CN113159356A - Route planning method, device, terminal equipment and storage medium - Google Patents
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Abstract
A route planning method, a device, a terminal device and a storage medium are provided, wherein the route planning method comprises the following steps: searching a starting point path from a starting point to a boundary node of a region where the starting point is located and an end point path from the boundary node of the region where the end point is located to the end point based on regional road network data divided according to regions in advance; acquiring and exploring a virtual route from a boundary node contained in a starting point route to a boundary node contained in an end point route based on topology data of each area where the starting point is located and the area where the end point is located, wherein the topology data are weights of routes communicated among the boundary nodes of the areas; restoring the virtual route to obtain an optimal route from boundary nodes to boundary nodes in different areas in the virtual route; and combining the starting point path, the end point path and the optimal route restored by the virtual route to obtain a planned route. By adopting the embodiment of the specification, the route planning efficiency can be improved.
Description
Technical Field
The embodiment of the specification relates to the technical field of route planning based on an electronic map, in particular to a route planning method, a route planning device, terminal equipment and a storage medium.
Background
The road network data adopted by route planning is usually stored in Mesh (region, or block), and the basic idea is to divide a large range of road network data into regions (blocks) with the same size, and the road network data can be loaded in batches during route planning, so that the road network data can be prevented from being loaded at one time, for example, the road network data in the national range is divided into meshes according to a certain longitude and latitude range. After the road network data is stored in a divided mode according to the Mesh, a part of the road network data of the Mesh can be loaded into a memory firstly during path planning, and when the path planning is calculated to a boundary node of the Mesh, the Mesh adjacent to the Mesh is mapped into the memory to continue path operation.
The problem of efficiency of the existing offline route planning is a problem which needs to be solved urgently at present in the industry. Especially, in remote path planning, for example, planning a path from somewhere in Shenzhen to somewhere in Beijing requires a large amount of data to be loaded, which is inefficient.
Disclosure of Invention
In view of this, embodiments of the present disclosure provide a route planning method, a route planning apparatus, a terminal device, and a storage medium, which can improve route planning efficiency.
An embodiment of the present specification provides a route planning method, including:
searching a starting point path from a starting point to a boundary node of a region where the starting point is located and an end point path from the boundary node of the region where the end point is located to the end point based on regional road network data divided according to regions in advance;
acquiring and exploring a virtual route from a boundary node contained in a starting point route to a boundary node contained in an end point route based on topology data of each area where the starting point is located and the area where the end point is located, wherein the topology data are weights of routes communicated among the boundary nodes of the areas;
restoring the virtual route to obtain an optimal route from boundary nodes to boundary nodes in different areas in the virtual route;
and combining the starting point path, the end point path and the optimal route restored by the virtual route to obtain a planned route.
Optionally, the searching for a starting point path from a starting point to a boundary node of an area where the starting point is located and an ending point path from a boundary node of an area where the ending point is located to the ending point based on the regional road network data divided according to the area in advance includes: respectively searching a starting point path and an end point path based on low-level road network data of the area where the starting point and the end point are located;
the step of searching out a virtual route from a boundary node included in a starting point path to a boundary node included in an end point path based on the topology data of each area where the starting point is located and the area where the end point is located is described, and includes: and acquiring virtual topology data of the high-rise road network between the boundary node of the high-rise road network in the area where the starting point is located and the boundary node of the high-rise road network in the area where the end point is located, and exploring a virtual route from the boundary node of the high-rise road network in the area where the starting point path is located to the boundary node of the high-rise road network in the area where the end point path is located.
Optionally, after searching the starting point path and the ending point path respectively, an ascending route search is performed, and a virtual route from a boundary node of the high-rise road network in the area included in the starting point path to a boundary node of the high-rise road network in the area included in the ending point path is searched.
Optionally, the exploring a starting point path from a starting point to a boundary node of an area where the starting point is located, and an ending point path from a boundary node of an area where the ending point is located to the ending point includes: and adopting multithreading to search a starting point path from the starting point to the boundary node of the area where the starting point is located and an end point path from the boundary node of the area where the end point is located to the end point in parallel.
Optionally, the exploring a virtual route from a boundary node included in a starting point path to a boundary node included in an end point path based on topology data of each area where the starting point is located and the area where the end point is located is searched, includes: and searching and selecting a path with the smallest weight value from the boundary node contained in the starting point path to the boundary node contained in the end point path as the virtual route based on the topological data.
