CN114234991A - Navigation path planning method and device, computer equipment and storage medium - Google Patents
Navigation path planning method and device, computer equipment and storage medium Download PDFInfo
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- 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
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Abstract
The present application relates to a navigation path planning method, apparatus, computer device, storage medium and computer program product. The method comprises the following steps: when the routing inspection vehicle is detected to be in yaw, acquiring line data of a custom line; preprocessing the line data to obtain effective track points of the custom line; matching a candidate road segment set of the effective track point in the matching range from the road network data, and determining a road matching value between the effective track point and each candidate road segment in the candidate road segment set; determining the optimal path of the custom route according to the road matching value and the candidate road segmentation set by circularly traversing the effective track points; and correcting the navigation offset line of the inspection vehicle according to the optimal path, the user-defined line and the road network data. By adopting the method, the route accuracy of the power transmission line inspection can be improved, and the investment of time and labor cost can be reduced.
Description
Technical Field
The present application relates to the field of positioning and navigation technologies, and in particular, to a navigation path planning method, apparatus, computer device, storage medium, and computer program product.
Background
Positioning and navigation technologies are widely used, for example, the positioning and navigation technologies are used in the field of unmanned driving and in ultra-high voltage inspection (e.g., transformer inspection and transmission line inspection). The current navigation engine technology is relatively closed, corresponding path planning and navigation services are provided for users, and navigation data integration cannot be performed on free trajectory data of the users, so that path planning and navigation are performed.
In the power transmission line patrol service in the power industry, the patrol environment of the power transmission line is complex, in the power transmission line patrol service, the existing navigation engine can not integrate navigation data of non-collected roads, mountain-climbing paths patrolled by power transmission team personnel, track data owned by users and the like, so that the accuracy of the route patrolled by the power transmission line is low, the jiong shape of the path for finding 1 hour exists in the power transmission line patrol service in the power industry, and more time and labor cost are required to input.
Disclosure of Invention
In view of the above, there is a need to provide a navigation path planning method, apparatus, computer device, computer readable storage medium and computer program product, which can improve the path accuracy of power transmission line inspection and reduce the investment of time and labor cost.
In a first aspect, the present application provides a navigation path planning method. The method comprises the following steps:
when the routing inspection vehicle is detected to be in yaw, acquiring line data of a custom line;
preprocessing the line data to obtain effective track points of the custom line;
matching a candidate road segment set of the effective track point in a matching range from road network data, and determining a road matching value between the effective track point and each candidate road segment in the candidate road segment set;
determining the optimal path of the self-defined route according to the road matching value and the candidate road segmentation set by circularly traversing the effective track points;
and correcting the navigation offset line of the inspection vehicle according to the optimal path, the custom line and the road network data.
In one embodiment, the preprocessing the line data to obtain the effective trace points of the custom line includes:
acquiring track points in the line data;
preprocessing the track point data of the track points to obtain effective track points of the custom line; the track point data at least comprises any one of acquisition and return time points, azimuth angles and speeds of the track points.
In one embodiment, the matching of the candidate road segment set of the valid trajectory point within the matching range from the road network data includes:
matching a preliminary candidate road segmentation set of the effective track points in a matching range from road network data;
and carrying out spatial analysis and abnormal analysis on the preliminary candidate road segmentation set to obtain the candidate road segmentation set of the effective track point in the matching range.
In one embodiment, the performing spatial analysis and anomaly analysis on the preliminary candidate road segment set to obtain a candidate road segment set of the effective track point within a matching range includes:
determining effective track points within a specified radius range within a continuous time period according to the collected return time points of the effective track points to obtain corresponding track accumulation points;
performing road grabbing matching on target effective track points in the track accumulation points, and obtaining an intermediate candidate road segmentation set from the preliminary candidate road segmentation set;
and filtering the distance and/or direction of the middle candidate road segmentation set to obtain the candidate road segmentation set of the effective track point in the matching range.
In one embodiment, the determining the road match value between the effective track point and each of the candidate road segments in the set of candidate road segments comprises:
determining projection points of the effective track points on the candidate road segments;
and determining road matching values between the effective track points and the candidate road segments in the candidate road segment set according to the distance between the effective track points and the projection points.
In one embodiment, the determining the optimal path of the custom route according to the road matching value and the candidate road segment set by circularly traversing the effective track points includes:
determining the optimal road segment of the effective track point from the candidate road segment set according to the numerical value of the road matching value;
determining a driving path between two adjacent effective track points in the effective track points by circularly traversing the effective track points;
and determining the optimal path of the custom route according to the driving path and the candidate road segment set.
In one embodiment, the correcting the navigation deviation route of the inspection vehicle according to the optimal route, the custom route and the road network data includes:
after topological communication association is carried out on the optimal path and the user-defined line, the optimal path and the road network data are fused to obtain navigation engine data;
and correcting the navigation offset line of the inspection vehicle according to the navigation engine data to obtain a target navigation path of the inspection vehicle.
