CN116147652A - Navigation route calculation method, system, equipment and storage medium - Google Patents
Navigation route calculation method, system, equipment and storage medium Download PDFInfo
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- CN116147652A CN116147652A CN202310189119.7A CN202310189119A CN116147652A CN 116147652 A CN116147652 A CN 116147652A CN 202310189119 A CN202310189119 A CN 202310189119A CN 116147652 A CN116147652 A CN 116147652A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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Abstract
The application belongs to the technical field of automatic driving and discloses a navigation route calculation method, a system, equipment and a storage medium, wherein the method comprises the steps of firstly taking an instruction for creating an alternative road section as a trigger, and then obtaining a node tree obtained after one-time road calculation when the navigation route is calculated; then determining a target node with a father node outside the node tree in the node tree; and finally, generating an alternative road section based on the out-tree father node of the target node so as to generate a navigation route. Therefore, when the secondary calculation is failed, the lane switching can be realized based on the alternative road section, so that the head point and the tail point of the road can be smoothly communicated, and the memory consumption and the overall calculation force are greatly reduced because the search is not required to be carried out again based on the primary calculation, the calculation success rate of the navigation route after the secondary calculation is failed is improved, and the generation efficiency of the navigation route is improved.
Description
Technical Field
The present disclosure relates to the field of autopilot technologies, and in particular, to a navigation route calculation method, system, device, and storage medium.
Background
In the field of autopilot, autopilot is required based on calculated navigation routes.
In calculating the navigation route, a plurality of calculation routes may be used, wherein the first calculation route may calculate a road calculation result of a road level, the road calculation result including a head point and a tail point of the road, and the second calculation route may calculate a lane calculation result of a road level, the lane calculation result including how to switch lanes in the road so that the head point and the tail point of the road are connected.
In the related art, if a problem occurs during the second calculation route in the lane switching, so that the connection between the head point and the tail point of the road cannot be realized, the second calculation route is identified, the calculation of the navigation route is failed, and the searching is required to be performed again.
Disclosure of Invention
In order to overcome the problems in the related art, the application provides a navigation route calculation method, a system, a device and a storage medium, wherein the method can calculate an alternative road section, and the alternative road section can be used in the second road calculation process to improve the success rate of the second road calculation, so that the success rate of generating a navigation route is improved.
The first aspect of the present application provides a navigation route calculation method, including:
taking an instruction for creating an alternative road section as a trigger, and obtaining a node tree after one-time road calculation when the navigation route is calculated; wherein nodes in the node tree are used for representing roads in map data;
determining a target node with a father node outside the node tree in the node tree; the outer parent node of the tree is used for representing that nodes outside the node tree have parent-child relations with the nodes in the node tree;
and generating an alternative road section based on the out-of-tree father node of the target node so as to generate a navigation route.
Optionally, the determining the target node with the node tree outer parent node in the node tree includes:
determining a node to be selected in the node tree;
judging whether the node to be selected has an off-tree father node outside the node tree or not based on map data used by the primary calculation path;
and taking the node to be selected with the father node outside the tree as a target node.
Optionally, the determining the node to be selected in the node tree includes:
taking the node with the mark representing the specific road section in the node tree as a node to be selected;
or, according to the sequence relation from the node representing the end point to the node representing the start point in the node tree corresponding to the one-time calculation path, taking each node as a node to be selected in sequence;
or, taking each node in the node tree as a node to be selected;
or, the node corresponding to the road when the secondary calculation fails is used as the node to be selected.
Optionally, the creating process of the instruction for creating the alternative road segment includes:
and when the primary road calculation is successful and the secondary road calculation is failed, generating an alternative road section instruction.
Optionally, the generating the alternative road section based on the external parent node of the target node includes:
determining the target node as a first node;
determining any other node connected with a first father node of the target node in the node tree as a second node;
determining an out-of-tree node of the target node as a third node;
generating a navigation path based on the first node, the second node and the third node;
and generating an alternative road section from the target node to the second node based on the navigation path.
