CN112762958A

CN112762958A - Route planning method, device, equipment and storage medium

Info

Publication number: CN112762958A
Application number: CN202011610361.XA
Authority: CN
Inventors: 刘庆军; 张绍瑞; 罗军; 林安轩
Original assignee: Beijing Hongxiang Technical Service Co Ltd
Current assignee: Beijing Hongxiang Technical Service Co Ltd
Priority date: 2020-12-29
Filing date: 2020-12-29
Publication date: 2021-05-07

Abstract

The invention relates to the technical field of data processing, and discloses a route planning method, a device, equipment and a storage medium, wherein the method comprises the following steps: when a route planning request is received, determining starting and ending point information according to the route planning request; determining a target area according to the starting and ending point information; acquiring digital elevation model DEM data corresponding to the target area; and planning a route according to the DEM data and the start and end point information. In the field without roads, starting and ending point information and a target area can be determined according to a path planning request, and route planning is carried out according to DEM data and the starting and ending point information of the target area, so that navigation can be provided for a user in the field environment.

Description

Route planning method, device, equipment and storage medium

Technical Field

The present invention relates to the field of data processing technologies, and in particular, to a method, an apparatus, a device, and a storage medium for route planning.

Background

The existing navigation software basically performs navigation on road sections with roads, but for the field without roads, the existing navigation software is difficult to perform route planning under the condition, and navigation cannot be provided for users in the field environment.

The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.

Disclosure of Invention

The invention mainly aims to provide a route planning method, a route planning device, route planning equipment and a storage medium, and aims to solve the technical problem that navigation cannot be provided for a user in a field environment in the prior art.

In order to achieve the above object, the present invention provides a route planning method, including the steps of:

when a route planning request is received, determining starting and ending point information according to the route planning request;

determining a target area according to the starting and ending point information;

acquiring digital elevation model DEM data corresponding to the target area;

and planning a route according to the DEM data and the start and end point information.

Optionally, the performing route planning according to the DEM data and the start and end point information includes:

detecting whether navigation data corresponding to the target area can be found;

and when the navigation data corresponding to the target area cannot be found, planning a route according to the DEM data and the start and end point information.

Optionally, after detecting whether the navigation data corresponding to the target area can be found, the method further includes:

when the navigation data corresponding to the target area can be found, searching the target navigation data corresponding to the target area;

and planning a route according to the target navigation data, the DEM data and the start and end point information.

Optionally, the performing route planning according to the navigation data, the DEM data, and the start and end point information includes:

taking an area with navigation data in the target area as a first area to be processed;

taking the area without the navigation data in the target area as a second area to be processed;

determining intersection point information according to the first area to be processed and the second area to be processed;

and planning a route according to the first area to be processed, the second area to be processed, the starting and ending point information, the intersection point information, the target navigation data and the DEM data.

Optionally, the performing route planning according to the first area to be processed, the second area to be processed, the start and end point information, the intersection point information, the target navigation data, and the DEM data includes:

determining vector data according to the target navigation data;

performing first route planning according to the first area to be processed, the starting and ending point information, the intersection point information and the vector data;

selecting target DEM data corresponding to the second area to be processed from the DEM data;

and performing second route planning according to the second to-be-processed area, the starting and ending point information, the intersection point information and the target DEM data.

Optionally, after the second route is planned according to the second area to be processed, the intersection point information, the start and end point information, and the DEM data, the method further includes:

determining first planning data according to the first route planning result, and determining second planning data according to the second route planning result;

navigating according to the first planning data and the second planning data.

Optionally, the navigating according to the first planning data and the second planning data includes:

determining a first navigation route according to the first planning data and determining a second navigation route according to the second planning route;

and generating a target navigation route according to the first navigation route and the second navigation route, and navigating according to the target navigation route.

Optionally, when receiving a route planning request, determining start and end point information according to the route planning request includes:

determining end point information and a route planning type according to the route planning request;

judging whether the route planning type is a preset type or not;

and when the route planning type is a preset type, acquiring current positioning information, and determining starting point information according to the current positioning information.

When the route planning type is not a preset type, determining starting point information according to the route planning request;

and determining starting and ending point information according to the starting point information and the ending point information.

Optionally, the acquiring digital elevation model DEM data corresponding to the target area includes:

acquiring a target image corresponding to the target area;

carrying out image recognition on the target image to obtain ground form information of a target area;

and carrying out digital processing on the ground form information to obtain DEM data corresponding to the target area.

extracting surface information from the DEM data;

constructing dynamic connected grid index data according to the earth surface information;

and planning a route according to the dynamic connected grid index data and the start and end point information.