In a second aspect, the application further provides a navigation path planning device. The device comprises:
the acquisition module is used for acquiring the line data of the custom line when the routing inspection vehicle is detected to be in yaw;
the preprocessing module is used for preprocessing the line data to obtain effective track points of the custom line;
the matching module is used for matching a candidate road segmentation set of the effective track points in a matching range from road network data; determining road matching values between the effective track points and the candidate road segments in the candidate road segment set;
the determining module is used for determining the optimal path of the custom route according to the road matching value and the candidate road segmentation set by circularly traversing the effective track points;
and the route correction module is used for correcting the navigation offset route of the inspection vehicle according to the optimal route, the user-defined route and the road network data.
In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor implementing the following steps when executing the computer program:
when the routing inspection vehicle is detected to be in yaw, acquiring line data of a custom line;
preprocessing the line data to obtain effective track points of the custom line;
matching a candidate road segment set of the effective track point in a matching range from road network data, and determining a road matching value between the effective track point and each candidate road segment in the candidate road segment set;
determining the optimal path of the self-defined route according to the road matching value and the candidate road segmentation set by circularly traversing the effective track points;
and correcting the navigation offset line of the inspection vehicle according to the optimal path, the custom line and the road network data.
In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:
when the routing inspection vehicle is detected to be in yaw, acquiring line data of a custom line;
preprocessing the line data to obtain effective track points of the custom line;
matching a candidate road segment set of the effective track point in a matching range from road network data, and determining a road matching value between the effective track point and each candidate road segment in the candidate road segment set;
determining the optimal path of the self-defined route according to the road matching value and the candidate road segmentation set by circularly traversing the effective track points;
and correcting the navigation offset line of the inspection vehicle according to the optimal path, the custom line and the road network data.
In a fifth aspect, the present application further provides a computer program product. The computer program product comprising a computer program which when executed by a processor performs the steps of:
when the routing inspection vehicle is detected to be in yaw, acquiring line data of a custom line;
preprocessing the line data to obtain effective track points of the custom line;
matching a candidate road segment set of the effective track point in a matching range from road network data, and determining a road matching value between the effective track point and each candidate road segment in the candidate road segment set;
determining the optimal path of the self-defined route according to the road matching value and the candidate road segmentation set by circularly traversing the effective track points;
and correcting the navigation offset line of the inspection vehicle according to the optimal path, the custom line and the road network data.
According to the navigation path planning method, the navigation path planning device, the computer equipment, the storage medium and the computer program product, when the vehicle is patrolled and navigated, the effective track points of the custom route are determined by acquiring the route data of the custom route; determining a candidate road segmentation set of effective track points; determining the optimal path of the custom route according to the effective track points and the candidate road segmentation set by circularly traversing the effective track points; correcting the navigation offset line of the inspection vehicle according to the optimal path, the user-defined line and the road network data; by accessing autonomous road navigation, correct navigation and yaw calculation are carried out according to the combination of own road data when the power transmission line is subjected to yaw in the routing inspection process, the routing accuracy and comprehensiveness of the power transmission line routing inspection are ensured, and the routing inspection efficiency is further improved.
Drawings
FIG. 1 is a diagram of an exemplary embodiment of a navigation path planning method;
FIG. 2 is a flow diagram illustrating a method for navigation path planning in one embodiment;
FIG. 3 is a schematic flow diagram of a method for determining candidate road segments for valid trace points in one embodiment;
FIG. 4 is a schematic flow chart diagram illustrating a navigation routing method in accordance with another embodiment;
FIG. 5 is a flow diagram illustrating a method for determining an optimal path for a custom route, according to one embodiment;
FIG. 6 is a block diagram of an embodiment of a navigation routing apparatus;
FIG. 7 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The navigation path planning method provided by the embodiment of the application can be applied to the application environment shown in fig. 1. Wherein the terminal 102 communicates with the server 104 via a network. The data storage system may store data that the server 104 needs to process. The data storage system may be integrated on the server 104, or may be located on the cloud or other network server. When the inspection vehicle is detected to be in yaw, the terminal 102 acquires line data of a custom line from the server 104; preprocessing the line data to obtain effective track points of the custom line; matching a candidate road segment set of the effective track point in the matching range from the road network data, and determining a road matching value between the effective track point and each candidate road segment in the candidate road segment set; determining the optimal path of the custom route according to the road matching value and the candidate road segmentation set by circularly traversing the effective track points; and correcting the navigation offset line of the inspection vehicle according to the optimal path, the user-defined line and the road network data. The terminal 102 may be, but not limited to, various personal computers, notebook computers, smart phones, tablet computers, internet of things devices and portable wearable devices, and the internet of things devices may be smart speakers, smart televisions, smart air conditioners, smart car-mounted devices, and the like. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device, and the like. The server 104 may be implemented as a stand-alone server or as a server cluster comprised of multiple servers.