Optionally, the restoring the virtual route to obtain an optimal route from the boundary node to the boundary node in different areas in the virtual route includes:
and dynamically acquiring the actual path from the boundary node to the boundary node in the road network data of different areas corresponding to the weight value at present based on the weight value of the virtual path in different areas in the virtual path, and taking the actual path as the optimal path from the boundary node to the boundary node in different areas in the virtual path.
An embodiment of the present specification further provides a route planning device, including:
the first searching unit is suitable for searching a starting point path from a starting point to a boundary node of an area where the starting point is located and an end point path from the boundary node of the area where the end point is located to the end point on the basis of regional road network data which is divided according to the area in advance;
the second exploration unit is suitable for acquiring and exploring a virtual route from a boundary node contained in a starting point route to a boundary node contained in an end point route based on topology data of each area where the starting point is located and the area where the end point is located, wherein the topology data are weights of routes communicated among the boundary nodes of the areas;
the restoration unit is suitable for restoring the virtual route to obtain the optimal path from the boundary node to the boundary node in different areas in the virtual route;
and the generating unit is suitable for combining the starting point path, the end point path and the optimal route restored by the virtual route to obtain a planned route.
The present specification also provides a terminal device, including the route planning apparatus described in the foregoing embodiment.
The present specification also provides another terminal device, which includes a memory and a processor, where the memory stores computer instructions executable on the processor, and the processor executes the computer instructions to perform the steps of the method according to any of the foregoing embodiments.
The present specification also provides a computer readable storage medium having stored thereon computer instructions, wherein the computer instructions, when executed, perform the steps of the method of any of the preceding embodiments.
In the embodiment of the specification, the area boundary is used as a basis, the weight between the area boundary node and the boundary node is stored in advance as topological data, when route planning is performed, only the topological data of the area of the path obtained in advance is needed to be obtained, a virtual route between the boundary node included in the starting point path and the boundary node included in the destination point path is searched, and the virtual route is restored to obtain the optimal route from the boundary node to the boundary node in different areas in the virtual route.
Furthermore, the road networks are divided according to the administrative division mode, so that the road network of the same administrative division can be prevented from being divided into different meshes or the road network of which one Mesh contains a plurality of different administrative divisions, and the actual aggregation characteristic of the road network data can be better met, the data volume of the acquired topological data can be reduced, the storage space can be saved, and the calculation efficiency of the virtual route can be improved.
Further, the topology data of the high-rise road network between the boundary node of the high-rise road network in the area where the starting point is located and the boundary node of the high-rise road network in the area where the end point is located is obtained, a virtual route between the boundary node of the high-rise road network in the area where the starting point is located and the boundary node of the high-rise road network in the area where the end point is located is found, namely the virtual route is found by using the topology data of the high-rise road network in the area where the starting point and the end point are located, and compared with the topology data of the low-rise road network in the area where the starting point and the end point are located, the data amount of loading and calculation can be further reduced, so that the route planning efficiency can be further improved.
Furthermore, a starting point path and a terminal point path are explored in a multi-thread parallel mode, and compared with a single-thread mode, the route planning efficiency can be further improved.
Further, based on the weights of the virtual paths in different regions in the virtual route, the actual paths from the boundary nodes to the boundary nodes in the road network data in different regions corresponding to the weights are dynamically obtained, and the obtained actual paths are used as the optimal paths from the boundary nodes to the boundary nodes in different regions in the virtual route, so that the optimal paths from the boundary nodes to the boundary nodes in the road network data in different regions in the virtual route corresponding to the current paths can be obtained.
Drawings
FIG. 1 is a flow chart illustrating a method of route planning in an embodiment of the present disclosure;
fig. 2 is a schematic diagram illustrating a road network partition and a route planning manner in an embodiment of the present disclosure;
fig. 3 shows a schematic structural diagram of a route planning device in an embodiment of the present specification.
Detailed Description
As mentioned above, the efficiency problem of the current offline route planning is a problem that needs to be solved urgently. Especially, in remote route planning, for example, planning a path from somewhere in Shenzhen to somewhere in Beijing requires a large amount of data to be loaded, which is inefficient.
