CN112686476A - Path generation method, system, equipment and storage medium applied to map - Google Patents
Path generation method, system, equipment and storage medium applied to map Download PDFInfo
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Abstract
The invention discloses a path generation method, a system, equipment and a storage medium applied to a map, and belongs to the field of navigation. The method comprises the following steps: acquiring a segmentation step length; according to the segmentation step length, segmenting the map to generate a segmented map; setting a corresponding relation between the divided map and the map; and generating a path on the basis of the corresponding relation according to the divided map. According to the invention, the map is segmented through the step length, the path planning is carried out on the segmented map, and then the segmented map is mapped to the non-segmented map, so that the problem of inaccurate navigation path caused by poor geodesic map or fine map is solved, and the user experience is improved.
Description
Technical Field
The present invention relates to the field of navigation, and in particular, to a method, a system, a device, and a storage medium for generating a route applied to a map.
Background
With the popularization of navigation technology, people are used to meet their own navigation requirements through electronic maps, so that a path generation method applied to maps is needed to facilitate the use of people;
the method provided by the prior art is to divide a map into a plurality of grids, calculate the path of each grid, and finally splice the paths to form the final path.
However, in the process of using the prior art, the applicant finds that the method has a good operation effect on small and medium-sized maps, but a large map or a fine map is not good, so that a navigation path is not accurate, and the user experience is reduced.
Disclosure of Invention
In order to solve the problems of the prior art, embodiments of the present invention provide a method, a system, a device, and a storage medium for generating a path applied to a map. The technical scheme is as follows:
in a first aspect, a method for generating a path applied to a map is provided, where the method includes:
acquiring a segmentation step length;
according to the segmentation step length, segmenting the map to generate a segmented map;
setting a corresponding relation between the divided map and the map;
and generating a path on the basis of the corresponding relation according to the divided map.
Optionally, the obtaining the segmentation step includes:
acquiring the zoom scale input by a user on a map interface;
and calculating the segmentation step according to a first conversion relation between the scaling and the segmentation step.
Optionally, the obtaining the segmentation step further includes:
acquiring a starting point and an end point input by a user on a map interface, and calculating the distance between the starting point and the end point;
and calculating the segmentation step according to a second conversion relation between the distance and the segmentation step.
Optionally, the setting of the correspondence between the divided map and the map includes:
setting a first grid in the divided map to correspond to a grid block in the map, wherein the grid block comprises a plurality of second grids.
Optionally, the generating a path according to the segmented map on the basis of the corresponding relationship includes:
calculating a plurality of available paths;
and splicing a plurality of available paths to generate the path.
Optionally, the segmented map includes a plurality of first grids, and the calculating a plurality of available paths includes:
calculating an obstacle grille and a traversable grille of the plurality of first grills;
calculating a plurality of passing grid blocks corresponding to the plurality of passing grids in the map according to the corresponding relation;
and calculating a plurality of available paths corresponding to the plurality of passable grid blocks in the map according to the plurality of passable grid blocks.
In a second aspect, a path generating system applied to a map is provided, the system comprising:
the input device is used for acquiring a segmentation step length;
the segmentation equipment is used for segmenting the map according to the segmentation step length to generate a segmented map;
setting equipment for setting the corresponding relation between the divided map and the map;
and the processing equipment is used for generating a path on the basis of the corresponding relation according to the divided map.
Optionally, the input device further includes a touch-controllable display module, where the touch-controllable display module is configured to obtain a zoom scale input by a user on the map interface; or
The touch display module is used for acquiring a starting point and an ending point input by a user on the map interface.
Optionally, the setting device is specifically configured to:
setting a first grid in the divided map to correspond to a grid block in the map, wherein the grid block comprises a plurality of second grids.
Optionally, the processing device is specifically configured to:
calculating a plurality of available paths;
and splicing a plurality of available paths to generate the path.
Optionally, the processing device is specifically configured to:
calculating an obstacle grille and a traversable grille of the plurality of first grills;
calculating a plurality of passing grid blocks corresponding to the plurality of passing grids in the map according to the corresponding relation;
and calculating a plurality of available paths corresponding to the plurality of passable grid blocks in the map according to the plurality of passable grid blocks.
In a third aspect, there is provided a path generation apparatus for application to a map, the apparatus comprising:
the input module is used for acquiring a segmentation step length;
the segmentation module is used for segmenting the map according to the segmentation step length to generate a segmented map;
the setting module is used for setting the corresponding relation between the divided map and the map;
and the processing module is used for generating a path on the basis of the corresponding relation according to the divided map.