Optionally, calculating a cost value of each alternative road section by using a cost function; and eliminating the alternative road sections larger than the preset cost value.
Optionally, the method further comprises:
and generating a new navigation route based on the alternative road segments.
A second aspect of the present application provides a navigation route calculation device, including:
the trigger unit is used for taking the instruction of creating the alternative road section as trigger, and obtaining a node tree after one-time road calculation when the navigation route is calculated; wherein nodes in the node tree are used for representing roads in map data;
a determining unit, configured to determine a target node in the node tree that has a parent node outside the node tree; the outer parent node of the tree is used for representing that nodes outside the node tree have parent-child relations with the nodes in the node tree;
and the calculating unit is used for generating alternative road segments based on the out-of-tree father node of the target node so as to generate a navigation route.
A third aspect of the present application provides an electronic device, comprising:
a processor; and
a memory having executable code stored thereon which, when executed by the processor, causes the processor to perform the method as described above.
A fourth aspect of the present application provides a non-transitory machine-readable storage medium having stored thereon executable code, which when executed by a processor of an electronic device, causes the processor to perform the method as described above.
The application discloses a navigation route calculation method, a system, equipment and a storage medium, wherein the method firstly takes an instruction for creating an alternative road section as a trigger, and then obtains a node tree obtained after one calculation when the navigation route is calculated; wherein nodes in the node tree are used for representing roads in map data; then determining a target node with a father node outside the node tree in the node tree; the outer parent node of the tree is used for representing that nodes outside the node tree have parent-child relations with the nodes in the node tree; and finally, generating an alternative road section based on the out-tree father node of the target node so as to generate a navigation route. Therefore, when the secondary calculation is failed, the lane switching can be realized based on the alternative road section, so that the head point and the tail point of the road can be smoothly communicated, and the memory consumption and the overall calculation force are greatly reduced because the search is not required to be carried out again based on the primary calculation, the calculation success rate of the navigation route after the secondary calculation is failed is improved, and the generation efficiency of the navigation route 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 application.
Drawings
The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
Fig. 1 is a flowchart illustrating a navigation route calculation method according to an embodiment of the present application.
Fig. 2 is a schematic diagram of a node structure in an embodiment of the present application.
Fig. 3 is a schematic structural diagram of a navigation route calculation device according to an embodiment of the present application.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Preferred embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first message may also be referred to as a second message, and similarly, a second message may also be referred to as a first message, without departing from the scope of the present application. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
The method and the device can be applied to the field of automatic driving, particularly in a scene of driving by using the navigation route, the generation precision of the navigation route can influence the final decision of automatic driving, and because the automatic driving is different from the traditional driving, the automatic driving needs to directly travel according to the driving route in the navigation route. In the related art, the generation of the navigation route may be obtained through two calculation ways, where the first calculation way may calculate the road used, and the first point and the last point in the road, and the second calculation way may calculate which lanes used by the road are switched to implement the connection between the first point and the last point. Due to the limitation of insufficient length or lane changing and the like of the lane, the situation that the primary road calculation is successful and the secondary road calculation is failed may occur.
In view of this, in the embodiment of the present application, an alternative road may be generated, especially when the secondary road fails, the primary road may not need to be restarted, and the success rate of the secondary road may be improved according to the alternative road, so as to ensure the success rate of generating the entire navigation route.
The embodiment of the application provides a navigation route calculation method, which can improve the success rate of secondary route calculation.
The following describes the technical scheme of the embodiments of the present application in detail with reference to the accompanying drawings.
Fig. 1 is a flowchart of a navigation route calculation method according to an embodiment of the present application.
The calculation method in the embodiment of the application comprises the following steps:
s101, taking an instruction for creating an alternative road section as a trigger, and obtaining a node tree after one-time road calculation when a navigation route is calculated; wherein nodes in the node tree are used to characterize roads in the map data.
In the embodiment of the application, the instruction for creating the alternative road section may be generated when the alternative road section needs to be used, or may be generated after a road calculation is successful. In the embodiment of the present application, preferably, the creating of the candidate road segment instruction may be that the candidate road segment instruction is generated when the primary road calculation is successful and the secondary road calculation is failed.