In view of the above problems, in the embodiments of the present specification, based on a region boundary, a weight between a region boundary node and a boundary node is stored in advance as topology data, and when performing route planning, a virtual route between the boundary node included in a starting point route and a boundary node included in an end point route is searched out only by acquiring and based on the topology data of the region of the route obtained in advance, and the virtual route is restored to obtain an optimal route between the boundary node and the boundary node in different regions in the virtual route.
The embodiment of the specification can be applied to route planning of any terminal equipment with an electronic map. For example, the route planning may be performed on a vehicle end, or on a mobile terminal such as a mobile phone or a tablet, or on a personal computer or other fixed electronic terminal device.
In order that those skilled in the art may better understand and implement the embodiments of the present description, reference is made to the accompanying drawings in combination with the detailed description.
Fig. 1 shows a flowchart of a route planning method in an embodiment of the present specification. Referring to fig. 1, an embodiment of the present disclosure may specifically include the following steps:
s11, based on the regional road network data divided into regions in advance, searches for a start point path from the start point to the boundary node of the region where the start point is located, and an end point path from the boundary node of the region where the end point is located to the end point.
In specific implementation, the road network may be divided according to Mesh to form different regions, each region is in a standardized grid or block form, for example, the road network data is cut into squares of the same size from top to bottom and from left to right according to longitude and latitude coordinates, so as to obtain different Mesh regions. Different Mesh regions have border nodes.
Since the road network in the actual geographic space naturally has features of non-uniform distribution due to the characteristics of human activities. Specifically, the actual road network has a strong aggregation in some regions, and is more sparsely distributed in some regions, and the distribution is irregular. The inventor finds that the distribution characteristics of the road network have strong correlation with administrative regions, such as dense roads in cities and sparsely distributed roads in suburbs or between cities.
In view of this feature, in another embodiment of the present specification, the road network is divided according to administrative divisions, that is, the road network is divided according to natural boundaries of the administrative divisions. For example, the road network may be divided into cities, provinces, or regions.
It is understood that in the specific implementation, other ways to divide the road network may also be adopted.
The road network data of different areas can be stored respectively, and can be loaded in a partition mode when the data is loaded, so that the storage space is saved.
In a specific implementation, the road network data of each region may be divided into road network data of different levels, for example, two, three or more levels of road network data, and a correspondence between a node in a higher-level road network and a node in a lower-level road network may be established. For example, in an embodiment of the present specification, the two levels of the low-level road network data and the high-level road network data are divided, where: the node data of the high-rise road network can comprise node data of expressways and urban main roads of the low-rise road network; the lower-level road network data may hold data of all roads seen in the actual geographical environment. In another embodiment of the present specification, there is road data on each of the 8 th, 12 th and 14 th layers of the map data, wherein: the data of the 8 th layer only comprises high-speed road network data at a national road level; layer 12 may contain road network data for highways, national roads, provincial roads, county roads, major roads in cities, etc., and layer 14 may contain road network data that reflects all roads present in the actual geographic environment.
In a specific implementation, the hierarchical regional road network data may be searched for a starting point route based on lower-level road network data from a starting point to a boundary node of a region where the starting point is located, and for an ending point route based on lower-level road network data from a boundary node of a region where the ending point is located to the ending point.
Specifically, the existing route-finding algorithm may be adopted, for example, a single-source shortest path algorithm, such as Dijkstra algorithm and florouid-Warshall (Floyd) algorithm, and a unidirectional route-finding or a bidirectional route-finding may be adopted.
In the embodiment of the present specification, the starting point may be a location where the terminal is located, or a location where the vehicle is located, or a location manually input or selected by the user, and the ending point may be a destination of a trip to be started, or a transfer station of the trip, or any destination address selected or input by the user. The starting point route is a route taking the starting point as a starting point, and the ending point route is a route taking the ending point as a destination. And a boundary node (Gateway), which is a connection point of connected roads between regions.
S12, acquiring and searching a virtual route from a boundary node included in a starting point route to a boundary node included in an end point route based on topology data of each area where the starting point is located to the area where the end point is located, wherein the topology data are weights of routes communicated among the boundary nodes of the areas. In specific implementation, a path from a boundary node of a region to a boundary node may be pre-calculated to obtain a topology of the region, and a weight of the path from each boundary node of the region to the boundary node may be obtained to obtain and store topology data of the region.
The weight value of the path is a quantized value of the traffic capacity of a road, and can be obtained based on various factors such as the length of the path, the time consumed by traffic, the existence of traffic control and the like.