Optionally, the input module is specifically configured to:
acquiring the zoom scale input by a user on a map interface;
and calculating the segmentation step according to a first conversion relation between the scaling and the segmentation step.
Optionally, the input module is further specifically configured to:
acquiring a starting point and an end point input by a user on a map interface, and calculating the distance between the starting point and the end point;
and calculating the segmentation step according to a second conversion relation between the distance and the segmentation step.
Optionally, the setting module is specifically configured to:
setting a first grid in the divided map to correspond to a grid block in the map, wherein the grid block comprises a plurality of second grids.
Optionally, the processing module is specifically configured to:
calculating a plurality of available paths;
and splicing a plurality of available paths to generate the path.
Optionally, the processing module is specifically configured to:
calculating an obstacle grille and a traversable grille of the plurality of first grills;
calculating a plurality of passing grid blocks corresponding to the plurality of passing grids in the map according to the corresponding relation;
and calculating a plurality of available paths corresponding to the plurality of passable grid blocks in the map according to the plurality of passable grid blocks.
In a fourth aspect, there is provided a storage medium storing a computer program executable by a processor for implementing the method of any one of the first aspects.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
the map is segmented through the step length, the path is planned on the segmented map, and then the map is mapped to the non-segmented map, so that the problem of inaccurate navigation path caused by poor geodesic map or fine map is solved, and the user experience is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a path generation method applied to a map according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a path generation system applied to a map according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a path generating device applied to a map according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
For purposes of explanation, assume that the steps are set at step1 and step2, respectively, according to the length of the map, and the number of grids in the map is n m by length and width.
Example one
An embodiment of the present invention provides a path generation method applied to a map, and as shown in fig. 1, the method includes:
101. acquiring a segmentation step length;
102. according to the segmentation step length, segmenting the map to generate a segmented map;
103. setting a corresponding relation between the divided map and the map;
104. and generating a path on the basis of the corresponding relation according to the divided map.
Optionally, the process in step 101 may be:
201. and acquiring the zoom scale input by the user on the map interface.
Specifically, the process may be performed by obtaining a gesture input by a user on the map interface, where the gesture may be a length of a sliding track of a finger sliding on the touch screen, and the length corresponds to a scaling ratio.
202. And calculating the segmentation step according to a first conversion relation between the scaling and the segmentation step.
Specifically, the first conversion relationship may be a correspondence function between a component of the length in the x-axis and a component in the y-axis, and assuming that the length is l, the correspondence function may be:
step1＝lx*a；
Step2＝ly*b；
wherein a and b are coefficients, and the specific coefficients are not limited in the embodiment of the present invention.
Optionally, the process in step 101 may further include:
301. and acquiring a starting point and an end point input by a user on the map interface, and calculating the distance between the starting point and the end point.
Specifically, the distance may be a straight line distance between the starting point and the ending point, and the distance on the map interface may be L.
302. And calculating the segmentation step according to a second conversion relation between the distance and the segmentation step.
Specifically, the second conversion relationship may be a correspondence function between a component of the distance in the x-axis and a component in the y-axis, and assuming that the length is L, the correspondence function may be:
step1＝Lx*c；
Step2＝Ly*d；
wherein c and d are coefficients, and the specific coefficients are not limited in the embodiment of the present invention.
Optionally, the process in step 103 may further include:
and setting a first grid in the divided map to correspond to a grid block in the map, wherein the grid block comprises a plurality of second grids.
Using the appropriate step1, step2 segments the map into segmented maps, which can be expressed as:
(m*n)→((m/step1)*(n/step2))
wherein, a grid in the divided map corresponds to a grid block in the map, and the corresponding relationship can be expressed as:
A′ij→A(m*step1,n*step2)
optionally, the process in step 104 may further include:
401. calculating a plurality of available paths;
402. and splicing the plurality of available paths to generate a path.
Setting the number of path nodes as n, and running the traditional A on the grid blocks corresponding to all the nodes of the path to obtain a path (i), wherein the starting point of each grid block is determined according to the movement direction of the nodes in the path;
intersect at point k, with k being the end of A and the beginning of B. Intersecting the line l, taking the midpoint P of l as the endpoint of A and the starting point of B.
And splicing all paths (i) together to obtain the optimal Path.
Optionally, the segmented map includes a plurality of first grids, and the process in step 401 may further be:
501. an obstacle grille and a traversable grille of the plurality of first grills are calculated.
