CN114812596A

CN114812596A - Navigation path generation method, device, equipment and computer readable medium

Info

Publication number: CN114812596A
Application number: CN202210487784.XA
Authority: CN
Inventors: 邓晨; 廖田志浩; 郭晓野; 阿拉坦套力古拉; 杨轩; 常雪阳
Original assignee: Yunkong Zhixing Technology Co Ltd
Current assignee: Yunkong Zhixing Technology Co Ltd
Priority date: 2022-05-06
Filing date: 2022-05-06
Publication date: 2022-07-29

Abstract

The embodiment of the specification discloses a navigation path generation method, a navigation path generation device, navigation path generation equipment and a computer readable medium. The scheme may include: acquiring a user navigation demand, and determining a navigation starting point and a navigation end point corresponding to the navigation demand; judging whether the navigation starting point and the navigation end point are both nodes in the node position list to obtain a first judgment result; when the first judgment result shows that the navigation starting point and the navigation end point are both nodes in the node position list, determining a navigation path from the navigation starting point to the navigation end point according to the node adjacency matrix; the node adjacency matrix is used for representing road traffic information between each node in the node position list. The navigation path generation method provided by the embodiment of the specification gives full play to the capability of reducing the space complexity of the map, reduces the storage space of map data, and reduces the data volume required to be processed in path generation.

Description

Navigation path generation method, device, equipment and computer readable medium

Technical Field

The present application relates to the field of navigation technologies, and in particular, to a method, an apparatus, a device, and a computer readable medium for generating a navigation path.

Background

The navigation electronic map is a map specially used for vehicle navigation, and the navigation electronic map can contain various road attributes required by vehicle navigation, such as information of the highest speed limit of a road, the width of the road, the road communication relation and the like. Since some information on the navigation electronic map is meaningless for the navigation at the road level, the abstract concept of the topological map is introduced into the navigation electronic map, which can reduce the size of the map data.

In the existing road-level topological map, too many nodes in one-way roads and intersections cannot fully play the capacity of reducing the space complexity of the topological map. Further, a plurality of nodes (nodes) and road segments (road segments) can express turning relationships within a road junction, but the plurality of nodes and road segments have no specific name or geographic meaning and are difficult to be selected by a user as a destination. Meanwhile, the traffic conditions of roads which are close in position and intersect with each other are difficult to determine because the vehicles cannot be matched on a specific road. The waiting time of the vehicle before the traffic light is difficult to be embodied in the existing map and applied in the following road-finding algorithm.

Therefore, a navigation path generation method is urgently needed.

Disclosure of Invention

Embodiments of the present specification provide a navigation path generation method, apparatus, device, and computer readable medium, so as to reduce space complexity of a topological map and reduce a space for storing map data.

In order to solve the above technical problem, the embodiments of the present specification are implemented as follows:

the navigation path generation method provided by the embodiment of the specification comprises the following steps:

acquiring a user navigation demand, and determining a navigation starting point and a navigation end point corresponding to the navigation demand;

judging whether the navigation starting point and the navigation end point are both nodes in a node position list to obtain a first judgment result; the nodes in the node position list comprise at least one node of a road junction point, a road starting point and a road ending point;

when the first judgment result shows that the navigation starting point and the navigation end point are both nodes in a node position list, determining a navigation path from the navigation starting point to the navigation end point according to a node adjacency matrix; the node adjacency matrix is used for representing road traffic information among all nodes in the node position list.

Optionally, the method further includes:

when the first judgment result shows that the navigation starting point and the navigation end point are not all contained in the node position list, updating the node position list and the node adjacency matrix based on the navigation starting point and/or the navigation end point which are not contained in the node position list to obtain an updated node position list and an updated node adjacency matrix;

and determining a navigation path from the navigation starting point to the navigation end point according to the updated node adjacency matrix.

Optionally, the method further includes:

acquiring length information and direction information among nodes of each node in the node position list; the length information among the nodes is used for representing the actual distance among the nodes, and the direction information among the nodes is used for representing the communication performance among the nodes;

and generating the node adjacency matrix according to the length information and the direction information among the nodes.

Optionally, the method further includes:

and determining a road section delay matrix according to the node adjacency matrix and the driving speed.

