CN116592902A - Path planning method, device, equipment and storage medium - Google Patents
Path planning method, device, equipment and storage medium Download PDFInfo
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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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- 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
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- 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
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
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Abstract
The embodiment of the invention discloses a path planning method, a path planning device, path planning equipment and a storage medium. Comprising the following steps: acquiring a sub-target map corresponding to an environment grid map; the sub-target graph comprises a sub-target set and an edge set for connecting the sub-targets; updating the sub-target graph according to the starting cell and/or the ending cell to obtain an updated sub-target graph; determining an initial path based on the updated sub-target graph; wherein the initial path is composed of a plurality of sub-targets in the updated sub-target graph; and determining a sub-path between two adjacent sub-targets in the initial path to obtain a target path. According to the path planning method provided by the embodiment of the invention, the paths between the real cells and the termination cells are determined based on the updated sub-target graph, so that the efficiency and the accuracy of path planning can be improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of path planning, in particular to a path planning method, a device, equipment and a storage medium.
Background
Global path planning research in the automotive field has become one of the concerns in the automotive industry. Global path planning based on grid map is one of the most basic and important research directions in this field. The existing global path planning algorithm based on the grid map is mainly divided into the following two types: the method comprises a traditional path planning algorithm and an intelligent path planning algorithm, wherein the intelligent path planning algorithm has the problems of low algorithm searching efficiency, easiness in sinking into local optimum and the like, and the traditional path planning algorithm avoids the problems, but has the problems of large operand, limited searching speed and the like.
Disclosure of Invention
The embodiment of the invention provides a path planning method, a device, equipment and a storage medium, which can improve the efficiency and accuracy of path planning.
In a first aspect, an embodiment of the present invention provides a path planning method, including:
acquiring a sub-target map corresponding to an environment grid map; the sub-target graph comprises a sub-target set and an edge set for connecting the sub-targets; the sub-target is a cell meeting a first set condition in the environment grid map; the paths between the sub-targets at the two ends of the edges in the edge set meet a second setting condition;
updating the sub-target graph according to the starting cell and/or the ending cell to obtain an updated sub-target graph;
determining an initial path based on the updated sub-target graph; wherein the initial path is composed of a plurality of sub-targets in the updated sub-target graph;
and determining a sub-path between two adjacent sub-targets in the initial path to obtain a target path.
In a second aspect, an embodiment of the present invention further provides a path planning apparatus, including:
the sub-target map acquisition module is used for acquiring a sub-target map corresponding to the environment grid map; the sub-target graph comprises a sub-target set and an edge set for connecting the sub-targets; the sub-target is a cell meeting a first set condition in the environment grid map; the paths between the sub-targets at the two ends of the edges in the edge set meet a second setting condition;
the updating module is used for updating the sub-target graph according to the starting cell and/or the ending cell to obtain an updated sub-target graph;
an initial path determining module, configured to determine an initial path based on the updated sub-target graph; wherein the initial path is composed of a plurality of sub-targets in the updated sub-target graph;
and the target path acquisition module is used for determining a sub-path between two adjacent sub-targets in the initial path to acquire a target path.
In a third aspect, an embodiment of the present invention further provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor;
wherein the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the path planning method according to the embodiments of the present invention.
In a fourth aspect, an embodiment of the present invention further provides a computer readable storage medium, where the computer readable storage medium stores computer instructions, where the computer instructions are configured to cause a processor to implement the path planning method according to the embodiment of the present invention.
The embodiment of the invention discloses a path planning method, a path planning device, path planning equipment and a storage medium. Acquiring a sub-target map corresponding to an environment grid map; the sub-target graph comprises a sub-target set and an edge set for connecting the sub-targets; the sub-targets are cells meeting a first set condition in the environment grid map; the paths between the sub-targets at the two ends of the edge in the edge set meet a second setting condition; updating the sub-target graph according to the starting cell and/or the ending cell to obtain an updated sub-target graph; determining an initial path based on the updated sub-target graph; the initial path is composed of a plurality of sub-targets in the updated sub-target graph; and determining a sub-path between two adjacent sub-targets in the initial path to obtain a target path. According to the path planning method provided by the embodiment of the invention, the paths between the real cells and the termination cells are determined based on the updated sub-target graph, so that the efficiency and the accuracy of path planning can be improved.
Drawings
FIG. 1 is a flow chart of a path planning method according to a first embodiment of the present invention;
FIG. 2 is an exemplary diagram of an environmental grid map in accordance with a first embodiment of the present invention;
fig. 3 is a schematic structural diagram of a path planning apparatus according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device in a third embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
Fig. 1 is a flowchart of a path planning method according to a first embodiment of the present invention, where the method may be applied to a case of planning a path, and the method may be performed by a path planning apparatus, where the apparatus may be implemented in software and/or hardware, and optionally, implemented by an electronic device, where the electronic device may be a mobile terminal, a PC side, a server, or the like. The method specifically comprises the following steps:
s110, obtaining a sub-target map corresponding to the environment grid map.
