CN113593280B

CN113593280B - Method, device and equipment for determining path set and storage medium

Info

Publication number: CN113593280B
Application number: CN202110882772.2A
Authority: CN
Inventors: 阮树斌
Original assignee: Hangzhou Hikvision Digital Technology Co Ltd
Current assignee: Hangzhou Hikvision Digital Technology Co Ltd
Priority date: 2021-08-02
Filing date: 2021-08-02
Publication date: 2022-11-22
Anticipated expiration: 2041-08-02
Also published as: CN113593280A

Abstract

The embodiment of the application discloses a method, a device, equipment and a storage medium for path aggregation, and belongs to the field of traffic. The method comprises the following steps: and determining a plurality of candidate routes between the starting point and the end point of the part of the missing route in the traveling route of the vehicle. Determining a first road network segment starting from the starting point based on the approach direction and lane steering of the vehicle at the starting point. Determining a second road network segment with the terminal point as a segment terminal point based on the direction of the approach of the vehicle at the terminal point. Determining a set of paths between the start point and the end point based on the plurality of candidate paths, the first network segment, and the second network segment. The embodiment of the application improves the accuracy of the path set by determining a plurality of candidate paths and selecting a plurality of paths consistent with the approach direction and lane steering of the vehicle from the plurality of candidate paths, wherein the paths form the path set between the starting point and the end point.

Description

Method, device and equipment for determining path set and storage medium

Technical Field

The present disclosure relates to the field of transportation, and in particular, to a method, an apparatus, a device, and a storage medium for determining a path set.

Background

Vehicles travel through a plurality of intersections, and intersections are usually deployed with detection devices that can detect vehicles passing through the intersections. The travel path of the vehicle can be generated through the vehicle information determined by the deployed detection devices, and the travel path comprises a plurality of intersection nodes. However, due to the reasons of high traffic density, excessive vehicle speed, abnormal weather, failure of detection equipment and the like at some intersections, vehicles are not detected at some intersections, and detection equipment is not necessarily deployed at all intersections, so that a travel path of a vehicle is lost, and therefore, some lost paths in the travel path need to be inferred and completed to obtain a complete travel path.

In the present method for deducing and completing some missing paths in a travel path, all possible paths between a start point and an end point of some missing paths need to be determined, all possible paths are sequenced according to a sequence from small path distance to large path distance, and the first K paths are selected. And then, determining a set formed by the first K paths as a path set corresponding to the partial missing path.

However, the route actually selected by the driver may not be a route with a short distance due to the influence of traffic flow, signal timing, traveling habits, and the like, and therefore, the accuracy of the route set determined by the above method is not high.

Disclosure of Invention

The embodiment of the application provides a method, a device, equipment and a storage medium for determining a path set, which can solve the problem of low accuracy of the related technology. The technical scheme is as follows:

in one aspect, a method for determining a path set is provided, where the method includes:

determining a plurality of candidate routes between a starting point and an end point of a part of missing routes in a trip route of the vehicle;

determining a first road network segment with the starting point as a segment starting point based on the approach direction and lane steering of the vehicle at the starting point;

determining a second road network segment with the terminal point as a segment terminal point based on the direction of the entrance way of the vehicle at the terminal point;

determining a set of paths between the start point and the end point based on the plurality of candidate paths, the first network segment, and the second network segment.

Optionally, the determining multiple candidate routes between a starting point and an end point of a part of missing routes in the travel route of the vehicle includes:

determining a shortest path between the starting point and the ending point;

determining a path distance of the shortest path;

determining a maximum path distance based on the path distance;

determining the plurality of candidate paths based on the shortest path and the maximum path distance.

Optionally, the determining the plurality of candidate paths based on the shortest path and the maximum path distance includes:

determining the shortest path as a first candidate path;

determining candidate paths in the plurality of candidate paths except the first candidate path in a loop iteration mode based on the first candidate path and the maximum path distance;

the process of determining the ith candidate path in the loop iteration mode comprises the following steps, wherein i is a positive integer greater than 1:

determining one or more deviated nodes from the i-1 th candidate path, wherein the one or more deviated nodes are nodes of the intersection except the end point on the i-1 th candidate path;

determining an ith candidate path based on the one or more deviating nodes;

determining the (i + 1) th candidate path in the loop iteration mode under the condition that the path distance of the ith candidate path is less than or equal to the maximum path distance;

and ending the operation under the condition that the path distance of the ith candidate path is greater than the maximum path distance.

Optionally, the determining the ith candidate path based on the one or more deviated nodes includes:

determining a previous substring corresponding to each deviating node in the one or more deviating nodes, wherein the previous substring is a path between the corresponding deviating node on the i-1 th candidate path and the starting point;

determining a target rear substring corresponding to each deviation node in the one or more deviation nodes, wherein the target rear substring is a path between the corresponding deviation node and the end point;

and determining the ith candidate path based on the front substring and the target rear substring corresponding to each of the one or more deviated nodes.

Optionally, the determining a target post-substring corresponding to each of the one or more deviated nodes includes:

selecting one deviation node from the one or more deviation nodes, and determining a target rear substring corresponding to the selected deviation node according to the following operations until determining a target rear substring corresponding to each deviation node in the one or more deviation nodes:

determining one or more paths between the selected deviation node and the end point to obtain one or more rear substrings corresponding to the selected deviation node;

and determining the rear substring which meets the path constraint condition and has the shortest path distance in the one or more rear substrings as the target rear substring corresponding to the selected deviation node.

Optionally, the path constraint condition includes:

the rear substring corresponding to the selected deviation node cannot contain the node in the front substring corresponding to the selected deviation node;

and the rear substring corresponding to the selected deviation node cannot contain the road network section taking the selected deviation node as the section starting point in the front i-1 candidate paths.

Optionally, the determining the ith candidate path based on a previous substring and a target subsequent substring corresponding to each of the one or more deviation nodes includes:

splicing the front substring and the target rear substring corresponding to the same deviation node in the one or more deviation nodes to obtain one or more feasible paths;

and determining the feasible path with the shortest path distance in the one or more feasible paths as the ith candidate path.

Optionally, the determining the shortest path between the start point and the end point comprises:

determining a path search range based on the geographic coordinate and the detection time of the starting point and the geographic coordinate and the detection time of the end point;

determining a shortest path between the start point and the end point within the path search range.