Optionally, the method further includes:

determining a steering relation array set, wherein a steering relation array in the steering relation array set is used for representing the road passing relation between any three nodes in the node position list or the updated node position list;

and determining the navigation path according to the steering relation array set.

Optionally, the method further includes:

judging whether a middle node positioned in the middle of the array corresponds to a traffic signal lamp in the three nodes corresponding to each steering relation array in the steering relation array set to obtain a second judgment result;

and when the second judgment result shows that the intermediate node positioned in the middle of the array corresponds to the traffic signal lamp, determining the steering relation array as a delay array.

Optionally, the method further includes:

and determining the navigation path and the expected passing time of the navigation path according to the road section delay matrix and the delay array based on a routing algorithm.

An embodiment of the present specification provides a navigation path generating apparatus, including:

the system comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for acquiring a navigation demand of a user and determining a navigation starting point and a navigation end point corresponding to the navigation demand;

the judging module is used for judging whether the navigation starting point and the navigation end point are both nodes in a node position list to obtain a first judging result; the nodes in the node position list comprise at least one node of a road junction point, a road starting point and a road ending point;

the first determining module is used for determining a navigation path from the navigation starting point to the navigation end point according to a node adjacency matrix when the first judging result shows that the navigation starting point and the navigation end point are both nodes in a node position list; the node adjacency matrix is used for representing road traffic information among all nodes in the node position list.

An embodiment of the present specification provides a navigation path generating device, including:

at least one processor; and the number of the first and second groups,

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:

The present specification also provides a computer readable medium, on which computer readable instructions are stored, the computer readable instructions being executable by a processor to implement the navigation path generation method described in any one of the above.

One embodiment of the present description can achieve at least the following advantages:

by taking the road intersection point, the road starting point and the road ending point as the nodes in the node list, the key positions on the actual road are expressed by fewer nodes in the map, the capability of reducing the space complexity of the map is fully exerted, the storage space of map data is reduced, and the data volume required to be processed in path generation is reduced. Meanwhile, the node selection mode in the embodiment of the specification ensures that the connection lines among the nodes are specific and specific roads, so that the passing time among the nodes is easy to calculate, and the accuracy of path navigation is improved.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without any creative effort.

FIG. 1a is a schematic diagram of a road topology map in the prior art in an embodiment of the present disclosure;

fig. 1b is a schematic diagram of an application scenario of the navigation path generation method in the embodiment of the present specification;

fig. 2 is a schematic flowchart of a navigation path generating method provided in an embodiment of the present disclosure;

fig. 3 is a schematic diagram of an actual road and a road node topology provided in an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of a road topology provided by an embodiment of the present disclosure;

fig. 5 is a schematic diagram of an adjacency matrix corresponding to the road topological relation diagram in fig. 4 according to an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of an intersection with a side road provided in an embodiment of the present disclosure;

fig. 7 is a schematic diagram of a map example and a corresponding node steering relationship array provided in an embodiment of the present disclosure;

fig. 8 is a schematic structural diagram of a navigation path generating apparatus provided in an embodiment of the present specification;

fig. 9 is a schematic structural diagram of a navigation path generating device provided in an embodiment of the present specification.

Detailed Description

To make the objects, technical solutions and advantages of one or more embodiments of the present disclosure more apparent, the technical solutions of one or more embodiments of the present disclosure will be described in detail and completely with reference to the specific embodiments of the present disclosure and the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present specification, and not all embodiments. All other embodiments that can be derived by a person skilled in the art from the embodiments given herein without making any creative effort fall within the protection scope of one or more embodiments of the present disclosure.

It is to be understood that, although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited by these terms. These terms are only used to distinguish one type of information from another.

The technical solutions provided by the embodiments of the present description are described in detail below with reference to the accompanying drawings.

In the prior art, in a topological map of a road level, nodes of a unidirectional road and an intersection are arranged too many, as shown in fig. 1a, 8 nodes are required to be arranged in a road intersection, and different passing directions of the road require different nodes of equipment, and in fig. 1b, the nodes entering the intersection from the left side turn around, turn left, go straight and turn right and are respectively expressed by a road section from node 1 to node 8, a road section from node 1 to node 6, a road section from node 1 to node 4 and a road section from node 1 to node 2. The topological map in the prior art cannot fully exert the capacity of reducing the space complexity of the topological map. In addition, since a plurality of nodes and road segments are provided in a road, turning of a road intersection requires a plurality of nodes to be represented, but the plurality of nodes and road segments have no specific name or geographic meaning and are difficult to be selected by a user as a destination. Since the vehicle cannot be matched on a particular road. The waiting time of the vehicle before the traffic light is difficult to be embodied in the existing map and applied in the following road-finding algorithm.