When the total value M of the grid block step1 step2 is greater than the predetermined threshold value S, the grid corresponding to the divided map is set to pass (numerically 1), and otherwise, the grid is set to an obstacle (numerically 0).
502. Calculating a plurality of accessible grid blocks corresponding to a plurality of accessible grids in the map according to the corresponding relation;
503. and calculating a plurality of available paths corresponding to the plurality of passable grid blocks in the map according to the plurality of passable grid blocks.
Specifically, taking the nodes corresponding to the grid blocks where the initial start point and the end point are located as the start point and the end point, executing on the divided map:
firstly, a map model is established, and an actual working scene is divided into m x n grid maps according to the precision requirement, wherein the higher the precision is, the larger m and n are. The traversable road section in the grid map is white (1 in value) and the obstacle is black (0 in value). The grid map is thus a two-dimensional array a of 0 and 1 in value.
(i＝0，1…m-1；j＝0，1…n-1)
Wherein, the center of the grid is also called node.
Starting a search:
starting from a starting point A, the node is added into an opening list, and the opening list openlist is a list for storing all nodes to be checked. Looking up the node near the starting point A (up, down, left, right, up, right, down, left, down, right), if the node near the starting point A is an obstacle, ignoring the node near the starting point A, and otherwise, adding the node near the starting point A into the openlist. Origin a is set to the parent node false of these feasible nearps, i.e. all nearps (black) are pointing to origin a (green).
nearp.father＝A
And deleting the node A from the openlist, and adding the node A into a closed list, wherein the closed list is a list for storing all checked nodes.
The next step, from the starting point a, to which node is to go, is determined by the following equation.
F(n)＝G(n)+H(n)
F (n) is called the path cost.
G (n) the moving cost of the starting point A to move to the current node n. The lateral and longitudinal movement has a node cost of 10 and the diagonal movement has a node cost of 14.
H (n) the estimated cost of moving from the current cell to the end point B, typically by Manhattan distance or Euclidean distance. The estimated cost per node is fixed and only needs to be calculated once.
And calculating F \ G \ H values of all nodes of the openlist.
And traversing all nodes of the openlist, selecting the node with the minimum F value, and recording as minf. It can be seen that the minimum value is 40, minf is deleted from openlist and added to closelist.
And calculating F \ G \ H values of all nodes of the openlist.
And (3) checking a node near the minf, if the node near is an obstacle or is in the closed elist, ignoring the node near, and if the node near is not in the openlist, adding the node near into the openlist, and calculating the F \ G \ H value of the node near the minf. Node minf is set to the parent node false of these feasible neighbors.
nearp.father＝minf
If the near is already in the openlist, its G value is calculated, and if smaller than before, its F, G value is updated, setting the node minf to the parent node of the near. Otherwise, the state is maintained.
And calculating F \ G \ H values of all nodes of the openlist.
And traversing all nodes of the openlist, selecting the node with the minimum F value, and recording as minf. The above steps were repeated until the endpoint was added to closelist.
Example two
An embodiment of the present invention provides a path generating system applied to a map, and as shown in fig. 2, the system includes:
an input device 21 for obtaining a segmentation step;
the dividing device 22 is used for dividing the map according to the dividing step length to generate a divided map;
a setting device 23 for setting a correspondence relationship between the divided map and the map;
and the processing device 24 is used for generating a path on the basis of the corresponding relation according to the divided map.
Optionally, the input device 21 further includes a touch-controllable display module, where the touch-controllable display module is configured to obtain a zoom scale input by the user on the map interface; or
The touch display module is used for acquiring a starting point and an ending point input by a user on the map interface.
Optionally, the setting device 23 is specifically configured to:
and setting a first grid in the divided map to correspond to a grid block in the map, wherein the grid block comprises a plurality of second grids.
Optionally, the processing device 24 is specifically configured to:
calculating a plurality of available paths;
and splicing the plurality of available paths to generate a path.
Optionally, the processing device 24 is specifically configured to:
calculating an obstacle grid and a traversable grid of the plurality of first grids;
calculating a plurality of accessible grid blocks corresponding to a plurality of accessible grids in the map according to the corresponding relation;
and calculating a plurality of available paths corresponding to the plurality of passable grid blocks in the map according to the plurality of passable grid blocks.
EXAMPLE III
An embodiment of the present invention provides a route generating device 3 applied to a map, and as shown in fig. 3, the device 3 includes:
an input module 31, configured to obtain a segmentation step;
the segmentation module 32 is configured to segment the map according to the segmentation step length to generate a segmented map;
a setting module 33, configured to set a correspondence between the divided maps;
and the processing module 34 is configured to generate a path based on the correspondence according to the divided map.