For convenience of description, the path included in the virtual route may be referred to as a virtual path.
In a specific implementation, for the hierarchical regional road network data, topology data of a high-rise road network between a boundary node of the regional high-rise road network where the starting point is located and a boundary node of the regional high-rise road network where the ending point is located may be acquired, and a virtual route from the boundary node of the regional high-rise road network where the starting point route is located to the boundary node of the regional high-rise road network where the ending point route is located may be searched.
S13, restoring the virtual route to obtain the optimal route from the boundary node to the boundary node in different areas in the virtual route.
In specific implementation, based on the weights of the virtual paths in different regions in the virtual route, the actual paths from the boundary nodes to the boundary nodes in different road networks corresponding to the weights at present may be dynamically obtained, and the obtained actual paths are used as the optimal paths from the boundary nodes to the boundary nodes in different regions in the virtual route.
For example, a path with the smallest weight from the boundary node of the area where the starting point is located to the boundary node of the area where the ending point is located may be explored as the virtual route based on the virtual topology data.
And S14, combining the starting point path, the end point path and the optimal path restored by the virtual path to obtain a planned path.
In specific implementation, the starting point path, the ending point path and the optimal route restored by the virtual route may be rearranged to obtain a final planned route.
By adopting the above embodiments of the present specification, based on the area boundary, the weight between the area boundary node and the boundary node is stored in advance as the topology data, and when performing route planning, it is only necessary to obtain and search the virtual route from the boundary node included in the starting point route to the boundary node included in the ending point route based on the topology data of the area of the route obtained in advance, and restore the virtual route to obtain the optimal route from the boundary node to the boundary node in different areas in the virtual route.
In addition, in the specific planning process, the road network is divided according to the administrative division mode, and compared with the road network divided according to the Mesh mode, the road network of the same administrative division can be prevented from being divided into different meshes or the road network of which one Mesh comprises a plurality of different administrative divisions, and the actual aggregation characteristic of the road network data can be better met, so that the data volume of the acquired topological data is reduced, the storage space is saved, and the calculation efficiency of the virtual route can be improved.
And the topological data of the high-level road network in the area between the starting point and the end point is adopted to explore the virtual route, so that the data quantity of acquisition and calculation can be further reduced and the route planning efficiency can be improved compared with the virtual topological data of the low-level road network in the area between the starting point and the end point.
In a specific implementation, as described in the foregoing embodiment, after searching for a starting point path from a starting point to a boundary node of a lower-level road network in a region where the starting point path is located and lower-level network data from a boundary node of a region where an end point is located to the end point, an ascending road search may be performed to search for a virtual route from the boundary node of the higher-level road network in the region where the starting point path is located to the boundary node of the higher-level road network in the region where the end point path is located.
It should be understood that, in a specific implementation, a virtual route from a boundary node of the regional high-rise network included in the starting point route to a boundary node of the regional high-rise network included in the ending point route may be first found, and then a starting point route from the starting point to a boundary node of the regional low-rise network included in the starting point route and an ending point route from a boundary node of the regional low-rise network included in the ending point route to the ending point route may be respectively found. The actions of exploring the starting point path from the boundary node of the area where the starting point is located to the starting point, exploring the end point path from the boundary node of the area where the end point is located to the end point, and exploring the virtual route can be implemented sequentially or in parallel, single thread processing can be adopted, multi-thread processing can be adopted, for example, double threads can be adopted to simultaneously explore the starting point path from the starting point to the boundary node of the area where the starting point is located and the end point path from the end point to the boundary node of the area where the starting point is located, then single thread (ascending layer) is adopted to explore the virtual route from the boundary node included in the starting point path to the boundary node included in the end point path, or three threads are adopted to simultaneously explore the virtual route from the starting point path (namely, the planned route from the starting point to the boundary node of the area where the starting point is located) and from the boundary node included in the starting point path to the boundary node included in the end point path, and an end point path (i.e. a planned route from a boundary node of an area where the end point is located to the end point).
And the route planning efficiency can be further improved by adopting a multi-thread parallel exploration path compared with a single-thread mode.
In order to make the embodiments of the present disclosure better understood and realized by those skilled in the art, the following description is provided by way of a specific application scenario.
