flowchart in an exemplary embodiment based on step S242 of fig. 3.

As shown in fig. 6, step S242 in the above-mentioned fig. 3 embodiment may include the following steps.

In step S2421, roads whose distance from the second end point is smaller than the distance threshold and the weights of the roads are determined according to the second road network, and a second queue is generated in an order according to the weights of the roads.

In the embodiment of the present disclosure, the second queue records the roads in the second space and the weights from the roads to the second endpoints, and the second queue has a similar structure to the first queue, and is not repeated here.

In an exemplary embodiment, a certain road in the second road network, whose distance from the second endpoint is smaller than the distance threshold, and the weight value of the road may be determined, and a plurality of roads communicated with the road may be determined according to the target topological relation; determining the weight values of a plurality of roads connected with the road according to a target road network; and determining the roads connected with the plurality of roads according to the target topological relation. And circulating the steps to obtain a plurality of roads, and generating a second queue according to the weight sequence of each road.

In step S2422, a second optimal path between the first endpoint and each of the traffic ports is determined according to the first queue, the second queue and the second topological relation.

In the disclosed embodiments, a bidirectional dijkstra algorithm may be employed for path planning. For example, a road with the smallest weight value may be obtained in the first queue, and a plurality of roads connected with the road with the smallest weight value may be determined according to the second topological relation; calculating the weights of a plurality of roads connected with the road with the minimum weight according to the second network, and then putting the roads into a first queue; and circulating the steps to continuously seek the path, and finally obtaining the target optimal path between the first end point and the first end point.

In step S2423, the first optimal path and the second path are spliced to generate a target optimal path between the first endpoint and the second endpoint.

In the embodiment of the present disclosure, the second optimal path may include information of positions of start and stop points of the path. The start and stop point information corresponds to the position information of the second end point and the through port respectively. Matching can be carried out according to the position information of the start point and the stop point and the position information of each passage port so as to determine the passage port reached by the second optimal path; determining a first optimal path corresponding to the traffic port according to the traffic port information, wherein the start and stop point position information of the first optimal path corresponds to the position information of a first end point and the traffic port respectively; and splicing the first optimal path and the second optimal path corresponding to the traffic opening to generate a target optimal path between the first end point and the second end point.

Fig. 7 is a flowchart in an exemplary embodiment based on step S230 of fig. 2.

As shown in fig. 7, step S230 in the above-mentioned fig. 2 embodiment may include the following steps.

In step S231, a first network and a first topological relation of the first space are acquired.

In the embodiment of the present disclosure, the first road network and the first topological relationship are similar to the second road network and the second topological relationship, and are not described herein again.

In an exemplary embodiment, the first space may be an indoor space. The first road network in the indoor space may include stairs, elevators, doors, etc. of the indoor space.

In step S232, the roads whose distance from the first end point is less than the distance threshold and the weights of the roads are determined according to the first road network, and the first spatial queue is generated by sorting according to the weights of the roads.

In the embodiment of the present disclosure, the first spatial queue is similar to the generation principle of the first queue and the second queue in the foregoing steps S2431 and S2432, and details are not repeated here.

In step S233, a first optimal path between each access port and the first endpoint is determined according to the first space queue, the first topological relation, and the first network.

In the embodiment of the disclosure, a one-way dijkstra algorithm can be adopted for path planning, and a first optimal path between a first end point and each access port is determined.

In an exemplary embodiment, a one-way dijkstra algorithm may be performed using the one-pass concept. The first end point can be used as a starting point, each traffic port (N, N is a positive integer greater than or equal to 1) is used as N end points, a path calculation process is executed once, and N first optimal paths corresponding to the N traffic ports one to one are returned.

In step S234, a weight value of the first optimal path of each traffic port is determined according to the first network.

In the embodiment of the present disclosure, a calculation may be performed according to attribute information, position information, and the like of each road in the first road network, so as to determine a weight value of the first optimal path of each intersection.

Fig. 8 schematically shows a flow chart of a path planning method according to another embodiment of the present disclosure.

As shown in fig. 8, a path planning method provided by the embodiment of the present disclosure may include the following steps.

In step S810, first road network data and first spatial interest point data of a first space are obtained.

The road network data has already been introduced, and will not be described herein again. The point of interest data is used for representing a house, a shop, a mailbox, a bus station and the like in the map, and the point of interest data can comprise information such as a name, a category, coordinates and the like. The first space interest point data is the interest point data corresponding to each position point in the first space.

