CN113847927A - Path generation method, device, equipment, storage medium and program product - Google Patents
Path generation method, device, equipment, storage medium and program product Download PDFInfo
- Publication number
- CN113847927A CN113847927A CN202111161850.6A CN202111161850A CN113847927A CN 113847927 A CN113847927 A CN 113847927A CN 202111161850 A CN202111161850 A CN 202111161850A CN 113847927 A CN113847927 A CN 113847927A
- Authority
- CN
- China
- Prior art keywords
- link
- nodes
- information
- path
- directed graph
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 68
- 238000004422 calculation algorithm Methods 0.000 claims description 33
- 239000002243 precursor Substances 0.000 claims description 17
- 239000011159 matrix material Substances 0.000 claims description 13
- 230000004044 response Effects 0.000 claims description 10
- 238000004590 computer program Methods 0.000 claims description 8
- 230000008569 process Effects 0.000 abstract description 14
- 238000004891 communication Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 4
- 230000010365 information processing Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
The method comprises the steps of constructing a lane Link directed graph, wherein nodes of the directed graph correspond to links in a one-to-one manner, edges are arranged between any two nodes to represent communication between the two links corresponding to the two nodes, the weight of the edges between any two nodes is determined according to the distance between the two links corresponding to the two nodes, responding to a path navigation request from a starting point to an end point, acquiring the information of the lane Link directed graph, determining a navigation path from the starting point to the end point according to the information of the lane Link directed graph, quickly and conveniently determining the shortest path from the starting point to the end point based on the information of the lane Link directed graph, and more conveniently and efficiently planning a more reliable traveling path in the vehicle traveling process, the efficiency and the timeliness of path generation are improved.
Description
Technical Field
The present application relates to artificial intelligence technology, and in particular, to a method, an apparatus, a device, a storage medium, and a program product for generating a path.
Background
The vehicle navigation is performed by using a Global Positioning System (GPS) in cooperation with an electronic map, and can conveniently and accurately generate the shortest or fastest route from a departure place to a destination.
In the current method for planning a driving path, a Dijkstra algorithm is usually used to find a shortest path according to adjacency information between waypoints (position points on a road) in a map. Before computing the global shortest path using Dijkstra algorithm, global waypoint information needs to be acquired.
In general, the amount of data of waypoint information in map data is enormous, and the larger the range of a map area is, the larger the amount of data of waypoint information in map data is. The Dijkstra algorithm is a traversal algorithm based on a graph theory, and all waypoints in a map need to be detected, and a shortest path is selected step by step, so that the Dijkstra algorithm-based driving path planning method is low in efficiency, only suitable for a local map area in a small range, and not suitable for a map area in a large range.
Disclosure of Invention
The application provides a method, a device, equipment, a storage medium and a program product for generating a path.
In one aspect, the present application provides a method for path generation, including:
responding to a path navigation request from a starting point to an end point, and acquiring information of a lane Link directed graph, wherein nodes of the directed graph correspond to links one by one, edges are formed between any two nodes to represent that the two links corresponding to the two nodes are communicated, and the weight of the edges between any two nodes is determined according to the distance between the two links corresponding to the two nodes;
and determining a navigation path from the starting point to the ending point according to the information of the lane Link directed graph.
In another aspect, the present application provides an apparatus for path generation, including:
the data acquisition module is used for responding to a path navigation request from a starting point to an end point, acquiring information of lane Link directed graphs, wherein nodes of the directed graphs correspond to the links one by one, edges are formed between any two nodes to represent that the two links corresponding to the two nodes are communicated, and the weight of the edges between any two nodes is determined according to the distance between the two links corresponding to the two nodes;
and the driving path generating module is used for determining a navigation path from the starting point to the end point according to the information of the lane Link directed graph.
In another aspect, the present application provides a path generation apparatus, including: a processor, and a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
the processor executes computer-executable instructions stored in the memory to implement the method described above.
In another aspect, the present application provides a computer-readable storage medium having stored thereon computer-executable instructions for implementing the method described above when executed by a processor.
In another aspect, the present application provides a computer program product comprising a computer program which, when executed by a processor, implements the method described above.
In the method, the device, the equipment, the storage medium and the program product for generating the path, the embodiment of the application constructs the lane Link directed graph, the nodes of the directed graph correspond to the links one by one, edges are formed between any two nodes to represent the communication between the two links corresponding to the two nodes, the weight of the edge between any two nodes is determined according to the distance between the two links corresponding to the two nodes, the information of the lane Link directed graph is acquired in response to the path navigation request from the starting point to the ending point, and determining a navigation path from the starting point to the ending point according to the information of the lane Link digraph, quickly and conveniently determining the shortest path from the starting point to the ending point based on the information of the lane Link digraph, and being capable of more conveniently and efficiently planning a more reliable running path in the running process of the vehicle, thereby improving the efficiency and timeliness of path generation.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
FIG. 1 provides an illustration of an ownership map for an embodiment of the present application;
FIG. 2 is a flow chart of a method for path generation provided by an exemplary embodiment of the present application;
FIG. 3 is a flow chart of a method for path generation provided by another example embodiment of the present application;
fig. 4 is a schematic structural diagram of a path generation apparatus according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a path generation apparatus according to another embodiment of the present application;
fig. 6 is a schematic structural diagram of an automatic driving control apparatus according to an embodiment of the present application.