Fig. 2 is a schematic diagram illustrating a road network partition and a route planning manner in an embodiment of the present disclosure. The road network is divided according to administrative divisions, wherein an area a, an area b, an area c, an area d, an area e, an area f and boundary nodes of the areas are shown, the boundary nodes comprise boundary nodes a 1-a 5 of the area a, boundary nodes b 1-b 5 of the area b, boundary nodes c 1-c 4 of the area c, boundary nodes d 1-d 6 of the area d, boundary nodes e 1-e 4 of the area e and boundary nodes f 1-f 3 of the area f, wherein adjacent areas have common boundary nodes, for example, the area a is the boundary node a5 and the boundary node d1 of the area d, and the boundary node e4 of the area e is the boundary node f1 of the area f.
How to obtain a planned route from a starting point a to an end point B by using the route planning method of the embodiment of the present specification is described below through a specific process.
For example, a planned route from the starting point a to the boundary node of the area a where the starting point a is located may be calculated to obtain the starting point path. Specifically, the paths from the starting point a to all the boundary nodes (i.e., the boundary nodes a 1-a 5) of the area a may be calculated separately, or only the paths from the starting point a to the possible boundary nodes (e.g., the boundary nodes a3, a4, and a5) in the direction of the ending point B may be calculated, for example, the shortest path algorithm is used to obtain the planned route Rs of the starting point a boundary node a 4. Similarly, a planned route Re from the boundary node of the area f where the end point B is located to the end point B may be calculated to obtain an end point path, which is not described again.
The planned routes Rs and Re from the starting point a and the end point B to the boundary nodes of the areas a and f where the areas a and f are respectively located can be obtained based on the low-rise road network data of the areas a and f. It will be appreciated that in particular implementations, there may be more than one planned route, and only one is illustrated here by way of example.
Then, as shown by the dotted arrows in fig. 2, the topology of each region, i.e., the virtual path from the boundary node of each region to the boundary node, from the boundary node B1 of the region B to the boundary nodes B2, B3, B4, B5 and the like of the other regions B, which are traveled between the region a where the start point a is located and the region f where the end point B is located, may be calculated in advance, where the boundary node entering a certain region may be referred to as an entry node, and the boundary node leaving the certain region may be referred to as an exit boundary node.
The topology data of the area passing between the area a where the starting point a is located and the area f where the end point B is located, that is, the weight corresponding to each topology path (indicated by a dashed arrow) shown in fig. 2, may be stored in advance, and the weight is a quantized value of the traffic capacity of one road during offline planning.
By acquiring topological data of the area between the area a and the area f, a virtual route from a boundary node a4 of the area a where the starting point a is located to a boundary node f1 of the area f where the end point B is located is calculated, for example, the virtual route is boundary node d 2- > d 5- > e4, and in a specific implementation, the virtual route from the boundary node a4 to the boundary node f1 can be searched through a rising layer route.
It should be noted that, in the actual topological path from the boundary node a4 to the boundary node f1, actually, there may be many paths from one boundary node to another boundary node in one area, and in the pre-calculation process, one of the optimal paths may be selected as a topological path, and a weight corresponding to the topological path is stored.
In the specific planning process, referring to fig. 2, after a virtual route to the boundary node a4 of the area a to the boundary node of the area f is searched, the virtual route is restored, that is, an actual path corresponding to the weight of each area in the virtual route is calculated. It should be noted that the calculated path may not be fixed, and in a specific implementation, the calculated path may be consistent with the path calculated in the pre-calculation process, however, the calculated weight may be different due to different calculation time. The data of the determined path corresponding to the weight value does not need to be saved, so that the storage space can be saved.
With continued reference to fig. 2, a starting point path is calculated: planned route Rs of area a where starting point a is located, end point path: and combining the planned route Re of the area f where the terminal B is located and an optimal path of the path areas d and e to obtain a final planned route L.
It can be understood that, in the specific implementation, more than one route may be calculated for each of the three planned routes, and after the virtual route is restored, the obtained three planned routes may be combined and arranged in different ways, and the finally obtained planned route is output.
In order to make the embodiments of the present disclosure better understood and realized by those skilled in the art, a route planning apparatus used in the embodiments of the present disclosure is described below with reference to the accompanying drawings.