Optionally, the determining a set of paths between the starting point and the ending point based on the candidate paths, the first network segment, and the second network segment includes:

determining a first road network section and a last road network section included in each candidate path in the plurality of candidate paths;

selecting a candidate path with a first road network section as the first road network section and a last road network section as the second road network section from the plurality of candidate paths;

and determining the set of the selected candidate paths as the path set between the starting point and the end point.

In another aspect, an apparatus for determining a path set is provided, the apparatus including:

the first determining module is used for determining a plurality of candidate paths between a starting point and an end point of a part of missing paths in a travel path of the vehicle;

a second determination module, configured to determine a first road network segment with the starting point as a segment starting point based on an approach direction and lane steering of the vehicle at the starting point;

the third determining module is used for determining a second road network section taking the terminal point as a section terminal point based on the direction of the entrance way of the vehicle at the terminal point;

a fourth determining module, configured to determine a set of paths between the starting point and the ending point based on the candidate paths, the first network segment, and the second network segment.

Optionally, the first determining module includes:

a first determining submodule for determining a shortest path between the start point and the end point;

a second determining submodule for determining a path distance of the shortest path;

a third determining submodule, configured to determine a maximum path distance based on the path distance;

a fourth determining sub-module for determining the plurality of candidate paths based on the shortest path and the maximum path distance.

Optionally, the fourth determining submodule is specifically configured to:

determining the shortest path as a first candidate path;

determining an ith candidate path based on the one or more deviating nodes;

Optionally, the fourth determining submodule is specifically configured to:

determining a target post-substring corresponding to each deviation node in the one or more deviation nodes, wherein the target post-substring is a path between the corresponding deviation node and the end point;

Optionally, the fourth determining submodule is specifically configured to:

selecting one deviation node from the one or more deviation nodes, and determining a target post-substring corresponding to the selected deviation node according to the following operations until determining a target post-substring corresponding to each deviation node in the one or more deviation nodes:

Optionally, the fourth determining submodule is specifically configured to:

Optionally, the first determining submodule is specifically configured to:

determining a path search range based on the geographical coordinates and detection time of the start point and the geographical coordinates and detection time of the end point

Optionally, the fourth determining module is specifically configured to:

In another aspect, a computer device is provided, which includes a memory for storing a computer program and a processor for executing the computer program stored in the memory to implement the steps of the method for determining a set of paths described above.

In another aspect, a computer-readable storage medium is provided, in which a computer program is stored, which, when being executed by a processor, implements the steps of the method for determining a set of paths described above.

In another aspect, a computer program product is provided, which comprises instructions that, when executed on a computer, cause the computer to perform the steps of the method for determining a set of paths as described above.

The technical scheme provided by the embodiment of the application can at least bring the following beneficial effects:

after a plurality of candidate paths between the starting point and the end point of the partial missing path are determined, a first road network section taking the starting point as the starting point of the path and a second road network section taking the end point as the end point of the path are determined based on the direction of the entrance road of the vehicle and the lane turning, and because the first road network section of the actual path between the starting point and the end point of the vehicle is necessarily the first road network section and the last road network section is necessarily the second road network section, a plurality of paths with the first road network section being the first road network section and the last road network section being the second road network section are selected from the plurality of candidate paths, so that the accuracy of the plurality of paths is improved, and the accuracy of a path set consisting of the plurality of paths is also improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic illustration of an implementation environment provided by an embodiment of the present application;

fig. 2 is a flowchart of a method for determining a path set according to an embodiment of the present application;

FIG. 3 is a diagram illustrating a path search scope provided by an embodiment of the present application;

FIG. 4 is a schematic diagram of determining a plurality of deviating nodes according to an embodiment of the present application;

FIG. 5 is a schematic diagram of determining a target post-substring corresponding to a selected deviated node according to an embodiment of the present application;

FIG. 6 is a schematic diagram of determining a first road network segment and a second road network segment according to an embodiment of the present application;

FIG. 7 is a schematic diagram of determining a set of paths between a start point and an end point according to an embodiment of the present disclosure;

fig. 8 is a schematic structural diagram of a path set determination apparatus provided in an embodiment of the present application;

FIG. 9 is a schematic structural diagram of a detection apparatus provided in an embodiment of the present application;

fig. 10 is a schematic structural diagram of a server according to an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present application more clear, the embodiments of the present application will be further described in detail with reference to the accompanying drawings.

Before explaining the method for determining a path set provided by the embodiment of the present application in detail, terms and implementation environments related to the embodiment of the present application will be described.

First, terms related to the embodiments of the present application are explained.

A trip chain: and the set of intersection nodes obtained by the vehicles in ascending order according to the detected time is called a trip chain. In other words, the trip chain includes a plurality of intersection nodes, and the plurality of intersection nodes are arranged in ascending order of the detected time of the vehicle.

The trip chain of the vehicle may include a plurality of trip processes, and each trip path of the vehicle can be obtained by separating the trip chain. Under the condition of no path loss, each intersection node included in the travel chain corresponds to each road intersection passed by the vehicle one by one.

And (3) travel route: is the path the vehicle travels on in one trip. In other words, the travel path is an ordered set of a plurality of intersection nodes. For example, the travel path Tr _u ＝(p ₁ ,p ₂ ,p ₃ ,...p _i ...p _m ) Wherein p is _i The intersection node is corresponding to one road intersection in the road network, and the intersection nodes are arranged according to the time when the vehicle passes through the corresponding road intersection.

Road network section: the road section is a road section between two adjacent road intersections in a road network.

The inlet channel direction: a pathway intersection typically includes multiple entry lanes, such as three entry lanes for a three-way pathway intersection and four entry lanes for a four-way pathway intersection. The direction of the entrance lane where the vehicle arrives at the intersection, for example, for a four-junction intersection, the intersection includes four entrance lanes in the east, south, west, and north directions.

Lane steering: the steering of the lane in which the vehicle is located when the vehicle reaches the intersection includes straight running, left turning or right turning.

Referring to FIG. 1, FIG. 1 is a schematic diagram illustrating an implementation environment in accordance with an example embodiment. The implementation environment includes a plurality of detection devices 101 and a server 102, and the plurality of detection devices 101 may be communicatively coupled to the server 102. The communication connection may be a wired connection or a wireless connection, which is not limited in this embodiment of the present application.