With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the inventive concepts to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terms referred to in this application are explained first:
link: refers to a link in high-precision map data. Generally, the navigation path data may store information of road segments by recording arc segments, and each road segment is called Link. Each Link has a uniquely represented id, called Linkid, as the Link identifier. Link must satisfy the following characteristics: non-self-intersecting and disjoint from other links.
Dijkstra algorithm: the dixtesla algorithm or the dixtesla algorithm is a shortest path algorithm from one node to other nodes, and solves the shortest path problem in the weighted graph. The Dijkstra algorithm is a traversal algorithm based on the graph theory, and needs to detect all nodes (also called vertexes) in a map and gradually select a shortest path.
The terms "first", "second", etc. referred to in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. In the description of the following examples, "plurality" means two or more unless specifically limited otherwise.
In the current method for planning a driving path, a Dijkstra algorithm is usually used to find a shortest path according to adjacency information between waypoints (position points on a road) in a map. Before computing the global shortest path using Dijkstra algorithm, global waypoint information needs to be acquired.
The Dijkstra algorithm has the advantage that if two nodes on the graph are communicated, the shortest path can be found within a certain time, namely 100% of the shortest paths can be found.
Taking the determination of the starting node S to the end point E as an example, the basic idea of Dijkstra algorithm is as follows:
1. the OpenedList set is initialized to the nodes T1, T2 … … Tn directly adjacent to the starting node S. Initializing SettledList as an initial node S;
2. and judging whether the OpenedList set is empty or not, if so, indicating that a shortest path from S to E cannot be found, and exiting the algorithm. Otherwise, taking out the SettledNode closest to the S from the OpenedList set, adding the SettledNode into the SettledList set, judging whether the SettledNode is the end point E, if so, turning to 4, and if not, turning to 3;
3. reading nodes T1' and T2' … … Tm ' directly adjacent to SettledNode, judging whether Ti ' is in an OpenedList set, if Ti ' is in the OpenedList set, judging whether the newMindistance from S to Ti ' is smaller than the original Mindistance, and if the distance is smaller than the original Mindistance, updating the shortest distance from S to Ti ' to be newMindistance. b. If the Ti 'is not in the OpenedList set, adding the Ti' into the OpenedList set, and turning to 2;
4. and outputting the shortest path sequence.
The Dijkstra algorithm is a typical single-source shortest path algorithm for calculating the shortest path from one node to all other nodes. Taking the weighted graph shown in fig. 1 as an example, a specific process of Dijkstra algorithm is exemplarily described, and based on the weighted graph shown in fig. 1, the specific process of Dijkstra algorithm is as follows:
1) specifying a starting node, for example, to calculate the shortest path from point a to other nodes, it may specify its real node as point a;
2) two sets S and U are introduced, the S set containing nodes for which the shortest path has been found and the corresponding shortest length (i.e. the length of the shortest path), and the U set containing nodes for which the shortest path has not been found. The path length from node X to any node Y may be denoted by X → Y in this application, where X and Y may refer to any two different nodes.
3) Two sets S and U are initialized, the S set initially has only the node a to be currently calculated, a → a ═ 0, the U set initially is a → B ═ 4, a → C ∞, a → D ═ 2, a → E ∞, where ∞ represents infinity.
4) And finding out the node with the shortest path length with the initial node from the U set, adding the node into the S set, and deleting the node which is added into the S set from the U set. For example, the point in the U set where the path length from a is shortest may be determined to be D, a → D ═ 2, and D may be added to the S set.
5) And updating the path length of each point and the starting node in the U set, and for any node X in the U, if the distance from D to X added with S + the distance from A to D < the distance from A to X, updating the path length of the starting node A and the X node.
6) And (5) circularly executing the steps 4) and 5) until the traversal is finished, and obtaining the shortest path from the node A to other nodes.
In summary, Dijkstra's algorithm is a traversal algorithm based on the graph theory, and it needs to detect all nodes in the graph and select the optimal path step by step.
In practical application, the data volume of the waypoint information in the map data is huge, the larger the range of the map area is, the larger the data volume of the waypoint information in the map data is, the more the number of nodes in the corresponding authorized graph is, so that the driving path planning method based on the Dijkstra algorithm is low in efficiency, is only suitable for a local map area in a small range and is not suitable for a map area in a large range, and the planned route is not reliable and convenient enough in the driving process.
