CN114608593A

CN114608593A - Route planning method, device, equipment and storage medium

Info

Publication number: CN114608593A
Application number: CN202210190776.9A
Authority: CN
Inventors: 陈晓龙; 肖飞
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2022-02-28
Filing date: 2022-02-28
Publication date: 2022-06-10
Anticipated expiration: 2042-02-28
Also published as: CN114608593B

Abstract

The present disclosure provides a route planning method, apparatus, device and storage medium, which relate to artificial intelligence technology, and in particular to the technical field of intelligent transportation. The specific implementation scheme is as follows: after a route planning request sent by user terminal equipment is received, acquiring a target route from a starting position to an end position according to the route planning request and a pre-acquired tree structure of a road network, wherein the license plate number can avoid a restricted target route of each area in the process; the tree structure is a multilevel region structure which is formed by multilayer nested division of a national road network topological graph according to a connection relation by adopting a local greedy algorithm, the region range from the top to the lower layer in the tree structure is gradually reduced, and regions with consistent restriction rules in the same city belong to the same divided region; and then pushing the target route to the terminal equipment. By the scheme, a route planning scheme for avoiding a plurality of city restricted areas is realized.

Description

Route planning method, device, equipment and storage medium

Technical Field

The present disclosure relates to the field of intelligent traffic technologies in artificial intelligence, and in particular, to a method, an apparatus, a device, and a storage medium for route planning.

Background

With the popularization of automobiles and the development of navigation tools, users can plan a proper route to travel through the navigation tools, and self-driving travel also becomes a preferred travel mode of more and more users, wherein some users can select to self-drive for a long distance to travel in multiple cities.

In the prior art, with the aggravation of urban congestion conditions, restriction regulations for license plates of different provinces and cities are issued at various places. According to incomplete statistics, at present, more than 50 cities specified by license plate type restriction in China exist, corresponding restriction rules are more and more complex as year by year, and if some cities are distinguished by local vehicles and foreign vehicles, local vehicles in the areas are additionally arranged, and license plate restriction areas of different types are different. In the existing route planning scheme, a navigation system can only plan a route which is the closest to the user or the shortest in driving time according to a destination provided by the user, however, under the condition of complex restriction regulations in various places, the user easily violates rules when arriving at other cities according to the currently planned route, and causes the consequences such as fine money.

How to realize route planning for avoiding a plurality of city restricted areas does not have a proper technical scheme at present.

Disclosure of Invention

The disclosure provides a route planning method, a route planning device, a route planning apparatus and a storage medium.

According to a first aspect of the present disclosure, there is provided a route planning method, comprising:

receiving a route planning request from a terminal device of a user, wherein the route planning request comprises a starting position, an end position and a license plate number;

acquiring a target route from the starting position to the end position according to the route planning request and a pre-acquired tree structure of a road network, wherein the license plate number can avoid a restricted target route of each region in the route; the tree structure is a multilevel region structure which is formed by multilayer nested division of a national road network topological graph according to a connection relation by adopting a local greedy algorithm, the region range from the top to the lower layer in the tree structure is gradually reduced, and regions with consistent restriction rules in the same city belong to the same divided region;

and pushing the target route to the terminal equipment.

According to a second aspect of the present disclosure, there is provided a route planning apparatus comprising:

the system comprises a receiving unit, a route planning unit and a processing unit, wherein the receiving unit is used for receiving a route planning request from terminal equipment of a user, and the route planning request comprises a starting position, an end position and a license plate number;

the first processing unit is used for acquiring a target route from the starting position to the end position according to the route planning request and a pre-acquired tree structure of a road network, and the license plate number can avoid a restricted target route of each area in the route; the tree structure is a multilevel region structure which is formed by multilayer nested division of a national road network topological graph according to a connection relation by adopting a local greedy algorithm, the region range from the top to the lower layer in the tree structure is gradually reduced, and regions with consistent restriction rules in the same city belong to the same divided region;

and the sending unit is used for pushing the target route to the terminal equipment.

According to a third aspect of the present disclosure, there is provided an electronic device comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect.

According to a fourth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of the first aspect.

According to a fifth aspect of the present disclosure, there is provided a computer program product comprising: a computer program, stored in a readable storage medium, from which at least one processor of an electronic device can read the computer program, execution of the computer program by the at least one processor causing the electronic device to perform the method of the first aspect.

According to the technical scheme disclosed by the invention, the road network is subjected to multilayer nested division according to the connection relation in advance, the areas with consistent limiting rules in the same city are divided into the same area as much as possible to obtain a multi-level tree structure, and the route planning scheme for simultaneously avoiding the restriction regulations of a plurality of cities is realized on the basis of the tree structure.

It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

fig. 1 is a schematic diagram of an application scenario used by the route planning method provided by the present disclosure;

fig. 2 is a schematic flow chart of a route planning method according to a first embodiment of the disclosure;

fig. 3a is a schematic flow chart of a route planning method according to a second embodiment of the disclosure;

FIG. 3b is a first city block diagram provided by an embodiment of the present disclosure;

fig. 4a is a schematic flow chart of a route planning method according to a third embodiment of the present disclosure;

FIG. 4b is a second city block diagram provided by an embodiment of the present disclosure;

FIG. 4c is a third city block diagram provided by embodiments of the present disclosure;

fig. 5a is a schematic flow chart of a route planning method according to a fourth embodiment of the disclosure;

fig. 5b is a schematic diagram of region division provided by the embodiment of the present disclosure;

fig. 5c is a schematic diagram of region division of a city according to the embodiment of the present disclosure;

fig. 5d is a schematic diagram of a tree structure provided in the embodiment of the present disclosure;

FIG. 6 is a schematic diagram of a route between boundary points of different regions of a cache according to an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of a route planning device according to an embodiment of the present disclosure;