In step S820, the first road network data and the second road network data in the second space are merged to generate target road network data.

In the embodiment of the disclosure, formats of the first road network data and the second road network data can be fused; determining the passing openings of the first space and the second space, and determining the adjacent roads of the first space and the second space based on the passing openings; and fusing the first road network data and the second road network data according to the adjacent roads to generate target road network data.

Wherein, if the first space is a building, the second space is outdoors. The first road network data of the building is indoor data. The format of the indoor data can be converted according to the corresponding rule, and the first network data with the same format as the second network data is obtained. The conversion of the format may be, for example, a filling of road attributes, a conversion of data types, etc. When the attribute of the indoor road does not exist, the attribute value is filled in null.

In step S830, the first spatial interest point data and the second spatial interest point data of the second space are fused to generate target interest point data.

The point-of-interest data fusion method may be, for example, filling of the point-of-interest attribute values, conversion of data types, and the like.

In step S840, a first endpoint and a second endpoint are obtained, where the first endpoint is located in the first space, the second endpoint is located in the second space, and the first space and the second space are communicated through the pass-through port.

In step S850, a target optimal path between the first end point and the second end point is determined through path planning based on the target road network data and the target interest point data.

In the embodiment of the present disclosure, the first endpoint and the second endpoint are located in different spaces: a first space and a second space. But the first end point and the second end point are located in the same road network: a target road network; and generating a target topological relation according to the target road network and the target interest point data in the road network. The first endpoint and the second endpoint are also both located in the target topological relationship. Based on the above situation, path planning may be performed based on the target road network data and the target interest point data, and a target optimal path between the first end point and the second end point is determined.

According to the path planning method provided by the embodiment of the disclosure, target road network data is generated by fusing first road network data of a first space and second road network data of a second space; and fusing the first interest point data of the first space and the second interest point data of the second space to generate target interest point data. The fusion of the first space and the second space can be realized. And determining a target optimal path between the first end point and the second end point through path planning based on the target road network data and the target interest point data. The integrated path planning of the cross-space can be realized, and the path planning result is optimized.

Fig. 9 is a flowchart in an exemplary embodiment based on step S820 of fig. 8.

As shown in fig. 9, step S820 in the above-described embodiment of fig. 8 may include the following steps.

In step S821, the data format of the first road network data is converted.

In the disclosed embodiment, the data format in the first space may be different from the data format in the second space. And converting the format so that the format of the converted first road network data is the same as that of the second road network data.

In step S822, the converted first road network data and the second road network data in the second space are fused to generate target road network data.

The above-mentioned related process of fusion has been introduced, and is not described herein again.

Fig. 10 schematically shows a flow chart of a path navigation method according to an embodiment of the present disclosure.

As shown in fig. 10, a path navigation method provided by an embodiment of the present disclosure may include the following steps.

In step S1010, in response to a navigation request of a target object, a first endpoint and a second endpoint are determined, where the first endpoint is located in a first space, the second endpoint is located in a second space, and the first space is communicated with the second space through a first passage port and a second passage port.

In the embodiment of the disclosure, a navigation request sent by a target object based on a device side may be received, where the navigation request may include a first endpoint and a second endpoint. The first space and the second space have been described above, and are not described herein again.

In an exemplary embodiment, the first endpoint is a starting point and the second endpoint is an ending point; or the second endpoint is the starting point and the first endpoint is the end point.

In step S1020, a target optimal path between the first endpoint and the second endpoint is displayed, where the target optimal path passes through the first pass-through port of the first space; the sum of the linear distances between the first through opening and the first end point and between the first through opening and the second end point is larger than the sum of the linear distances between the second through opening and the first end point and between the second through opening and the second end point.

Fig. 11 illustrates an interface presentation of a first endpoint and a second endpoint according to an embodiment of the disclosure.

FIG. 12 shows a schematic diagram of a target optimal path according to an embodiment of the present disclosure. Fig. 13 schematically shows a diagram of a target optimal path according to the prior art. The user may perform a click operation through the user interface of the device side to determine the first end point D1 and the second end point D2, as shown in fig. 11. As shown in fig. 12 and 13, S1 is a first space, S2 is a second space, T1 is a first access port, and T2 is a second access port, and the target optimal path shown by the path guidance method according to the embodiment of the present disclosure or the related art is shown as a black line. When the optimal target path obtained according to the prior art is selected, the optimal target path is determined according to the minimum straight-line distance between the optimal target path and the first end point D1 and the minimum straight-line distance between the optimal target path and the second end point D2, the overall effect is not comprehensively considered, the effect of penetrating through the building occurs on the part of the middle connecting line, and the overall effect of path planning is poor.