The plurality of detection devices 101 may be deployed at a plurality of intersections of roads. When a vehicle passes through a certain intersection, the detection device 101 may detect the vehicle and collect vehicle information, and send the vehicle information and a device identifier of the detection device to the server 102.

The vehicle information includes license plate information and vehicle characteristics, and the vehicle characteristics may include a vehicle model, a vehicle color, and the like, and of course, may also include other information, which is not limited in this application. The device identification of the detection device is used to uniquely identify the detection device. The device identification may be a unique number of the detection device, etc.

The server 102 may receive vehicle information of the vehicle and a device identification of the detection device and determine a trip chain of the vehicle based on the vehicle information and the device identification of the detection device. The server 102 may also separate the travel chain of the vehicle to obtain each travel path of the vehicle. For any travel route, determining a route set between a starting point and an end point of a part of missing routes in the travel route.

The travel path comprises a plurality of intersection nodes, and the intersection nodes are in one-to-one correspondence with detection devices deployed at a plurality of road intersections. Each intersection node has node data, which is vehicle information acquired by detection equipment deployed at a corresponding intersection and an equipment identifier of the detection equipment, that is, the node data includes a geographic coordinate of the vehicle, detection time and the equipment identifier of the corresponding detection equipment. The geographic coordinates may include longitude and latitude, but may be represented in other forms.

It should be noted that, after the detection device is deployed at the intersection, the position of the detection device may be determined, so that the geographic coordinates of the detection device may be directly determined as the geographic coordinates of the vehicle at the node of the corresponding intersection. The detection time may be a time when the server receives the vehicle information and the device identification of the detection device transmitted by the detection device. Of course, after the detection device detects the vehicle information of the vehicle, it may also determine the detection time and transmit the detection time to the server 102.

The detection device 101 may be any device capable of detecting a vehicle and collecting vehicle information, such as a camera, a sensor, and an intelligent computer. The server 102 may be a server, a server cluster composed of a plurality of servers, or a cloud computing service center.

Those skilled in the art will appreciate that the above-described detection device 101 and server 102 are only examples, and other existing or future detection devices or servers may be suitable for use with the embodiments of the present application and are included within the scope of the embodiments of the present application and are hereby incorporated by reference.

The following explains the method for determining a path set provided in the embodiments of the present application in detail.

Fig. 2 is a flowchart of a method for determining a path set according to an embodiment of the present application, where the method is applied to the server 102 shown in fig. 1. Referring to fig. 2, the method includes the following steps.

S201, determining a plurality of candidate routes between the starting point and the end point of a part of missing routes in the traveling route of the vehicle.

In some embodiments, the shortest path between the start point and the end point may be determined. The path distance of the shortest path is determined. Based on the path distance, a maximum path distance is determined. The plurality of candidate paths are determined based on the shortest path and the maximum path distance.

Since the route distance acceptable to the driver is generally within a certain range, that is, a plurality of candidate routes between the start point and the end point of the partially missing route in the travel route of the vehicle are within a certain range, the route search range may be determined based on the geographical coordinates and the detection time of the start point and the geographical coordinates and the detection time of the end point. Then, the shortest path between the starting point and the end point is determined within the path search range.

Alternatively, the euclidean distance between the start point and the end point, that is, the straight-line distance between the start point and the end point, may be determined based on the geographic coordinates of the start point and the geographic coordinates of the end point. Then, the difference between the detection time of the start point and the detection time of the end point is determined as a detection time interval. And then, determining the highest speed limit of the road network section in the road network map where the starting point and the end point are located. And then, determining an area based on the geographic coordinate of the starting point, the geographic coordinate of the end point, the Euclidean distance between the starting point and the end point, the detection time interval and the highest speed limit of the road network section, wherein the area is a path searching range.

Under the condition that the geographic coordinate of the starting point, the geographic coordinate of the end point, the Euclidean distance between the starting point and the end point and the detection time interval are all determined, the region determined based on the highest speed limit of the road network section is the largest, namely, the determined path searching range is the largest, so that candidate paths are prevented from being omitted, the coverage rate of the candidate paths is ensured, and therefore the highest speed limit of the road network section is selected.

The path search range may be an ellipse, a circle, or a polygon, which is not limited in this embodiment of the present application.

For example, when the path search range is an ellipse, the starting point and the ending point may be determined as focuses of the ellipse, and the euclidean distance between the starting point and the ending point may be determined as the focal length of the ellipse. And determining the major axis of the ellipse based on the detection time interval and the highest speed limit of the road network section. Then, an ellipse area determined based on the focus of the ellipse, the focal length of the ellipse, and the major axis of the ellipse is taken as a path search range.

Wherein the major axis of the ellipse may be determined according to the following formula (1) based on the detection time interval and the highest speed limit of the road network section.

2a＝(5/18)*v*r (1)

In the above equation (1), 2a is the major axis of the ellipse, v is the highest speed limit of the road network section, and r is the detection time interval.

For example, as shown in FIG. 3, assume that the focal length of the ellipse is 2c and the major axis of the ellipse is 2a. p1 is the starting point and p2 is the ending point, assuming that the geographic coordinates of p1 are (x) ₁ ,y ₁ ) P1 is detected for a time t ₁ And p2 has a geographic coordinate of (x) ₂ ,y ₂ ) P2 is detected at time t ₂ And the highest speed limit of the road network section is v. Based on (x) ₁ ,y ₁ ) And (x) ₂ ,y ₂ ) Determining the Euclidean distance between p1 and p2, and determining t ₁ And t ₂ Is determined as the detection time interval r. Then, the euclidean distance is determined as the focal length 2c of the ellipse. Based on r and v, according to the above formula (1), determiningThe major axis 2a of the ellipse. An elliptical region with p1 and p2 as the focal point, 2c as the focal length, and 2a as the major axis is determined as the path search range.