Optionally, the input module 31 is specifically configured to:
acquiring the zoom scale input by a user on a map interface;
and calculating the segmentation step according to a first conversion relation between the scaling and the segmentation step.
Optionally, the input module 31 is further specifically configured to:
acquiring a starting point and an end point input by a user on a map interface, and calculating the distance between the starting point and the end point;
and calculating the segmentation step according to a second conversion relation between the distance and the segmentation step.
Optionally, the setting module 33 is specifically configured to:
and setting a first grid in the divided map to correspond to a grid block in the map, wherein the grid block comprises a plurality of second grids.
Optionally, the processing module 34 is specifically configured to:
calculating a plurality of available paths;
and splicing the plurality of available paths to generate a path.
Optionally, the processing module 34 is specifically configured to:
calculating an obstacle grid and a traversable grid of the plurality of first grids;
calculating a plurality of accessible grid blocks corresponding to a plurality of accessible grids in the map according to the corresponding relation;
and calculating a plurality of available paths corresponding to the plurality of passable grid blocks in the map according to the plurality of passable grid blocks.
Example four
The embodiment of the invention provides a storage medium which stores a computer program capable of being executed by a processor and used for realizing the method of any one of the embodiment.
All the above-mentioned optional technical solutions can be combined arbitrarily to form the optional embodiments of the present invention, and are not described herein again.
It should be noted that: in the embodiment, when the route generating method applied to the map is executed, the division of the functional modules is only used for illustration, and in practical application, the function distribution can be completed by different functional modules according to needs, that is, the internal structures of the system and the device are divided into different functional modules, so as to complete all or part of the functions described above. In addition, the embodiments of the method, the system, the device and the storage medium for generating a path applied to a map provided by the foregoing embodiments belong to the same concept, and specific implementation processes thereof are described in detail in the embodiments of the method and are not described herein again.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A method of generating a route for application to a map, the method comprising:
acquiring a segmentation step length;
according to the segmentation step length, segmenting the map to generate a segmented map;
setting a corresponding relation between the divided map and the map;
and generating a path on the basis of the corresponding relation according to the divided map.
2. The method of claim 1, wherein obtaining the segmentation step size comprises:
acquiring the zoom scale input by a user on a map interface;
and calculating the segmentation step according to a first conversion relation between the scaling and the segmentation step.
3. The method of claim 1, wherein obtaining the segmentation step further comprises:
acquiring a starting point and an end point input by a user on a map interface, and calculating the distance between the starting point and the end point;
and calculating the segmentation step according to a second conversion relation between the distance and the segmentation step.
4. The method according to claim 2 or 3, wherein the setting of the correspondence between the divided map and the map comprises:
setting a first grid in the divided map to correspond to a grid block in the map, wherein the grid block comprises a plurality of second grids.
5. The method of claim 4, wherein generating a path based on the correspondence from the segmented map comprises:
calculating a plurality of available paths;
and splicing a plurality of available paths to generate the path.
6. The method of claim 5, wherein the segmented map comprises a plurality of first grids, and wherein calculating a plurality of available paths comprises:
calculating an obstacle grille and a traversable grille of the plurality of first grills;
calculating a plurality of passing grid blocks corresponding to the plurality of passing grids in the map according to the corresponding relation;
and calculating a plurality of available paths corresponding to the plurality of passable grid blocks in the map according to the plurality of passable grid blocks.
7. A path generation system for application to a map, the system comprising:
the input device is used for acquiring a segmentation step length;
the segmentation equipment is used for segmenting the map according to the segmentation step length to generate a segmented map;
setting equipment for setting the corresponding relation between the divided map and the map;
and the processing equipment is used for generating a path on the basis of the corresponding relation according to the divided map.
8. The system of claim 7, wherein the input device further comprises a touch-enabled display module, and the touch-enabled display module is configured to obtain a zoom scale input by the user on the map interface; or
The touch display module is used for acquiring a starting point and an ending point input by a user on the map interface.
9. A path generation apparatus applied to a map, the apparatus comprising:
the input module is used for acquiring a segmentation step length;
the segmentation module is used for segmenting the map according to the segmentation step length to generate a segmented map;
the setting module is used for setting the corresponding relation between the divided map and the map;
and the processing module is used for generating a path on the basis of the corresponding relation according to the divided map.
10. A storage medium storing a computer program executable by a processor for implementing the method of any one of claims 1 to 6.
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Application publication date: 20210420 |