In order to solve the defects in the prior art, the scheme provides the following embodiments:

fig. 1b is a schematic diagram of an application scenario of the navigation path generation method in the embodiment of the present specification. As shown in fig. 1b, the application scenario includes a server and a terminal, where the server stores map data, can draw a navigation path according to a navigation demand sent by the terminal, and sends a result of the navigation path to the terminal for a user to select. The terminal can be a mobile phone, a tablet computer, a computer, intelligent wearable equipment, a vehicle machine and the like.

Next, a navigation path generating method provided in an embodiment of the specification will be specifically described with reference to the accompanying drawings:

fig. 2 is a flowchart illustrating a navigation path generating method according to an embodiment of the present disclosure. From the viewpoint of the program, the execution subject of the flow may be a program installed in an application server or an application terminal.

As shown in fig. 2, the process may include the following steps:

step 202: acquiring a user navigation demand, and determining a navigation starting point and a navigation end point corresponding to the navigation demand;

a user may trigger a navigation requirement through an application program loaded on the terminal, where the navigation requirement includes a navigation start point and a navigation end point, for example: the user may input a location a as a navigation start point and a location B as a navigation end point in the terminal.

Step 204: judging whether the navigation starting point and the navigation end point are both nodes in a node position list to obtain a first judgment result; the nodes in the node position list comprise at least one node representing a road intersection point, a road starting point and a road ending point.

The road intersection, the road starting point, and the road ending point may be intersection, starting point, and ending point of each road included in the existing map. The nodes in the application comprise road junction points, such as intersections, T-junctions, junctions of ramps, auxiliary roads and main roads. Fig. 3 is a schematic diagram of an actual road and a topology of road nodes provided in an embodiment of the present disclosure. As shown in fig. 3, various information in a road is ignored, and a connection line between nodes represents a road segment between nodes, in which an intersection is created as one node, and a position of entering a ramp from a main road, a position of entering a main road from a ramp, and a road start/end point are all selected as nodes. In practical application, nodes in a road can be numbered, and the corresponding relation between the road nodes and the numbers is stored in a node list, so that the connection relation of the road can be defined, and a reference can be made for navigation and routing.

In practical applications, the node list further includes location information of the node. The position information of the node may be stored in coordinates of a Universal Transverse toner Grid System (UTM). For example: the east position of the node number 1 is 454989.5 m, the north position is 4403183 m, the latitude partition is the S-zone, and the longitude partition is 50.

Step 206: when the first judgment result shows that the navigation starting point and the navigation end point are both nodes in a node position list, determining a navigation path from the navigation starting point to the navigation end point according to a node adjacency matrix; the node adjacency matrix is used for representing road traffic information among all nodes in the node position list.

In this embodiment, the navigation start point and the navigation end point may be nodes in a node position list, where a navigation path is obtained according to a navigation routing algorithm by using the node position list. The navigation routing algorithm may adopt a routing algorithm in the prior art, such as: dijkstra algorithm and a x algorithm, etc. The navigation routing algorithm outputs a node sequence, wherein the first node of the node sequence is a navigation starting point, the last node of the node sequence is a navigation end point, the node sequence can represent all nodes which are required to pass by a vehicle to travel from the navigation starting point to the navigation end point, and the node sequence can represent a travel path of the vehicle.

And when the navigation starting point or the navigation end point in the navigation requirement is the node in the node position list, determining a navigation path from the navigation starting point to the navigation end point according to the node adjacency matrix.

It should be understood that in the method described in one or more embodiments of the present disclosure, the order of some steps may be adjusted according to actual needs, or some steps may be omitted.