In an embodiment, as shown in fig. 2, a navigation path planning method is provided, where the method is applied to the terminal in fig. 1, and the terminal takes an on-vehicle end of an inspection vehicle as an example for description, and includes the following steps:
Wherein, patrol and examine the vehicle under the vehicle can different application scenes, in this application, explain for example with the scene of patrolling and examining of superhigh voltage power transmission line. In the running process of the vehicle, the vehicle-mounted terminal of the inspection vehicle positions the current position of the inspection vehicle in real time, whether the inspection vehicle drifts is detected, the drift detection is that the offset between the current position of the inspection vehicle and the planned navigation path is larger than a preset value (for example, 1m) according to the positioning, and the offset can be realized by the existing GPS algorithm (for example, traversing all GPS point coordinates on the navigation path, calculating the distance one by one according to the current point coordinates of the inspection vehicle, and screening out two route GPS point coordinates closest to the current point to detect whether the inspection vehicle drifts).
The user-defined route is a route which does not exist in the existing road network data, is a low-grade road which is autonomously maintained by a user and a road which is acquired by the user, namely, the route which is originally navigated does not have the road information and is maintained by the user according to actual needs; in the application scene of the inspection of the ultrahigh voltage transmission line, the self-defined line is a walking track acquired by an operator during inspection and a vehicle track which does not exist in built-in navigation in advance. The route data (i.e., KML data) of the custom route includes a plurality of trace points and trace point coordinates of each trace point.
Specifically, the vehicle-mounted terminal of the inspection vehicle positions the current position in real time, when the current position is detected to deviate from the planned navigation path, a navigation path deviation rectifying instruction is triggered and generated, and line data of the user-defined line is obtained from the server according to the navigation path deviation rectifying instruction.
And step 204, preprocessing the line data to obtain the effective track points of the custom line.
The preprocessing refers to data cleaning of line data according to preset conditions, and comprises time filtering and exception filtering; the line data comprises track point data of track points of the user-defined line, and the track point data comprises track point coordinates, collected return time, azimuth angles, speed and the like. The data cleaning can be to clean track points (GPS points) in the line data and clean invalid track points; and each track point in the line data has corresponding track point data. That is, the preset conditions include a time filtering and an exception filtering preset condition, the time filtering preset condition includes repetition of the acquisition and return time, the exception filtering preset condition includes absence of the preset azimuth angle range and the absence of the preset speed range, and the track point coordinates of the track point are not within the preset coordinate range (for example, the longitude and latitude coordinates are negative values).
Specifically, the vehicle-mounted terminal preprocesses the line data, deletes the invalid track points in the line data, and obtains the valid track points of the custom line data. Further, obtaining track points in the line data; preprocessing the track point data of the track points to obtain effective track points of the custom line; the track point data at least comprises any one of acquisition and return time points, azimuth angles and speeds of the track points. The method can be understood as that the trace points in the line data are subjected to time sequencing according to the acquisition and return time, the trace points with the same acquisition and return time are deleted, only the trace point which is acquired and returned firstly is reserved, and the method can be understood as that the trace point which is acquired and returned firstly is reserved in the same acquisition and return time, and other trace points are deleted; and continuously carrying out data cleaning on the obtained track points, carrying out data cleaning on the track points which are not in a preset azimuth angle range, are greater than a preset speed and have position coordinates not in a preset longitude and latitude range, and obtaining effective track points, for example, track points with a cleaning speed of a negative value or more than 1200km/h, a direction of more than 360 degrees and a longitude and latitude coordinate of a negative value or a preset range.
And step 206, matching a candidate road segment set of the effective track point in the matching range from the road network data, and determining a road matching value between the effective track point and each candidate road segment in the candidate road segment set.
The road network data is pre-collected data, including data of existing roads and standard navigation electronic maps. The candidate road segment refers to a standard navigation Link, namely in the original navigation line, the road information exists, and the minimum segment of the road data is 1 Link. The matching range is determined according to the actual navigation precision, the requirements on the navigation precision are different under different application scenes, and the matching ranges corresponding to different navigation precision requirements are also different. Within the matching range, a plurality of candidate road segments exist for each valid trajectory point.
The road matching value is a matching probability value obtained by calculating according to the distance between the effective track point and the projection point of the effective track point, and the distance between the effective track point and the projection point of the effective track point meets normal distribution N (mu, sigma 2); the projection point of the effective track point is the point of the projection of the effective track point on the candidate road segment.
Specifically, a candidate road segmentation set of effective track points in a matching range is matched from road network data, projection points of the effective track points on each candidate road segmentation in the candidate road segmentation set are determined, distance values between the effective track points and the projection points are calculated, and road matching values between the effective track points and the candidate road segmentation sets in the candidate road segmentation set are determined according to the fact that the distances meet the rule of normal distribution.
Further, matching a preliminary candidate road segmentation set of the effective track points in the matching range from the road network data; and carrying out spatial analysis and abnormal analysis on the preliminary candidate road segmentation set to obtain a candidate road segmentation set of the effective track point in the matching range.
The spatial analysis means that corresponding track accumulation points are determined according to the acquisition and return time of the effective track points, and a first effective track point in each track accumulation point is determined; the abnormal analysis of the first effective track point in each track accumulation point refers to the analysis of whether the distance and/or the direction included angle between the effective track point and the preliminary candidate road segment is larger than the corresponding threshold value, and the method comprises the following steps: calculating the distance from the effective track point to each preliminary candidate road segment in the corresponding preliminary candidate road segment set, and when the distance is greater than a distance threshold (which can be adjusted according to actual requirements, for example, 80 meters), determining that the preliminary candidate road segment is abnormal and needs to be filtered; and calculating an included angle between the direction of the effective track point and the driving direction of each preliminary candidate road segment in the corresponding preliminary candidate road segment set, and determining that the preliminary candidate road segment is abnormal when the included angle is greater than an included angle threshold value (which can be adjusted according to actual requirements, for example, 85 degrees), and filtering.
Specifically, a preliminary candidate road segmentation set of effective track points in a matching range is matched from road network data, corresponding track accumulation points are determined according to the collection return time of the effective track points, a first effective track point in each track accumulation point is determined, abnormal analysis is conducted on the first effective track point in each track accumulation point, namely whether the distance and/or the direction included angle between the effective track point and the preliminary candidate road segmentation set is larger than a corresponding threshold value or not is analyzed, the preliminary candidate road segmentation set of the effective track points in the matching range is obtained by deleting the preliminary candidate road segmentation set of which the distance and/or the direction included angle are larger than the corresponding threshold value or not, and navigation accuracy is improved by performing space analysis and abnormal analysis on the candidate road segmentation sets.
And step 208, determining the optimal path of the custom route according to the road matching value and the candidate road segmentation set by circularly traversing the effective track points.
The road network is provided with directions, topological relations and associated nodes, when effective track points are traversed circularly, candidate road section sequences of the custom lines are determined according to the effective track points, and the traversal sequence of the effective track points is determined.
Specifically, according to the size of the road matching value, on the basis of normal distribution, calculating the probability value of each candidate road section through space analysis (including algorithms such as space information quantity calculation, space information classification, buffer area analysis, superposition analysis, network analysis, space statistical analysis and the like), and backtracking to obtain the optimal projection point of the effective track point and the corresponding optimal candidate road segment (namely the foot point coordinate and the optimal candidate Link of the effective track point); and determining a candidate road section sequence of the custom route according to the self-attribute of the existing road network, circularly traversing the effective track points according to the candidate road section sequence to obtain a route between every two adjacent effective track points, and determining the optimal route of the custom route.
And step 210, correcting the navigation offset line of the inspection vehicle according to the optimal path, the user-defined line and the road network data.
The optimal path and the custom line are subjected to topological connectivity association, the topological connectivity association of the optimal path and the custom line can be realized through the existing road network correlation technology, for example, according to the field attribute specification of the standard navigation Link, a road node is established at the tail end of the optimal path and is communicated to the custom road, more nodes are established according to the crossing condition of the custom road, and the steering information of the custom road is described.
The correction is to correct and re-plan the routing inspection path of the routing inspection vehicle through navigation engine data obtained by performing fusion compilation on the optimal path and the user-defined line after the optimal path is associated with the road network data; the corrected result comprises historical patrol data of the patrol vehicle and a patrol habit route (namely, the route with the patrol route frequency being greater than the preset frequency can be understood as a patrol preference route).
Specifically, according to the field attribute specification of the standard navigation Link, road nodes are established at the tail end of the optimal path and communicated to the custom road, more nodes are established according to the crossing condition of the custom road, the steering information of the custom road is described, the optimal path and the custom line are subjected to topological connectivity association, missing road data are supplemented, road data of the custom line are obtained, road network data are updated according to the road data of the custom line, and the navigation line of the inspection vehicle is corrected based on the updated road network data, so that the planned navigation path is obtained. The road data includes road type, pavement state, running speed, road gradient, road curvature, running speed and the like.
Further, before the navigation route of the inspection vehicle is corrected based on the updated road network data, target road data is obtained from the updated road network data, the target road data is verified (for example, a corresponding running speed is calculated according to road attributes in the road data, the calculated running speed is compared with an actual running speed for verification, and a current road state is verified), and when the verification is passed, the navigation route of the inspection vehicle is corrected based on the updated road network data, so that the situations that own data cannot be identified and a correction route is calculated mistakenly are avoided.
In the navigation path planning method, when the inspection vehicle is in a navigation state, the effective track points of the custom line are determined by acquiring the line data of the custom line; determining a candidate road segmentation set of effective track points; determining the optimal path of the custom route according to the effective track points and the candidate road segmentation set by circularly traversing the effective track points; correcting the navigation offset line of the inspection vehicle according to the optimal path, the user-defined line and the road network data; by accessing autonomous road navigation, correct navigation and yaw calculation are carried out according to the combination of own road data when the power transmission line is subjected to yaw in the routing inspection process, the routing accuracy and comprehensiveness of the power transmission line routing inspection are ensured, and the routing inspection efficiency is further improved.
In one embodiment, as shown in fig. 3, a method for determining a candidate road segment of a valid track point is provided, and the method is applied to the terminal in fig. 1, where the terminal is exemplified by a vehicle-mounted terminal of an inspection vehicle, and includes the following steps:
and 302, matching a preliminary candidate road segmentation set with effective track points in a matching range from the road network data.
Wherein the matching range is predetermined; the preliminary candidate road segment has corresponding steering information.
Specifically, a preliminary candidate road segmentation set in a matching range is matched from the collected road network data according to the track point coordinates of the effective track points; that is, at least one preliminary candidate road segment exists in the matching range for one valid trajectory point; for example, when the inspection vehicle is at an intersection, there are preliminary candidate road segments to the left and right within the matching range.
And step 304, determining effective track points within a specified radius range in a continuous time period according to the collected return time points of the effective track points to obtain corresponding track accumulation points.
The designated radius range is preset, and may be, for example, but not limited to, 10 to 15 meters. The trace pile points are valid trace points within a specified radius in successive time periods. For example, the GPS point gathering in the continuous time quantum is in the radius within 10 ~ 15 meters, and two point GPS point line directions are unstable around and, for example, the orbit is piled up and is included effective track point A, effective track point B, effective track point C, effective track point D in the point, and effective track point A and effective track point B's line direction, with effective track point B and effective track point C's line direction probably in same direction, also can not be in same direction.
And step 306, performing road grabbing matching on the target effective track points in the track accumulation points, and obtaining an intermediate candidate road segmentation set from the preliminary candidate road segmentation set.
The target effective track point is determined according to the acquisition and return time, namely the acquisition and return time of each effective track point in the track accumulation points determines the effective track point which is returned firstly as the target effective track point. And the road-grabbing matching refers to matching the target effective track point with the preliminary candidate road segmentation set to obtain a middle candidate road segmentation set in a matching range.
Specifically, the collection return time of each effective track point in the track accumulation points determines that the effective track point returned firstly is a target effective track point, and the target effective track point is matched with the preliminary candidate road segmentation set to obtain a middle candidate road segmentation set in a matching range.
And 308, filtering the distance and/or direction of the intermediate candidate road segment set to obtain a candidate road segment set with the effective track point in the matching range.
The distance filtering means deleting the intermediate candidate road segments of which the distance between the target effective track point and the intermediate candidate road segment set is greater than a distance threshold; the direction filtering means deleting the middle candidate road segment whether the direction included angle between the target effective track point and the middle candidate road segment set is larger than a direction threshold value.
Specifically, a preliminary candidate road segmentation set of effective track points in a matching range is matched from road network data, corresponding track accumulation points are determined according to the collection return time of the effective track points, a first effective track point in each track accumulation point is determined, a target effective track point in each track accumulation point is obtained, the target effective track point in each track accumulation point is subjected to road grabbing matching, a middle candidate road segmentation set is obtained from the preliminary candidate road segmentation set, distance and/or direction filtering is carried out on the middle candidate road segmentation set, and a candidate road segmentation set of the effective track points in the matching range is obtained.
In the candidate road segmentation for determining the effective track points, the effective track points within the specified radius range in the continuous time period are determined according to the collected return time points of the effective track points to obtain the corresponding track accumulation points, the target effective track points in the track accumulation points are subjected to road grabbing matching, a middle candidate road segmentation set is obtained from the primary candidate road segmentation set, distance and/or direction filtering is performed on the middle candidate road segmentation set to obtain the candidate road segmentation set of the effective track points within the matching range, and the candidate road segmentation is subjected to filtering processing, so that the navigation accuracy is improved, the data processing amount is reduced, and the data processing performance is improved.
In another embodiment, as shown in fig. 4, a navigation path planning method is provided, where the method is applied to the terminal in fig. 1, and the terminal takes an on-vehicle end of an inspection vehicle as an example for description, and includes the following steps:
and 402, acquiring line data of the custom line when the inspection vehicle is detected to be in yaw.
And step 404, preprocessing the line data to obtain the effective track points of the custom line.
Specifically, the preprocessing the line data includes: acquiring track points in the line data; preprocessing the track point data of the track points to obtain effective track points of the custom line; the track point data at least comprises any one of the acquisition and return time point, the azimuth angle and the speed of the track point. For example, track points (GPS points) in the line data are acquired, sorted according to the acquisition and return time, and subjected to time filtering and exception filtering to obtain effective track points of the custom line.
For example, sorting is performed according to the acquisition and return time of the GPS points, performing abnormal GPS filtering, deleting the trace points with a negative speed or over 1200km/h, a direction greater than 360 degrees, and a longitude and latitude coordinate as a negative value, and then deleting the trace points with the acquisition and return time, and only reserving one GPS point (which may be but is not limited to the first GPS point) in the same time period.
And 406, matching a candidate road segment set of the effective track point in the matching range from the road network data, and determining a road matching value between the effective track point and each candidate road segment in the candidate road segment set.
Specifically, a preliminary candidate road segmentation set of effective track points in a matching range is matched from road network data; determining effective track points within a specified radius range within a continuous time period according to the collected return time points of the effective track points to obtain corresponding track accumulation points; carrying out road grabbing matching on target effective track points in the track accumulation points, and obtaining an intermediate candidate road segmentation set from the preliminary candidate road segmentation set; and (3) filtering the distance and/or direction of the middle candidate road segmentation set to obtain a candidate road segmentation set of the effective track point in the matching range. Determining projection points of the effective track points on the candidate road segments; and determining a road matching value between the effective track point and each candidate road segment in the candidate road segment set according to the distance between the effective track point and the projection point.
And step 408, determining the optimal path of the custom route according to the road matching value and the candidate road segmentation set by circularly traversing the effective track points.
The optimal path is generally determined according to a strategy selected by a user, and if the selection of the minor path is preferred, the self-defined path is preferentially selected. The method for determining the optimal path of the custom line, as shown in fig. 5, includes the following steps:
And determining the candidate road segment corresponding to the road matching value with the maximum value as the optimal road segment of the effective track point according to the value of the road matching value.
And step 504, determining a driving path between two adjacent effective track points in the effective track points by circularly traversing the effective track points.
When the effective track points are traversed circularly and the driving path between two adjacent effective track points in the effective track points is determined, when the next position point is presumed (for example, the next effective track point) based on the current effective track point, when the optimal road section matched with the current effective track point is not on the road connected with the current effective track point and the next effective track point, the automatic interruption is carried out, the optimal road section of the next effective track point is taken as the starting point to continue the presumption, the driving path between two adjacent effective track points in the effective track points is sequentially determined, and the distance between the starting point of the optimal road section of the next effective track point and the next position point is supplemented.
For example, when the current effective track point starts from the point a and is presumed to be the point B1 km later, the road matched with the subsequent GPS point is not on the road connected with the point B, the automatic interruption is performed, and the presumption is continued by taking the link matched with the subsequent GPS point as the starting point (for example, the point C). And subsequently calculating a recommended route from the point B to the point C through path planning (namely, navigation route calculation) to complete the calculation. The optimal path is generally determined according to a strategy selected by a user, and if the selection of the minor path is preferred, the self-defined path is preferentially selected.
And step 506, determining the optimal path of the custom route according to the driving path and the candidate road segment set.
The optimal path is determined according to a path determination policy, and may be the shortest time first, or may be determined according to a road grade (for example, the road grade is the lowest priority or the road grade is the highest priority), where the road grade determined according to the road grade is predefined, for example, the road grade of a mountain road is lower than a highway, or may be determined according to a historical inspection habit of an inspection worker.
And step 410, correcting the navigation offset line of the inspection vehicle according to the optimal path, the user-defined line and the road network data.
Specifically, after topological communication association is carried out on the optimal path and the user-defined line, the optimal path and road network data are fused to obtain navigation engine data; correcting the navigation offset line of the inspection vehicle according to the navigation engine data to obtain a target navigation path of the inspection vehicle; determining a routing inspection area to be inspected, acquiring road network data of the routing inspection area, and acquiring navigation engine data when the routing inspection vehicle is detected to be deflected, wherein the navigation engine data is obtained by accessing a custom line and a corresponding optimal path in the existing road network data based on the navigation path planning method, and fusing and compiling; acquiring navigation engine data and a routing destination of a routing inspection area, performing convolution processing on the navigation engine data according to path planning strategy data (such as single or multiple combinations of fastest time, shortest path, no-speed walking and the like) to obtain a corresponding feature map, performing expansion convolution on the feature map to obtain a first feature of a road with space topologically associated with the routing inspection destination, a second feature of a road section nearest to the routing inspection destination and a third feature representing road attributes (such as high-speed/trunk road/branch road, custom road/existing road network), fusing the first feature, the second feature and the third feature to obtain a first fused feature, fusing the first fused feature and the feature map to obtain a second fused feature, performing dimension reduction processing on the second fused feature to obtain an optimal feature of road planning, and correcting the navigation offset line of the inspection vehicle based on the optimal characteristic to obtain a target navigation path.
The navigation engine data is obtained by performing topological communication association on the optimal path and the user-defined line, and updating the road network data, namely by fusing and compiling.
When the patrol personnel drives to the end of the existing road network under the mountain foot, the patrol personnel finds that the road still passes ahead and the GPS track is deviated from the current route (by more than 50 meters), the wandering recalculation is started, the own route is found according to the navigation path planning method steps, the own route is displayed on a map for the driving reference of the map, and the navigation deviated route of the patrol vehicle is corrected according to the optimal route, the custom route and the road network data to obtain the target navigation path of the patrol vehicle and finish the patrol of the power transmission line.
In the navigation path planning method, the route data of the user-defined route is accessed, and a candidate road segmentation set of effective track points of the user-defined route is obtained; determining the optimal path of the custom route according to the effective track points and the candidate road segmentation set by circularly traversing the effective track points; correcting the navigation offset line of the inspection vehicle according to the optimal path, the user-defined line and the road network data; by accessing the autonomous road navigation, correct navigation and yaw calculation are carried out according to the combination of the autonomous road data when the power transmission line is subjected to yaw in the routing inspection process, the routing accuracy and comprehensiveness of the power transmission line routing inspection are ensured, the investment of time and labor cost is saved, and the routing inspection efficiency is improved.
It should be understood that, although the steps in the flowcharts related to the embodiments are shown in sequence as indicated by the arrows, the steps are not necessarily executed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowcharts related to the above embodiments may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of the steps or stages in other steps.
Based on the same inventive concept, the embodiment of the application also provides a navigation path planning device for realizing the navigation path planning method. The solution to the problem provided by the device is similar to the solution described in the above method, so the specific limitations in one or more embodiments of the navigation path planning device provided below can be referred to the limitations of the navigation path planning method in the above, and are not described herein again.
In one embodiment, as shown in fig. 6, there is provided a navigation path planning apparatus including: an obtaining module 602, a preprocessing module 604, a matching module 606, a determining module 608, and a line modification module 610, wherein:
the obtaining module 602 is configured to obtain line data of the custom line when the inspection vehicle is detected to be yaw.
The preprocessing module 604 is configured to preprocess the line data to obtain the effective trace points of the custom line.
The matching module 606 is used for matching a candidate road segmentation set of the effective track points in the matching range from the road network data; and determining road matching values between the effective track points and the candidate road segments in the candidate road segment set.
And the determining module 608 is configured to determine the optimal path of the user-defined route according to the road matching value and the candidate road segment set by circularly traversing the effective track points.
And the route correction module 610 is used for correcting the navigation offset route of the inspection vehicle according to the optimal route, the user-defined route and the road network data.
The navigation path planning device determines the effective track points of the custom line by acquiring the line data of the custom line when the inspection vehicle is in the process of yaw; determining a candidate road segmentation set of effective track points; determining the optimal path of the custom route according to the effective track points and the candidate road segmentation set by circularly traversing the effective track points; correcting the navigation offset line of the inspection vehicle according to the optimal path, the user-defined line and the road network data; by accessing autonomous road navigation, correct navigation and yaw calculation are carried out according to the combination of own road data when the power transmission line is subjected to yaw in the routing inspection process, the routing accuracy and comprehensiveness of the power transmission line routing inspection are ensured, and the routing inspection efficiency is further improved.
In one embodiment, a navigation path planning apparatus is provided, which includes, in addition to an obtaining module 602, a preprocessing module 604, a matching module 606, a determining module 608, and a route modification module 610: a traversal module and an association module, wherein:
optionally, in an embodiment, the obtaining module 602 is further configured to obtain track points in the route data.
Optionally, in an embodiment, the preprocessing module 604 is further configured to perform preprocessing according to the trajectory point data of the trajectory point to obtain an effective trajectory point of the custom route; the track point data at least comprises any one of the acquisition and return time point, the azimuth angle and the speed of the track point.
Optionally, in an embodiment, the matching module 606 is further configured to match a preliminary candidate road segment set with valid track points within a matching range from the road network data.
Optionally, in an embodiment, the preprocessing module 604 is further configured to perform spatial analysis and anomaly analysis on the preliminary candidate road segment set, so as to obtain a candidate road segment set with valid track points within the matching range.
The preprocessing module 604 comprises a determining unit, a capturing matching unit and a preprocessing unit, wherein the determining unit is used for determining effective track points within a specified radius range in a continuous time period according to the acquisition and return time points of the effective track points to obtain corresponding track accumulation points;
the road-catching matching unit is used for performing road-catching matching on target effective track points in the track accumulation points and obtaining an intermediate candidate road segmentation set from the preliminary candidate road segmentation set;
and the preprocessing unit is used for filtering the distance and/or the direction of the middle candidate road segmentation set to obtain a candidate road segmentation set of the effective track point in the matching range.
Optionally, in an embodiment, the matching module 606 is further configured to determine projection points of the effective track points on the candidate road segments; and determining a road matching value between the effective track point and each candidate road segment in the candidate road segment set according to the distance between the effective track point and the projection point.
Optionally, in an embodiment, the determining module 608 is further configured to determine an optimal road segment of the valid trajectory points from the candidate road segment set according to the magnitude of the road matching value.
And the traversal module is used for determining a driving path between two adjacent effective track points in the effective track points by circularly traversing the effective track points.
Optionally, in one embodiment, the determining module 608 is further configured to determine an optimal path of the custom route according to the driving path and the set of candidate road segments.
And the association module is used for fusing the optimal path and the road network data after topological communication association is carried out on the optimal path and the user-defined line, so as to obtain navigation engine data.
Optionally, in an embodiment, the route correction module 610 is configured to perform a correction process on the navigation offset route of the inspection vehicle according to the navigation engine data, so as to obtain the target navigation path of the inspection vehicle.
The modules in the navigation path planning device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 7. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a navigation path planning method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is further provided, which includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method embodiments when executing the computer program.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
In an embodiment, a computer program product is provided, comprising a computer program which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
It should be noted that, the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), Magnetic Random Access Memory (MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing based data processing logic devices, etc., without limitation.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.
Claims (10)
1. A method of navigation path planning, the method comprising:
when the routing inspection vehicle is detected to be in yaw, acquiring line data of a custom line;
preprocessing the line data to obtain effective track points of the custom line;
matching a candidate road segment set of the effective track point in a matching range from road network data, and determining a road matching value between the effective track point and each candidate road segment in the candidate road segment set;
determining the optimal path of the self-defined route according to the road matching value and the candidate road segmentation set by circularly traversing the effective track points;
and correcting the navigation offset line of the inspection vehicle according to the optimal path, the custom line and the road network data.
2. The method of claim 1, wherein the preprocessing the route data to obtain the effective trace points of the custom route comprises:
acquiring track points in the line data;
preprocessing the track point data of the track points to obtain effective track points of the custom line; the track point data at least comprises any one of acquisition and return time points, azimuth angles and speeds of the track points.
3. The method according to claim 1, wherein the matching out the candidate road segment set with the valid trajectory point within the matching range from the road network data comprises:
matching a preliminary candidate road segmentation set of the effective track points in a matching range from road network data;
and carrying out spatial analysis and abnormal analysis on the preliminary candidate road segmentation set to obtain the candidate road segmentation set of the effective track point in the matching range.
4. The method according to claim 3, wherein the performing spatial analysis and anomaly analysis on the preliminary set of candidate road segments to obtain the set of candidate road segments with the valid trajectory points within the matching range includes:
determining effective track points within a specified radius range within a continuous time period according to the collected return time points of the effective track points to obtain corresponding track accumulation points;
performing road grabbing matching on target effective track points in the track accumulation points, and obtaining an intermediate candidate road segmentation set from the preliminary candidate road segmentation set;
and filtering the distance and/or direction of the middle candidate road segmentation set to obtain the candidate road segmentation set of the effective track point in the matching range.
5. The method of claim 1, wherein determining the road match value between the active track point and each of the set of candidate road segments comprises:
determining projection points of the effective track points on the candidate road segments;
and determining road matching values between the effective track points and the candidate road segments in the candidate road segment set according to the distance between the effective track points and the projection points.
6. The method of claim 1, wherein determining the optimal path of the custom route from the road match values and the set of candidate road segments by looping through the valid trajectory points comprises:
determining the optimal road segment of the effective track point from the candidate road segment set according to the numerical value of the road matching value;
determining a driving path between two adjacent effective track points in the effective track points by circularly traversing the effective track points;
and determining the optimal path of the custom route according to the driving path and the candidate road segment set.
7. The method of claim 1, wherein the correcting the navigation deviation route of the inspection vehicle according to the optimal route, the custom route and the road network data comprises:
after topological communication association is carried out on the optimal path and the user-defined line, the optimal path and the road network data are fused to obtain navigation engine data;
and correcting the navigation offset line of the inspection vehicle according to the navigation engine data to obtain a target navigation path of the inspection vehicle.
8. A navigation path planning apparatus, the apparatus comprising:
the acquisition module is used for acquiring the line data of the custom line when the routing inspection vehicle is detected to be in yaw;
the preprocessing module is used for preprocessing the line data to obtain effective track points of the custom line;
the matching module is used for matching a candidate road segmentation set of the effective track points in a matching range from road network data; determining road matching values between the effective track points and the candidate road segments in the candidate road segment set;
the determining module is used for determining the optimal path of the custom route according to the road matching value and the candidate road segmentation set by circularly traversing the effective track points;
and the route correction module is used for correcting the navigation offset route of the inspection vehicle according to the optimal route, the user-defined route and the road network data.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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