For example, if two points in the map are not connected, the shortest path between the two points cannot be planned. In addition, the Dijkstra algorithm is used for calculating the global shortest path, the global waypoint information needs to be acquired before calculation, and then the next calculation can be performed.
The method for generating the path provided by the application aims to solve the technical problems in the prior art.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 2 is a flowchart of a method for generating a path according to an example embodiment of the present application. The method in this embodiment is applied to a device for generating a path, where the device for generating a path may be a vehicle-mounted terminal, or may also be a device such as a server.
As shown in fig. 2, the method comprises the following specific steps:
step S201, responding to a path navigation request from a starting point to an end point, obtaining information of a lane Link directed graph, wherein nodes of the directed graph correspond to the links one by one, edges are formed between any two nodes to represent communication between the two links corresponding to the two nodes, and the weight of the edges between any two nodes is determined according to the distance between the two links corresponding to the two nodes.
Unlike the existing weighted graph in which the position points in the map data are taken as vertices, in the present embodiment, the nodes in the lane Link directed graph correspond to links one-to-one, and each node represents one Link. Considering connectivity between links, and links have driving directions, if two links are connected, a directed edge is established between the corresponding nodes of the two links. And taking the distance between the end points of two links which are connected back and forth as a dissipation value (cost) between two corresponding nodes, namely the weight of the edge between the two nodes. Compared with the prior authorized graph, the number of nodes in the graph can be greatly reduced.
In this embodiment, based on the information of the lane Link directed graph, the shortest path from the starting point to the ending point can be quickly and conveniently determined by using the shortest path algorithm, a more reliable running path can be planned more conveniently and efficiently in the running process of the vehicle, and the method and the device can be applied to scenes such as cut-in and cut-out of lanes and running of ramps of the vehicle on an expressway, and can also be applied to path planning scenes of automatic driving vehicles such as initial and low-level automatic driving vehicles of prototype development.
Illustratively, the information of the lane Link directed graph may be generated and stored in advance from high-precision map data. In this step, in response to a route guidance request from the start point to the end point, information of the lane Link directed graph may be directly acquired.
In addition, the information of the lane Link directed graph may be generated and stored by the server, and the path generating apparatus may acquire the information of the lane Link directed graph from the server. The route generation device may also generate and store the information of the lane Link directed graph by itself.
And S202, determining a navigation path from the starting point to the ending point according to the information of the lane Link directed graph.
After the information of the lane Link digraph is obtained, the shortest path from the starting point to the ending point is determined by adopting a shortest path algorithm according to the information of the lane Link digraph. According to the Link and the sequence contained in the shortest path, the navigation path from the starting point to the ending point can be determined.
According to the method and the device, the lane Link directed graph is constructed, the nodes of the directed graph correspond to the links one by one, edges are formed between any two nodes to represent that the two links corresponding to the two nodes are communicated, the weight of the edges between any two nodes is determined according to the distance between the two links corresponding to the two nodes, the information of the lane Link directed graph is obtained in response to a path navigation request from a starting point to a termination point, the navigation path from the starting point to the termination point is determined according to the information of the lane Link directed graph, the shortest path from the starting point to the termination point can be rapidly and conveniently determined based on the information of the lane Link directed graph, a more reliable driving path can be planned more conveniently and efficiently in the driving process of a vehicle, and the efficiency and the timeliness of path generation are improved.
Fig. 3 is a flowchart of a method for generating a path according to another exemplary embodiment of the present application. On the basis of the above embodiment corresponding to fig. 2, in this embodiment, before acquiring the information of the lane Link directed graph in response to the route guidance request from the starting point to the ending point, the method further includes: acquiring lane Link information according to the map data; generating a lane Link directed graph according to lane Link information, wherein nodes of the directed graph correspond to links one by one, edges are formed between any two nodes to represent that the two links corresponding to the two nodes are communicated, and the weight of the edges between any two nodes is determined according to the distance between the two links corresponding to the two nodes; the lane Link directed graph is stored in the form of an adjacency matrix. The adjacent matrix of the lane Link directed graph is information of the lane Link directed graph.
As shown in fig. 3, the method comprises the following specific steps:
and S301, acquiring lane Link information according to the map data.
In the step, according to the map data, Link information contained in the map data is acquired, and lane Link information is obtained.
The Link information at least comprises a starting point position, an end point position, an identifier of a precursor Link and an identifier of a subsequent Link. In addition, the Link information may further include an identifier of the Link, related information of a road where the Link is located, a length of the Link, and the like, which is not specifically limited in this embodiment.
In this embodiment, a well-defined data interface issued by the high-precision map engine may be used, and Link information may be acquired from the high-precision map engine through the data interface.
Illustratively, the Link information returned by the data interface defined by the high-precision map engine may include the following information: the Link line Linkid, the previous Linkid of the current Link, the successor Linkid of the current Link, the Linkid of the left and right neighbor links of the current Link, and the information of the starting point coordinate, the ending point coordinate and the middle point coordinate of the current Link.