Optionally, the performing route planning according to the dynamic connected grid index data and the start and end point information includes:

dividing the target area into a plurality of area blocks according to the dynamic connected grid index data;

selecting a region block to be selected from the region blocks according to the starting and ending point information, and selecting earth surface information to be selected corresponding to the region block to be selected from the earth surface information;

determining the connection state between adjacent to-be-selected area blocks according to the to-be-selected land surface information;

and determining a target area block according to the connection state and the area block to be selected, and planning a route according to the target area block.

Optionally, the selecting a region block to be selected from the region blocks according to the start and end point information includes:

determining earth surface type information according to the earth surface information;

determining the earth surface type corresponding to each area block according to the earth surface type information;

and selecting the area blocks to be selected from the area blocks according to the starting and ending point information and the earth surface type.

Optionally, the determining the connection state between the adjacent to-be-selected area blocks according to the to-be-selected surface information includes:

detecting a central point to be processed of the area block to be selected;

determining to-be-processed earth surface information corresponding to the to-be-processed central point according to the to-be-selected earth surface information;

determining the connection state between adjacent to-be-processed central points according to the to-be-processed earth surface information;

and determining the connection state between the adjacent to-be-selected area blocks according to the connection state between the adjacent to-be-processed central points.

Optionally, the determining a connection state between adjacent to-be-processed central points according to the to-be-processed surface information includes:

determining gradient information to be selected and slope information to be selected according to the earth surface information to be selected;

determining the connection gradient between adjacent central points to be processed according to the gradient information to be selected;

determining a height difference value between adjacent central points to be processed according to the gradient information to be selected and the land selection gradient information;

and determining the connection state between the adjacent central points to be processed according to the connection gradient and the height difference value.

Optionally, the determining a connection state between the adjacent central points to be processed according to the connection gradient and the height difference value includes:

determining a traffic mode according to the route planning request;

when the traffic mode is an automobile, acquiring the type of the automobile;

and determining the connection state between the adjacent central points to be processed according to the vehicle type, the connection gradient and the height difference value.

In addition, to achieve the above object, the present invention further provides a route planning device, including:

the starting and ending point information module is used for determining starting and ending point information according to the route planning request when the route planning request is received;

the target area module is used for determining a target area according to the starting and ending point information;

the data acquisition module is used for acquiring digital elevation model DEM data corresponding to the target area;

and the route planning module is used for planning a route according to the DEM data and the start and end point information.

Optionally, the route planning module is further configured to detect whether the navigation data corresponding to the target area can be found; and when the navigation data corresponding to the target area cannot be found, planning a route according to the DEM data and the start and end point information.

Optionally, the route planning module is further configured to search for target navigation data corresponding to the target area when the navigation data corresponding to the target area can be found; and planning a route according to the target navigation data, the DEM data and the start and end point information.

In addition, to achieve the above object, the present invention also provides a route planning apparatus, including: a memory, a processor and a route planning program stored on the memory and executable on the processor, which when executed by the processor implements the steps of the route planning method as described above.

Furthermore, to achieve the above object, the present invention further provides a storage medium having a route planning program stored thereon, which when executed by a processor implements the steps of the route planning method as described above.

According to the route planning method provided by the invention, when a route planning request is received, starting and ending point information is determined according to the route planning request; determining a target area according to the starting and ending point information; acquiring digital elevation model DEM data corresponding to the target area; and planning a route according to the DEM data and the start and end point information. In the field without roads, starting and ending point information and a target area can be determined according to a path planning request, and route planning is carried out according to DEM data and the starting and ending point information of the target area, so that navigation can be provided for a user in the field environment.

Drawings

FIG. 1 is a schematic diagram of a route planning device of a hardware operating environment according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart illustrating a first embodiment of a route planning method according to the present invention;

FIG. 3 is a schematic diagram of a target area according to an embodiment of the route planning method of the present invention;

FIG. 4 is a flowchart illustrating a second embodiment of a route planning method according to the present invention;

FIG. 5 is a schematic diagram of a first area to be processed and a second area to be processed according to a second embodiment of the route planning method of the present invention;

FIG. 6 is a flow chart illustrating a third embodiment of a route planning method according to the present invention;

FIG. 7 is a block diagram of a route planning method according to an embodiment of the present invention;

fig. 8 is a functional block diagram of a first embodiment of a route planning device according to the present invention.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a route planning device of a hardware operating environment according to an embodiment of the present invention.

As shown in fig. 1, the route planning apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may comprise a Display screen (Display), an input unit such as keys, and the optional user interface 1003 may also comprise a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The Memory 1005 may be a Random Access Memory (RAM) Memory or a non-volatile Memory (e.g., a magnetic disk Memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.

Those skilled in the art will appreciate that the device configuration shown in fig. 1 does not constitute a limitation of a routing device and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components.