After the path search range is determined, the geographic coordinates of a plurality of intersection nodes which are positioned in the path search range and are except for the starting point and the end point are determined from the road network map. Then, distances from the starting point to the plurality of intersection nodes and distances from the ending point to the plurality of intersection nodes are determined based on the geographic coordinates of the starting point, the geographic coordinates of the ending point, and the geographic coordinates of the plurality of intersection nodes. The shortest distance between the starting point and the ending point is determined based on the distances from the starting point to the plurality of intersection nodes and the distances from the ending point to the plurality of intersection nodes.

Wherein the shortest distance between the start point and the end point may be determined according to Dijkstra (Dijkstra) algorithm. For the principles of Dijkstra algorithm, reference may be made to the related art, which is not described in detail herein.

It should be noted that the travel path of the vehicle is an ordered set of intersection nodes, that is, the travel path of the vehicle is composed of a plurality of intersection nodes according to a certain order. The starting point and the ending point are two intersection nodes in a travel path of the vehicle, and the path between the two intersection nodes is missing. The road network section refers to a section between any two adjacent intersections in a road network map, the road network map is used for indicating the road condition of the city, and the road network map can be drawn by a server in advance or can be acquired by the server from other equipment.

Alternatively, the actual path length of the shortest path in the road network map may be determined as the path distance of the shortest path. Then, the product of the path distance and the specified value is determined as the maximum path distance.

For example, the maximum path distance may be determined according to the following formula (2) based on the path distance of the shortest path.

Wherein, inIn the above formula (2), d _max In order to be the maximum path distance,

in order to specify a numerical value, the numerical value,

is constant, can take 0.25,d ₁ The path distance being the shortest path.

After the shortest path and the maximum path distance are determined, the shortest path may be determined as a first candidate path, and then candidate paths other than the first candidate path among the plurality of candidate paths are determined in a loop iteration manner based on the first candidate path and the maximum path distance. The process of determining the ith candidate path in the loop iteration mode comprises the following steps (a) to (d), wherein i is a positive integer greater than 1:

(a) And determining one or more deviated nodes from the i-1 th candidate path, wherein the one or more deviated nodes are nodes of the intersection except the terminal point on the i-1 th candidate path.

When i =2, the i-1 th candidate path is the shortest path, that is, the first candidate path is the shortest path.

For example, as shown in fig. 4, assume that i =4, p1-a-b-c-p2 is a third candidate path, p1 is a start point, and p2 is an end point. The one or more deviated nodes are intersection nodes on the third candidate path except the end point, that is, the deviated nodes are p1, a, b and c.

(b) Based on the one or more deviating nodes, an ith candidate path is determined.

In some embodiments, a previous substring corresponding to each of the one or more deviating nodes may be determined, the previous substring being a path between the corresponding deviating node and the starting point on the i-1 th candidate path. And determining a target post-substring corresponding to each deviation node in the one or more deviation nodes, wherein the target post-substring is a path between the corresponding deviation node and the end point. And determining the ith candidate path based on the front substring and the target rear substring corresponding to each of the one or more deviation nodes.

It should be noted that, when a deviation node is taken as a starting point, the previous substring corresponding to the deviation node is the deviation node itself.

Because the implementation processes of determining the target post-substring corresponding to each of the one or more deviated nodes are the same, selecting one deviated node from the one or more deviated nodes, and determining the target post-substring corresponding to the selected deviated node according to the following operations until determining the target post-substring corresponding to each of the one or more deviated nodes: and determining one or more paths between the selected deviation node and the end point to obtain one or more post substrings corresponding to the selected deviation node. And determining the rear sub-string which meets the path constraint condition and has the shortest path distance in the one or more rear sub-strings as a target rear sub-string corresponding to the selected deviation node.

Since one or more intersections exist between the selected deviated node and the destination within the route search range, one or more routes between the selected deviated node and the destination may be determined based on the one or more intersections, that is, one or more post-substrings corresponding to the selected deviated node are obtained. In order to ensure that the target rear substring corresponding to the selected deviation node is the rear substring with the shortest distance in the one or more rear substrings, and the target rear substring is not repeated with the path between the selected deviation node and the end point in the first i-1 candidate paths, therefore, the rear substring which meets the path constraint condition and has the shortest path distance in the one or more rear substrings is determined as the target rear substring corresponding to the selected deviation node.

Alternatively, the path distance of the post substring may be the actual path length of the post substring in the road network map. In addition, since the road network section between two adjacent road intersections is usually straight, the path distance of the rear sub-string may also be the path length calculated based on the geographic coordinates of a plurality of intersection nodes in the rear sub-string.

Wherein the path constraint condition comprises: and the rear substring corresponding to the selected deviation node cannot contain the node in the front substring corresponding to the selected deviation node, and the rear substring corresponding to the selected deviation node cannot contain the road network section which takes the selected deviation node as the section starting point in the front i-1 candidate paths.

In order to ensure that there is no detour section, i.e. no loop, in the post-substring corresponding to the selected deviation node, the path constraint condition may include: and the rear substring corresponding to the selected deviation node cannot contain the nodes in the front substring corresponding to the selected deviation node. In order to ensure that the subsequent substring corresponding to the selected deviating node does not repeat with the path between the selected deviating node and the end point in the first i-1 candidate paths, the path constraint condition may further include: and the rear substring corresponding to the selected deviation node cannot contain the road network section taking the selected deviation node as the section starting point in the front i-1 candidate paths.

It should be noted that the rear substring corresponding to the selected offset node cannot include an intersection node in the front substring corresponding to the selected offset node, where the intersection node is an intersection node other than the selected offset node.

For example, as shown in fig. 5, assume that i =4, p1-g-h-p2 is a first candidate path, i.e., a shortest path, p1-m-n-p2 is a second candidate path, p1-a-b-c-p2 is a third candidate path, p1 is a start point, and p2 is an end point. The plurality of divergent nodes on the third candidate path are p1, a, b, and c. Taking point b as an example, the corresponding precursor string of point b is p1-a-b. The post substrings corresponding to the b points are b-c-p2, b-d-e-p2, b-f-p2 and b-a-f-p2. And the rear substring b-a-f-p2 corresponding to the point b comprises an intersection node a in the front substring p1-a-b corresponding to the point b, so that the rear substring b-a-f-p2 corresponding to the point b does not meet the path constraint condition. And the rear sub-string b-c-p2 corresponding to the point b comprises a road network section b-c taking the point b as a section starting point in the third candidate path p1-a-b-c-p2, so that the rear sub-string b-c-p2 corresponding to the point b does not meet the path constraint condition. Because the rear substring b-d-e-p2 corresponding to the b point does not contain any intersection node except the b point in the front substring p1-a-b corresponding to the b point, and the rear substring b-d-e-p2 corresponding to the b point does not contain a road network section taking the b point as a road section starting point in the first candidate path, does not contain a road network section taking the b point as a road section starting point in the second candidate path, and does not contain a road network section b-c taking the b point as a road section starting point in the third candidate path, the rear substring b-d-e-p2 corresponding to the b point meets the path constraint condition. And similarly, the rear substring b-f-p2 corresponding to the b point also meets the path constraint condition. And assuming that the path distance of the rear substring b-d-e-p2 corresponding to the b point is 50km, and the path distance of the rear substring b-f-p2 corresponding to the b point is 35km, because the path distance of the rear substring b-f-p2 corresponding to the b point is smaller than that of the rear substring b-d-e-p2 corresponding to the b point, determining the rear substring b-f-p2 corresponding to the b point as a target rear substring corresponding to the b point.

Wherein, the implementation process of determining the ith candidate path based on the previous substring and the target subsequent substring corresponding to each of the one or more deviated nodes comprises: and splicing the front substring and the target rear substring corresponding to the same deviation node in the one or more deviation nodes to obtain one or more feasible paths. And determining the feasible path with the shortest path distance in the one or more feasible paths as the ith candidate path.

For example, as shown in fig. 5, the front substring p1-a-b corresponding to the point b and the target rear substring b-f-p2 are spliced to obtain a path p1-a-b-f-p2, which is a feasible path corresponding to the point b. In the same way, feasible paths corresponding to the point p1, the point a and the point c can be obtained. Assuming that the feasible path corresponding to the point p1 is s1, the feasible path corresponding to the point a is s2, and the feasible path corresponding to the point c is s3, the paths p1-a-b-f-p2, s1, s2, and s3 are the feasible paths. Assuming that the path distance of the path p1-a-b-f-p2 is 40km, the path distance of the path s1 is 45km, the path distance of the path s2 is 60km, and the path distance of the path s3 is 55km, since the path p1-a-b-f-p2 is a feasible path with the shortest path distance among the feasible paths, the path p1-a-b-f-p2 is determined as a fourth candidate path.

(c) And under the condition that the path distance of the ith candidate path is less than or equal to the maximum path distance, determining the (i + 1) th candidate path in the loop iteration mode.

Since the path distance of the path acceptable to the user is often within a certain range, the maximum path distance may be set according to the actual positions of the starting point and the ending point in the road network map, and the maximum path distance may be used as the termination condition of the path search, so as to ensure that the path distance of each candidate path in the plurality of candidate paths is within the range of the maximum path distance.

(d) And ending the operation under the condition that the path distance of the ith candidate path is greater than the maximum path distance.

That is, when the path distance of the ith candidate path is greater than the maximum path distance, the loop is stopped from being executed, and the shortest path and the i-1 candidate paths obtained in the loop iteration mode are determined as the plurality of candidate paths.

For example, as shown in FIG. 5, assume that the maximum path distance is 70km, the path distance of the shortest path p1-g-h-p2 is 50km, the path distance of the second candidate path p1-m-n-p2 is 68km, and the path distance of the third candidate path p1-a-b-c-p2 is 77km. Since the path distance of the third candidate path p1-a-b-c-p2 is greater than the maximum path distance, the loop is stopped after the third candidate path is determined, and the shortest path p1-g-h-p2, the second candidate path p1-m-n-p2 and the third candidate path p1-a-b-c-p2 are determined as the candidate paths.

S202, determining a first road network section taking the starting point as a section starting point based on the entrance way direction and the lane steering of the vehicle at the starting point.

A plurality of road network segments are determined which are drivable with the starting point as a segment starting point and in accordance with the direction of the entrance lane at the starting point. Then, a road network segment corresponding to the lane turn of the vehicle at the starting point is selected from the plurality of road network segments, and the selected road network segment is determined as a first road network segment.

For example, as shown in fig. 6, it is assumed that p1 is a starting point, p2 is an end point, and a and c are intersection nodes. The direction of the approach lane of the vehicle at the starting point p1 is north, and the lane steering is straight. A plurality of road network segments that are drivable in the direction of the entrance road at the starting point p1 with the starting point p1 as the segment starting point are determined as s1, s2 and s3. Since the lane turn corresponding to s1 is a left turn, the lane turn corresponding to s2 is a straight run, the lane turn corresponding to s3 is a right turn, and the lane turn of the vehicle at the starting point p1 is a straight run, the road network segment s2 is selected from the road network segments s1, s2, and s3, and s2 is determined as the first road network segment.

And S203, determining a second road network section taking the terminal point as the section terminal point based on the direction of the entrance way of the vehicle at the terminal point.

And determining a road network section which takes the terminal point as a section terminal point and reaches the terminal point according to the direction of the entrance road at the terminal point, wherein the road network section is a second road network section.

For example, as shown in fig. 6, assuming that the direction of the entrance road of the vehicle at the end point p2 is south, it may be determined that the road network segment reaching the end point p2 in the direction of the entrance road at the end point p2 is s4, and the road network segment s4 is determined as the second road network segment.

S204, determining a path set between the starting point and the end point based on the candidate paths, the first path segment and the second path segment.

In some embodiments, a first road network segment and a last road network segment included in each of the plurality of candidate paths may be determined. And selecting a candidate path with the first road network section as a first road network section and the last road network section as a second road network section from the candidate paths. And determining the set of the selected candidate paths as the set of paths between the starting point and the end point.

Since the first and second network segments have been determined, i.e. the first and the last network segment of the actual path of the vehicle between the starting and the ending point must necessarily be the first and the second network segment, a candidate path may be selected from the plurality of candidate paths, the first network segment being the first and the last network segment being the second network segment. Then, a set of the selected candidate routes is determined as a set of routes between the start point and the end point.

For example, as shown in FIG. 7, assume that p1 is the starting point, p2 is the ending point, p1-a is the first network segment, and c-p2 is the second network segment. Assume that the plurality of candidate paths includes path p1-g-h-l-p2, path p1-a-n-p2, path p1-a-b-c-p2, and path p1-a-f-c-p2. Since the first road network segment of the path p1-g-h-l-p2 is p1-g and the last road network segment is l-p2, that is, the first road network segment of the path p1-g-h-l-p2 is not the first road network segment and the last road network segment is not the second road network segment, the path p1-g-h-l-p2 is not selected. Since the first road network segment of the path p1-a-n-p2 is p1-a and the last road network segment is n-p2, i.e. the first road network segment of the path p1-a-n-p2 is the first road network segment, but the last road network segment is not the second road network segment, the path p1-a-n-p2 is not selected. Since the first road network segment of the path p1-a-b-c-p2 is p1-a and the last road network segment is c-p2, i.e. the first road network segment of the path p1-a-b-c-p2 is the first road network segment and the last road network segment is the second road network segment, the path p1-a-b-c-p2 is selected. Similarly, the first road network segment of the path p1-a-f-c-p2 is a first road network segment and the last road network segment is a second road network segment, so the path p1-a-b-c-p2 is selected. Then, the set of the selected path p1-a-b-c-p2 and the path p1-a-f-c-p2 is determined as the set of paths between the starting point and the end point.

According to the method and the device, the route searching range is determined firstly, and then the shortest route between the starting point and the end point is determined in the route searching range, so that the shortest route between the starting point and the end point is prevented from being determined in the whole road network map, and the complexity and the calculation amount for determining the shortest route are greatly reduced. Then, based on the shortest path and the maximum path distance, determining a plurality of candidate paths between the starting point and the end point, wherein the maximum path distance is used as a termination condition for determining the plurality of candidate paths. In the scheme of determining the first K paths as the path set, the size of the K value is related to the number of road segments included in the shortest path between the starting point and the end point, and different K values need to be determined under the condition of different starting points and end points. And finally, determining a first road network section taking the starting point as a section starting point and a second road network section taking the terminal point as a section terminal point based on the entrance road direction and the lane turning of the vehicle, wherein the first road network section of the actual path of the vehicle between the starting point and the terminal point is necessarily the first road network section, and the last road network section is necessarily the second road network section, so that a plurality of paths with the first road network section as the first road network section and the last road network section as the second road network section are selected from the plurality of candidate paths, the accuracy of the plurality of paths is improved, and the accuracy of a path set consisting of the plurality of paths is also improved.

Fig. 8 is a schematic structural diagram of a determining apparatus of a path set according to an embodiment of the present application, where the determining apparatus of the path set may be implemented as part or all of a server device by software, hardware, or a combination of the two, and the server device may be the server shown in fig. 1. Referring to fig. 8, the apparatus includes: a first determination module 801, a second determination module 802, a third determination module 803, and a fourth determination module 804.

A first determining module 801, configured to determine multiple candidate routes between a starting point and an end point of a part of missing routes in a travel route of a vehicle;

a second determining module 802 for determining a first road network segment starting at the starting point based on the approach direction and lane steering of the vehicle at the starting point;

a third determining module 803, configured to determine, based on the direction of the entrance way of the vehicle at the end point, a second road network segment with the end point as a segment end point;

a fourth determining module 804, configured to determine a set of paths between the starting point and the ending point based on the candidate paths, the first road segment and the second road segment.

Optionally, the first determining module 801 includes:

a third determining submodule for determining a maximum path distance based on the path distance;

a fourth determining submodule for determining the plurality of candidate paths based on the shortest path and the maximum path distance.

Optionally, the fourth determining submodule is specifically configured to:

determining the shortest path as a first candidate path;

the process of determining the ith candidate path in a loop iteration mode comprises the following steps, wherein i is a positive integer greater than 1:

determining one or more deviated nodes from the i-1 th candidate path, wherein the one or more deviated nodes are nodes of the intersection except the terminal point on the i-1 th candidate path;

determining an ith candidate path based on the one or more deviating nodes;

determining the (i + 1) th candidate path in a loop iteration mode under the condition that the path distance of the ith candidate path is less than or equal to the maximum path distance;

Optionally, the fourth determining submodule is specifically configured to:

determining a previous substring corresponding to each deviating node in the one or more deviating nodes, wherein the previous substring is a path between the corresponding deviating node and the starting point on the i-1 th candidate path;

determining a target post-substring corresponding to each deviation node in the one or more deviation nodes, wherein the target post-substring is a path between the corresponding deviation node and the terminal;

Optionally, the fourth determining submodule is specifically configured to:

determining one or more paths between the selected deviation node and the end point to obtain one or more post substrings corresponding to the selected deviation node;

Optionally, the fourth determining submodule is specifically configured to:

Optionally, the first determining submodule is specifically configured to:

determining a path search range based on the geographical coordinates and the detection time of the starting point and the geographical coordinates and the detection time of the end point;

and determining the shortest path between the starting point and the end point in the path searching range.

Optionally, the fourth determining module 804 is specifically configured to:

selecting a candidate path with a first road network section as a first road network section and a last road network section as a second road network section from the plurality of candidate paths;

and determining the set of the selected candidate paths as the set of paths between the starting point and the end point.

In the embodiment of the application, because the path distance acceptable to the driver is usually within a certain range, the path searching range is determined, and then the shortest path between the starting point and the end point is determined in the path searching range, so that the shortest path between the starting point and the end point is prevented from being determined in the whole road network map, and the complexity and the calculation amount for determining the shortest path are greatly reduced. Then, based on the shortest path and the maximum path distance, determining a plurality of candidate paths between the starting point and the end point, and taking the maximum path distance as a termination condition for determining the plurality of candidate paths. In the scheme of determining the first K paths as the path set, the size of the K value is related to the number of road segments included in the shortest path between the starting point and the end point, and different K values need to be determined under the condition of different starting points and end points. And finally, determining a first road network section taking the starting point as a section starting point and a second road network section taking the terminal point as a section terminal point based on the entrance road direction and the lane turning of the vehicle, wherein the first road network section of the actual path of the vehicle between the starting point and the terminal point is necessarily the first road network section, and the last road network section is necessarily the second road network section, so that a plurality of paths with the first road network section as the first road network section and the last road network section as the second road network section are selected from the plurality of candidate paths, the accuracy of the plurality of paths is improved, and the accuracy of a path set consisting of the plurality of paths is also improved.