For example, each Link may be extracted from the map data according to the map data, information related to each Link in the map data is extracted according to the Link of each Link, data screening is performed on the acquired information related to each Link, and Link information required for generating a lane Link directed graph is reserved.
Step S302, according to lane Link information, generating a lane Link directed graph, wherein nodes of the directed graph correspond to links one by one, edges are formed between any two nodes to represent that the two links corresponding to the two nodes are communicated, and the weight of the edges between any two nodes is determined according to the distance between the two links corresponding to the two nodes.
After the lane Link information is obtained, the lane Link information is abstracted, and the Link is abstracted into a vertex in a directed graph; determining edges between corresponding vertexes according to the connection relation among the links; and determining the weight of the edge between the two corresponding nodes according to the distance between the end points of the two links which are communicated front and back, thereby constructing a lane Link directed graph.
Optionally, this step may be specifically implemented as follows:
according to the lane Link information, a node corresponding to each Link is established; respectively taking each Link as a current Link, if the information of the current Link contains the identifier of the precursor Link, determining the precursor Link of the current Link according to the identifier of the precursor Link, creating a first directed edge from the node corresponding to the precursor Link to the node corresponding to the current Link, and determining the weight of the first directed edge; and if the information of the current Link contains the identification of the subsequent Link, determining the subsequent Link of the current Link according to the identification of the subsequent Link, creating a second directed edge from the node corresponding to the current Link to the node corresponding to the subsequent Link, and determining the weight of the second directed edge.
Specifically, lane Link information is abstracted, Link id of Link is used as node id in a network, and a directed edge pointing to a next Link from a previous Link is established between two links corresponding to nodes which are connected in front and back.
Illustratively, the Link information includes an identifier (Linkid) of a precursor Link and an identifier of a successor Link of the Link, and the directed edge of the Link kid corresponding node of the precursor Link pointing to the Link kid corresponding node of the current Link and the directed edge of the Link kid corresponding node of the current Link pointing to the Link kid corresponding node of the successor Link are determined.
And then, taking the distance between the end points of two links which are connected back and forth as the dissipation value (cost) of the directed edge between two corresponding nodes in the directed graph, wherein the dissipation value of the directed edge is also the weight of the directed edge.
For example, determining the weight of any directed edge can be implemented as follows:
determining the end point position of a first Link corresponding to the starting node of the directed edge and the starting point position of a second Link corresponding to the ending node of the directed edge; and determining the distance between the end position of the first Link and the start position of the second Link, and taking the distance as the weight of the directed edge.
And step S303, storing the lane Link directed graph in a form of an adjacent matrix.
After the lane Link directed graph is generated, the lane Link directed graph is stored in the form of an adjacent matrix to store the adjacent matrix of the lane Link directed graph.
In the present embodiment, through steps S301 to S303, the lane Link directed graph can be generated, and the adjacency matrix of the lane Link directed graph can be stored. The adjacent matrix of the lane Link directed graph is information of the lane Link directed graph.
Unlike the existing weighted graph in which the position points in the map data are taken as vertices, in the present embodiment, the nodes in the lane Link directed graph correspond to links one-to-one, and each node represents one Link. Considering connectivity between links, and links have driving directions, if two links are connected, a directed edge is established between the corresponding nodes of the two links. And taking the distance between the end points of two links which are connected back and forth as a dissipation value (cost) between two corresponding nodes, namely the weight of the edge between the two nodes. Compared with the existing weighted graph, the information of the lane Link directed graph constructed in the embodiment can greatly reduce the number of nodes in the graph.
And step S304, responding to the path navigation request from the starting point to the ending point, and acquiring an adjacent matrix corresponding to the lane Link digraph to obtain the information of the lane Link digraph.
Wherein the start point and the end point are the start point and the end point of the driving path designated by the user. A user can specify a starting point and an end point of a driving path through a human-computer interface and send a path navigation request, wherein the path navigation request comprises position information of the starting point and the end point.
Illustratively, the start point and the end point are locations of destinations selected by a user through a Human Machine Interface (HMI).
For example, in the default state, the starting point is the current position of the vehicle, and the ending point may be the destination position designated by the user through the map application.
After receiving the path navigation request, the adjacent matrix corresponding to the lane Link directed graph can be obtained, so that the information of the lane Link directed graph is obtained, and the positions of the starting point and the ending point of the path can be extracted from the path navigation request.
After the information of the lane Link digraph is acquired, through steps S305-S308, a navigation path from the starting point to the ending point is determined according to the information of the lane Link digraph.
Step S305, determining the Link where the starting point and the ending point are located and the positions of the starting point and the ending point in the corresponding Link according to the map data.
In practical applications, the starting point and the ending point specified by the user may be at the end point of the Link (Link) or at the middle position of the Link (Link).