With the method of fig. 2, the navigation path generation method provided in the embodiment of the present disclosure realizes that the key positions on the actual roads are expressed by fewer nodes in the map by using only the road intersection, the road starting point, and the road ending point as nodes in the node list, thereby fully playing the capability of reducing the space complexity of the map, reducing the storage space of the map data, and reducing the data amount required to be processed for path generation. Meanwhile, the node selection mode in the embodiment of the specification ensures that the connection line between the nodes is a specific and specific road, so that the passing time between the nodes is easy to calculate.

Based on the method of fig. 2, the embodiments of the present specification also provide some specific implementations of the method, which are described below.

The navigation path generation method provided in the embodiment of the present specification may also be applied to a case where the navigation start point and the navigation end point are not all included in the node position list. Optionally, the navigation path generating method further includes:

When the navigation starting point or the navigation end point is not completely contained in the node list, the navigation starting point and/or the navigation end point can be added into the node position list as a new node to obtain an updated node position list, and the updated node position list contains the navigation starting point and the navigation end point. For example: and when the navigation starting point and the navigation end point are not positioned in the node position list, 5 nodes are stored in the original node position list, and the updated node positions are listed as 7 nodes. And determining a navigation path according to the updated node adjacency matrix.

It should be noted that, when the navigation starting point or the navigation ending point is introduced, the node position list, the node adjacency matrix, the road section delay matrix and the steering delay array all need to be updated. For example: the node 1 and the node 2 are in bidirectional connection, the navigation starting point (node 5) is located between the node 1 and the node 2, when the node 5 is added into the node list, the node 2 and the node 1 are in unidirectional connection, the node 2 cannot reach the direct node 1, and the node adjacency matrix can be updated.

In order to express the connection relationship between nodes more accurately, the navigation path generating method in the embodiment of the present specification further includes:

and generating the node adjacency matrix according to the length information and the direction information among the nodes. In practical application, the node adjacency matrix is used for representing road traffic information among all nodes; two nodes can pass in both directions or in one direction, and the information is embodied in the node adjacency matrix.

FIG. 4 is a schematic diagram of a road topology provided by an embodiment of the present disclosure; fig. 5 is a schematic diagram of an adjacency matrix corresponding to the road topological relation diagram in fig. 4 according to an embodiment of the present disclosure. As shown in fig. 5, in the node adjacency matrix, the element in the ith row and the jth column represents the distance from the node i to the node j, and when the distance between the ith point and the jth point is two-way passable, the element in the ith row and the jth column and the element in the jth row and the ith column are the distances between the actual nodes. For example: the node 11 to the node 12 are main paths of bidirectional connection, so that the elements of the 11 th row, the 12 th column and the 12 th row, the 11 th column of the matrix are both 30 meters. When the ith point and the jth point are only one-way accessible, for example: node 5 to node 1 are the secondary roads of the unidirectional connection, so the element of row 5, column 1 of the node adjacency matrix is 50 meters, but the element of row 1, column 5 is "INF" (infinite), meaning that node 5 cannot be reached from node 1. When there is no connection relationship between the node i and the node j, the element corresponding to the node adjacency matrix is also INF. For example: node 3 has no connection with node 1, so the elements in row 1, column 3 and row 3, column 1 of the matrix are "INF" (infinite). It should be noted that the element values in the node adjacency matrix can be obtained by processing according to the node position information stored in the node list. It should be understood that INF may represent attribute values in the node adjacency matrix, and may be set as other identifiers according to actual needs in practical applications.

In order to accurately express the passing time length between nodes, the navigation path generation method in the embodiment of the present specification further includes:

In practical applications, the driving speed may be an average speed of the vehicle, and the average speed may be obtained by counting the driving speed of the vehicle on the current road section. The average vehicle speed on the road from the node i to the node j in the node adjacency matrix N is v (i, j), and the element R (i, j) of the link time matrix from the node i to the node j can be obtained, as shown in mathematical expression 1.

Mathematical formula 1:

similarly, a road section delay matrix R representing each node in the node adjacency matrix N can be obtained. By obtaining the road section time impedance matrix R among different nodes, the road section passing time in the navigation path can be determined.

In order to accurately express a steering relationship between nodes, the navigation path generation method in the embodiment of the present specification further includes:

and determining the navigation path from the navigation starting point to the navigation end point according to the steering relation array set.

In practical application, the steering relationship array may be denoted as W, where W (i, j, k) is INF if it is impossible to reach node k from node i via node j, W (i, j, k) is 1 if it is possible to reach node k via node j and node j is a cross/t-junction with traffic signal lamps, and W (i, j, k) is 0 if it is possible to reach node k via node j without traffic signal lamps at node j.

Fig. 6 is a schematic diagram of an intersection with a side road provided in an embodiment of the present disclosure. As shown in fig. 6, the turn rule of the intersection with the traffic signal lamp is that the intersection can turn left, go straight and turn right to the main road from the main road and turn right to the auxiliary road from the auxiliary road. After the vehicle runs to the intersection 13 from the main road node 2 to the node 13, the vehicle can turn around to the main road node 13 to the node 2, turn left to the main road node 13 to the node 5, and run straight to the main road node 13 to the node 8, and no other selection is needed, so that W (2,13,2), W (2,13,5) and W (2,13,8) in the node turning relation array are 1; after the vehicle runs to the intersection 13 from the node 1 to the node 13 of the auxiliary road, the vehicle can turn right to the node 13 to the node 12 of the auxiliary road, and other choices are not available, so that W (1,13 and 12) in the node turning relation array is 1; after the vehicle runs from the node 13 to the node 6 of the auxiliary road to the node 6 of the ramp junction, the vehicle can enter the node 6 to the node 5 of the ramp, and no traffic signal lamp is arranged at the node 6, so that W (13,6,5) is 0; since node 1 cannot reach node 3 via node 2, W (1,2,3) is INF.

It should be noted that W (i, i, i) in the node steering relationship array is zero; if the e node can reach the j node, then W (e, j, j) and W (e, e, j) are zero.

Fig. 7 is a schematic diagram of a map example and a corresponding node steering relationship array provided in an embodiment of the present disclosure. As shown in fig. 7, there are 4 nodes in the map, where one-way traffic is between node 2 and node 1, two-way traffic is between node 1 and node 3, and two-way traffic is between node 1 and node 4. The array of steering relationships corresponding to nodes 1 to 4 is shown in fig. 7.

In order to further provide accuracy of path generation, the navigation path generation method provided in the embodiment of the present specification further includes:

Intersection delay is introduced on the basis of the node turning relation array W, so that a node turning delay array D can be obtained. In the steering delay array D, the value of D (i, j, k) can indicate whether intersection delay exists when the node i reaches the node k through the node j. The intersection delay may be a delay caused by traffic lights, traffic regulations, and other factors. For the node steering relation array W considering n nodes, the size of the corresponding node steering delay array D is also n × n × n. If W (i, j, k) is 0, i.e., the slave node i can pass through node j to reach node k without a traffic light at node j, then D (i, j, k) is also 0 because no waiting time is required for the slave node i to pass through node j to reach node k. If W (i, j, k) is 1, that is, if the node i can pass through the node j to reach the node k and there is a traffic signal at the node j, then the value of W (i, j, k) needs to be estimated according to the actual traffic condition, because the waiting time of traffic before the signal is considered when the node i passes through the node j to reach the node k. If W (i, j, k) is INF, then D (i, j, k) is also INF, since node k cannot be reached from node i through node j.

In order to facilitate the selection of a route by an end user, a passage time may be displayed on a navigation route, and the navigation route generation method provided in the embodiment of the present specification further includes:

The routing algorithm can adopt a general routing algorithm in the navigation field, such as Dijkstra algorithm, A algorithm and the like. In the navigation path generation method provided in the embodiment of the present specification, the expected transit time is divided into an expected intersection delay time and an expected section transit time. The expected intersection delay represents additional time consumption for a vehicle to pass through the intersection, including waiting time before a traffic light; the expected link transit time includes the time taken for the vehicle to travel on the road outside the intersection.

The road section passing time in the embodiment of the description can be represented by a road section delay matrix, and the intersection delay is represented by a steering delay array.

In the steering delay array D, D (i, j, k) represents the delay from node i to node k through node j. For the node steering relation array W considering n nodes, the size of the corresponding node steering delay array D is also nxnxnxn. If W (i, j, k) is 0, i.e., the slave node i can pass through node j to reach node k without a traffic light at node j, then D (i, j, k) is also 0 because no waiting time is required for the slave node i to pass through node j to reach node k. If W (i, j, k) is 1, that is, if the node i can pass through the node j to reach the node k and there is a traffic signal at the node j, then the value of W (i, j, k) needs to be estimated according to the actual traffic condition, because the waiting time of traffic before the signal is considered when the node i passes through the node j to reach the node k. If W (i, j, k) is INF, then D (i, j, k) is also INF, since node k cannot be reached from node i through node j.

In practical application, the server may obtain control strategies of traffic lights at each intersection, for example: and performing networking control on the signal lamps according to the traffic flow conditions of each intersection, and controlling the signal lamps according to the actual traffic flow. And acquiring the on-off time of the traffic signal lamp of the traffic port by acquiring the control strategy.

Whether the traffic signal lamp is arranged on the passing route can be judged by judging whether the element in the delay steering array is 1, the extra time consumed by waiting of the vehicle in front of the traffic signal lamp can be introduced into the passing time of the navigation route, and the accuracy of the navigation route is improved.

Based on the same idea, the embodiment of the present specification further provides a device corresponding to the above method. Fig. 8 is a schematic structural diagram of a navigation path generating apparatus according to an embodiment of the present disclosure. As shown in fig. 8, the apparatus may include:

an obtaining module 801, configured to obtain a user navigation requirement, and determine a navigation start point and a navigation end point corresponding to the navigation requirement;

a determining module 803, configured to determine whether the navigation start point and the navigation end point are both nodes in a node position list, so as to obtain a first determination result; the nodes in the node position list comprise at least one node of a road junction point, a road starting point and a road ending point;

a first determining module 805, configured to determine, according to a node adjacency matrix, a navigation path from the navigation start point to the navigation end point when the first determination result indicates that the navigation start point and the navigation end point are both nodes in a node position list; the node adjacency matrix is used for representing road traffic information among all nodes in the node position list.

It will be appreciated that the modules described above refer to computer programs or program segments for performing a certain function or functions. In addition, the distinction between the above-described modules does not mean that the actual program code must also be separated.

Based on the same idea, the embodiment of the present specification further provides a device corresponding to the above method.

Fig. 9 is a schematic structural diagram of a navigation path generating device provided in an embodiment of the present specification. As shown in fig. 9, the apparatus 900 may include:

at least one processor 910; and the number of the first and second groups,

a memory 930 communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory 930 stores instructions 920 executable by the at least one processor 910 to enable the at least one processor 910 to:

Based on the same idea, the embodiment of the present specification further provides a computer-readable medium corresponding to the above method. The computer readable medium has computer readable instructions stored thereon, which can be executed by a processor to implement the above-described navigation path generation method.

While particular embodiments of the present specification have been described above, in some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

The embodiments in this specification are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other.

The apparatus, the device, and the method provided in the embodiments of the present specification are corresponding, and therefore, the apparatus and the device also have beneficial technical effects similar to those of the corresponding method, and since the beneficial technical effects of the method have been described in detail above, the beneficial technical effects of the corresponding apparatus and device are not described again here.

In the 90 s of the 20 th century, improvements in a technology could clearly distinguish between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital character system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate a dedicated integrated circuit chip. Furthermore, nowadays, instead of manually making an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Hardware Description Language), traffic, pl (core universal Programming Language), HDCal (jhdware Description Language), lang, Lola, HDL, laspam, hardward Description Language (vhr Description Language), vhal (Hardware Description Language), and vhigh-Language, which are currently used in most common. It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.

The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic of the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be considered a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.

The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

For convenience of description, the above devices are described as being divided into various units by function, respectively. Of course, the functionality of the units may be implemented in one or more software and/or hardware when implementing the present application.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium which can be used to store information which can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The application may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A navigation path generation method is characterized by comprising the following steps:

2. The navigation path generation method according to claim 1, further comprising:

3. The navigation path generation method according to claim 1, further comprising:

4. The navigation path generation method according to claim 3, further comprising:

5. The navigation path generation method according to claim 4, further comprising:

6. The navigation path generation method of claim 5, further comprising:

7. The navigation path generation method of claim 6, further comprising:

8. A navigation path generation apparatus, comprising:

9. A navigation path generation device characterized by comprising:

at least one processor; and the number of the first and second groups,

10. A computer readable medium having computer readable instructions stored thereon which are executable by a processor to implement the navigation path generation method of any one of claims 1 to 7.