As shown in fig. 1, a memory 1005, which is a kind of storage medium, may include therein an operating system, a network communication module, a user interface module, and a route planning program.

In the route planning device shown in fig. 1, the network interface 1004 is mainly used for connecting an external network and performing data communication with other network devices; the user interface 1003 is mainly used for connecting to a user equipment and performing data communication with the user equipment; the device of the present invention calls the route planning program stored in the memory 1005 through the processor 1001 and executes the route planning method provided by the embodiment of the present invention.

Based on the hardware structure, the embodiment of the route planning method is provided.

Referring to fig. 2, fig. 2 is a flowchart illustrating a first embodiment of a route planning method according to the present invention.

In a first embodiment, the route planning method comprises the steps of:

step S10, when receiving the route planning request, determining start and end point information according to the route planning request.

It should be noted that the executing main body of the embodiment may be a route planning device, for example, a navigation device, where the navigation device may be a mobile terminal, a vehicle-mounted terminal, or another device capable of implementing the same or similar functions.

It should be understood that the navigation device, upon receiving the route planning request, may determine start and end point information from the route planning request, wherein the start and end point information may include start point information and end point information.

Further, since the user may need a navigation route from the current location to the destination during using navigation, or may need to set two locations, and a navigation route between the two locations, the step S10 includes, in order to adapt to more usage scenarios and improve the usage experience of the user:

determining end point information and a route planning type according to the route planning request; judging whether the route planning type is a preset type or not; and when the route planning type is a preset type, acquiring current positioning information, and determining starting point information according to the current positioning information. When the route planning type is not a preset type, determining starting point information according to the route planning request; and determining starting and ending point information according to the starting point information and the ending point information.

It should be noted that the route planning type may include a current location planning type and a fixed point planning type, where the current location planning type may be a planning type for performing route planning according to a current location and a destination location, and the fixed point planning type may be a planning type for performing route planning according to two location locations input by a user, which is not limited in this embodiment. In this embodiment, the preset type may be set as the current location planning type.

It can be understood that the navigation device may determine the end point information and the route planning type according to the route planning request, then detect the route planning type, and when the route planning type is the preset planning type, indicate that the user needs to navigate from the current position to the end point, therefore, the current positioning information of the navigation device may be obtained, and determine the start point information according to the current positioning information, in which case, the start point is the current location of the user.

It can be understood that, when the route planning type is not the preset planning type, which means that the route planning type is the fixed-point planning type at this time, the navigation route between two places that the user needs to set is determined, and therefore, in addition to determining the end point information according to the route planning request, the start point information can also be determined according to the route planning request, and in this case, the start point information is also input by the user.

It can be understood that after the end point information and the start point information are determined, the start point information and the end point information can be determined according to the start point information and the end point information, and the start point information and the end point information are used for subsequent route planning.

And step S20, determining a target area according to the start and end point information.

It should be understood that after the start and end point information is determined, a target area may be determined according to the start and end point information, where the target area may be a circular area, a rectangular area, or an area with another shape. In a specific implementation, as shown in fig. 3, fig. 3 is a schematic diagram of a target area.

And step S30, acquiring Digital Elevation Model (DEM) data corresponding to the target area.

It should be understood that, in a place with a road, a path can be planned according to vector data in navigation data, but in a field without a road, the vector data cannot be acquired from the navigation data, and therefore, the path cannot be planned by means of the vector data. In this case, path planning may be performed according to the DEM data in order to provide a navigation service to the user.

It can be understood that after the target area is determined, Digital Elevation Model (DEM) data corresponding to the target area can be obtained, wherein the DEM data can be directly measured from the ground, and related instruments comprise components such as a horizontal guide rail, a measuring needle frame, a relative Elevation measuring plate and the like, and high-end instruments such as a GPS, a total station instrument, field measurement and the like can also be used; the images can also be obtained through photogrammetry according to aviation or aerospace images, such as three-dimensional coordinate instrument observation, an air-to-air encryption method, analytic mapping, digital photogrammetry and the like; the method may also be performed from an existing topographic map, such as a grid reading method, a method in which a digitizer is held by hand to track, and a scanner performs semi-automatic acquisition, and then generates a DEM by interpolation, which is not limited in this embodiment.

And step S40, planning a route according to the DEM data and the start and end point information.

It should be understood that after the DEM data corresponding to the target area is acquired, route planning can be performed according to the ground surface information such as the slope information, the ground surface type information and the like in the DEM data in combination with the start and end point information, a target navigation route is determined according to a route planning result, navigation is provided for a user through the target navigation route, and finally route planning and navigation are performed under the condition of no vector navigation data.