In this step, according to the position information of the start point and the end point, the Link where the start point and the end point are located and the positions of the start point and the end point in the corresponding Link can be determined by combining map data.
And S306, determining a first node corresponding to the starting point and a second node corresponding to the ending point in the lane Link digraph according to the information of the lane Link digraph and the Link where the starting point and the ending point are located.
After the Link where the starting point and the ending point are located is determined, according to the Linkid of the Link where the starting point and the ending point are located, a first node corresponding to the starting point and a second node corresponding to the ending point in the lane Link directed graph can be determined. The first node and the second node are respectively used as a starting node and a terminating node of the shortest path to be searched.
And S307, determining the shortest path from the first node to the second node in the lane Link directed graph by adopting a shortest path algorithm according to the information of the lane Link directed graph.
And determining the shortest path from the first node to the second node in the lane Link directed graph by using the shortest path algorithm and taking the first node and the second node as the starting node and the ending node of the shortest path to be searched respectively after determining the first node corresponding to the starting point and the second node corresponding to the ending point.
The shortest path algorithm may be Dijkstra algorithm. In addition, other shortest path algorithms may also be used in this step.
Step S308, according to the Link corresponding to the nodes passed by the shortest path in sequence, and the positions of the starting point and the end point in the corresponding Link, determining the navigation path from the starting point to the end point.
After determining the shortest path from the first node to the second node in the lane Link directed graph, the shortest path includes a plurality of nodes arranged according to a specific sequence, that is, nodes that need to pass through in sequence from the first node to the second node according to the shortest path, and each node corresponds to one Link. The links corresponding to the nodes in the shortest path are arranged according to a specific sequence, and a first navigation path from the Link where the starting point is located to the Link where the ending point is located can be obtained.
According to the positions of the starting point and the end point in the corresponding links and the first navigation path from the Link where the starting point is located to the Link where the end point is located, the navigation path from the starting point to the end point can be intercepted from the first navigation path.
After determining the navigation path from the start point to the end point, the navigation path may be published for viewing by the user.
Illustratively, the navigation path may be published for viewing by the user through a human-machine interface or a mapping application.
For example, after the navigation path from the start point to the end point is determined, the travel of the autonomous vehicle may be controlled according to the navigation path.
According to the method and the device, the lane Link directed graph is constructed, the nodes of the directed graph correspond to the links one by one, edges are formed between any two nodes to represent that the two links corresponding to the two nodes are communicated, the weight of the edges between any two nodes is determined according to the distance between the two links corresponding to the two nodes, the information of the lane Link directed graph is obtained in response to a path navigation request from a starting point to a termination point, the navigation path from the starting point to the termination point is determined according to the information of the lane Link directed graph, the shortest path from the starting point to the termination point can be rapidly and conveniently determined based on the information of the lane Link directed graph, a more reliable driving path can be planned more conveniently and efficiently in the driving process of a vehicle, and the efficiency and the timeliness of path generation are improved.
Fig. 4 is a schematic structural diagram of a path generation apparatus according to an embodiment of the present application. The apparatus for path generation provided in the embodiment of the present application may execute the processing procedure provided in the method for path generation. As shown in fig. 4, the path generation apparatus 40 includes: a data acquisition module 401 and a travel path generation module 402.
Specifically, the data obtaining module 401 is configured to obtain information of a lane Link directed graph in response to a path navigation request from a starting point to an ending point, where nodes of the directed graph correspond to links one to one, where an edge exists between any two nodes to indicate that two links corresponding to the two nodes are communicated, and a weight of the edge between any two nodes is determined according to a distance between the two links corresponding to the two nodes.
And a driving path generating module 402, configured to determine a navigation path from a starting point to an end point according to information of the lane Link directed graph.
The apparatus provided in the embodiment of the present application may be specifically configured to execute the method embodiment provided in the embodiment corresponding to fig. 2, and specific functions are not described herein again.
According to the method and the device, the lane Link directed graph is constructed, the nodes of the directed graph correspond to the links one by one, edges are formed between any two nodes to represent that the two links corresponding to the two nodes are communicated, the weight of the edges between any two nodes is determined according to the distance between the two links corresponding to the two nodes, the information of the lane Link directed graph is obtained in response to a path navigation request from a starting point to a termination point, the navigation path from the starting point to the termination point is determined according to the information of the lane Link directed graph, the shortest path from the starting point to the termination point can be rapidly and conveniently determined based on the information of the lane Link directed graph, a more reliable driving path can be planned more conveniently and efficiently in the driving process of a vehicle, and the efficiency and the timeliness of path generation are improved.