Fig. 14 schematically shows a flow chart of a path planning method according to yet another embodiment of the present disclosure.

As shown in fig. 14, the path planning method of the embodiment of the present disclosure may include the following steps.

In step S1410, a first endpoint and a second endpoint are obtained, where the first endpoint is a starting point and located outdoors, and the second endpoint is an ending point and located inside the building.

In step S1420, the sub-door of the building connected to the outside is determined.

In step S1430, a first optimal path between the second endpoint and each sub-door of the building is determined through path planning. The indoor path planning service can be called, and path calculation is performed once according to the second end point and the interest point data of each sub-door, so that a first optimal path between the second end point and each sub-door of the building is obtained.

In step S1440, an adjacent road whose distance from each sub-gate is less than the distance threshold is determined. Wherein, each adjacent road is an outdoor road.

In step S1450, roads whose distance from the first end point is smaller than the distance threshold value and the weights of the roads are determined from the outdoor road network, and the start point queue is generated by sorting the roads according to the weights of the roads.

In step S1460, roads whose distances from the sub-gates are smaller than the distance threshold and weight values of the roads are determined from the outdoor road network, and an end point queue is generated from the roads and the first optimal paths.

In step S1470, based on the bidirectional dijkstra algorithm, a path is planned according to the start point queue and the end point queue, and a target optimal path is obtained.

In step S1480, data restoration is performed according to the target optimal path. The corresponding sub-door of the building and the indoor path corresponding to the sub-door can be obtained.

In step S1490, the restored target optimal path is encoded back into a packet. Wherein, the navigation information can be generated according to the target optimal path of the coded return packet.

In the embodiment of the disclosure, because the indoor navigation broadcast has a requirement on some special parameters of the returned structure, the target optimal path can be adaptively adjusted in the returned structure through encoding the packet, for example, whether endpoint planning uses the adsorption of the point-of-interest data, and the requirement is due to the difference between the specification of the indoor data operation and the outdoor road.

In view of the difference between the back packet path result structure of the indoor planning and the outdoor walking planning, the two path result structures can be fused in the integration process, and the two service structures are compatible, so that the navigation broadcasting under two different scenes is met.

Fig. 15 schematically shows a flow chart of a path planning method according to yet another embodiment of the present disclosure.

As shown in fig. 15, the path planning method of the embodiment of the present disclosure may include the following steps.

In step S1510, a first endpoint and a second endpoint are obtained, where the first endpoint is a starting point and is located in a first subspace of the building, and the second endpoint is an ending point and is located in a second subspace of the building.

In step S1520, a pass-through between the first subspace and the second subspace is acquired.

In the embodiment of the present disclosure, the passage opening between the first subspace and the second subspace may be an indoor door, a staircase, an elevator, an escalator, etc., which is not particularly limited by the present disclosure.

In step S1530, the first optimal paths between the first end point and each of the traffic ports and the weight values of each of the first optimal paths are determined by path planning.

In the embodiment of the disclosure, the path planning service applicable to the first subspace, the road network data and the interest point data of the first subspace may be called, and a path calculation is performed on the first end point and the interest point data of each passage opening based on the road network data, so as to obtain a first optimal path between the first end point and each passage opening.

When the access opening is a stair, an escalator or an elevator, the entrance or the exit of the stair, the escalator or the elevator in the first subspace can be used as the access opening position of the stair, the escalator or the elevator in the first subspace, and the entrance or the exit of the stair, the escalator or the elevator in the second subspace can be used as the access opening position of the stair, the escalator or the elevator in the second subspace. Meanwhile, the weight values of the stairs, the escalators or the elevators can be superposed on the weight values of the first optimal paths to serve as the updated weight values of the first optimal paths.

In step S1540, roads whose distances to the respective traffic openings are smaller than the distance threshold and the weights of the respective roads are determined according to the second road network of the second subspace, and a starting point queue is generated according to the respective roads and the respective first optimal paths.