Referring to fig. 3, a schematic structural diagram of a route planning device is shown, and in an embodiment of the present specification, referring to the route planning device 30 shown in fig. 3, the route planning device may include: a first search unit 31, a second search unit 32, a reduction unit 33, and a generation unit 34, wherein:
the first searching unit 31 is adapted to search, based on regional road network data divided in advance according to regions, a starting point path from a starting point to a boundary node of a region where the starting point is located, and an ending point path from the boundary node of the region where the ending point is located to the ending point;
the second searching unit 32 is adapted to obtain and search a virtual route from a boundary node included in a path from the starting point to a boundary node included in a path from the ending point based on topology data of each area where the starting point is located approaches to the area where the ending point is located, where the topology data is a weight of a path communicated between the boundary nodes of the areas;
the restoring unit 33 is adapted to restore the virtual route to obtain an optimal path from the boundary node to the boundary node in different regions in the virtual route;
and the generating unit 34 is adapted to combine the starting point path, the ending point path and the optimal route restored by the virtual route to obtain a planned route.
In a specific implementation, the area may be divided in various forms, for example, the area may be an area divided according to an administrative division, or an area divided according to a Mesh.
In a specific implementation, the first searching unit 31 is adapted to search a starting point path based on the low-rise road network data from the starting point to the boundary node of the area where the starting point is located, search an ending point path based on the low-rise road network data from the boundary node of the area where the ending point is located to the ending point; the second searching unit 32 is adapted to obtain topology data of a high-rise road network between a boundary node of a high-rise road network in a region included by the starting point path and a boundary node of a high-rise road network in a region included by the ending point path, and search a virtual route from the boundary node of the high-rise road network in the region included by the starting point path to the boundary node of the high-rise road network in the region included by the ending point path.
In a specific implementation, referring to fig. 3, a search engine 3A may execute the operations of the first search unit 31 and the second search unit 32, and the search engine 3A may search for a starting point path and an ending point path in the lower-level road network data, and then perform an ascending-level road search to search for a virtual route from a boundary node of the higher-level road network in the area included in the starting point path to a boundary node of the higher-level road network in the area included in the ending point path.
In a specific implementation, the first exploration unit 31 may include a first exploration module 311 and a second exploration module 312, the first exploration module 311 may explore a starting point path from a starting point to a boundary node of an area where the starting point is located by using a first thread, and the second exploration module 312 may explore an ending point path from a boundary node of an area where an ending point is located to the ending point by using a second thread.
In a particular implementation, multiple threads may be employed to explore the start and end paths in parallel.
In a specific implementation, the second exploring unit 32 may explore, as the virtual route, a route with a smallest weight from a boundary node included in the starting point route to a boundary node included in the ending point route based on the topology data.
In a specific implementation, the restoring unit 33 may dynamically obtain, based on weights of virtual paths in different regions in the virtual route, actual paths from boundary nodes to boundary nodes in different road networks corresponding to the current weights, as optimal paths from the boundary nodes to the boundary nodes in the different regions in the virtual route.
The embodiments of this specification further provide a terminal device capable of implementing the route planning, where the terminal device may include the route planning apparatus described in any of the embodiments, and specific structures and implementation manners may refer to the embodiments, which are not described herein again.
In specific implementation, the terminal device may be a vehicle-mounted navigation device, a handheld terminal, a tablet, a computer, or other electronic devices that are installed with an application program or a client having an electronic map route planning function, and the terminal device may perform offline route planning.
The embodiment of the present specification further provides a terminal device, which includes a memory and a processor, where the memory stores computer instructions executable on the processor, and the processor, when executing the computer instructions, may perform the steps of the route planning method according to any one of the above embodiments.
The embodiments of the present specification also provide a computer-readable storage medium, on which computer instructions are stored, and when the computer instructions are executed, the steps of the route planning method according to any of the above embodiments may be executed.
The computer-readable storage medium may include, for example, any suitable type of memory unit, memory device, memory article, memory medium, storage device, storage article, storage medium and/or storage unit, for example, memory, removable or non-removable media, erasable or non-erasable media, writeable or re-writeable media, digital or analog media, hard disk, floppy disk, compact disk read Only memory (CD-ROM), compact disk recordable (CD-R), compact disk Rewriteable (CD-RW), optical disk, magnetic media, magneto-optical media, removable memory cards or disks, various types of Digital Versatile Disk (DVD), a tape, a cassette, or the like.
The computer instructions may include any suitable type of code, such as source code, compiled code, interpreted code, executable code, static code, dynamic code, encrypted code, and the like, implemented using any suitable high-level, low-level, object-oriented, visual, compiled and/or interpreted programming language.