Fig. 5 is a schematic structural diagram of a path generation apparatus according to another embodiment of the present application. In addition to the embodiment corresponding to fig. 4, in this embodiment, as shown in fig. 5, the path generating apparatus 40 further includes:
an information processing module 403 of the lane Link directed graph, configured to:
acquiring lane Link information according to the map data; generating a lane Link directed graph according to lane Link information, wherein nodes of the directed graph correspond to links one by one, edges are formed between any two nodes to represent that the two links corresponding to the two nodes are communicated, and the weight of the edges between any two nodes is determined according to the distance between the two links corresponding to the two nodes; the lane Link directed graph is stored in the form of an adjacency matrix.
Optionally, the information of the lane Link directed graph is acquired, and the information includes:
and acquiring an adjacent matrix corresponding to the lane Link directed graph.
Optionally, the information processing module of the lane Link directed graph is further configured to:
and acquiring Link information contained in the map data according to the map data, wherein the Link information comprises a starting point position, an end point position, a mark of a precursor Link and a mark of a subsequent Link.
Optionally, the information processing module of the lane Link directed graph is further configured to:
according to the lane Link information, a node corresponding to each Link is established; respectively taking each Link as a current Link, if the information of the current Link contains the identifier of the precursor Link, determining the precursor Link of the current Link according to the identifier of the precursor Link, creating a first directed edge from the node corresponding to the precursor Link to the node corresponding to the current Link, and determining the weight of the first directed edge; and if the information of the current Link contains the identification of the subsequent Link, determining the subsequent Link of the current Link according to the identification of the subsequent Link, creating a second directed edge from the node corresponding to the current Link to the node corresponding to the subsequent Link, and determining the weight of the second directed edge.
Optionally, the information processing module of the lane Link directed graph is further configured to:
determining the end point position of a first Link corresponding to the starting node of the directed edge and the starting point position of a second Link corresponding to the ending node of the directed edge; and determining the distance between the end position of the first Link and the start position of the second Link, and taking the distance as the weight of the directed edge.
Optionally, the driving path generating module is specifically configured to:
determining links where the starting point and the ending point are located and the positions of the starting point and the ending point in the corresponding links according to the map data; determining a first node corresponding to the starting point and a second node corresponding to the ending point in the lane Link digraph according to the information of the lane Link digraph and the Link where the starting point and the ending point are located; determining the shortest path from the first node to the second node in the lane Link directed graph by adopting a shortest path algorithm according to the information of the lane Link directed graph; and determining a navigation path from the starting point to the end point according to links corresponding to nodes through which the shortest path sequentially passes, and the positions of the starting point and the end point in the corresponding links.
The apparatus provided in the embodiment of the present application may be specifically configured to execute the method embodiment provided in the embodiment corresponding to fig. 3, and specific functions are not described herein again.
According to the method and the device, the lane Link directed graph is constructed, the nodes of the directed graph correspond to the links one by one, edges are formed between any two nodes to represent that the two links corresponding to the two nodes are communicated, the weight of the edges between any two nodes is determined according to the distance between the two links corresponding to the two nodes, the information of the lane Link directed graph is obtained in response to a path navigation request from a starting point to a termination point, the navigation path from the starting point to the termination point is determined according to the information of the lane Link directed graph, the shortest path from the starting point to the termination point can be rapidly and conveniently determined based on the information of the lane Link directed graph, a more reliable driving path can be planned more conveniently and efficiently in the driving process of a vehicle, and the efficiency and the timeliness of path generation are improved.
Fig. 6 is a schematic structural diagram of an automatic driving control apparatus according to an embodiment of the present application. As shown in fig. 6, the automatic driving control apparatus 100 includes: a processor 1001, and a memory 1002 communicatively coupled to the processor 1001.
The memory 1002 stores computer-executable instructions.
The processor 1001 executes computer-executable instructions stored in the memory 1002 to implement the autopilot control method provided by any of the method embodiments described above.
According to the method and the device, the lane Link directed graph is constructed, the nodes of the directed graph correspond to the links one by one, edges are formed between any two nodes to represent that the two links corresponding to the two nodes are communicated, the weight of the edges between any two nodes is determined according to the distance between the two links corresponding to the two nodes, the information of the lane Link directed graph is obtained in response to a path navigation request from a starting point to a termination point, the navigation path from the starting point to the termination point is determined according to the information of the lane Link directed graph, the shortest path from the starting point to the termination point can be rapidly and conveniently determined based on the information of the lane Link directed graph, a more reliable driving path can be planned more conveniently and efficiently in the driving process of a vehicle, and the efficiency and the timeliness of path generation are improved.
The embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, the computer-executable instructions are used to implement the method provided by any one of the above method embodiments.
An embodiment of the present application further provides a computer program product, including: a computer program, stored in a readable storage medium, from which at least one processor of the path generation apparatus can read the computer program, the at least one processor executing the computer program to cause the path generation apparatus to perform the method provided by any of the above method embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (11)
1. A method of path generation, comprising:
responding to a path navigation request from a starting point to an end point, and acquiring information of a lane Link directed graph, wherein nodes of the directed graph correspond to links one by one, edges are formed between any two nodes to represent that the two links corresponding to the two nodes are communicated, and the weight of the edges between any two nodes is determined according to the distance between the two links corresponding to the two nodes;
and determining a navigation path from the starting point to the ending point according to the information of the lane Link directed graph.