In the embodiment of the application, when the navigation route is calculated, the node tree can be generated after one calculation. The node tree may be stored in the calculation result of a single calculation of the navigation route, and the road may be stored in the form of a node in the data structure. Each node can correspond to a road. It may be understood that the node may include node information, where the node information may include location information of the node and association relations before and after the node corresponds, for example, location information of a node having a parent-child relationship with the node. Of course, special marks may be included, which are used to characterize the importance of the road or have information such as auxiliary roads.
It will be appreciated that after one calculation, other roads in the map data associated with the navigation route have also been saved by way of nodes. For example, the designated storage location may be a memory, a cache, a hard disk, a cloud storage, or the like. In practical use, the data can be stored in a storage space of the vehicle-mounted camera, for example.
S102, determining a target node with a father node outside the node tree in the node tree; the outer parent node is used for representing that the nodes outside the node tree have parent-child relations with the nodes in the node tree.
In the embodiment of the application, each node in the node tree can form a complete navigation route. The outer nodes outside the node tree may form a complete navigation route together with the nodes in the node tree.
In the embodiment of the application, the target node in the node outside the node tree can be determined. Wherein the target node is a node capable of forming a complete navigation route with a node in the node tree.
S103, generating an alternative road section based on the out-of-tree father node of the target node so as to generate a navigation route.
When the target node is determined, the target node can be used as a basis for generating the alternative road segments to generate the alternative road segments. Based on the alternative road segments, a navigation route can be generated that includes the preferred road segments and the alternative road segments.
It is understood that the alternative road segments may be road segments that are all made up of off-tree nodes outside the node tree, or may be road segments that include nodes in one or more node trees.
An alternative road segment may be understood as a road segment that can be referred to when the head point and the tail point in the preferred road segment are not normally communicated when the road is calculated twice.
In the embodiment of the application, an instruction for creating an alternative road section is firstly used as a trigger, and then a node tree obtained after one-time road calculation is obtained when a navigation route is calculated; wherein nodes in the node tree are used for representing roads in map data; then determining a target node with a father node outside the node tree in the node tree; the outer parent node of the tree is used for representing that nodes outside the node tree have parent-child relations with the nodes in the node tree; and finally, generating an alternative road section based on the out-of-tree father node of the target node. Therefore, when the secondary calculation is failed, the lane switching can be realized based on the alternative road section, so that the head point and the tail point of the road can be smoothly communicated, and the memory consumption and the overall calculation force are greatly reduced because the search is not required to be carried out again based on the primary calculation, the calculation success rate of the navigation route after the secondary calculation is failed is improved, and the generation efficiency of the navigation route is improved.
In order to enhance that the determined target node is indeed available for generating the backup road segment, embodiments of determining the target node are therefore provided in embodiments of the present application.
In this embodiment, the determining a target node having a parent node outside the node tree in the node tree includes:
s201, determining a node to be selected in the node tree;
s202, judging whether the node to be selected has an external parent node outside the node tree or not based on map data used by the primary calculation path;
s203, taking the node to be selected with the father node outside the tree as a target node.
In this embodiment of the present application, a node to be selected may be determined first, where determining the node to be selected may include:
taking the node with the mark representing the specific road section in the node tree as a node to be selected;
or, according to the sequence relation from the node representing the end point to the node representing the start point in the node tree corresponding to the one-time calculation path, taking each node as a node to be selected in sequence;
or, taking each node in the node tree as a node to be selected;
or, the node corresponding to the road when the secondary calculation fails is used as the node to be selected.
As shown in fig. 2, fig. 2 is a schematic diagram of a node structure in an embodiment of the present application. The node 21, the node 22, the node 23 and the node 24 correspond to A, B, C, D four roads, and the parent node of the node may be, for example, ase:Sub>A parent node of the node C in ase:Sub>A navigation route having ase:Sub>A connection sequence of the node D-C-B-ase:Sub>A, and similarly, the node B is ase:Sub>A parent node of the node ase:Sub>A.