It can be understood that the technical scheme in the embodiment can provide navigation for users in the field without roads, make up for the shortage of products, and have technical advantages for projects docking to the toB/toG (enterprise customers and government customers), particularly projects of the military. In addition, certain influence can be generated in the field of field tourism, and the use experience of a user in using a navigation product is improved.

In the embodiment, when a route planning request is received, starting and ending point information is determined according to the route planning request; determining a target area according to the starting and ending point information; acquiring digital elevation model DEM data corresponding to the target area; and planning a route according to the DEM data and the start and end point information. In the field without roads, starting and ending point information and a target area can be determined according to a path planning request, and route planning is carried out according to DEM data and the starting and ending point information of the target area, so that navigation can be provided for a user in the field environment.

In an embodiment, as shown in fig. 4, a second embodiment of the route planning method according to the present invention is proposed based on the first embodiment, and the step S40 includes:

step S401, detecting whether the navigation data corresponding to the target area can be found.

It should be understood that, in some scenarios, since the distance between the starting point and the end point is relatively long, the corresponding target area is relatively large, in this case, there may be a case where there is a road in a partial area and there is no road in the partial area, and in order to provide a more accurate navigation service for a user, it may be detected whether navigation data corresponding to the target area can be found first to determine whether there is a road in the target area.

And S402, when the navigation data corresponding to the target area cannot be found, planning a route according to the DEM data and the start and end point information.

It can be understood that when the navigation data corresponding to the target area cannot be found, it is indicated that no road exists in the target area, and therefore navigation cannot be performed by means of the navigation data, and navigation can be performed only by using the DEM data, and therefore, in this case, route planning is performed according to the DEM data and the start and end point information.

Further, after the step S401, the method further includes:

when the navigation data corresponding to the target area can be found, searching the target navigation data corresponding to the target area; and planning a route according to the target navigation data, the DEM data and the start and end point information.

It can be understood that when the navigation data corresponding to the target area can be found, it is indicated that a road exists in the target area, the target navigation data corresponding to the target area can be obtained, at this time, further detection can be performed, if a road exists in a part of the target area and a road does not exist in a part of the target area, for example, in the process of off-road, the front half section is a road, the rear half section is a grassland, and at this time, the navigation data and the DEM data can be combined to perform navigation. The navigation data can be adopted to plan the route in the area with the road, the DEM data is adopted to plan the route in the area without the road, and the navigation precision is improved on the basis of providing the navigation service.

Further, in order to distinguish a road area from a non-road area in a target area, route planning is performed in different ways, so that a route planning result is more accurate, and the route planning according to the navigation data, the DEM data, and the start and end point information includes:

taking an area with navigation data in the target area as a first area to be processed; taking the area without the navigation data in the target area as a second area to be processed; determining intersection point information according to the first area to be processed and the second area to be processed; and planning a route according to the first area to be processed, the second area to be processed, the starting and ending point information, the intersection point information, the target navigation data and the DEM data.

It should be understood that an area in the target area where the navigation data exists may be taken as the first area to be processed, and an area in the target area where the navigation data does not exist may be taken as the second area to be processed. Namely, the first area to be processed is a road area, and the second area to be processed is a non-road area. Furthermore, the junction between the end of the road in the first area to be processed and the second area to be processed can be determined, and the junction is called a junction point. Since there may be a plurality of roads in the first to-be-processed area and a plurality of intersection points between the roads and the second to-be-processed area, the number of the intersections points is not limited in this embodiment.

In a specific implementation, as shown in fig. 5, fig. 5 is a schematic diagram of a first to-be-processed area and a second to-be-processed area, and it can be seen that a plurality of roads exist in the first to-be-processed area in fig. 5, but no road exists in the second to-be-processed area, and a road in the first to-be-processed area extends to a junction of the two areas, and the junction can be used as an intersection point.

Further, in order to improve the navigation accuracy and the navigation efficiency, route planning may be performed on the two areas in different manners, where the route planning according to the first area to be processed, the second area to be processed, the start and end point information, the intersection point information, the target navigation data, and the DEM data includes:

determining vector data according to the target navigation data; performing first route planning according to the first area to be processed, the starting and ending point information, the intersection point information and the vector data; selecting target DEM data corresponding to the second area to be processed from the DEM data; and performing second route planning according to the second to-be-processed area, the starting and ending point information, the intersection point information and the target DEM data.

It should be understood that vector data, which is road data, may be determined from the target navigation data, and the first route planning may be performed based on the first area to be processed, the start point information, the intersection point information, and the vector data to determine a route from the start point to the intersection point.

It should be understood that target DEM data corresponding to the second to-be-processed area may be selected from the DEM data, and then a second route planning may be performed according to the second to-be-processed area, the intersection point information, the end point information, and the DEM data to determine a route from the intersection point to the end point.