2. The method according to claim 1, wherein before acquiring the information of the lane Link directed graph in response to the route guidance request from the starting point to the ending point, the method further comprises:
acquiring lane Link information according to the map data;
generating a lane Link directed graph according to the lane Link information, wherein nodes of the directed graph correspond to the links one by one, edges are formed between any two nodes to represent that the two links corresponding to the two nodes are communicated, and the weight of the edges between any two nodes is determined according to the distance between the two links corresponding to the two nodes;
and storing the lane Link directed graph in a form of an adjacent matrix.
3. The method according to claim 2, wherein the obtaining information of the lane Link directed graph comprises:
and acquiring an adjacent matrix corresponding to the lane Link directed graph.
4. The method according to claim 2, wherein the acquiring lane Link information from the map data includes:
and acquiring Link information contained in the map data according to the map data, wherein the Link information comprises a starting position, an end position, a mark of a precursor Link and a mark of a subsequent Link.
5. The method according to claim 4, wherein the generating the lane Link directed graph according to the lane Link information comprises:
according to the lane Link information, a node corresponding to each Link is established;
respectively taking each Link as a current Link, if the information of the current Link contains the identifier of a precursor Link, determining the precursor Link of the current Link according to the identifier of the precursor Link, creating a first directed edge from a node corresponding to the precursor Link to a node corresponding to the current Link, and determining the weight of the first directed edge;
and if the information of the current Link contains the identification of the subsequent Link, determining the subsequent Link of the current Link according to the identification of the subsequent Link, creating a second directed edge from the node corresponding to the current Link to the node corresponding to the subsequent Link, and determining the weight of the second directed edge.
6. The method of claim 5, wherein determining the weight of any one of the directed edges comprises:
determining the end point position of a first Link corresponding to the starting node of the directed edge and the starting point position of a second Link corresponding to the ending node of the directed edge;
determining a distance between an end position of the first Link and a start position of the second Link, and taking the distance as the weight of the directed edge.
7. The method according to any one of claims 1 to 6, wherein the determining the navigation path from the starting point to the end point according to the information of the lane Link directed graph comprises:
determining a Link where the starting point and the ending point are located and the positions of the starting point and the ending point in the corresponding Link according to map data;
determining a first node corresponding to the starting point and a second node corresponding to the ending point in the lane Link digraph according to the information of the lane Link digraph and the Link where the starting point and the ending point are located;
determining the shortest path from the first node to the second node in the lane Link directed graph by adopting a shortest path algorithm according to the information of the lane Link directed graph;
and determining a navigation path from the starting point to the end point according to links corresponding to nodes sequentially passed by the shortest path and the positions of the starting point and the end point in the corresponding links.
8. An apparatus for path generation, comprising:
the data acquisition module is used for responding to a path navigation request from a starting point to an end point, acquiring information of lane Link directed graphs, wherein nodes of the directed graphs correspond to the links one by one, edges are formed between any two nodes to represent that the two links corresponding to the two nodes are communicated, and the weight of the edges between any two nodes is determined according to the distance between the two links corresponding to the two nodes;
and the driving path generating module is used for determining a navigation path from the starting point to the end point according to the information of the lane Link directed graph.
9. An apparatus for path generation, comprising: a processor, and a memory communicatively coupled to the processor;
the memory stores computer-executable instructions;
the processor executes computer-executable instructions stored by the memory to implement the method of any of claims 1-7.
10. A computer-readable storage medium having computer-executable instructions stored thereon, which when executed by a processor, perform the method of any one of claims 1-7.