In the embodiment of the present application, the node to be selected may be a node with a specific road segment flag. Wherein the marking of a particular road segment may be created in the manner mentioned in the previous embodiments. For example, a main road having an auxiliary road, or a main road of an auxiliary road may be provided.
Alternatively, the nodes to be selected may be sequentially identified according to a certain order relationship. For example, from the node corresponding to the end point to the node corresponding to the start point, the nodes are sequentially determined as the nodes to be selected.
Or, all the nodes are used as the nodes to be selected without following the selection rule.
In practical use, the number of the nodes to be selected may be one or a plurality of, and may be the node corresponding to the road when the secondary calculation fails.
In the embodiment of the application, whether the node to be selected has an off-tree parent node can be determined based on the map data.
In actual use, a father node of a node to be selected in the node tree is a first father node, and a node of the node to be selected outside the node tree is a second father node.
In the embodiment of the present application, in order to control the priority of the final output navigation route, the present application calculates the cost value of each node including the first parent node and the second parent node of the node through a cost function, that is, a cost function or a prediction function.
The cost value is calculated according to road related parameters, wherein the road related parameters comprise: lane length, whether to charge, whether to speed up, whether to change lanes, and/or speed limit values. Of course, other parameters corresponding to other factors affecting the road decision may also be included.
It can be understood that the cost value can also be obtained by calibrating in advance according to the actual road condition.
When the node to be selected is determined to have an out-of-tree parent node, the in-tree node with the out-of-tree parent node can be used as the node to be selected.
It can be appreciated that in the related art, one node has and stores only one parent node, so that a new navigation route cannot be retrieved and generated based on an original node tree, and the embodiment of the application can generate alternative road segments based on a plurality of parent nodes outside the node tree.
It can be understood that, due to the possibly different road switching modes in the alternative road sections, the nodes in the tree can be connected with the grandparent nodes of the nodes in the tree, so that the accuracy of secondary road calculation can be improved.
In this embodiment of the present application, the generating an alternative road section based on the external parent node of the target node includes:
determining the target node as a first node;
determining any other node connected with a first father node of the target node in the node tree as a second node;
determining an out-of-tree node of the target node as a third node;
generating a navigation path based on the first node, the second node and the third node;
and generating an alternative road section from the target node to the second node based on the navigation path.
In this embodiment of the present application, the alternative road section may be implemented by at least three nodes, where a first node may be a target node, a second node may be another grandparent node directly or indirectly connected to a parent node of the target node, and a third node may be an off-tree parent node of the first node.
The first node, the second node, and the third node can constitute an alternative road segment.
The alternative road segment may be a road segment invoked when the secondary calculation of the primary road segment fails. For example, if the secondary calculation from the first node to the parent node of the first node fails, an alternative link of the link, that is, an alternative link formed by the first node, the second node, and the third node may be used as a basis for the secondary calculation.
It may be understood that the number of the candidate segments may be multiple, and thus, in the embodiment of the present application, the cost value of each candidate segment may be calculated by using the cost function; and eliminating the alternative road sections larger than the preset cost value.
In this embodiment of the present application, the candidate road segment should also be a road segment matching with a preset cost value, and if the cost value of the candidate road segment is greater than the preset cost value, it is indicated that the road segment is not suitable for the generation of the navigation route, for example, a detour may occur. Therefore, in the embodiment of the application, in order to avoid the conditions such as detour, the alternative road sections larger than the preset cost value can be removed.
In actual use, the cost function may include: cost=a×time-b×min (len, 10×time). Where cost is the cost value, time is the number of lane changes, len is the lane change length, and len may be set with a maximum value, and a and b represent weights, respectively.
In this embodiment of the present application, after the candidate road section is generated, the method may further include:
and generating a new navigation route based on the alternative road segments.
In the embodiment of the application, if the alternative road section is adopted, a new navigation route can be generated, and the navigation route can be suitable for automatic driving decision, so that the safety of automatic driving can be improved.
Corresponding to the embodiment of the application function implementation method, the application also provides a navigation route calculation device, electronic equipment and corresponding embodiments.
Fig. 3 is a schematic structural diagram of a navigation route calculation device according to an embodiment of the present application.
Referring to fig. 3, the navigation route calculation apparatus includes:
the trigger unit 1 is used for obtaining a node tree obtained after one-time route calculation when the navigation route calculation is obtained by taking an instruction for creating an alternative road section as a trigger; wherein nodes in the node tree are used for representing roads in map data;
a determining unit 2, configured to determine a target node having a parent node outside the node tree in the node tree; the outer parent node of the tree is used for representing that nodes outside the node tree have parent-child relations with the nodes in the node tree;
and the calculating unit 3 is used for generating alternative road segments based on the out-of-tree father node of the target node so as to generate a navigation route.
Optionally, the determining unit is specifically configured to:
determining a node to be selected in the node tree;
judging whether the node to be selected has an off-tree father node outside the node tree or not based on map data used by the primary calculation path;
and taking the node to be selected with the father node outside the tree as a target node.
Optionally, the determining the node to be selected in the node tree includes:
taking the node with the mark representing the specific road section in the node tree as a node to be selected;
or, according to the sequence relation from the node representing the end point to the node representing the start point in the node tree corresponding to the one-time calculation path, taking each node as a node to be selected in sequence;
or, taking each node in the node tree as a node to be selected;
or, the node corresponding to the road when the secondary calculation fails is used as the node to be selected.
Optionally, the creating process of the instruction for creating the alternative road segment includes:
and when the primary road calculation is successful and the secondary road calculation is failed, generating an alternative road section instruction.
Optionally, the computing unit is specifically configured to:
determining the target node as a first node;
determining any other node connected with a first father node of the target node in the node tree as a second node;
determining an out-of-tree node of the target node as a third node;
generating a navigation path based on the first node, the second node and the third node;
and generating an alternative road section from the target node to the second node based on the navigation path.
Optionally, calculating a cost value of each alternative road section by using a cost function; and eliminating the alternative road sections larger than the preset cost value.
Optionally, the route generation unit is further included for:
and generating a new navigation route based on the alternative road segments.
According to the device, the candidate road section is generated by utilizing the target node outside the node tree, so that when the secondary road calculation fails, the lane switching can be realized based on the candidate road section, the head point and the tail point of the road can be smoothly communicated, and the memory consumption and the whole calculation force are greatly reduced because the primary road calculation is not required to be searched again, the road calculation success rate after the secondary road calculation of the navigation route fails is improved, and the generation efficiency of the navigation route is improved.
The specific manner in which the respective modules perform the operations in the apparatus of the above embodiments has been described in detail in the embodiments related to the method, and will not be described in detail herein.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Referring to fig. 4, the electronic device 1000 includes a memory 1010 and a processor 1020.
The processor 1020 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Memory 1010 may include various types of storage units, such as system memory, read Only Memory (ROM), and persistent storage. Where the ROM may store static data or instructions that are required by the processor 1020 or other modules of the computer. The persistent storage may be a readable and writable storage. The persistent storage may be a non-volatile memory device that does not lose stored instructions and data even after the computer is powered down. In some embodiments, the persistent storage device employs a mass storage device (e.g., magnetic or optical disk, flash memory) as the persistent storage device. In other embodiments, the persistent storage may be a removable storage device (e.g., diskette, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as dynamic random access memory. The system memory may store instructions and data that are required by some or all of the processors at runtime. Furthermore, memory 1010 may comprise any combination of computer-readable storage media including various types of semiconductor memory chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic disks, and/or optical disks may also be employed. In some implementations, memory 1010 may include readable and/or writable removable storage devices such as Compact Discs (CDs), digital versatile discs (e.g., DVD-ROMs, dual-layer DVD-ROMs), blu-ray discs read only, super-density discs, flash memory cards (e.g., SD cards, min SD cards, micro-SD cards, etc.), magnetic floppy disks, and the like. The computer readable storage medium does not contain a carrier wave or an instantaneous electronic signal transmitted by wireless or wired transmission.
The memory 1010 has stored thereon executable code that, when processed by the processor 1020, can cause the processor 1020 to perform some or all of the methods described above.
The aspects of the present application have been described in detail hereinabove with reference to the accompanying drawings. In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments. Those skilled in the art will also appreciate that the acts and modules referred to in the specification are not necessarily required in the present application. In addition, it can be understood that the steps in the method of the embodiment of the present application may be sequentially adjusted, combined and pruned according to actual needs, and the modules in the apparatus of the embodiment of the present application may be combined, divided and pruned according to actual needs.
Furthermore, the method according to the present application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing part or all of the steps of the above-described method of the present application.
Alternatively, the present application may also be embodied as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) having stored thereon executable code (or a computer program, or computer instruction code) that, when executed by a processor of an electronic device (or electronic device, server, etc.), causes the processor to perform some or all of the steps of the above-described methods according to the present application.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the application herein may be implemented as electronic hardware, computer software, or combinations of both.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems and methods according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The embodiments of the present application have been described above, the foregoing description is exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. A navigation route calculation method, characterized by comprising:
taking an instruction for creating an alternative road section as a trigger, and obtaining a node tree after one-time road calculation when the navigation route is calculated; wherein nodes in the node tree are used for representing roads in map data;
determining a target node with a father node outside the node tree in the node tree; the outer parent node of the tree is used for representing that nodes outside the node tree have parent-child relations with the nodes in the node tree;
and generating an alternative road section based on the out-of-tree father node of the target node so as to generate a navigation route.
2. The method of claim 1, wherein the determining a target node in the node tree having a parent node outside the node tree comprises:
determining a node to be selected in the node tree;
judging whether the node to be selected has an off-tree father node outside the node tree or not based on map data used by the primary calculation path;
and taking the node to be selected with the father node outside the tree as a target node.
3. The method of claim 2, wherein the determining the candidate node in the node tree comprises:
according to the node with the mark representing the specific road section in the node tree, taking the node as a node to be selected;
or, according to the sequence relation from the node representing the end point to the node representing the start point in the node tree corresponding to the one-time calculation path, taking each node as a node to be selected in sequence;
or, taking each node in the node tree as a node to be selected;
or, the node corresponding to the road when the secondary calculation fails is used as the node to be selected.
4. The method of claim 1, wherein the creating of the create alternative road segment instruction includes:
and when the primary road calculation is successful and the secondary road calculation is failed, generating an alternative road section instruction.
5. The method of claim 1, wherein the generating the alternative road segments based on the off-tree parent node of the target node comprises:
determining the target node as a first node;
determining any other node connected with a first father node of the target node in the node tree as a second node;
determining an out-of-tree node of the target node as a third node;
generating a navigation path based on the first node, the second node and the third node;
and generating an alternative road section from the target node to the second node based on the navigation path.
6. The method of claim 5, wherein the cost value for each candidate segment is calculated using a cost function; and eliminating the alternative road sections larger than the preset cost value.
7. The method as recited in claim 1, further comprising:
and generating a new navigation route based on the alternative road segments.
8. A navigation route calculation device, comprising:
the trigger unit is used for taking the instruction of creating the alternative road section as trigger, and obtaining a node tree after one-time road calculation when the navigation route is calculated; wherein nodes in the node tree are used for representing roads in map data;
a determining unit, configured to determine a target node in the node tree that has a parent node outside the node tree; the outer parent node of the tree is used for representing that nodes outside the node tree have parent-child relations with the nodes in the node tree;
and the calculating unit is used for generating alternative road segments based on the out-of-tree father node of the target node so as to generate a navigation route.
9. An electronic device, comprising:
a processor; and
a memory having executable code stored thereon, which when executed by the processor, causes the processor to perform the method of any of claims 1-7.
10. A non-transitory machine-readable storage medium having stored thereon executable code, which when executed by a processor of an electronic device, causes the processor to perform the method of any of claims 1-7.
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