FIG. 8 shows a schematic block diagram of an example electronic device to implement embodiments of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

With the popularization of navigation tools such as automobiles and maps in user lives, self-driving travel of users also becomes a common travel mode, particularly, many users can choose to drive themselves for multiple cities for playing in a long distance, the congestion conditions of the cities are increased along with the wide use of the automobiles, all the cities issue restriction regulations aiming at various license plates, and the same city can possibly have various different restriction modes. According to incomplete statistics, at present, more than 50 cities specified by license plate type restriction in China exist, corresponding restriction rules are more and more complex as year by year, and if some cities are distinguished by local vehicles and foreign vehicles, local vehicles in the areas are additionally arranged, and license plate restriction areas of different types are different. This makes the self-driving user need to consider various restricted time and specific area of all cities in the route planning at the same time to avoid being penalized due to violation.

In the current technical scheme, when planning a route for a user by using tools such as map navigation and the like, the user plans the route which is the fastest to arrive by only considering factors such as route distance, driving time and the like, and according to the mode, the user easily causes penalty or more serious penalty due to violation when arriving at other cities, thereby bringing great inconvenience to travel. That is to say, at present, no route planning scheme capable of avoiding the restricted areas of multiple cities according to various restriction rules of multiple cities exists.

The navigation service needs to meet the requirement of millisecond-level response of planning of any starting point and end point paths in the whole country, an algorithm can adopt an offline cache construction mode, an online service part can improve the processing speed by utilizing the cache, but the license plate of a user is various, the city is more limited and regulated, the combination of the license plate and a restricted area cannot be enumerated, and a corresponding cache cannot be constructed for each combination, so that certain difficulty exists in directly solving through the cache.

In view of the above technical problems and difficulties encountered in solving them, the technical idea of the present disclosure is as follows: in the process of researching a route planning technology, the inventor finds that a general user only provides a starting point position and an end point position in the process of planning a route, but different traffic control rules of all cities are formulated according to license plates, so that the license plates can be introduced into a route planning scheme, the traffic control rules are formulated according to the areas of the cities when the traffic control rules are specified based on the license plates in all the cities, and no related traffic control rules exist in road networks between the cities. Based on the consideration of the inventor, the whole road network system can be divided into regions, and the regions are divided into a multi-level nested tree-structured region tree, for example, the largest region is a nationwide road network system, the regions in the middle layer can be regions of a provincial road network system, the regions can reach each other through one or more boundary points, and the regions in the next layer can be the whole city or regions in the city adopting the same restriction rule. Then, paths between boundary points between regions without the restriction rules can be cached, and route exploration is carried out in regions with different restriction rules according to license plates and corresponding restriction rules, so that a route planning scheme for avoiding different restriction rules is realized.

Based on the above concept, the present disclosure provides a route planning method, which is applied to a server of a navigation tool such as map software, navigation software, etc., when a user needs to perform route planning, a software client on a terminal device submits a starting point position, an end point position and a license plate number, and after receiving a route planning request, the server plans a target route from the starting point position to the end point position for the user based on a tree structure of a road network divided in advance, and can avoid a restricted target route of each area in the process and return the final target route to the terminal device of the user. According to the scheme, the road network is subjected to multilayer nested division according to the connection relation in advance, areas with consistent limiting rules in the same city are divided into the same area as much as possible to obtain a multi-level tree structure, and the route planning scheme for avoiding the restriction regulations of a plurality of cities simultaneously is achieved based on the tree structure.

For example, fig. 1 is a schematic view of an application scenario to which the route planning method provided by the present disclosure is applied. As shown in fig. 1, the application scenario may include: a server 100 of a navigation tool, and a terminal device 102 used by a user 101.

When the user 101 wants to perform route planning, the user 101 may submit the start position, the end position, and the license plate number at a software client on the terminal device 102, and the terminal device 102 sends a route planning request to the server 100. After receiving the route planning request, the server 100 obtains a target route from the starting position to the ending position according to the starting position, the ending position, the license plate number and the tree structure of the road network obtained in advance, wherein the license plate number can avoid the restricted target route of each area in the route. The server 100 then pushes the target route to the terminal device 102 for the user 101 to view.

Alternatively, fig. 1 shows a user and a terminal device used by the user. The number of users and terminal devices is not limited in the present disclosure, and may be determined according to an actual scene, which is not described herein again.

In the embodiment of the disclosure, the terminal device has a human-computer interaction interface and is provided with a navigation tool. For example, in the scenario shown in fig. 1, the user 101 may input a start position, an end position, and a number plate through a navigation tool installed on the terminal device 102, and send a route planning request to the server 100. After the server 100 acquires the target route and pushes the target route to the terminal device 102, the terminal device 102 displays the target route on a human-computer interaction interface, and the user 101 can check the target route.

It is to be understood that the scene diagram shown in fig. 1 is only an exemplary illustration. In practical application, the scene schematic diagram may further include other devices, for example, a storage device, and the like, which may be specifically adjusted according to actual requirements, and the disclosure does not limit the devices. The embodiment of the present disclosure also does not limit the actual forms of various devices included in the application scenarios, and also does not limit the interaction modes between the devices, and in the specific application of the scheme, the setting can be performed according to the actual requirements.

It should be noted that the terminal device may be a smartphone equipped with a navigation tool, a tablet computer equipped with a navigation tool, or a vehicle-mounted computer equipped with a navigation tool, and the embodiment of the present disclosure does not specifically limit the terminal device, and may be selected according to actual situations.

The invention provides a route planning method, a route planning device, route planning equipment and a storage medium, which are applied to the technical field of intelligent transportation, so that the purpose of route planning for avoiding a plurality of urban restricted areas is achieved, and the requirement of a user for avoiding the restricted areas is met.

The following describes the technical solutions of the present disclosure and how to solve the above technical problems in 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 disclosure will be described below with reference to the accompanying drawings.

Fig. 2 is a schematic flow chart of a route planning method according to a first embodiment of the present disclosure. As shown in fig. 2, the route planning method specifically includes the following steps:

s201: receiving a route planning request from a terminal device of a user, wherein the route planning request comprises a starting position, an end position and a license plate number.

When a user wants to perform route planning, the user uses the terminal equipment provided with the navigation tool to perform navigation, the user inputs a starting point position, an end point position and a license plate number on a human-computer interaction interface of the terminal equipment, and then the terminal equipment sends a route planning request comprising the starting point position, the end point position and the license plate number to a server corresponding to the navigation tool.

In this step, after the user sends the route planning request through the terminal device, the server may receive the route planning request. The route planning request comprises a starting position, an end position and a license plate number, so that a subsequent server can determine a target route which can avoid the restriction regulation according to the starting position, the end position and the license plate number.

Optionally, when the user inputs the start position and the end position, the start position and the end position may be selected on a map displayed on a human-computer interaction interface of the terminal device, or may be input in an input manner, or may be input in a manner of inputting one position and selecting another position.

S202: and acquiring a target route from a starting position to an end position according to the route planning request and the pre-acquired tree structure of the road network, wherein the license plate number can avoid the restricted target route of each region in the way.

In the step, after receiving a route planning request, a server acquires a target route from a starting position to an end position according to the route planning request and a pre-acquired tree structure of a road network, wherein the license plate number can avoid a restricted target route of each region in the process; the tree structure is a multilevel region structure which is formed by multilayer nested division of a national road network topological graph according to a connection relation by adopting a local greedy algorithm, the region range from the top to the lower layer in the tree structure is gradually reduced, and regions with consistent restriction rules in the same city belong to the same divided region.

Specifically, before a user performs route planning, a server acquires a tree structure of a road network in advance, wherein the acquired tree structure of the road network is that before the user performs route planning, the server performs multilayer nested division on a national road network topological graph according to connection relations and the principle that regions with the restriction regulations in the same city belong to the same region by adopting a local greedy algorithm according to the restriction regulations in each city across the country, and the national road network topological graph is divided into the largest region which can be a region divided by provinces to obtain the topmost layer of the tree structure. And for each area in the topmost layer, dividing the next-level area to obtain a next-level area of the tree structure. In this way, until the minimum area is divided, the lowest layer of the tree structure is obtained, and each layer of the tree structure is combined to obtain the tree structure.

Illustratively, the tree structure is divided into three layers, the uppermost layer of the tree structure is divided according to provinces, the provinces with integral restriction are divided into one region according to a local greedy algorithm, and for the provinces without restriction, one province corresponds to one region. And in the second layer of the tree structure, the region in each topmost layer is divided according to the urban area, the urban area with integral line restriction is divided into one region according to a local greedy algorithm, and for the urban area without line restriction, one urban area corresponds to one region. And the lowest layer of the tree structure is divided into regions according to the urban administrative districts in the second layer, the urban administrative districts with integral line restriction are divided into one region according to a local greedy algorithm, and one urban administrative district corresponds to one region for the urban districts without line restriction.

It should be noted that the above example is only an example of dividing the tree structure, and the embodiment of the present disclosure does not specifically limit the tree structure of the road network acquired in advance, and may be generated according to actual situations.

In the process of planning a target route according to the tree structure, the server may perform a step-by-step upward route exploration judgment from the bottommost area in the tree structure according to whether the areas where the start position and the end position are located are the same, then continue to determine whether to directly explore the route in the area according to the license plate number and the overall restriction rule of the area after determining that the start position and the end position are located in the same area, and plan a section of route for the user in the area until the area where the restriction rule is applicable (where the restriction rule is applicable refers to being capable of avoiding the restriction rule and not being punished) or the bottommost area if the cached route is not usable or the restriction rule in the area determines the restriction rule, and then continue to perform route exploration in the next area.

When a vehicle prescribed in the regulations is restricted, i.e. passes through a situation that would be penalized, in a zone at any level, it is possible to choose to detour from other zones or route along outside the zone.

When a route is planned in an area of any hierarchy, for an unlimited vehicle specified in a limit regulation, a route with the shortest travel distance or the shortest travel time can be calculated in real time as one section of a target route, or a route with the shortest suitable travel distance or the shortest travel time can be selected as one section of the target route in the area according to a plurality of routes cached in a server in advance, and the scheme is not limited.

In the whole process of planning the route, for the sections between the areas, a suitable route can be selected according to the routes between the pre-cached area boundary points or the pre-cached optimal route can be directly determined as a section of the route in the target route.

After the routes of each area and among the areas are planned, the routes of one section can be combined to obtain an evasive restriction rule which is finally planned for the user, and a penalized target route is avoided.

S203: and pushing the target route to the terminal equipment.

In the step, after the server acquires the target route, the server pushes the target route to the terminal device, the terminal device displays the target route on the man-machine interaction interface, and the user can check the target route and drive the vehicle to run according to the route.

According to the route planning method provided by the embodiment, when a user wants to plan a route in a restricted situation, the user sends a route planning request to a server through terminal equipment, the server obtains a target route from a starting point position to an end point position according to a starting point position, an end point position and a license plate number in the route planning request and a tree structure of a road network obtained in advance, and the license plate number can avoid a restricted target route of each area in the route. And the server sends the target route to the terminal equipment for the user to check. Compared with the route which is planned to have the shortest distance or the shortest running time according to the destination provided by the user in the prior art, the route planning method and the route planning system can achieve route planning for avoiding a plurality of city restricted areas and meet the requirement of the user for avoiding the restricted areas.

Fig. 3a is a schematic flow chart of a route planning method according to a second embodiment of the disclosure. As shown in fig. 3a, on the basis of the above embodiment, the step S202 in the first embodiment includes the steps of:

s301: and judging whether the starting point position and the end point position are in the same region of the bottommost layer in the tree structure.

In this step, after receiving the route planning request from the terminal device, the server searches from the bottom layer to the top layer according to the pre-obtained tree structure of the road network. And judging whether the starting position and the end position are in the same area of the bottommost layer in the tree structure according to the starting position, the end position and the tree structure in the route planning request, so that a subsequent server determines whether to perform ascending continuous judgment according to a judgment result.

S302: if the starting point position and the end point position are not in the same area, a layer is raised according to the tree structure, whether the starting point position and the end point position are in the same area after the layer is raised is judged, and the steps are repeated until the starting point position and the end point position are in the same first area of the same level.

In this step, after the server determines whether the starting point position and the end point position are in the same area at the bottommost layer in the tree structure, if the starting point position and the end point position are not in the same area, the layer is raised according to the tree structure, and then the server determines whether the starting point position and the end point position are in the same area after the layer is raised, until it is determined that the starting point position and the end point position are in the same first area at the same level.

Optionally, the manner that the server determines whether the starting point position and the ending point position are in the same area at the bottommost layer in the tree structure may be by determining whether the road where the starting point position is located and the ending point position are in the same area at the bottommost layer.

It should be noted that, if the server determines that the starting point position and the ending point position are in the same area at the bottom layer in the tree structure, the area is determined as the first area.

Illustratively, the lowest layer of the tree structure is divided into regions according to administrative districts in cities, and if the administrative districts in adjacent cities are limited, the administrative districts can be divided into one region. The user wants to go from point A to point C, and starting point position A is in city administrative district 1, and terminal position C is in city administrative district 2, and city administrative district 1 is not the same region with city administrative district 2 in the bottom layer of tree structure in the city, and city administrative district 1 and city administrative district 2 belong to a downtown together. The server judges that the starting position A and the end position C are not located in the same area of the bottommost layer in the tree structure, so that one layer is increased according to the tree structure, and the starting position A and the end position C are judged to be in the same area after one layer is increased, namely the same urban area, and the area is also the first area.

It should be noted that the above example is only an example of determining the first area by the server, and the embodiment of the present disclosure does not specifically limit a starting point position and an end point position in the process of determining the first area by the server, and a division of each layer of the tree structure, and the like, and may be selected and determined according to actual situations.

S303: and determining whether the restriction rule corresponding to the first area is applicable to the license plate number.

S304: and if the restriction rule corresponding to the first area is applicable to the license plate number, planning and avoiding the route specified by the restriction rule for the user in the first area according to the restriction rule corresponding to the first area to obtain a target route.

In the above step, after determining that the starting point position and the end point position are in the same first area, the server determines whether the traffic restriction rule corresponding to the first area is applicable to the license plate number, that is, whether the vehicle of the user can travel from the starting point position to the end point position in the first area, and the license plate number can avoid the traffic restriction rule of the area in the middle and is not punished.

And if the restriction rule corresponding to the first area is applicable to the license plate number, planning and avoiding the route specified by the restriction rule for the user in the first area according to the restriction rule corresponding to the first area to obtain a target route.

For example, fig. 3b is a first city area map provided by the embodiment of the present disclosure, and as shown in fig. 3b, the first area is a city area, and the city area includes four city neighborhoods, which are city neighborhoods 1, 2, 3, and 4, respectively, where city neighborhoods 2 restrict the license plate number of the user, and city neighborhoods 1, 3, and 4 do not restrict the license plate number of the user. The user wants to reach the C point of the urban administrative district 4 from the A point in the urban administrative district 1, the restriction regulation corresponding to the first area is applicable to the license plate number, and the server can plan a route from the A point to the C point and can avoid the route of the urban administrative district 2 according to the restriction regulation, because the license plate number can pass through the urban administrative district 3 from the A point to the C point.

For example, the above example is only an example of the city map and the restriction provision, and the embodiment of the present disclosure does not specifically limit the city map and the restriction provision, and does not limit the manner in which the server plans the route in the first area, and the selection and the setting may be performed according to actual situations.

In the route planning method provided by this embodiment, the server determines whether the starting point position and the end point position are in the same area at the bottommost layer of the tree structure, and if not, the layer is raised according to the tree structure and then the determination is continued until the starting point position and the end point position are in the same first area. And under the condition that the traffic control rule corresponding to the first area is applicable to the license plate number of the user, planning a route according to the traffic control rule, and avoiding the traffic control area. According to the scheme, route planning of a plurality of city restricted areas is avoided, and the requirement of a user for avoiding the restricted areas is met.

Fig. 4a is a schematic flow chart of a route planning method according to a third embodiment of the disclosure. As shown in fig. 4a, on the basis of the above embodiment, after step S303 in the second embodiment, the route planning method further includes the following steps:

s401: if the limitation rule corresponding to the first area is not applicable to the license plate number, a layer is reduced according to the tree structure, whether the restriction rule corresponding to the area where the starting point position is located after the layer is reduced is judged to be applicable to the license plate number of the user, and the step is repeated until the restriction rule corresponding to the area where the starting point position is located after the layer is reduced is obtained and is applicable to the second area of the license plate number or is reduced to the third area where the starting point position is located is the bottommost layer of the tree structure.

In the step, after the server determines whether the traffic restriction rule corresponding to the first area is applicable to the license plate number, if the limitation corresponding to the first area is not applicable to the license plate number, namely, in the first area, the vehicle of the user runs from the starting position to the end position, the limitation of the area on the way of the license plate number can not be avoided, then, a layer is descended according to the tree structure, and whether the restriction regulation corresponding to the area where the starting point position is located after the layer is descended is judged to be applicable to the license plate number of the user, namely whether the vehicle of the user can drive to the boundary point of the area from the starting point position in the area, the license plate number can avoid the restriction regulation of the area in the process, according to the method, the restriction rule corresponding to the area where the starting position is located after the layer descending is obtained is applicable to the second area of the license plate number or is reduced to the third area where the starting position is located is the bottommost layer of the tree structure.

For example, fig. 4b is a city area map two provided in the embodiment of the present disclosure, and as shown in fig. 4b, the city administrative district 1, the city administrative district 2, and the city administrative district 3 together form a city area, which is a first area, where the city administrative district 2 defines license plate numbers of users, and the city administrative districts 1 and 3 do not define license plate numbers of users. When a user wants to reach the point C of the urban administrative district 3 from the point a in the urban administrative district 1, the restriction rule cannot be avoided in the first area, that is, the restriction rule corresponding to the first area is not applicable to the license plate number. One layer is required to be reduced according to a tree structure, in the administrative district 1 in the city, the point B is a boundary point, the license plate number of the user is not limited in the administrative district 1 in the city and can be driven to the point B from the point A, so that the limitation rule corresponding to the area where the starting point is located is suitable for the license plate number, and the administrative district 1 in the city is the second area.

For example, fig. 4c is a third city area diagram provided in the embodiment of the present disclosure, as shown in fig. 4c, a first city area 1, a first city area 2, and a first city area 3 jointly form a first city area, where the first city area 2 defines the license plate number of the user, the first city areas 1 and 3 do not define the license plate number of the user, the second city area 1 and the second city area 2 form the first city area 1, the second city area 1 does not define the license plate number of the user, the second city area 2 defines the license plate number of the user, and the second city area is the bottom layer area of the tree structure. The user wants to reach the point C of the first-level administrative district 3 in the city from the point A in the first-level administrative district 1 in the city, and the restriction provisions cannot be avoided in the first area, namely the restriction provisions corresponding to the first area are not applicable to license plate numbers. One layer is required to be reduced according to a tree structure, in a first-level administrative area 1 in a city, a point B is a boundary point, a license plate number of a user is restricted in a second-level administrative area 2 in the city, and the restriction rule cannot be avoided when the user drives to the point B from the point A, so that the restriction rule corresponding to the area where the starting point is located is not suitable for the license plate number. And a layer is reduced again according to the tree structure, the urban secondary administrative district 1 in the bottommost layer is reduced, and the urban secondary administrative district 1 is a third area.

S402: and planning a first section of route for the user in the second area or the third area, and searching the route to the next area by taking the end point of the first section of route as a new starting point until acquiring a target route which avoids the restriction regulation of each area from the starting point position to the end point position.

In this step, after the server acquires the second area or the third area, in the second area or the third area, a first route is planned according to a restriction rule corresponding to the second area or the third area, and an end point of the first route is used as a new start point to search for the next area.

According to the route planning method provided by the embodiment, when the traffic restriction rule corresponding to the first area is not applicable to the license plate number of the user, the layer is lowered according to the tree structure until the traffic restriction rule corresponding to the area where the starting point position is located after the layer is lowered is applicable to the license plate number or the area where the starting point position is located after the layer is lowered is the bottom layer of the tree structure. The server plans and avoids a first section of route corresponding to the restriction regulation of the area for the user in the area, and then conducts route exploration on the next area until a target route is obtained. According to the scheme, when the restriction rule corresponding to the first area is not applicable to the license plate number of the user, the layer descending processing is carried out according to the tree structure, the restriction rule can be effectively avoided, and route planning of a plurality of city restriction areas is avoided.

The following describes planning a first route segment and obtaining a target route in a second area according to embodiments of the present disclosure.

After the server determines that the restriction rule corresponding to the first area is not applicable to the license plate number, and the server descends to a second area, according to the restriction rule corresponding to the second area, a first section of route which avoids the restriction rule corresponding to the second area is planned for the user in the second area, the end point of the first section of route is used as a new starting point position, route exploration is carried out on the next area until a target route which avoids the restriction rule of each area between the starting point position and the end point position is obtained.

The first section of route is in the second area and is a route from the starting point position to the boundary point of the second area, and the route specified by the restriction corresponding to the second area is avoided. And when searching a route to a next area by taking the end point of the first section of route as a new starting point position, selecting a proper route from routes between boundary points of the pre-cached areas or directly determining the pre-cached optimal route as a section of route in the target route, taking the terminal of the section of route as the starting point, and continuously searching the route in the next area according to the tree structure and the end point position until obtaining the target route which is defined by the restriction of each area and reaches the end point position.

In a specific implementation manner, when the route is planned in any one area, the determination may be performed based on a plurality of routes cached in advance, that is, the server may cache a plurality of routes between each boundary point in the area in advance, and directly select a route which is nearest or has the shortest driving time and is not penalized by the restriction rule when the route is planned.

According to the route planning method provided by the embodiment, route planning for avoiding a plurality of city restriction areas can be realized by planning and avoiding the first section of route specified by the restriction corresponding to the second area for the user in the second area and continuing exploring the next area.

The following describes planning a first segment route and obtaining a target route in a third area according to embodiments of the present disclosure.

After the server determines that the restriction provisions corresponding to the first area are not applicable to the license plate number, and the layer is reduced to a third area, according to the dijkstra algorithm and the restriction provisions corresponding to the third area, a first section of route which avoids the restriction provisions corresponding to the third area is planned for the user in the third area, the end point of the first section of route is used as a new starting point position, route exploration is carried out on the next area, and the target route which avoids the restriction provisions of each area from the starting point position to the end point position is obtained.

The first route is a route from the starting point position to the boundary point of the third area in the third area, and avoids the restriction regulation route corresponding to the third area. And when searching a route to a next area by taking the end point of the first section of route as a new starting point position, selecting a proper route from routes between boundary points of the pre-cached areas or directly determining the pre-cached optimal route as a section of route in the target route, taking the terminal of the section of route as the starting point, and continuously searching the route in the next area according to the tree structure and the end point position until obtaining the target route which is defined by the restriction of each area and reaches the end point position.

According to the route planning method provided by the embodiment, route planning for avoiding a plurality of city restriction areas can be realized by planning and avoiding the first section of route corresponding to the restriction regulation of the third area for the user in the third area and continuing exploring the next area.

How to plan a route between areas and obtain a target route provided by the embodiments of the present disclosure will be described below.

After the server determines the first section of route, before route planning is carried out, the server respectively calculates a plurality of routes between boundary points of each area aiming at each hierarchy area in the tree structure and caches the routes, so that the server determines the optimal route between the end point of the first section of route cached in advance and the boundary point entering the next area as a second section of route planned by a user, takes the end point of the second section of route as a new starting point position, and continues route searching in the next area according to the tree structure and the end point position until a target route specified by the restriction of each area reaching the end point position is obtained.

According to the route planning method provided by the embodiment, the second route from the end point of the first route to the boundary point of the next area is planned for the user according to the pre-cached routes at the boundary points between different areas, so that the route planning efficiency can be improved.

Fig. 5a is a schematic flow chart of a route planning method according to a fourth embodiment of the present disclosure. As shown in fig. 5a, on the basis of the above embodiment, before step S201 in the first embodiment, the route planning method further includes the following steps:

s501: and acquiring the restriction regulations of various cities in the country.

Since the tree structure of the route network is needed in the route planning process, the server needs to acquire the tree structure before the route planning.

In this step, the server needs to obtain the restriction rules of each city across the country, so as to obtain the tree structure according to the restriction rules in the following.

S502: according to the restriction regulations of various cities in the country, a local greedy algorithm is adopted, and the national road network topological graph is subjected to multilayer nested division according to the connection relation according to the principle that the regions specified by the restriction in the same city belong to the same region, so that a tree structure is obtained.

In the step, after acquiring the restriction regulations of each city in the whole country, the server adopts a local greedy algorithm according to the restriction regulations of each city in the whole country, and according to the principle that the regions prescribed for restriction in the same city belong to the same region, namely, the adjacent regions with the restriction regulations in the same city are divided into the same region, the national road network topological graph is subjected to multilayer nested division according to the connection relation, the national road network topological graph is firstly subjected to maximum region division, and the topmost layer of the tree structure is obtained; for each region in the topmost layer, dividing a next-level region to obtain a second-level region of a tree structure; in this way, until the minimum area is divided, the lowest layer of the tree structure is obtained, and each layer of the tree structure is combined to obtain the tree structure.

For example, fig. 5b is a schematic diagram of region division provided by the embodiment of the present disclosure, as shown in fig. 5b, each gray part is a city, adjacent regions with a restricted line provision in the city are divided into the same region, and in this diagram, each region in the city is defined with a restricted line, so that a city is divided into one region.

For example, fig. 5c is a schematic diagram of region division of a city provided by the embodiment of the present disclosure, and as shown in fig. 5c, a certain administrative district in a shaded portion is a restricted district, and the district is separately divided into one district.

Exemplarily, fig. 5d is a schematic diagram of a tree structure provided by the embodiment of the present disclosure. As shown in fig. 5d, the national road network topology graph is divided into three layers according to the connection relationship, the lowest layer is lv0, the second layer is lv1, and the highest layer is lv 2. If the starting position and the end position are in the bottom layer and are not in the uniform area, the same area can be formed after the layer lifting is carried out.

It should be noted that fig. 5b and 5c are only schematic diagrams illustrating the region division, and the specific divided region is not limited, and may be determined according to actual situations. Fig. 5d illustrates the tree structure, and the divided tree structure is not particularly limited, and may be determined according to actual situations.

According to the route planning method provided by the embodiment, the server obtains the tree structure in advance according to the restriction regulations of each city across the country, so that the layer ascending and descending are processed according to the tree structure in the route planning process, and route planning for avoiding a plurality of city restriction areas is realized.

The following describes the inter-cache-area routes provided by the embodiments of the present disclosure.

After the tree structure is obtained, caching routes between boundary points of each region in each layer in the tree structure, and calculating and caching a plurality of routes between boundary points of each region for each region in the region of each layer in the tree structure.

Optionally, when performing route caching, an optimal route may be selected from multiple routes between boundary points of each area and cached.

It should be noted that the optimal route may be a route with the shortest route, and may also be a route with the shortest travel time.

Exemplarily, fig. 6 is a schematic diagram of a route between boundary points of different regions of a cache provided by the embodiment of the present disclosure, as shown in fig. 6, a white point and a black point in the diagram are boundary points, and a route of the cache is a route from the white point to the black point.

The route planning method provided by the embodiment effectively improves the route planning efficiency by caching the routes between the areas in advance.

It can be known from the above solutions that, in the specific implementation of the technical solution provided by the present disclosure, when constructing the cache, the solution assumes that the planning user constructs a plurality of (e.g., 4) parallel caches simultaneously between the same pair of boundary points under different conditions, such as that the local vehicle, the foreign vehicle, and the tail number are odd, even, etc. And selecting a proper cache route for planning according to the license plate number actually transmitted by the user during the online route planning. If the current area is too large and comprises a plurality of cities, so that a plurality of caches are unavailable, the algorithm searches down a tree structure to a smaller area, continues to use the caches, recursively proceeds until the caches are available, or searches to the lowest road network, and then plans an optimal route by using the Dijkstra algorithm. Because the lowest layer is not provided with the cache, whether the next road is feasible or not can be judged in real time according to the restriction regulations when a path is explored, and therefore the purpose of avoiding the restriction area is achieved.

Fig. 7 is a schematic structural diagram of a route planning device according to an embodiment of the present disclosure, and as shown in fig. 7, a route planning device 700 according to the embodiment includes:

a receiving unit 701, configured to receive a route planning request from a terminal device of a user, where the route planning request includes a start position, an end position, and a license plate number;

a first processing unit 702, configured to obtain, according to the route planning request and a pre-obtained tree structure of a road network, a target route from the starting position to the ending position, where the license plate number can avoid a restriction regulation of each area in the route; the tree structure is a multilevel region structure which is formed by multilayer nested division of a national road network topological graph according to a connection relation by adopting a local greedy algorithm, the region range from the top to the lower layer in the tree structure is gradually reduced, and regions with consistent restriction rules in the same city belong to the same divided region.

A sending unit 703, configured to push the target route to the terminal device.

In a possible implementation manner, the first processing unit 702 includes:

the first processing module is used for judging whether the starting point position and the end point position are in the same area of the bottommost layer in the tree structure;

the second processing module is used for increasing a layer according to the tree structure if the starting point position and the end point position are not in the same region, judging whether the starting point position and the end point position are in the same region after increasing the layer, and repeating the step until the starting point position and the end point position are in the same first region of the same level;

the third processing module is used for determining whether the traffic restriction rule corresponding to the first area is applicable to the license plate number;

and if the traffic restriction rule corresponding to the first area is applicable to the license plate number, planning and avoiding a route specified by the traffic restriction rule for the user in the first area according to the traffic restriction rule corresponding to the first area to obtain the target route.

In a possible implementation manner, the first processing unit 702 further includes:

a fifth processing module, configured to, if the restriction rule corresponding to the first area is not applicable to the license plate number, lower a layer according to the tree structure, then determine whether the restriction rule corresponding to the area where the starting point position is located after the layer is lowered is applicable to the license plate number of the user, and repeat this step until the restriction rule corresponding to the area where the starting point position is located after the layer is lowered is obtained and is applicable to the second area of the license plate number or is lowered to the third area where the starting point position is located is the bottom layer of the tree structure;

and the sixth processing module is used for planning a first section of route for the user in the second area or the third area, and performing route exploration on a next area by taking an end point of the first section of route as a new starting point until the target route specified by the restriction for avoiding each area from the starting point position to the end point position is obtained.

Optionally, the sixth processing module includes:

and the first processing submodule is used for planning and avoiding a first section of route which is specified by the restriction corresponding to the second area for the user in the second area according to the restriction corresponding to the second area, and searching a route for a next area by taking the end point of the first section of route as a new start point position until the target route which is specified by the restriction avoiding each area from the start point position to the end point position is obtained.

Optionally, the sixth processing module further includes:

and the second processing submodule is used for planning and avoiding a first section of route specified by the restriction corresponding to the third area for the user in the third area according to a dijkstra algorithm and the restriction corresponding to the third area, and performing route exploration on a next area by taking the end point of the first section of route as a new starting point position until the target route specified by the restriction avoiding each area from the starting point position to the end point position is obtained.

The first processing sub-module or the second processing sub-module is specifically configured to:

and determining an optimal route between the end point of the first section of route cached in advance and the boundary point of the next area as a second section of route planned by the user, taking the end point of the second section of route as a new starting point position, and continuing route exploration in the next area according to the tree structure and the end point position until the target route specified by the restriction of each area reaching the end point position is obtained.

The route planning device provided in this embodiment may be used to implement the route planning method according to any of the above method embodiments, and the implementation principle and technical effect are similar, which are not described herein again.

In a possible implementation manner, the route planning apparatus 700 provided in this embodiment further includes:

an acquisition unit 704 configured to acquire regulations for each city across the country;

the second processing unit 705 is configured to perform multilayer nested division on the national road network topological graph according to the connection relationship by using a local greedy algorithm according to the restriction regulations of each city across the country and according to the principle that the regions specified by the restriction in the same city belong to the same region, so as to obtain the tree structure.

The route planning apparatus 700 provided in this embodiment further includes: a third processing unit 706, configured to calculate and cache a plurality of routes between boundary points of each region for each region in each hierarchy of the tree structure.

Correspondingly, the third processing unit 706 is further configured to:

and selecting an optimal route from a plurality of routes between boundary points of each area and caching the optimal route.

In the technical scheme of the disclosure, the collection, storage, use, processing, transmission, provision, disclosure and other processing of the personal information of the related user are all in accordance with the regulations of related laws and regulations and do not violate the good customs of the public order.

The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.

According to an embodiment of the present disclosure, the present disclosure also provides a computer program product comprising: a computer program, stored in a readable storage medium, from which at least one processor of the electronic device can read the computer program, and the execution of the computer program by the at least one processor causes the electronic device to perform the solutions provided by any of the above embodiments.

FIG. 8 shows a schematic block diagram of an example electronic device to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 8, the apparatus 800 includes a computing unit 801 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)802 or a computer program loaded from a storage unit 808 into a Random Access Memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the device 800 can also be stored. The calculation unit 801, the ROM 802, and the RAM 803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to bus 804.

A number of components in the device 800 are connected to the I/O interface 805, including: an input unit 806, such as a keyboard, a mouse, or the like; an output unit 807 such as various types of displays, speakers, and the like; a storage unit 808, such as a magnetic disk, optical disk, or the like; and a communication unit 809 such as a network card, modem, wireless communication transceiver, etc. The communication unit 809 allows the device 800 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

Computing unit 801 may be a variety of general and/or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and the like. The calculation unit 801 performs the various methods and processes described above, such as a route planning method. For example, in some embodiments, the route planning method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 808. In some embodiments, part or all of the computer program can be loaded and/or installed onto device 800 via ROM 802 and/or communications unit 809. When loaded into RAM 803 and executed by the computing unit 801, a computer program may perform one or more steps of the route planning method described above. Alternatively, in other embodiments, the computing unit 801 may be configured to perform the route planning method by any other suitable means (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The Server can be a cloud Server, also called a cloud computing Server or a cloud host, and is a host product in a cloud computing service system, so as to solve the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service ("Virtual Private Server", or simply "VPS"). The server may also be a server of a distributed system, or a server incorporating a blockchain.

It should be understood that various forms of the flows shown above, reordering, adding or deleting steps, may be used. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A route planning method, comprising:

and pushing the target route to the terminal equipment.

2. The method according to claim 1, wherein the obtaining of the destination route from the starting position to the ending position according to the route planning request and a pre-obtained tree structure of a road network, wherein the license plate number can avoid a restricted target route of a plurality of cities in the route, comprises:

judging whether the starting point position and the end point position are in the same area of the bottommost layer in the tree structure or not;

if the starting point position and the end point position are not in the same region, a layer is raised according to the tree structure, whether the starting point position and the end point position are in the same region after the layer is raised is judged, and the step is repeated until the starting point position and the end point position are in the same first region of the same level;

determining whether the restriction rule corresponding to the first area is applicable to the license plate number;

if the restriction rule corresponding to the first area is applicable to the license plate number, planning a route for avoiding the restriction rule for the user in the first area according to the restriction rule corresponding to the first area, and obtaining the target route.

3. The method of claim 2, wherein the method further comprises:

if the restriction rule corresponding to the first area is not applicable to the license plate number, descending one layer according to the tree structure, judging whether the restriction rule corresponding to the area where the starting point position is located is applicable to the license plate number of the user after the one layer is descended, and repeating the step until the restriction rule corresponding to the area where the starting point position is located is obtained and applicable to a second area of the license plate number or is reduced to a third area where the starting point position is located is the bottommost layer of the tree structure;

planning a first section of route for the user in the second area or the third area, and performing route exploration on a next area by taking the end point of the first section of route as a new starting point until the target route which is specified by the restriction for avoiding each area from the starting point position to the end point position is obtained.

4. The method of claim 3, wherein planning a first route segment for the user in the second area and performing route exploration to a next area with an end point of the first route segment as a new start point until the target route specified by a restriction to avoid each area from the start point position to the end point position is obtained comprises:

planning and avoiding a first section of route specified by the restriction corresponding to the second area for the user in the second area according to the restriction corresponding to the second area, and performing route exploration on a next area by taking the end point of the first section of route as a new starting point position until the target route specified by the restriction avoiding each area from the starting point position to the end point position is obtained.

5. The method according to claim 3, wherein planning a route segment for the user in the third area, and performing route exploration on a next area with an end point of the route segment as a new start point until the target route specified by a restriction for avoiding each area from the start point position to the end point position is acquired comprises:

according to dijkstra algorithm and the restriction regulation corresponding to the third area, planning a first section of route for avoiding the restriction regulation corresponding to the third area for the user in the third area, and taking the end point of the first section of route as a new start point position, and searching a route for the next area until the target route for avoiding the restriction regulation of each area between the start point position and the end point position is obtained.

6. The method according to claim 4 or 5, wherein the step of performing route exploration on a next area by taking the end point of the first route as a new start point position until the target route specified by a restriction for avoiding each area from the start point position to the end point position is acquired comprises the following steps:

7. The method of any of claims 1 to 5, wherein the method further comprises:

acquiring the restriction regulations of each city in the country;

according to the restriction regulations of all cities in the country, a local greedy algorithm is adopted, and according to the principle that the regions specified by the restriction in the same city belong to the same region, the national road network topological graph is subjected to multilayer nested division according to the connection relation, so that the tree structure is obtained.

8. The method of claim 7, wherein the method further comprises:

and respectively calculating a plurality of routes between boundary points of each region and caching the routes aiming at the region of each hierarchy in the tree structure.

9. The method of claim 8, wherein the method further comprises:

10. A route planning apparatus comprising:

11. The apparatus of claim 10, wherein the first processing unit comprises:

12. The apparatus of claim 11, wherein the first processing unit further comprises:

a sixth processing module, configured to plan a first route segment for the user in the second area or the third area, and perform route exploration on a next area with an end point of the first route segment as a new start point until the target route specified by a restriction for avoiding each area from the start point position to the end point position is obtained.

13. The apparatus of claim 12, wherein the sixth processing module comprises:

14. The apparatus of claim 12, wherein the sixth processing module comprises:

15. The apparatus of claim 13 or 14, wherein the first processing sub-module or the second processing sub-module is specifically configured to:

16. The apparatus of any of claims 10 to 14, wherein the apparatus further comprises:

an acquisition unit configured to acquire a restriction rule for each city across the country;

and the second processing unit is used for performing multilayer nested division on the national road network topological graph according to the connection relation by adopting a local greedy algorithm according to the restriction regulations of all cities in the country and according to the principle that the regions specified by the restriction in the same city belong to the same region to obtain the tree structure.

17. The apparatus of claim 16, wherein the apparatus further comprises:

and the third processing unit is used for respectively calculating and caching a plurality of routes between boundary points of each region aiming at the region of each hierarchy in the tree structure.

18. The apparatus of claim 17, wherein the third processing unit is further configured to:

19. An electronic device, comprising:

at least one processor; and

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-9.

20. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-9.

21. A computer program product comprising a computer program which, when executed by a processor, carries out the steps of the method of any one of claims 1 to 9.