11. A computer program product, characterized in that it comprises a computer program which, when being executed by a processor, carries out the method of any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111161850.6A CN113847927A (en) | 2021-09-30 | 2021-09-30 | Path generation method, device, equipment, storage medium and program product |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111161850.6A CN113847927A (en) | 2021-09-30 | 2021-09-30 | Path generation method, device, equipment, storage medium and program product |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113847927A true CN113847927A (en) | 2021-12-28 |
Family
ID=78977507
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111161850.6A Pending CN113847927A (en) | 2021-09-30 | 2021-09-30 | Path generation method, device, equipment, storage medium and program product |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113847927A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114264298A (en) * | 2021-12-30 | 2022-04-01 | 神思电子技术股份有限公司 | Navigation path generation method, device and medium for indoor map |
| CN114413919A (en) * | 2021-12-30 | 2022-04-29 | 联想(北京)有限公司 | Navigation method, device, equipment and computer storage medium |
| CN115346012A (en) * | 2022-08-19 | 2022-11-15 | 腾讯科技（深圳）有限公司 | Intersection surface generation method, apparatus, device, storage medium and program product |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104931037A (en) * | 2014-03-18 | 2015-09-23 | 厦门高德软件有限公司 | Navigation prompting information generation method and device |
| CN107860393A (en) * | 2017-10-31 | 2018-03-30 | 刘靖宇 | A kind of fast searching method of a plurality of shortest path |
| CN109059949A (en) * | 2018-07-13 | 2018-12-21 | 武汉云图互联信息技术有限公司 | The calculation method and device of shortest path |
| CN112665601A (en) * | 2020-12-11 | 2021-04-16 | 杭州安恒信息技术股份有限公司 | Path planning method and device, electronic equipment and readable storage medium |
| CN113157842A (en) * | 2021-04-13 | 2021-07-23 | 中移智行网络科技有限公司 | Map generation method and device, electronic equipment and readable storage medium |
-
2021
- 2021-09-30 CN CN202111161850.6A patent/CN113847927A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104931037A (en) * | 2014-03-18 | 2015-09-23 | 厦门高德软件有限公司 | Navigation prompting information generation method and device |
| CN107860393A (en) * | 2017-10-31 | 2018-03-30 | 刘靖宇 | A kind of fast searching method of a plurality of shortest path |
| CN109059949A (en) * | 2018-07-13 | 2018-12-21 | 武汉云图互联信息技术有限公司 | The calculation method and device of shortest path |
| CN112665601A (en) * | 2020-12-11 | 2021-04-16 | 杭州安恒信息技术股份有限公司 | Path planning method and device, electronic equipment and readable storage medium |
| CN113157842A (en) * | 2021-04-13 | 2021-07-23 | 中移智行网络科技有限公司 | Map generation method and device, electronic equipment and readable storage medium |
Non-Patent Citations (1)
| Title |
|---|
| 蔡强，李海生，毛典辉著: "维诺图及其应用研究", vol. 1, 28 February 2015, 中国轻工业出版社, pages: 135 - 148 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114264298A (en) * | 2021-12-30 | 2022-04-01 | 神思电子技术股份有限公司 | Navigation path generation method, device and medium for indoor map |
| CN114413919A (en) * | 2021-12-30 | 2022-04-29 | 联想(北京)有限公司 | Navigation method, device, equipment and computer storage medium |
| CN114264298B (en) * | 2021-12-30 | 2024-02-20 | 神思电子技术股份有限公司 | Navigation path generation method, device and medium for indoor map |
| CN115346012A (en) * | 2022-08-19 | 2022-11-15 | 腾讯科技（深圳）有限公司 | Intersection surface generation method, apparatus, device, storage medium and program product |
| CN115346012B (en) * | 2022-08-19 | 2023-10-17 | 腾讯科技（深圳）有限公司 | Intersection face generation method, device, equipment, storage medium and program product |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3506212B1 (en) | Method and apparatus for generating raster map | |
| CN113847927A (en) | Path generation method, device, equipment, storage medium and program product | |
| US7460952B2 (en) | Navigation apparatus, and data processing method and computer program used therewith | |
| CN106643783B (en) | Electric vehicle charging station searching method based on shortest path Thiessen polygon | |
| CN109813332B (en) | Method and device for adding virtual guide line | |
| CN111829536B (en) | Navigation map road network generation method and device, storage medium and electronic equipment | |
| CN113191550A (en) | Map matching method and device | |
| CN109612475A (en) | Update method, device and the readable storage medium storing program for executing of high-precision electronic map | |
| EP4177570A1 (en) | Standard-definition to high-definition navigation route determination | |
| CN114820769A (en) | Vehicle positioning method and device, computer equipment, storage medium and vehicle | |
| CN111368409A (en) | Vehicle flow simulation processing method, device, equipment and storage medium | |
| CN113763504B (en) | Map updating method, system, vehicle-mounted terminal, server and storage medium | |
| CN115493603B (en) | Map alignment method, computer device, and computer-readable storage medium | |
| KR20220050507A (en) | Method for Creating ND Map and Updating map Using it | |
| CN114440905B (en) | Method and device for constructing intermediate layer, electronic equipment and storage medium | |
| CN115002196B (en) | Data processing method and device and vehicle end acquisition equipment | |
| CN116295478A (en) | Navigation method and device for vehicle | |
| CN113239905B (en) | Lane line simplification method and device, electronic equipment and storage medium | |
| CN116147605A (en) | Vehicle automatic driving map generation method, device, equipment and storage medium | |
| CN113008246B (en) | Map matching method and device | |
| CN113432618A (en) | Trajectory generation method and apparatus, computing device and computer-readable storage medium | |
| CN112229396A (en) | Unmanned vehicle repositioning method, device, equipment and storage medium | |
| WO2004100106A1 (en) | Method and apparatus for displaying map for navigation | |
| CN110686693A (en) | Method for constructing road network information in closed scene | |
| CN116168110A (en) | Intersection topology construction method, system, electronic equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |