CN115855092A

CN115855092A - Navigation path planning method, device, equipment and storage medium

Info

Publication number: CN115855092A
Application number: CN202211468632.1A
Authority: CN
Inventors: 付慧蕾; 罗沛
Original assignee: Alibaba China Co Ltd
Current assignee: Alibaba China Co Ltd
Priority date: 2022-11-22
Filing date: 2022-11-22
Publication date: 2023-03-28

Abstract

The specification provides a navigation path planning method, a navigation path planning device, navigation path planning equipment and a storage medium, wherein a sun altitude angle and a sun azimuth angle of a position where a road to be processed is located at a target moment are determined, and a building shadow range corresponding to a target building is determined based on the determined sun altitude angle and sun azimuth angle; determining the tree shadow range of the road to be processed at the target moment; obtaining a road shadow range of the road to be processed based on the tree shadow range of the road to be processed and the building shadow range; and executing the calculation of the navigation path based on the road shadow range to obtain the navigation path. The shadow coverage range of the road is determined based on the building shadow range and the tree shadow range, so that shadow covering can be considered when the map is applied to planning the path for the user, the path which is more adaptive to the environment can be recommended for the user, and the travel experience of the user is improved.

Description

Navigation path planning method, device, equipment and storage medium

Technical Field

One or more embodiments of the present disclosure relate to the field of navigation technologies, and in particular, to a method, an apparatus, a device, and a storage medium for planning a navigation path.

Background

Map applications in the related art generally have a navigation path planning function, that is, a user inputs a starting point and an end point, and the map application plans to obtain a better path from the starting point to the end point.

The specific method for planning the navigation path is generally based on factors such as driving distance and total driving time, and the like, and the navigation path planning method cannot meet the requirements of users on comfortable travel.

Disclosure of Invention

In view of this, one or more embodiments of the present disclosure provide a method, an apparatus, a device, and a storage medium for planning a navigation path.

According to a first aspect of one or more embodiments of the present specification, there is provided a method for planning a navigation path, including:

determining a solar altitude angle and a solar azimuth angle of a road to be processed at a target moment, and determining a building shadow range corresponding to a target building based on the determined solar altitude angle and the determined solar azimuth angle; the target building is a building with a shadow capable of covering the road to be processed;

determining a tree shadow range of the road to be processed at a target moment;

obtaining a road shadow range of the road to be processed based on the tree shadow range and the building shadow range of the road to be processed, wherein the road shadow range is a range covered by shadows of the road to be processed at a target moment;

and executing the calculation of the navigation path based on the road shadow range to obtain the navigation path.

According to a second aspect of one or more embodiments of the present specification, there is provided a navigation path planning apparatus, including:

the building shadow range determining module is used for determining a solar altitude angle and a solar azimuth angle of a position where a road to be processed is located at a target moment, and determining a building shadow range corresponding to a target building based on the determined solar altitude angle and the determined solar azimuth angle; the target building is a building with a shadow capable of covering the road to be processed;

the tree shadow range determining module is used for determining the tree shadow range of the road to be processed at the target moment;

the road shadow range determining module is used for obtaining the road shadow range of the road to be processed based on the tree shadow range of the road to be processed and the building shadow range, and the road shadow range is a range covered by shadows of the road to be processed at a target moment;

and the navigation path calculation module is used for executing the calculation of the navigation path based on the road shadow range to obtain the navigation path.

According to a third aspect of embodiments herein, there is provided a computer-readable storage medium having stored thereon computer instructions, which when executed by a processor, implement the above-mentioned method for planning a navigation path.

According to a fourth aspect of embodiments herein, there is provided a computer apparatus comprising:

a processor;

a memory for storing processor-executable instructions;

the processor executes the executable instructions to realize the navigation path planning method.

The specification provides a method, a device, equipment and a storage medium for planning a navigation path,

determining a solar altitude angle and a solar azimuth angle of a position where a road to be processed is located at a target moment, and determining a building shadow range corresponding to a target building based on the determined solar altitude angle and the determined solar azimuth angle; the target building is a building with a shadow capable of covering the road to be processed; determining the tree shadow range of the road to be processed at the target moment; obtaining a road shadow range of the road to be processed based on the tree shadow range and the building shadow range of the road to be processed, wherein the road shadow range is a range covered by shadows of the road to be processed at a target moment; and executing the calculation of the navigation path based on the road shadow range to obtain the navigation path.

Through the altitude angle of the sun and the azimuth angle of the sun, the shadow ranges of buildings on two sides of the road are determined, and the shadow coverage range of the road is further determined based on the building shadow range and the tree shadow range, so that shadow covering can be considered when the map is applied to planning a path for a user, the path more adaptive to the environment can be recommended for the user, and the travel experience of the user is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the specification.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present specification and together with the description, serve to explain the principles of the specification.

Fig. 1 is a flow chart illustrating a method for planning a navigation path according to an exemplary embodiment of the present disclosure.

FIG. 2A is a schematic illustration of a roadway to be treated according to one embodiment of the present disclosure.

Fig. 2B is a diagram illustrating a shadow cast length calculation method according to an embodiment of the present disclosure.

Fig. 2C is a diagram illustrating a shadow casting angle calculation method according to an embodiment of the present disclosure.

FIG. 2D is a schematic diagram illustrating a top view of a roadway to be treated according to one embodiment of the present disclosure.

FIG. 2E is a schematic illustration of a road shading range for a road to be processed, as described herein according to an embodiment.

Fig. 3 is a block diagram of an apparatus for planning a navigation path according to an exemplary embodiment of the present disclosure.

Fig. 4 is a hardware configuration diagram of a computer device where a navigation path planning apparatus is located according to an exemplary embodiment.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with one or more embodiments of the specification. Rather, they are merely examples of apparatus and methods consistent with certain aspects of one or more embodiments of the specification, as detailed in the claims which follow.

It should be noted that: in other embodiments, the steps of the corresponding methods are not necessarily performed in the order shown and described in this specification. In some other embodiments, the methods may include more or fewer steps than those described herein. Moreover, a single step described in this specification may be broken down into multiple steps for description in other embodiments; multiple steps described in this specification may be combined into a single step in other embodiments.

Map application in the related art generally plans a navigation path based on factors such as a driving distance, total driving time, the number of traffic lights and the like, so that a travel route with short distance and less time is planned for a user, and basic requirements of the user on travel are met.

However, with the continuous upgrading of the navigation function and the diversification of user appeal, the appeal of more and more users for navigation planning is not limited to how to reach the destination faster or in a shorter distance, and meanwhile, more attention is paid to the comfort level in the travel process.

However, the existing navigation path planning method is difficult to meet the requirement of a user on comfortable travel. For a user who has no sun protection for their trip, such as a user who is riding (riding a bicycle, an electric vehicle, or a motorcycle) or a user who is walking, the user may prefer a cooler navigation path in summer when the weather is hot, and the user may prefer a warmer navigation path in winter when the weather is cold. In order to enable a user to have a better travel navigation experience, the specification provides a navigation path planning method.

In order to solve the above problem, it is considered that the shadow range of the road affects the traveling experience of the user (especially, the walking or riding user). Therefore, for a better travel experience of the user, consideration is given to taking the size of the road shadow range (i.e., the road shadow range) into consideration of the navigation path planning. I.e. determining the planned navigation path based on the shadow range of the road.

In order to determine the calculated road shading range, the overlapping range of the building shading and the road shading can be considered emphatically, considering that most of the shading is the shadow of the buildings at the two sides of the road. The extent of the road shadow is determined taking into account that the general shape of the building can be determined first, and then the shadow of the building at each instant of time is calculated based on the angle of the sun.

Further, the shade of trees on the road also affects the road shade range, and thus the road shade range may be determined based on both the building shade range and the tree shade range.

In other words, the present specification provides a method, an apparatus, a device, and a storage medium for planning a navigation path, which determine a solar altitude angle and a solar azimuth angle at a position of a road to be processed at a target time, and determine a building shadow range corresponding to a target building based on the determined solar altitude angle and solar azimuth angle; the target building is a building with a shadow capable of covering the road to be processed; determining the tree shadow range of the road to be processed at the target moment; obtaining a road shadow range of the road to be processed based on the tree shadow range and the building shadow range of the road to be processed, wherein the road shadow range is a range covered by shadows of the road to be processed at a target moment; and executing the calculation of the navigation path based on the road shadow range to obtain the navigation path.

Next, a method of planning a navigation path shown in this specification will be described.

As shown in fig. 1, fig. 1 is a flowchart of a navigation path planning method shown in this specification based on an exemplary embodiment, including:

step 101, determining a solar altitude angle and a solar azimuth angle of a position of a road to be processed at a target moment, and determining a building shadow range corresponding to a target building based on the determined solar altitude angle and solar azimuth angle.

The target building is a building whose shadow can cover the road to be processed.

Specifically, in order to determine the road shading range, the building shading range of the target building needs to be calculated first. In order to determine the building shadow range, the solar altitude and azimuth at the target time are determined and the projection range of the target building is calculated on the basis of these two angles.

The nouns referred to in step 101 will be explained next.

The road to be processed is the road of the road shadow area to be calculated. It should be noted that the road may refer to each complete road (for example, changan street), but considering that navigation is generally performed based on road segments in a navigation scene, the road may also refer to road segments (for example, dividing Changan street into a plurality of road segments). The road section is that the road is divided into a plurality of road sections (links) according to the intersections in advance, each road section comprises a section of road, and the road between every two adjacent intersections can be regarded as a link.

The target building, that is, the building that can have an influence on the road shadow range, and there may be various methods for determining the target building, for example, the building that may influence the road shadow range may be determined based on the gridded index.

The grid index also divides the map into a plurality of grids, and when the target building needs to be determined, the grid where the road to be processed is located can be determined first, and then the building in the grid is taken as the target building.

In addition, considering that the height of the building is limited, some buildings far away from the road may not cast shadows on the road, and computing resources are wasted if computing the shadow range of the buildings of all the buildings, so that the building with the distance less than the preset distance threshold value from the road to be processed can be determined, and the determined building can be used as the target building.

The preset distance threshold may be a fixed value, or may be selected based on the position of the road to be processed (the average height of the building in the area where the road to be processed belongs is proportional to the size of the preset distance threshold), for example, if the average height of the building in the area where the road to be processed is located is higher, the preset distance threshold may be set to be larger, so that all buildings that may affect the road shadow range can be screened out, and the calculation result is more accurate.

The preset distance threshold may also be determined based on the season in consideration of differences in shadow lengths in different seasons, and may be longer in winter when the shadow is longer. Considering that the shadow lengths in different time periods of the day are also different, the preset distance threshold may also be determined based on the time periods, and the preset distance threshold is shorter at the time when the shadow is shorter in the noon.

Furthermore, the method of determining the target building may also be: buildings with a height greater than a small height threshold are screened in a range closer to the building, and buildings with a height greater than a high threshold are screened in a range farther from the building, so that the calculation amount can be reduced on the basis of screening all buildings which can affect the road shadow range.

Of course, the method for determining the target building is not limited to the above example, and other methods may be used, and the method for determining the target building is not limited in the present specification.

For the target time, the execution timing of the method in this specification may be: in the case that the user needs to navigate to a certain place, the execution is started from step 101, and in this case, the target time in step 101 may be the time when the user requests to calculate the navigation path.

The method in this specification may be that steps 101 to 105 are executed in the server in advance, and in the case where the user needs to calculate the navigation route, step 105 is executed to complete the calculation of the navigation route, and in this case, the target time in step 101 may be any time in the year. In addition, in the above case, in order to store in advance data sufficient for calculating the navigation path at each time in the server, steps 101 to 105 may be performed for each time in the year, so as to obtain the road shadow range at each time in the year for each road to be processed.

In the latter case, since the sun has an influence on the road shade range only in the daytime, only the road shade range from sunrise to sunset may be calculated here. In addition, in order to save the storage resources, the target time may be divided by hours, considering that the calculation of the road shadow range per second will cause a large challenge to the storage performance of the server. For example, the target time may be 13 o 'clock, 14 o' clock, etc.

After the description of the target time, how to calculate the building shadow range in step 101 will be described next.

The solar altitude refers to an included angle between the sunlight incidence direction of a certain place on the earth and the ground plane; the solar azimuth is an angle measured in a clockwise direction with the north direction of the target object as the starting direction and the incidence direction of the solar light as the ending direction.

For the method for acquiring the solar azimuth angle and the solar altitude angle, the solar azimuth angle and the solar altitude angle at the longitude and latitude position of the building can be calculated and obtained by referring to the calculation method in the related technology. The specific calculation method is detailed in the methods in the related art, and is not described herein again.

The method of calculating the shadow coverage may be: and constructing a three-dimensional model for the building, and simulating the sun sunshine based on the sun altitude and the sun azimuth, so that the shadow range of the building is determined through the simulation of three-dimensional modeling.

In addition, the determination method of the building shadow range can also be as follows: through the solar altitude, according to the trigonometric function related knowledge, under the condition of knowing the height of the building, the shadow length of each point of the building can be calculated. From the sun azimuth, the shadow cast angle at each point of the building can be obtained, thus the position of the building shadow relative to the building can be determined based on the shadow length and the shadow cast angle.

In other words, step 101 includes: determining shadow cast lengths for points on the target building profile based on the solar altitude angle; determining shadow cast angles for points on the target building profile based on the solar azimuth; determining a building shadow range of the target building based on the shadow casting lengths and the shadow casting angles of the points on the target building outline.

In addition, in order to calculate the shadow range of the building, the contour of the building needs to be known, and the contour of the building can be determined by acquiring an image of the target building (by using a satellite image and/or a road image acquisition device), inputting the image into a neural network which is trained in advance and used for acquiring the contour of the building, and determining the contour of the target building.

In other words, the method for determining the contour of the target building comprises the following steps: acquiring an image of the target building; inputting the image of the target building into a contour determination network to obtain the contour of the target building; the contour determination network is for determining a target building contour based on the image of the target building.

And 103, determining the tree shadow range of the road to be processed at the target moment.

Specifically, in addition to calculating the road shadow range based on the building shadow range, the road shadow range may be further calculated based on the tree shadow range in consideration of not only the buildings on the road affecting shadow coverage but also the tree shadow affecting the road shadow range.

The tree shadow range is the shadow range of the trees at the two sides of the road.

Considering that the shape of the tree is not fixed, the shape is complex, and the method is not suitable for the above method for calculating the shadow range of the building, the method for calculating the tree shadow may be to determine the tree shadow range by using a pre-trained neural network for calculating the tree shadow range based on the road surface image of the road to be processed.

In other words, step 103 comprises: acquiring a road surface image of a road target to be processed at a moment; and inputting the road surface image into a pre-trained tree shadow determination network, and determining the tree shadow range of the road to be processed at the target moment.

The road surface image of the road to be processed may be a top view of the road to be processed, such as a satellite image, and of course, considering that the shooting frequency of the satellite image is low, the top view of the road to be processed may also be acquired by other image acquisition devices. In addition, the road surface image of the road to be processed may not be a top view, and the road surface image of the road to be processed at the target moment may be acquired through an image acquisition device, for example, the road surface image is acquired through a driving recorder, the road surface image is acquired through a high-precision map acquisition vehicle, and the like, so that the tree shadow range is calculated.

Considering that the road surface image may not be able to acquire an image at each target time every day in the year, if an image at a certain target time cannot be acquired, the date of the target time may be determined first, and an image within a preset time range from the target time may be used as the image at the target time.

For example, if the road surface images of 8 points in 3 months, 8 days and 3 months, 9 days, 8 points in 3 months, 7 days and 3 months, 9 days and 7-9 points in 3 months, the range can be continuously expanded to search the road surface images.

In addition, other methods can be adopted for calculating the tree shadow range, and the determination method of the tree shadow range is not limited in the specification.

And 105, obtaining the road shadow range of the road to be processed based on the tree shadow range of the road to be processed and the building shadow range.

The road shadow range is a range of the road to be processed covered by shadow at the target moment.

Specifically, after the building shadow range and the tree shadow range are obtained, the road shadow range can be further obtained.

As for a specific determination method, it is easy to understand that the intersection of the tree shadow range and the road area, and the intersection of the building shadow range and the road area may be determined respectively, and a union of the two intersections is obtained as the road shadow range, or the road shadow range may be determined by other calculation methods.

The road area may be different based on different travel modes, for example, for driving travel, the range of the motorway of the road to be processed may be determined as the road area. For bicycle travel, the range of the non-motorized lane of the road to be processed may be determined as the road region. For walking trips, sidewalks on both sides of the road to be processed may be determined as the road area.

Furthermore, the manner in which the building shadow range and the road area intersection are determined may be any manner. A specific implementation will be described herein, it being understood that this implementation does not represent a limitation on the present application.

The Java Topology Suite (JTS), an open source software package, may be used, and JTS is a Java library used to create and manipulate vector geometries. The building shadow range and the road area can be easily converted into a spatial object by JTS and calculated accordingly. The whole road shadow range calculation mainly comprises the following steps:

firstly, converting the coordinate data of the shadow range of the building and the coordinate data of the road area into a Geometry space object.

And secondly, performing intersection operation on the space object corresponding to the building shadow range and the space object corresponding to the road area to obtain an intersection area space object, wherein the intersection area space object is the road shadow range.

In addition, after the road shadow range is obtained, it is mentioned in the following that the shadow coverage ratio of the road to be processed needs to be obtained, and then the ratio of the intersection area to the road area can be further calculated to obtain the shadow coverage ratio.

It should be noted that, besides the buildings and trees beside the road may affect the road shadow range, other natural shelters (such as naturally occurring objects in nature like mountains) may also affect the road shadow range.

In order to solve the above problem, the height data of the natural shade may be acquired to determine the shadow range of the natural shade, and for example, when the natural shade is a mountain, contour line data (height data) of the mountain may be acquired, and the general contour of the mountain may be determined based on the contour map. And determining the shadow range of the mountain based on the azimuth angle and the altitude angle of the sun. And further determines a shadow range of the road based on the shadow range of the mountain.

In other words, the method further comprises: acquiring a shadow range of the natural shelter based on the height data of the natural shelter; the natural shelter at least comprises a mountain. Step 105 specifically includes: obtaining the road shadow range of the road to be processed based on the tree shadow range of the road to be processed, the building shadow range and the shadow range of a natural shelter

And 107, calculating a navigation path based on the road shadow range to obtain the navigation path.

Specifically, after obtaining the shadow coverage (or shadow coverage ratio) of each road to be processed that may pass from the navigation starting point to the navigation ending point, the navigation path may be calculated for the user, thereby bringing a better use experience to the user.

Next, a specific implementation method of step 107 will be described.

And acquiring shadow coverage data of corresponding time periods of each road according to the user navigation time. And in the appointed date and the appointed time period, the navigation time, the road section length, the time consumption, the cost and the shadow are comprehensively considered, the road navigation weight is subjected to weighted calculation again, and the new route planning and sequencing are obtained. And (4) showing out the shadow coverage proportion, the shadow coverage road section, the sun coverage proportion and the sun coverage road section before the line is followed, and broadcasting and displaying in the line.

Next, a specific implementation method in calculating the navigation path will be described.

In order to provide better use experience for users, it is considered that after a plurality of starting points to end points of the candidate navigation roads are obtained, the shadow coverage proportion of each candidate navigation road can be displayed for the users, so that the users can select more suitable roads based on the displayed shadow coverage proportion.

In other words, step 107 comprises: executing the calculation of the navigation path, and determining at least one navigation path to be selected; for each navigation path to be selected, determining the shadow coverage proportion of the navigation path to be selected according to the area of the road region of the road to be processed included in the navigation path to be selected and the area of the road shadow range of the road to be processed included in the navigation path to be selected; and displaying the at least one navigation path to be selected and the shadow coverage proportion of each navigation path to be selected.

In addition, under the condition that more than one navigation road to be selected is obtained, the recommended priority of the navigation path to be selected can be determined at least based on the shadow coverage proportion.

In other words, the method further comprises: and under the condition that the number of the displayed navigation paths to be selected is not less than 2, setting the recommended priority of the at least two navigation paths to be selected at least based on the shadow coverage proportion of each navigation path to be selected.

Of course, in addition to setting the recommendation order based on the shadow coverage ratio, the road may be recommended to the user in the same manner as in the related art, that is, by integrating the navigation time, the link length, the time consumption, the cost, and the shadow coverage ratio. In this case, the shadow coverage ratio may be a factor in calculating the recommended order.

In the above case, considering whether the user is cooler in summer and wants to go out in a warm environment in winter, a cooler trip route may be preferentially recommended to the user in summer (for example, in the case where the air temperature is greater than a certain value or the time is in summer, the road with a higher shadow coverage ratio has a higher factor score regarding the shadow coverage ratio), and a warmer trip route may be preferentially recommended to the user in winter (for example, in the case where the air temperature is less than a certain value or the time is in winter, the route with a lower shadow coverage ratio may be preferentially recommended to the user, and of course, the sunlight coverage ratio may be displayed without displaying the shadow coverage ratio for a better use experience).

In addition, if the weather is cloudy or rainy, accurate information cannot be transmitted to the user in the mode, so that the method can be adopted to plan the navigation path for the user only under the condition that the weather is clear.

In other words, step 105 comprises: acquiring weather data of a position where a request user for navigation path planning is located; and under the condition that the weather data meet the preset illumination condition, planning a path for a user based on the determined range of the road to be processed at the target moment, which is covered by the shadow.

The preset illumination condition can be that the weather is clear, or the ultraviolet index is larger than a certain value.

In addition, as described above, in order to provide better use experience for the user, the information of the relevant shadow coverage can be broadcasted and displayed in the process of user navigation, so that better use experience can be provided for the user.

In other words, the method further comprises: under the condition that a user drives based on a planned navigation path, broadcasting and/or displaying the shadow coverage proportion of the navigation path or a currently driven road; the shadow coverage ratio is used for representing, and the road shadow coverage area accounts for the proportion of the road area.

By the method, data such as sun, weather, road shelters (trees, buildings, natural shelters) and the like are combined. By dynamically calculating the road shadow range, the navigation path is planned according to the road shadow range, cool travel experience is planned for the user in summer, and a bright-day travel route is planned for the user in winter. By the scheme, the navigation route with different shadow coverage ratios can be planned under the conditions of designated time and weather.

In addition, it should be noted that, if the road shadow range is pre-calculated and then stored in the server, when the user needs to calculate the navigation path, the road shadow range of the corresponding road segment is taken out to plan the path, considering that the road and the tree buildings on both sides of the road and the like are changed, in order to make the data of the road shadow range more accurate, the road shadow range of each road to be processed needs to be periodically updated or recalculated.

For the timing of recalculating or updating the road shade range, the road shade range may be updated when the update period is reached, or the road shade range corresponding to the road to be processed may be recalculated when a change in the building of the road to be processed is detected.

In terms of the frequency of recalculating or updating the road shading range, in order to ensure the accuracy of the road shading range, it is preferable that the updating frequency is slightly high, that is, the road shading range is frequently updated in a full amount in a short time, for example, once a day.

Furthermore, it is considered that if the road shadow ranges of all the roads to be processed are updated at a time, more computing resources are consumed. In order to reduce the consumption of computing resources at one time, it is considered that the updating frequency can be reduced, and the updating of the road shadow range is completed within a certain time range, for example, the updating of the road shadow range of a city is completed within 7 days, and the updating of the road shadow range of different positions of a city is performed in different time periods within seven days.

In other words, the preset time period is divided into a plurality of time subsections, all roads to be processed are also divided into a plurality of road groups to be processed, and the number of the road groups to be processed is not less than the number of the time subsections. Under the condition that the road shadow range needs to be updated, the road shadow ranges of different road groups to be processed are updated at different time subsections, the road shadow range of at least one road group to be processed is updated at each time subsection, and meanwhile, the road groups to be processed updated at different time subsections are not overlapped.

In this way, the update task may be spread across multiple time periods to complete, such that the computing resources are not consumed too much within a certain time period. Even the road shadow range can be updated by using the time period when the computing resource is idle, for example, the preset time period is a time period when the computing resource is sufficient, so that the computing resource can be more effectively used.

Next, a method of calculating the road shading range shown in the present specification will be explained by a specific embodiment.

First, a method for calculating a shadow range of a building will be described, where a shadow range calculation method of a building a at a target time as shown in fig. 2A is described, and shadow ranges of other buildings or buildings at other times are similar to the method described below and will not be described again.

Firstly, determining the longitude and latitude of a building A, and determining a solar altitude angle and a solar azimuth angle based on the longitude and latitude of the building A, wherein the specific calculation formula is shown as the following formula (1):

sinh＝sinΦsinδ+cosΦcosδcos t

wherein h represents the solar altitude,

indicating the azimuth of the sun, the δ -table indicates the declination of the sun (the angle between the equatorial plane of the earth and the line connecting the sun and the center of the earth), Φ indicates the latitude of the building a, and t indicates the solar time angle (the angular distance from the celestial meridian of the observation point along the equator to the time circle of the sun). The calculation method of the solar hour angle and the solar declination is detailed in the calculation method in the related art, and is not described herein.

Secondly, determining the shadow cast length of each contour point of the building A based on the solar altitude; based on the solar azimuth, the shadow cast angle of each contour point of the building a is calculated.

Taking the contour point B on the building a as an example, as shown in fig. 2B, the shadow cast length corresponding to the contour point B can be calculated based on the solar altitude and the position of the contour point B. For example, the shadow cast length can be calculated according to the solar altitude and the height of the contour point B based on the knowledge of the trigonometric function.

The method of calculating the shadow casting angle is shown in fig. 2C, where fig. 2C is a top view of the building a, and the thickest solid line in the drawing is the shadow casting direction corresponding to the contour point B. The shadow casting angle is the supplementary angle of the solar azimuth.

Third, based on the shadow casting angle and the shadow casting length, the shadow casting position of the contour point B can be determined. Further, the shadow range of the building a is determined based on the shadow cast position of each contour point of the building a.

The shadow range of the building a is shown in fig. 2A, and the portion enclosed by the dotted line in fig. 2A is the shadow range corresponding to the building a.

Next, a method of calculating the tree shadow range will be described.

An overhead view of the road to be processed (e.g., fig. 2D) may be obtained, then the overhead view may be input into a pre-trained tree shadow determination network, and then an output tree shadow range may be obtained. The shadow in the lower position in fig. 2D is the shadow of the tree.

And finally, determining the range of the building shadow and the tree shadow on the road to be processed as the range of the road shadow together. As shown in fig. 2E, the shadow range of the road to be processed is a range of gray in fig. 2E.

Corresponding to the embodiment of the method, the specification also provides an embodiment of a planning device of the navigation path and a computer device applied by the planning device.

As shown in fig. 3, fig. 3 is a block diagram of an apparatus shown in this specification according to an exemplary embodiment, the apparatus comprising:

a building shadow range determining module 310, configured to determine a solar altitude angle and a solar azimuth angle at a position where the road to be processed is located at a target time, and determine a building shadow range corresponding to the target building based on the determined solar altitude angle and solar azimuth angle;

a tree shadow range determining module 320, configured to determine a tree shadow range of the road to be processed at the target time;

a road shadow range determining module 330, configured to obtain a road shadow range of the road to be processed based on the tree shadow range of the road to be processed and the building shadow range, where the road shadow range is a range of the road to be processed covered by a shadow at a target time;

and the navigation path calculation module 340 is configured to perform calculation of a navigation path based on the road shadow range to obtain the navigation path.

In an optional embodiment, the tree shadow range determining module 320 is configured to obtain a road surface image of a road to be processed; inputting the road surface image into a pre-trained tree shadow determination network, and determining the tree shadow range of the road to be processed at the target moment; the tree shadow determination network is used for determining a tree shadow range in the image.

In an optional embodiment, the building shadow range determining module 310 is configured to determine a sun altitude and a sun azimuth at a position of the road to be processed at the target time; determining shadow cast lengths for points on the target building profile based on the solar altitude angle; determining shadow cast angles for points on the target building profile based on the solar azimuth; determining a building shadow range of the target building based on the shadow casting lengths and the shadow casting angles of the points on the target building outline.

In an alternative embodiment, a contour determination module 350 (not shown) is further included for obtaining an image of the target building; inputting the image of the target building into a contour determination network to obtain the contour of the target building; the contour determination network is configured to determine a target building contour based on the image of the target building.

In an optional embodiment, the navigation path calculation module 330 is configured to obtain weather data of a location where the user is located in the request of the navigation path planning; and under the condition that the weather data meet the preset illumination condition, planning a path for a user based on the determined range of the road to be processed at the target moment, which is covered by the shadow.

In an optional embodiment, the navigation path calculating module 330 is configured to perform calculation of a navigation path and determine at least one navigation path to be selected; for each navigation path to be selected, determining a shadow coverage ratio of the navigation path to be selected according to the area of a road region of a road to be processed included in the navigation path to be selected and the area of a road shadow range of the road to be processed included in the navigation path to be selected; and displaying the at least one navigation path to be selected and the shadow coverage proportion of each navigation path to be selected.

In an optional embodiment, the navigation device further includes a priority setting module 360 (not shown in the figure), configured to set a recommended priority of the at least two navigation paths to be selected, based on at least a shadow coverage ratio of each navigation path to be selected, when the number of the displayed navigation paths to be selected is not less than 2.

In an optional embodiment, the system further includes a shadow coverage ratio reporting module 370 (not shown in the figure) for reporting and/or displaying a shadow coverage ratio of the navigation path or the currently driving road when the user drives based on the planned navigation path; the shadow coverage ratio is used for representing, and the road shadow coverage area accounts for the proportion of the road area.

In an optional embodiment, the system further comprises a natural occlusion shadow calculating module 380 (not shown in the figure) for obtaining a shadow range of the natural occlusion object based on the height data of the natural occlusion object; the natural shelter at least comprises a mountain range. A road shadow range determining module 330, configured to obtain a road shadow range of the road to be processed based on the tree shadow range of the road to be processed, the building shadow range, and a shadow range of a natural obstruction.

The implementation process of the functions and actions of each module in the above device is specifically described in the implementation process of the corresponding step in the above method, and is not described herein again.

For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, wherein the modules described as separate parts may or may not be physically separate, and the parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution in the specification. One of ordinary skill in the art can understand and implement it without inventive effort.

As shown in fig. 4, fig. 4 is a hardware structure diagram of a computer device where a planning apparatus for a navigation path according to an embodiment is located, where the device may include: a processor 1010, a memory 1020, an input/output interface 1030, a communication interface 1040, and a bus 1050. Wherein the processor 1010, memory 1020, input/output interface 1030, and communication interface 1040 are communicatively coupled to each other within the device via bus 1050.

The processor 1010 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits, and is configured to execute executable instructions to implement the technical solutions provided in the embodiments of the present specification.

The Memory 1020 for storing processor-executable instructions may be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, or the like. The memory 1020 may store an operating system and other application programs, and when the technical solutions provided by the embodiments of the present specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and called by the processor 1010 for execution.

The input/output interface 1030 is used for connecting an input/output module to input and output information. The i/o module may be configured as a component in a device (not shown) or may be external to the device to provide a corresponding function. The input devices may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices may include a display, a speaker, a vibrator, an indicator light, etc.

The communication interface 1040 is used for connecting a communication module (not shown in the drawings) to implement communication interaction between the present device and other devices. The communication module can realize communication in a wired mode (such as USB, network cable and the like) and also can realize communication in a wireless mode (such as mobile network, WIFI, bluetooth and the like).

Bus 1050 includes a path that transfers information between various components of the device, such as processor 1010, memory 1020, input/output interface 1030, and communication interface 1040.

It should be noted that although the above-mentioned device only shows the processor 1010, the memory 1020, the input/output interface 1030, the communication interface 1040 and the bus 1050, in a specific implementation, the device may also include other components necessary for normal operation. In addition, those skilled in the art will appreciate that the above-described apparatus may also include only those components necessary to implement the embodiments of the present description, and not necessarily all of the components shown in the figures.

Embodiments of the present specification further provide a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the method for planning a navigation path as described above is implemented.

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 Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that 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.

The present specification also provides a computer program which is run to implement the above navigation path planning method.

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 a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.

The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. 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.

Claims

1. A method for planning a navigation path includes:

determining a solar altitude angle and a solar azimuth angle of a position where a road to be processed is located at a target moment, and determining a building shadow range corresponding to a target building based on the determined solar altitude angle and the determined solar azimuth angle; the target building is a building with a shadow capable of covering the road to be processed;

determining the tree shadow range of the road to be processed at the target moment;

2. The method of claim 1, the determining a tree shadow range of the road to be processed at a target time, comprising:

acquiring a road surface image of a road to be processed at a target moment;

inputting the road surface image into a pre-trained tree shadow determination network, and determining the tree shadow range of the road to be processed at the target moment; the tree shadow determination network is used for determining a tree shadow range in the image.

3. The method of claim 1, the determining a building shadow range corresponding to the target building based on the determined solar altitude and solar azimuth, comprising:

determining shadow cast lengths of points on the contour of the target building based on the solar altitude angle;

determining shadow cast angles for points on the target building profile based on the solar azimuth;

and determining a building shadow range of the target building based on the shadow casting length and the shadow casting angle of each point on the contour of the target building.

4. The method of claim 3, the target building profile determination method, comprising:

acquiring an image of the target building;

inputting the image of the target building into a contour determination network to obtain the contour of the target building; the contour determination network is configured to determine a target building contour based on the image of the target building.

5. The method of claim 1, wherein performing the calculation of the navigation path based on the road shadow range, resulting in the navigation path, comprises:

acquiring weather data of a position where a request user for navigation path planning is located;

and planning a path for a user based on the determined range of the road to be processed at the target moment covered by the shadow under the condition that the weather data meets the preset illumination condition.

6. The method of claim 1, wherein performing the calculation of the navigation path based on the road shadow range, resulting in the navigation path, comprises:

executing the calculation of the navigation path, and determining at least one navigation path to be selected;

for each navigation path to be selected, determining a shadow coverage ratio of the navigation path to be selected according to the area of a road region of a road to be processed included in the navigation path to be selected and the area of a road shadow range of the road to be processed included in the navigation path to be selected;

and displaying the at least one navigation path to be selected and the shadow coverage proportion of each navigation path to be selected.

7. The method of claim 6, further comprising:

and under the condition that the number of the displayed navigation paths to be selected is not less than 2, setting the recommended priority of the at least two navigation paths to be selected at least based on the shadow coverage proportion of each navigation path to be selected.

8. The method of claim 1, further comprising:

under the condition that a user drives based on a planned navigation path, broadcasting and/or displaying the shadow coverage proportion of the navigation path or the current driving road; the shadow coverage ratio is used for representing, and the road shadow coverage area accounts for the proportion of the road area.

9. The method of claim 1, further comprising:

acquiring a shadow range of the natural shelter based on the height data of the natural shelter; the natural shelter at least comprises a mountain range;

the obtaining the road shadow range of the road to be processed based on the tree shadow range of the road to be processed and the building shadow range comprises:

and obtaining the road shadow range of the road to be processed based on the tree shadow range of the road to be processed, the building shadow range and the shadow range of a natural shelter.

10. An apparatus for planning a navigation path, comprising:

the building shadow range determining module is used for determining a solar altitude angle and a solar azimuth angle at the position of a road to be processed at a target moment, and determining a building shadow range corresponding to a target building based on the determined solar altitude angle and the determined solar azimuth angle; the target building is a building with a shadow capable of covering the road to be processed;

the road shadow range determining module is used for obtaining the road shadow range of the road to be processed based on the tree shadow range of the road to be processed and the building shadow range, and the road shadow range is the range of the road to be processed covered by shadow at the target moment;

11. A computer device, comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor implements the method of planning a navigation path according to any one of claims 1-9 by executing the executable instructions.

12. A computer readable storage medium having stored thereon computer instructions which, when executed by a processor, implement a method of planning a navigation path according to any one of claims 1-9.