Although the present specification discloses the above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A method of route planning, comprising:
searching a starting point path from a starting point to a boundary node of a region where the starting point is located and an end point path from the boundary node of the region where the end point is located to the end point based on regional road network data divided according to regions in advance;
acquiring and exploring a virtual route from a boundary node contained in a starting point route to a boundary node contained in an end point route based on topology data of each area where the starting point is located and the area where the end point is located, wherein the topology data are weights of routes communicated among the boundary nodes of the areas;
restoring the virtual route to obtain an optimal route from boundary nodes to boundary nodes in different areas in the virtual route;
and combining the starting point path, the end point path and the optimal route restored by the virtual route to obtain a planned route.
2. The route planning method according to claim 1, wherein the exploring a start point path from a start point to a boundary node of an area where the start point is located and an end point path from a boundary node of an area where the end point is located to the end point based on regional road network data divided by areas in advance comprises: respectively searching a starting point path and an end point path based on low-level road network data of the area where the starting point and the end point are located;
the step of searching out a virtual route from a boundary node included in a starting point path to a boundary node included in an end point path based on the topology data of each area where the starting point is located and the area where the end point is located is described, and includes: and acquiring virtual topology data of the high-rise road network between the boundary node of the high-rise road network in the area where the starting point is located and the boundary node of the high-rise road network in the area where the end point is located, and exploring a virtual route from the boundary node of the high-rise road network in the area where the starting point path is located to the boundary node of the high-rise road network in the area where the end point path is located.
3. The route planning method according to claim 2, wherein after the starting point path and the ending point path are respectively explored, an ascending route exploration is performed to explore a virtual route from a boundary node of the regional high-rise network included in the starting point path to a boundary node of the regional high-rise network included in the ending point path.
4. The route planning method according to claim 1, wherein the exploring a starting point path from a starting point to a boundary node of an area where the starting point is located and an ending point path from a boundary node of an area where the ending point is located to the ending point comprises:
and adopting multithreading to search a starting point path from the starting point to the boundary node of the area where the starting point is located and an end point path from the boundary node of the area where the end point is located to the end point in parallel.
5. The route planning method according to any one of claims 1 to 4, wherein the exploring a virtual route from a boundary node included in a starting point route to a boundary node included in an ending point route based on topology data of each area traveled by an area where the starting point is located to an area where the ending point is located comprises:
and searching and selecting a path with the smallest weight value from the boundary node contained in the starting point path to the boundary node contained in the end point path as the virtual route based on the topological data.
6. The route planning method according to claim 1, wherein the restoring the virtual route to obtain an optimal route from the boundary node to the boundary node in different regions of the virtual route includes:
and dynamically acquiring the actual path from the boundary node to the boundary node in the road network data of different areas corresponding to the weight value at present based on the weight value of the virtual path in different areas in the virtual path, and taking the actual path as the optimal path from the boundary node to the boundary node in different areas in the virtual path.
7. A route planning apparatus, comprising:
the first searching unit is suitable for searching a starting point path from a starting point to a boundary node of an area where the starting point is located and an end point path from the boundary node of the area where the end point is located to the end point on the basis of regional road network data which is divided according to the area in advance;
the second exploration unit is suitable for acquiring and exploring a virtual route from a boundary node contained in a starting point route to a boundary node contained in an end point route based on topology data of each area where the starting point is located and the area where the end point is located, wherein the topology data are weights of routes communicated among the boundary nodes of the areas;
the restoration unit is suitable for restoring the virtual route to obtain the optimal path from the boundary node to the boundary node in different areas in the virtual route;
and the generating unit is suitable for combining the starting point path, the end point path and the optimal route restored by the virtual route to obtain a planned route.
8. A terminal device characterized by comprising the route planning apparatus of claim 7.
9. A terminal device comprising a memory and a processor, the memory having stored thereon computer instructions executable on the processor, wherein the processor, when executing the computer instructions, performs the steps of the method of any one of claims 1-6.
10. A computer readable storage medium having computer instructions stored thereon, wherein the computer instructions when executed perform the steps of the method of any one of claims 1-6.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114046798A (en) * | 2021-11-16 | 2022-02-15 | 中国联合网络通信集团有限公司 | Path planning method and device for assisting exploration city and storage medium |
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