In the embodiment of the disclosure, the roads with the distance from each traffic entrance smaller than the distance threshold and the weights of the roads can be respectively determined, and the weights of the roads and the roads corresponding to all the traffic entrances are integrated into the starting point queue. The weight value of each road and the weight value of each first optimal path can be superposed to obtain the updated weight value of each road.

In step S1550, the roads whose distance from the second endpoint is smaller than the distance threshold and the weight values of the roads are determined according to the second road network of the second subspace, and the end point queues are generated in sequence according to the weight values of the roads.

In step S1560, based on the bidirectional dijkstra algorithm, a path is planned according to the start point queue and the end point queue, so as to obtain a target optimal path.

In step S1570, data restoration is performed according to the target optimal path. The corresponding passing opening and the path of the first space corresponding to the passing opening can be obtained.

In step S1580, encoding the restored target optimal path back to a packet. Wherein, the navigation information can be generated according to the target optimal path of the coded return packet.

Embodiments of the apparatus of the present disclosure are described below, which may be used to perform the above-mentioned path planning method of the present disclosure. For details not disclosed in the embodiments of the apparatus of the present disclosure, refer to the embodiments of the path planning method described above in the present disclosure.

Fig. 16 schematically shows a block diagram of a path planning apparatus according to an embodiment of the present disclosure.

Referring to fig. 16, a path planning apparatus 1600 according to an embodiment of the present disclosure may include: an endpoint data acquisition module 1610, a portal data acquisition module 1620, a first path planning module 1630, and a target path planning module 1640

The endpoint data obtaining module 1610 may be configured to determine a first endpoint and a second endpoint, where the first endpoint is located in the first space and the second endpoint is located in the second space, and the first space and the second space are communicated through the traffic port.

In an exemplary embodiment, the first end point is a start point of the path and the second end point is an end point of the path; or the second end point is the starting point of the path, and the first end point is the end point of the path.

The access port data acquisition module 1620 may be configured to acquire each access port between the first space and the second space.

The first path planning module 1630 may be configured to determine first optimal paths between the respective traffic ports and the first end points and weight values of the respective first optimal paths, respectively.

In an exemplary embodiment, the first path planning module 1630 may include a first spatial data acquisition unit, a first spatial queue generation unit, a first path planning unit, and a path weight determination unit. The first spatial data acquiring unit may be configured to acquire a first network and a first topological relation of a first space. The first space queue generating unit may be configured to determine, according to the first road network, roads whose distance from the first end point is smaller than the distance threshold and weights of the roads, and generate the first space queue in an order according to the weights of the roads. The first path planning unit may be configured to determine a first optimal path between each of the traffic ports and the first endpoint according to the first spatial queue, the first topological relation, and the first network, respectively. The path weight determining unit may be configured to determine a weight value of a first optimal path of each of the traffic ports according to the first network.

The target path planning module 1640 may be configured to determine a target optimal path between the first end point and the second end point based on the respective first optimal paths and the weight values of the respective first optimal paths.

In an exemplary embodiment, the target path planning module 1640 may include a target road network generation unit and a target path planning unit. The target road network generating unit may be configured to generate the target road network according to the second road network in the second space, each first optimal path, and the weight value of each first optimal path. The target path planning unit may be configured to determine a target optimal path between the first end point and the second end point based on the target road network.

In an exemplary embodiment, the target road network generating unit may include a topological relation generating subunit and a target road network generating subunit. The topological relation generating subunit may be configured to generate the target topological relation according to the second road network in the second space and each of the first optimal paths. The target road network generating subunit may be configured to generate a target road network according to the target topological relation and the weight value of each first optimal path.

In an exemplary embodiment, the topological relation generation subunit may be configured to determine neighboring roads of the second road network having a distance to each intersection smaller than a distance threshold; and generating a target topological relation according to the second road network and each first optimal path based on the adjacent roads of each passage opening.

In an exemplary embodiment, the target path planning unit may include a first queue generating subunit, a second queue generating subunit, and a target path planning subunit. The first queue generating subunit may be configured to determine, according to the target road network, roads whose distance from the first end point is smaller than the distance threshold and weights of the roads, and generate the first queue in an order according to the weights of the roads. The second queue generating subunit may be configured to determine, according to the target road network, roads whose distance from the second end point is smaller than the distance threshold and weights of the roads, and generate the second queue in an order according to the weights of the roads. The target path planning subunit may be configured to determine a target optimal path for the first endpoint and the second endpoint according to the first queue, the second queue, and the target topological relationship.