Further, after the second route is planned according to the second area to be processed, the intersection point information, the start and end point information, and the DEM data, the method further includes:

determining first planning data according to the first route planning result, and determining second planning data according to the second route planning result; determining a first navigation route according to the first planning data and determining a second navigation route according to the second planning route; and generating a target navigation route according to the first navigation route and the second navigation route, and navigating according to the target navigation route.

It can be understood that after the first area to be processed and the second area to be processed are respectively subjected to route planning in different manners, the first planning data can be determined according to the first route planning result, the second planning data can be determined according to the second route planning result, and then the first navigation route and the second navigation route can be determined according to the first planning data and the second planning data respectively. As shown in fig. 5, the first navigation route may be from the starting point to point M, and then from point M to the intersection point.

It is understood that after determining the first navigation route and the second navigation route, the first navigation route and the second navigation route may be combined to form a complete target navigation route, and the user may navigate according to the target navigation route from the starting point to the ending point.

In this embodiment, by detecting whether the navigation data corresponding to the target area can be found, when the navigation data corresponding to the target area cannot be found, route planning is performed according to the DEM data and the start and end point information, and when the navigation data corresponding to the target area can be found, the target navigation data corresponding to the target area is found; and planning a route according to the target navigation data, the DEM data and the start and end point information. Therefore, the route planning can be carried out only through the DEM data under the condition of no route, and the navigation data and the DEM data are combined to carry out the route planning under the conditions of partial routes and partial no routes, so that the diversity of navigation scenes is improved, and the accuracy of the route planning is improved.

In an embodiment, as shown in fig. 6, a third embodiment of the route planning method according to the present invention is proposed based on the first embodiment or the second embodiment, and in this embodiment, the step S30 includes:

step S301, acquiring a target image corresponding to the target area.

It should be understood that, after the target area is determined, a target image corresponding to the target area may be acquired, where the target image may be a top view of the target area, and the top view may be acquired through a satellite or an aerospace image, which is not limited in this embodiment.

Step S302, carrying out image recognition on the target image to obtain the ground form information of the target area.

It is understood that the image of the target image may be recognized, and the ground shape information of the target area may be determined according to the image recognition result, where the ground shape information may be various shape information of the ground of the target area, and may include an altitude, a terrain, and the like, which is not limited in this embodiment.

And step S303, performing digital processing on the ground form information to obtain DEM data corresponding to the target area.

It can be understood that the ground morphology information of the target area may be digitized, and the ground morphology information may be converted into digital information to obtain DEM data corresponding to the target area.

Further, in order to more conveniently perform route planning according to DEM data and improve route planning efficiency, the performing route planning according to the DEM data and the start and end point information includes:

extracting surface information from the DEM data; constructing dynamic connected grid index data according to the earth surface information; and planning a route according to the dynamic connected grid index data and the start and end point information.

It should be understood that the surface information may be extracted from the DEM data, and the surface information may include gradient information, slope information, surface type information, and the like, and may further include other information, which is not limited by the embodiment.

It can be understood that dynamic communication network index data can be constructed according to the earth surface information, route planning and navigation are carried out through a route planning algorithm, and finally route planning and navigation under the condition of no vector navigation data are achieved.

Further, in order to more accurately perform route planning, the performing route planning according to the dynamic connected grid index data and the start and end point information includes:

dividing the target area into a plurality of area blocks according to the dynamic connected grid index data; selecting a region block to be selected from the region blocks according to the starting and ending point information, and selecting earth surface information to be selected corresponding to the region block to be selected from the earth surface information; determining the connection state between adjacent to-be-selected area blocks according to the to-be-selected land surface information; and determining a target area block according to the connection state and the area block to be selected, and planning a route according to the target area block.

It is understood that, as shown in fig. 7, the target area may be divided into a plurality of area blocks according to the dynamic connected grid index data, wherein the target area may be divided according to the navigation precision, and the size and number of the area blocks are determined according to the navigation precision, which is not limited in this embodiment.

It should be understood that the area block to be selected may be selected from the area blocks according to the start point information and the end point information, and then the earth surface information to be selected corresponding to the area block to be selected may be selected from the earth surface information, so as to select the connection state between the adjacent area blocks to be selected according to the earth surface information to be selected. The connection state may be used to indicate connectivity between adjacent candidate region blocks, and may include a connectable state and a non-connectable state, where the connectable state indicates that the adjacent candidate region blocks may be connected, and the non-connectable state indicates that the adjacent candidate region blocks may not be connected.