It should be noted that: the determining apparatus for a path set provided in the foregoing embodiment is only illustrated by the division of the functional modules when determining the path set, and in practical applications, the function distribution may be completed by different functional modules according to needs, that is, the internal structure of the apparatus is divided into different functional modules to complete all or part of the functions described above. In addition, the determining apparatus of the path set and the determining method of the path set provided in the above embodiments belong to the same concept, and specific implementation processes thereof are detailed in the method embodiments and are not described herein again.

Fig. 9 is a block diagram of a detection apparatus 900 according to an embodiment of the present application. The detection device 900 may be any device that can detect a vehicle and collect vehicle information, such as: camera, sensor and intelligent computer etc.. Detection device 900 may also be referred to by other names such as user equipment.

In general, the detection apparatus 900 includes: a processor 901 and a memory 902.

Processor 901 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so forth. The processor 901 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). Processor 901 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in a wake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 901 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, the processor 901 may further include an AI (Artificial Intelligence) processor for processing computing operations related to machine learning.

Memory 902 may include one or more computer-readable storage media, which may be non-transitory. The memory 902 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 902 is used to store at least one instruction for execution by processor 901 to implement the method of determining a set of paths provided by the method embodiments herein.

In some embodiments, the detection apparatus 900 may further include: a peripheral interface 903 and at least one peripheral. The processor 901, memory 902, and peripheral interface 903 may be connected by buses or signal lines. Various peripheral devices may be connected to the peripheral interface 903 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of a radio frequency circuit 904, a touch display screen 905, a camera 906, an audio circuit 907, a positioning component 908, and a power supply 909.

The peripheral interface 903 may be used to connect at least one peripheral related to I/O (Input/Output) to the processor 901 and the memory 902. In some embodiments, the processor 901, memory 902, and peripheral interface 903 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 901, the memory 902 and the peripheral interface 903 may be implemented on a separate chip or circuit board, which is not limited by this embodiment.

The Radio Frequency circuit 904 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 904 communicates with communication networks and other communication devices via electromagnetic signals. The radio frequency circuit 904 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 904 comprises: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 904 may communicate with other detection devices via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: the world wide web, metropolitan area networks, intranets, generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the radio frequency circuit 904 may further include NFC (Near Field Communication) related circuits, which are not limited in this application.

The display screen 905 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 905 is a touch display screen, the display screen 905 also has the ability to capture touch signals on or over the surface of the display screen 905. The touch signal may be input to the processor 901 as a control signal for processing. At this point, the display 905 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display screen 905 may be one, providing the front panel of the detection device 900; in other embodiments, the number of the display panels 905 may be at least two, and the at least two display panels are respectively disposed on different surfaces of the detection apparatus 900 or are in a folding design; in still other embodiments, the display 905 may be a flexible display disposed on a curved surface or a folded surface of the test device 900. Even more, the display 905 may be arranged in a non-rectangular irregular pattern, i.e., a shaped screen. The Display panel 905 can be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), and other materials.

The camera assembly 906 is used to capture images or video. Optionally, camera assembly 906 includes a front camera and a rear camera. Generally, a front camera is disposed on a front panel of the inspection apparatus, and a rear camera is disposed on a rear surface of the inspection apparatus. In some embodiments, the number of the rear cameras is at least two, and each rear camera is any one of a main camera, a depth-of-field camera, a wide-angle camera and a telephoto camera, so that the main camera and the depth-of-field camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize panoramic shooting and VR (Virtual Reality) shooting functions or other fusion shooting functions. In some embodiments, camera assembly 906 may also include a flash. The flash lamp can be a single-color temperature flash lamp or a double-color temperature flash lamp. The double-color-temperature flash lamp is a combination of a warm-light flash lamp and a cold-light flash lamp, and can be used for light compensation at different color temperatures.

Audio circuit 907 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 901 for processing, or inputting the electric signals to the radio frequency circuit 904 for realizing voice communication. For stereo sound acquisition or noise reduction purposes, the microphones may be multiple and disposed at different locations of the detection apparatus 900. The microphone may also be an array microphone or an omni-directional pick-up microphone. The speaker is used to convert electrical signals from the processor 901 or the radio frequency circuit 904 into sound waves. The loudspeaker can be a traditional film loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, the speaker can be used for purposes such as converting an electric signal into a sound wave audible to a human being, or converting an electric signal into a sound wave inaudible to a human being to measure a distance. In some embodiments, audio circuit 907 may also include a headphone jack.

The positioning component 908 is used to locate the current geographic Location of the detection device 900 to implement navigation or LBS (Location Based Service). The Positioning component 908 may be a Positioning component based on the Global Positioning System (GPS) in the united states, the beidou System in china, or the galileo System in russia.

The power supply 909 is used to supply power to the various components in the test device 900. The power source 909 may be ac, dc, disposable or rechargeable. When the power source 909 includes a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery can also be used to support fast charge technology.

Those skilled in the art will appreciate that the configuration shown in FIG. 9 does not constitute a limitation of the detection device 900, and may include more or fewer components than shown, or combine certain components, or employ a different arrangement of components.

Fig. 10 is a schematic structural diagram of a server according to an embodiment of the present application. The server 1000 includes a Central Processing Unit (CPU) 1001, a system memory 1004 including a Random Access Memory (RAM) 1002 and a Read Only Memory (ROM) 1003, and a system bus 1005 connecting the system memory 1004 and the central processing unit 1001. The server 1000 also includes a basic input/output system (I/O system) 1006, which facilitates the transfer of information between devices within the computer, and a mass storage device 1007, which stores an operating system 1013, application programs 1014, and other program modules 1015.

The basic input/output system 1006 includes a display 1008 for displaying information and an input device 1009, such as a mouse, keyboard, etc., for user input of information. Wherein a display 1008 and an input device 1009 are connected to the central processing unit 1001 via an input-output controller 1010 connected to the system bus 1005. The basic input/output system 1006 may also include an input/output controller 1010 for receiving and processing input from a number of other devices, such as a keyboard, mouse, or electronic stylus. Similarly, an input-output controller 1010 also provides output to a display screen, a printer, or other type of output device.