The path planning device provided by the embodiment of the disclosure firstly obtains each passage port between a first space and a second space, and determines a first endpoint, a first optimal path of each passage port and a weight value of each first optimal path; and obtaining a target optimal path between the first end point and the second end point based on the first optimal paths and the weight values of the first optimal paths. The path planning when the starting point and the stopping point are in different spaces can be realized. Meanwhile, when the fused path planning of the first space and the second space is realized, the target optimal path between the first end point and the second end point is obtained according to the weight value of the first optimal path of each passage port in the first space, and the integrated path planning result fused in different spaces can be optimized.

Fig. 17 schematically shows a block diagram of a path planning apparatus according to another embodiment of the present disclosure.

Referring to fig. 17, a path planning apparatus 1700 according to an embodiment of the present disclosure may include: an endpoint acquisition module 1710 and a path planning module 1720.

In the path planning apparatus 1700, a route planning apparatus is provided,

in an exemplary embodiment, road network fusion module 1720 may include a format conversion unit and a road network fusion unit. The format conversion unit may be configured to convert a data format of the first road network data. The road network fusion unit may be configured to integrate the converted first road network data with the second road network data in the second space, so as to generate target road network data.

Endpoint acquisition module 1710 may be configured to acquire a first endpoint and a second endpoint, where the first endpoint is located in a first space and the second endpoint is located in a second space.

The path planning module 1720 may be configured to determine a target optimal path between the first end point and the second end point through path planning based on target road network data and target interest point data, where the target road network data is obtained by fusing first road network data in the first space and second road network data in the second space, and the target interest point data is obtained by fusing interest point data in the first space and interest point data in the second space.

In an exemplary embodiment, the path planning apparatus 1700 may further include a road network fusion module. The road network fusion module can be configured to convert the data format of the first road network data; and fusing the converted first road network data with the second road network data of the second space to generate target road network data. According to the path planning device provided by the embodiment of the disclosure, target road network data is generated by fusing first road network data of a first space and second road network data of a second space; and fusing the first interest point data of the first space and the second interest point data of the second space to generate target interest point data. The fusion of the first space and the second space can be realized. And determining a target optimal path between the first end point and the second end point through path planning based on the target road network data and the target interest point data. The integrated path planning of the cross-space can be realized, and the path planning result is optimized.

FIG. 18 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present disclosure. It should be noted that the computer system 1800 of the electronic device shown in fig. 18 is only an example, and should not bring any limitations to the function and the scope of the application of the embodiments of the present disclosure.

As shown in fig. 18, the computer system 1800 includes a Central Processing Unit (CPU)1801, which can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)1802 or a program loaded from a storage portion 1808 into a Random Access Memory (RAM) 1803. In the RAM 1803, various programs and data necessary for system operation are also stored. The CPU 1801, ROM 1802, and RAM 1803 are connected to each other via a bus 1804. An input/output (I/O) interface 1805 is also connected to bus 1804.

The following components are connected to the I/O interface 1805: an input portion 1806 including a keyboard, a mouse, and the like; an output portion 1807 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 1808 including a hard disk and the like; and a communication section 1809 including a network interface card such as a LAN card, a modem, or the like. The communication section 1809 performs communication processing via a network such as the internet. A driver 1810 is also connected to the I/O interface 1805 as needed. A removable medium 1811 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 1810 as necessary, so that a computer program read out therefrom is installed into the storage portion 1808 as necessary.

In particular, the processes described below with reference to the flowcharts may be implemented as computer software programs, according to embodiments of the present disclosure. For example, embodiments of the present disclosure 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 illustrated in the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via the communication portion 1809, and/or installed from the removable media 1811. The computer program executes various functions defined in the system of the present application when executed by a Central Processing Unit (CPU) 1801.

It should be noted that the computer readable media shown in the present disclosure may be computer readable signal media or computer readable storage media or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination 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 present disclosure, 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 contrast, in the present disclosure, a computer-readable signal medium may include a propagated data signal with computer-readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. 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 flowchart 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 disclosure. 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 modules and/or units and/or sub-units described in the embodiments of the present disclosure may be implemented by software, or may be implemented by hardware, and the described modules and/or units and/or sub-units may also be disposed in a processor. Wherein the names of such modules and/or units and/or sub-units in some cases do not constitute a limitation on the modules and/or units and/or sub-units themselves.