It is understood that after determining the connection state between the adjacent candidate area blocks, the target area blocks may be determined according to the connection state and the candidate area blocks, and then the target area blocks may be connected for path planning. The navigation route may be generated according to the path plan, or multiple navigation routes may be generated according to the path plan, which is not limited in this embodiment. In the case that there are multiple navigation routes, the multiple navigation routes may all be displayed to the user, or a navigation route with the shortest route may be selected from the multiple navigation routes and displayed to the user, or in other manners, which is not limited in this embodiment.

Further, since some areas may not be accessible, it is necessary to screen communication areas, and the selecting an area block to be selected from the area blocks according to the start and end point information includes:

determining earth surface type information according to the earth surface information; determining the earth surface type corresponding to each area block according to the earth surface type information; and selecting the area blocks to be selected from the area blocks according to the starting and ending point information and the earth surface type.

It can be understood that the surface type information may be determined according to the surface information, and then the surface type corresponding to each area block may be determined according to the surface type information, where the surface type may include a desert, a water area, a grassland, a mountain land, a marsh, and the like, and may also be other surface types, which is not limited in this embodiment.

It should be understood that, since vehicles are difficult to pass through in some types of ground surfaces, such as swamps, and there is a great risk of passing through, in order to reduce the safety risk and ensure the safety of drivers, the area blocks to be selected can be selected from the area blocks according to the type of the ground surface and the start and end point information. For example, the region blocks with swamp earth surface type can be screened out, and the rest region blocks can be used as the region blocks to be selected.

Further, in order to improve the detection efficiency of determining the connection state between adjacent to-be-selected region blocks, the determining the connection state between adjacent to-be-selected region blocks according to the to-be-selected surface information includes:

detecting a central point to be processed of the area block to be selected; determining to-be-processed earth surface information corresponding to the to-be-processed central point according to the to-be-selected earth surface information; determining the connection state between adjacent to-be-processed central points according to the to-be-processed earth surface information; and determining the connection state between the adjacent to-be-selected area blocks according to the connection state between the adjacent to-be-processed central points.

It is understood that the central point to be processed of the region block to be selected can be detected, and the region block can be represented by the central point for calculation. The earth surface information to be selected corresponding to the central point to be processed can be determined according to the earth surface information to be selected, and the connection state between the adjacent central points to be processed can be determined according to the earth surface information to be processed, so that the connection state between the adjacent area blocks to be selected can be determined.

Further, the determining the connection state between the adjacent to-be-processed central points according to the to-be-processed ground surface information includes:

determining gradient information to be selected and slope information to be selected according to the earth surface information to be selected; determining the connection gradient between adjacent central points to be processed according to the gradient information to be selected; determining a height difference value between adjacent central points to be processed according to the gradient information to be selected and the land selection gradient information; and determining the connection state between the adjacent central points to be processed according to the connection gradient and the height difference value.

It can be understood that the information of the slope to be selected and the information of the slope direction to be selected can be determined according to the information of the earth surface to be selected, the connection slope between the adjacent central points to be processed can be determined according to the information of the slope to be selected, and the height difference between the adjacent central points to be processed can be determined according to the information of the slope to be selected and the information of the slope direction to be selected. Since connectivity is weaker if the connection gradient and/or the height difference between the adjacent to-be-processed central points are larger, a gradient threshold value and a height threshold value may be set in advance, and the connection gradient and the height difference may be compared with the gradient threshold value and the height threshold value, respectively, to determine the connection status between the adjacent to-be-processed central points.

In a specific implementation, as shown in fig. 7, through the calculation and route planning of the above steps, two navigation routes can be determined: one is the start point-point a-point B-point D-point E-end point, and the other is the start point-point B-point C-end point.

Further, because the trafficability characteristics of different transportation modes are different, for example, the trafficability characteristics of an off-road vehicle and a car are different, the off-road vehicle can pass through some road sections and the car cannot pass through the road sections, in order to ensure the trafficability characteristics of a user and avoid the user from encountering a traffic obstacle when the user moves ahead according to a navigation route, the determining the connection state between the adjacent central points to be processed according to the connection gradient and the height difference includes:

determining a traffic mode according to the route planning request; when the traffic mode is an automobile, acquiring the type of the automobile; and determining the connection state between the adjacent central points to be processed according to the vehicle type, the connection gradient and the height difference value.

It is understood that the transportation mode may be determined according to the route planning request, and when the transportation mode is an automobile, the vehicle type of the automobile may be obtained, and the vehicle type may include an off-road vehicle, a car, a truck, and the like, and may also be other vehicle types, which is not limited in this embodiment. After the vehicle type is determined, the connection state between the adjacent central points to be processed can be determined according to the vehicle type, the connection gradient and the height difference, the user trafficability is improved, and the navigation precision is improved.

In the embodiment, a target image corresponding to the target area is obtained; carrying out image recognition on the target image to obtain ground form information of a target area; performing digital processing on the ground form information to obtain DEM data corresponding to the target area, and extracting earth surface information from the DEM data; constructing dynamic connected grid index data according to the earth surface information; and planning a route according to the dynamic connected grid index data and the start and end point information. Therefore, a safer navigation route can be provided for the user, the passing ability of the user is guaranteed, and the navigation accuracy is further improved.

Furthermore, an embodiment of the present invention further provides a storage medium, where a route planning program is stored, and the route planning program, when executed by a processor, implements the steps of the route planning method as described above.

Since the storage medium adopts all technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.

In addition, referring to fig. 8, an embodiment of the present invention further provides a route planning device, where the route planning device includes:

the starting and ending point information module 10 is configured to determine starting and ending point information according to a route planning request when the route planning request is received.

And a target area module 20, configured to determine a target area according to the start-end point information.

And the data acquisition module 30 is configured to acquire digital elevation model DEM data corresponding to the target area.

And the route planning module 40 is used for planning a route according to the DEM data and the start and end point information.

In an embodiment, the route planning module 40 is further configured to use an area where navigation data exists in the target area as a first area to be processed; taking the area without the navigation data in the target area as a second area to be processed; determining intersection point information according to the first area to be processed and the second area to be processed; and planning a route according to the first area to be processed, the second area to be processed, the starting and ending point information, the intersection point information, the target navigation data and the DEM data.

In an embodiment, the route planning module 40 is further configured to determine vector data according to the target navigation data; performing first route planning according to the first area to be processed, the starting and ending point information, the intersection point information and the vector data; selecting target DEM data corresponding to the second area to be processed from the DEM data; and performing second route planning according to the second to-be-processed area, the starting and ending point information, the intersection point information and the target DEM data.

In an embodiment, the route planning module 40 is further configured to determine first planning data according to the first route planning result, and determine second planning data according to the second route planning result; navigating according to the first planning data and the second planning data.

In an embodiment, the route planning module 40 is further configured to determine a first navigation route according to the first planning data, and determine a second navigation route according to the second planning route; and generating a target navigation route according to the first navigation route and the second navigation route, and navigating according to the target navigation route.

In an embodiment, the start-end point information module 10 is further configured to determine end point information and a route planning type according to the route planning request; judging whether the route planning type is a preset type or not; and when the route planning type is a preset type, acquiring current positioning information, and determining starting point information according to the current positioning information. When the route planning type is not a preset type, determining starting point information according to the route planning request; and determining starting and ending point information according to the starting point information and the ending point information.

In an embodiment, the data obtaining module 30 is further configured to obtain a target image corresponding to the target area; carrying out image recognition on the target image to obtain ground form information of a target area; and carrying out digital processing on the ground form information to obtain DEM data corresponding to the target area.

In an embodiment, the route planning module 40 is further configured to extract surface information from the DEM data; constructing dynamic connected grid index data according to the earth surface information; and planning a route according to the dynamic connected grid index data and the start and end point information.

In an embodiment, the route planning module 40 is further configured to divide the target area into a plurality of area blocks according to the dynamic connected grid index data; selecting a region block to be selected from the region blocks according to the starting and ending point information, and selecting earth surface information to be selected corresponding to the region block to be selected from the earth surface information; determining the connection state between adjacent to-be-selected area blocks according to the to-be-selected land surface information; and determining a target area block according to the connection state and the area block to be selected, and planning a route according to the target area block.

In an embodiment, the route planning module 40 is further configured to determine surface type information according to the surface information; determining the earth surface type corresponding to each area block according to the earth surface type information; and selecting the area blocks to be selected from the area blocks according to the starting and ending point information and the earth surface type.

In an embodiment, the route planning module 40 is further configured to detect a central point to be processed of the area block to be selected; determining to-be-processed earth surface information corresponding to the to-be-processed central point according to the to-be-selected earth surface information; determining the connection state between adjacent to-be-processed central points according to the to-be-processed earth surface information; and determining the connection state between the adjacent to-be-selected area blocks according to the connection state between the adjacent to-be-processed central points.

In an embodiment, the route planning module 40 is further configured to determine slope information to be selected and slope information to be selected according to the earth surface information to be selected; determining the connection gradient between adjacent central points to be processed according to the gradient information to be selected; determining a height difference value between adjacent central points to be processed according to the gradient information to be selected and the land selection gradient information; and determining the connection state between the adjacent central points to be processed according to the connection gradient and the height difference value.

In an embodiment, the route planning module 40 is further configured to determine a transportation mode according to the route planning request; when the traffic mode is an automobile, acquiring the type of the automobile; and determining the connection state between the adjacent central points to be processed according to the vehicle type, the connection gradient and the height difference value.