The mass storage device 1007 is connected to the central processing unit 1001 through a mass storage controller (not shown) connected to the system bus 1005. The mass storage device 1007 and its associated computer-readable media provide non-volatile storage for the server 1000. That is, the mass storage device 1007 may include a computer-readable medium (not shown) such as a hard disk or CD-ROM drive.

Without loss of generality, computer readable media may comprise computer storage media and communication media. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes RAM, ROM, EPROM, EEPROM, flash memory or other solid state storage technology, CD-ROM, DVD, or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices. Of course, those skilled in the art will appreciate that computer storage media is not limited to the foregoing. The system memory 1004 and mass storage device 1007 described above may be collectively referred to as memory.

According to various embodiments of the present application, the server 1000 may also operate as a remote computer connected to a network through a network, such as the Internet. That is, the server 1000 may be connected to the network 1012 through a network interface unit 1011 connected to the system bus 1005, or the network interface unit 1011 may be used to connect to another type of network or a remote computer system (not shown).

The memory further includes one or more programs, and the one or more programs are stored in the memory and configured to be executed by the CPU.

In some embodiments, a computer-readable storage medium is further provided, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the method for determining a path set in the above embodiments. For example, the computer readable storage medium may be a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

It is noted that the computer-readable storage medium referred to in the embodiments of the present application may be a non-volatile storage medium, in other words, a non-transitory storage medium.

It should be understood that all or part of the steps for implementing the above embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The computer instructions may be stored in the computer-readable storage medium described above.

That is, in some embodiments, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform the steps of the above-described path set determination method.

It is to be understood that reference herein to "at least one" means one or more and "a plurality" means two or more. In the description of the embodiments of the present application, "/" indicates an alternative meaning, for example, a/B may indicate a or B; "and/or" herein is merely an association describing an associated object, and means that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, in order to facilitate clear description of technical solutions of the embodiments of the present application, in the embodiments of the present application, terms such as "first" and "second" are used to distinguish the same items or similar items having substantially the same functions and actions. Those skilled in the art will appreciate that the terms "first," "second," etc. do not denote any order or quantity, nor do the terms "first," "second," etc. denote any order or importance.

The above-mentioned embodiments are provided not to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method for determining a set of paths, the method comprising:

determining a shortest path between a starting point and an end point of a part of missing paths in a travel path of the vehicle;

determining the actual path length of the shortest path in a road network map as the path distance of the shortest path;

determining the product of the path distance and a specified numerical value as a maximum path distance;

determining the shortest path as a first candidate path;

determining candidate paths except the first candidate path in a loop iteration mode according to the first candidate path and the maximum path distance, wherein the maximum path distance is an end condition of the loop iteration mode;

2. The method of claim 1, wherein determining the ith candidate path in the iterative loop comprises the steps of:

determining an ith candidate path based on the one or more deviating nodes;

3. The method of claim 2, wherein determining the ith candidate path based on the one or more deviating nodes comprises:

4. The method of claim 3, wherein said determining a target post-substring corresponding to each of the one or more deviating nodes comprises:

selecting one deviation node from the one or more deviation nodes, and determining a target post-substring corresponding to the selected deviation node according to the following operations until determining a target post-substring corresponding to each deviation node in the one or more deviation nodes;

and determining the rear sub-string which meets the path constraint condition and has the shortest path distance in the one or more rear sub-strings as a target rear sub-string corresponding to the selected deviation node.

5. The method of claim 4, wherein the path constraints comprise:

and the rear substring corresponding to the selected deviation node cannot contain the road network road section taking the selected deviation node as the road section starting point in the first i-1 candidate paths.

6. The method of claim 5, wherein determining the i-th candidate path based on the previous substring and the target subsequent substring corresponding to each of the one or more deviating nodes comprises:

7. The method of claim 1, wherein the determining the shortest path between the start point and the end point of the partially missing path in the travel path of the vehicle comprises:

8. An apparatus for determining a set of paths, the apparatus comprising:

a first determination module comprising a first determination submodule, a second determination submodule, a third determination submodule, and a fourth determination submodule, wherein,

the first determining submodule is used for determining the shortest path between the starting point and the end point of a part of missing paths in the travel path of the vehicle;

the second determining submodule is used for determining the actual path length of the shortest path in the road network map as the path distance of the shortest path;

the third determining submodule is used for determining the product of the path distance and a specified numerical value as a maximum path distance;

the fourth determining submodule is configured to determine the shortest path as a first candidate path, and determine, based on the first candidate path and the maximum path distance, a candidate path other than the first candidate path in a loop iteration manner, where the maximum path distance is a termination condition of the loop iteration manner;

a fourth determining module, configured to determine a first road network segment and a last road network segment included in each of the plurality of candidate paths; selecting a candidate path with a first road network section as the first road network section and a last road network section as the second road network section from the plurality of candidate paths; and determining the set of the selected candidate paths as the path set between the starting point and the end point.

9. The apparatus of claim 8, wherein the fourth determination submodule is specifically configured to:

determining an ith candidate path in a loop iteration mode based on the following steps, wherein i is a positive integer greater than 1:

determining an ith candidate path based on the one or more deviating nodes;

under the condition that the path distance of the ith candidate path is greater than the maximum path distance, ending the operation;

wherein the fourth determining submodule is specifically configured to:

determining the ith candidate path based on a front substring and a target rear substring corresponding to each of the one or more deviation nodes;

wherein the fourth determining submodule is specifically configured to:

determining the rear substring which meets the path constraint condition and has the shortest path distance in the one or more rear substrings as a target rear substring corresponding to the selected deviation node;

wherein the fourth determining submodule is specifically configured to:

the rear substring corresponding to the selected deviation node cannot contain a road network road section which takes the selected deviation node as a road section starting point in the first i-1 candidate paths;

wherein the fourth determining submodule is specifically configured to:

determining a feasible path with the shortest path distance in the one or more feasible paths as the ith candidate path;

wherein the first determining submodule is specifically configured to:

10. A computer device, characterized in that the computer device comprises a memory for storing a computer program and a processor for executing the computer program stored in the memory to implement the steps of the method according to any of the claims 1-7.

11. A computer-readable storage medium, characterized in that a computer program is stored in the storage medium, which computer program, when being executed by a processor, carries out the steps of the method of one of the claims 1 to 7.