As another aspect, the present application also provides a computer-readable medium, which may be contained in the electronic device described in the above embodiments; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by an electronic device, cause the electronic device to implement the method as described in the embodiments below. For example, the electronic device may implement the steps shown in fig. 2, 3, 4, 5, 6, 7, 8, 9, 10, 14, or 15.

It should be noted that although in the above detailed description several modules or units or sub-units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functions of two or more modules or units or sub-units described above may be embodied in one module or unit or sub-unit, according to embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units or sub-units.

Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (12)

1. A method of path planning, comprising:

determining a first end point and a second end point, wherein the first end point is located in a first space, the second end point is located in a second space, and the first space and the second space are communicated through a passage;

acquiring each passage port between the first space and the second space;

respectively determining a first optimal path between each passage port and the first end point and a weight value of each first optimal path;

determining a target optimal path between the first endpoint and the second endpoint based on the respective first optimal paths and the weight values of the respective first optimal paths.

2. The method of claim 1, wherein determining the target optimal path between the first endpoint and the second endpoint based on the respective first optimal path and the weight value of the respective first optimal path comprises:

determining roads with distances to the communication ports smaller than a distance threshold value and the weights of the roads according to a second road network of the second space and the weights of the first optimal paths, and sequencing according to the weights of the roads to generate a first queue;

determining a target optimal path between the first endpoint and the second endpoint based on the first queue.

3. The method of claim 2, further comprising:

and generating a second topological relation according to the second network of the second space.

4. The method of claim 3, wherein generating a second topological relationship based on a second network of the second space comprises:

determining adjacent roads in the second road network, wherein the distance between the adjacent roads and each passage opening is less than a distance threshold;

and generating the second topological relation according to the second road network based on the adjacent roads of the various traffic openings.

5. The method of claim 3, wherein determining the target optimal path between the first endpoint and the second endpoint based on the first queue comprises:

determining roads with the distance from the second end point smaller than a distance threshold value and the weight of each road according to the second road network, and sequencing according to the weight of each road to generate a second queue;

determining a second optimal path between the second end point and each passage port according to the first queue, the second queue and the second topological relation;

and splicing the first optimal path and the second path to generate a target optimal path between the first end point and the second end point.

6. The method of claim 1, wherein the first space is a building, the second space is an outdoor space outside the building, and the access opening is a sub-door of the building;

acquiring each passage opening between the first space and the second space comprises:

and acquiring each sub-door corresponding to the building.

7. The method of claim 1, wherein determining the first optimal path between the respective lane and the first endpoint and the weight value for the respective first optimal path comprises:

acquiring a first road network and a first topological relation of the first space;

determining roads with the distance from the first end point smaller than a distance threshold value and the weight of each road according to the first road network, and sequencing according to the weight of each road to generate a first space queue;

respectively determining a first optimal path between each passage port and the first end point according to the first space queue, the first topological relation and the first network;

and determining the weight value of the first optimal path of each passage according to the first network.

8. The method of claim 1, comprising:

the first end point is a starting point of the path, and the second end point is an end point of the path; or

The second end point is a starting point of the path, and the first end point is an end point of the path.

9. A method for path navigation, comprising:

responding to a navigation request of a target object, determining a first endpoint and a second endpoint, wherein the first endpoint is located in a first space, the second endpoint is located in a second space, and the first space is communicated with the second space through a first passage port and a second passage port;

displaying a target optimal path of the first end point and the second end point, wherein the target optimal path passes through a first passage port of the first space;

the sum of the linear distances between the first passage opening and the first end point and between the first passage opening and the second end point is larger than the sum of the linear distances between the second passage opening and the first end point and between the second passage opening and the second end point.

10. A path planning apparatus, comprising:

the system comprises an endpoint data acquisition module, a first endpoint acquisition module and a second endpoint acquisition module, wherein the first endpoint is positioned in a first space, the second endpoint is positioned in a second space, and the first space is communicated with the second space through a passage port;

the traffic port data acquisition module is used for acquiring each traffic port between the first space and the second space;

the first path planning module is used for respectively determining first optimal paths between the passage ports and the first end points and weight values of the first optimal paths;

and the target path planning module is used for determining a target optimal path between the first end point and the second end point based on the first optimal paths and the weight values of the first optimal paths.

11. An electronic device, comprising:

one or more processors;

storage means for storing one or more programs;

when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-9.

12. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-9.

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