Other embodiments or specific implementation methods of the route planning device according to the present invention may refer to the above embodiments, and are not described herein again.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) readable by an estimator, and includes instructions for enabling an intelligent device (e.g. a mobile phone, an estimator, a route planning device, or a network route planning device) to execute the method according to the embodiments of the present invention.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

The invention discloses a1 and a route planning method, which comprises the following steps:

acquiring digital elevation model DEM data corresponding to the target area;

A2, the method for routing according to a1, the method for routing according to DEM data and start and end point information comprising:

A3, the method for planning a route according to a2, wherein the detecting whether the navigation data corresponding to the target area can be found further comprises:

A4, the method for routing according to A3, wherein the routing according to the navigation data, the DEM data and the start and end point information comprises:

A5, the routing method according to a4, the routing according to the first area to be processed, the second area to be processed, the start and end point information, the intersection point information, the target navigation data, and the DEM data, including:

determining vector data according to the target navigation data;

A6, the method for routing according to a5, further comprising, after the second routing is performed according to the second area to be processed, the intersection point information, the start and end point information, and the DEM data:

navigating according to the first planning data and the second planning data.

A7, the method of route planning as defined in a6, the navigating according to the first and second planning data, comprising:

A8, the method for planning a route according to any one of a 1-a 7, wherein the determining the start and end point information according to the route planning request when the route planning request is received comprises:

judging whether the route planning type is a preset type or not;

The method for planning the route according to any one of a9 and a1 to a7 includes the steps of:

acquiring a target image corresponding to the target area;

A10, the method for routing according to any one of a 1-a 7, wherein the routing according to the DEM data and the start and end point information comprises:

extracting surface information from the DEM data;

A11, the method for routing according to a10, wherein the routing according to the dynamic connected grid index data and the start and end point information comprises:

A12, the method for planning a route according to a11, wherein the selecting the area blocks to be selected from the area blocks according to the start and end point information comprises:

A13, the route planning method as claimed in a11, wherein the determining the connection state between the adjacent candidate area blocks according to the candidate surface information comprises:

detecting a central point to be processed of the area block to be selected;

A14, the method for planning a route according to A13, wherein the determining the connection state between the adjacent central points to be processed according to the ground surface information to be processed comprises:

A15, the method for planning a route according to a14, wherein the determining the connection state between the adjacent central points to be processed according to the connection gradient and the height difference value comprises:

determining a traffic mode according to the route planning request;

when the traffic mode is an automobile, acquiring the type of the automobile;

The invention also discloses B16 and a route planning device, which comprises:

B17, the route planning device according to B17, the route planning module further configured to detect whether the navigation data corresponding to the target area can be found; and when the navigation data corresponding to the target area cannot be found, planning a route according to the DEM data and the start and end point information.

B18, the route planning device according to B17, the route planning module being further configured to search for the target navigation data corresponding to the target area when the navigation data corresponding to the target area can be found; and planning a route according to the target navigation data, the DEM data and the start and end point information.

The invention also discloses C19, a route planning apparatus, comprising: a memory, a processor and a route planning program stored on the memory and executable on the processor, the route planning program being configured with steps implementing a route planning method as described above.

The invention also discloses D20, a storage medium having a route planning program stored thereon, which when executed by a processor implements the steps of the route planning method as described above.

Claims

1. A method of route planning, characterized in that the method of route planning comprises the steps of:

acquiring digital elevation model DEM data corresponding to the target area;

2. The method of routing according to claim 1, wherein said routing based on said DEM data and said start and end point information comprises:

3. The route planning method according to claim 2, wherein after detecting whether the navigation data corresponding to the target area can be found, the method further comprises:

4. The method of routing according to claim 3, wherein said routing based on said navigation data, said DEM data and said start and end point information comprises:

5. The route planning method according to claim 4, wherein the route planning based on the first area to be processed, the second area to be processed, the start and end point information, the intersection point information, the target navigation data, and the DEM data includes:

determining vector data according to the target navigation data;

6. The route planning method according to claim 5, wherein after performing the second route planning based on the second area to be processed, the intersection point information, the start and end point information, and the DEM data, the method further comprises:

navigating according to the first planning data and the second planning data.

7. The route planning method of claim 6 wherein said navigating according to the first planning data and the second planning data comprises:

8. A route planning apparatus, characterized in that the route planning apparatus comprises:

9. A route planning apparatus, characterized in that the route planning apparatus comprises: memory, a processor and a route planning program stored on the memory and executable on the processor, the route planning program being configured with steps to implement a route planning method according to any one of claims 1 to 7.

10. A storage medium, characterized in that a route planning program is stored on the storage medium, which when executed by a processor implements the steps of the route planning method according to any one of claims 1 to 7.