The sub-target graph comprises a sub-target set and an edge set for connecting the sub-targets; the sub-targets are cells meeting a first set condition in the environment grid map; the paths between sub-targets at both ends of the edges in the edge set satisfy the second set condition.
The environment grid map is understood to be a map obtained by rasterizing an environment map in which an intelligent vehicle works, in which a blocking state of each cell is blocked or unblocked, and each cell can have 8 moving directions including four linear moving directions including east, south, west and north (denoted by a symbol E, S, W, N), and four diagonal moving directions including north west, north east, south west and south east (denoted by a symbol NW, NE, SW, SE), and each diagonal moving is a result of a combination of two orthogonal linear movements. By way of example, fig. 2 is an exemplary diagram of an environmental grid map in the present embodiment, where, as shown in fig. 2, black cells indicate blocked, white cells indicate unblocked, each cell includes E, S, W, N, NW, NE, SW, SE, S indicates a real cell, and T indicates a terminating cell. The solution of this embodiment is to determine a shortest path between S and T.
Wherein the sub-target graph can be understood as an undirected graph, and can be expressed as G S ＝(V S ,E S ) Wherein V is S Representing a set of sub-targets, E S To connect sets of edges of sub-objects.
Wherein the first setting condition includes: the cells are unblocked, cells adjacent to the cells in the first direction of movement are unblocked, cells adjacent to the cells in the second direction of movement are unblocked, and cells adjacent to the cells in the third direction of movement are blocked. The first moving direction and the second moving direction are perpendicular to each other, and the included angle between the third moving direction and the first moving direction and the included angle between the third moving direction and the second moving direction are all 45 degrees. The first direction of movement is illustratively shown asThe second direction of movement is denoted->The third direction of movement can be denoted +.>For cell s, if s satisfies: />Is blocked and is provided withAnd->None of which is blocked, then cell s is a child object.
The second setting condition is that a shortest path exists between two sub-targets in the grid map, and other sub-targets are not included in the shortest path.
In this embodiment, if there is a path with length h between two cells, the two cells are reachable (h-reach); if there is a shortest path between two reachable cells, then the two cells are safe-h-reachable; if no sub-object is included on the shortest path between two safely reachable cells, then direct-h-reachable is between the two cells. That is, in this embodiment, the second setting condition is that direct-h-reach is between two sub-targets. If direct-h-reach is between two sub-targets, an edge is added between the two sub-targets.
And S120, updating the sub-target graph according to the starting cell and/or the ending cell, and obtaining the updated sub-target graph.
The start cell may be understood as a cell where the start point is located, and the end cell may be understood as a cell where the end point is located. Updating the sub-target graph according to the starting cell and/or the ending cell is understood to mean adding the starting cell and the ending cell as sub-targets to the sub-target graph.
Specifically, the method for updating the sub-target graph according to the start cell and/or the end cell may be: if the starting cell belongs to the sub-target graph and the ending cell does not belong to the sub-target graph, updating the sub-target graph based on the ending cell; if the starting cell does not belong to the sub-target graph and the ending cell belongs to the sub-target graph, updating the sub-target graph based on the starting cell; and if the starting cell and the ending cell do not belong to the sub-target graph, updating the sub-target graph based on the starting cell and the ending cell. If the starting cell and the ending cell belong to the sub-target graph, the sub-target graph does not need to be updated.
In this embodiment, the method for updating the sub-target graph based on the starting cell may be: determining a sub-target meeting a second setting condition in the initial cell and sub-target diagram as a first sub-target; setting edges between the initial cell and the first sub-target to obtain a first newly added edge set; and adding the initial cell into the sub-target set, and adding the first newly added edge set into the edge set to obtain an updated sub-target graph.
Wherein the first sub-target may be 1 or more. Specifically, a direct-h-accessible sub-target between a sub-target graph and a starting cell is determined as a first sub-target, edges are respectively arranged between a plurality of first sub-targets and the starting cell, so that a plurality of first newly added edges are obtained to form a first newly added edge set, the starting cell is finally added into the sub-target set as the sub-target, the first newly added edge set is added into the edge set, and an updated sub-target graph is obtained, so that the starting cell is added into the sub-target graph.
In this embodiment, the manner of updating the sub-target graph based on the termination cell may be: determining a sub-target meeting a second setting condition in the termination cell and sub-target diagram as a second sub-target; setting edges between the termination cells and the second sub-targets to obtain a second newly added edge set; and adding the termination cell into the sub-target set, and adding the second newly added edge set into the edge set to obtain an updated sub-target graph.
Wherein the second sub-target may be 1 or more. Specifically, a direct-h-accessible sub-target between termination cells is determined in a sub-target graph and is used as a second sub-target, edges are respectively arranged between a plurality of second sub-targets and the termination cells, so that a plurality of second newly added edges are obtained to form a second newly added edge set, the termination cells are finally added into the sub-target set as the sub-targets, the second newly added edge set is added into the edge set, and an updated sub-target graph is obtained, so that the termination cells are added into the sub-target graph.
S130, determining an initial path based on the updated sub-target graph.
Wherein the initial path is composed of a plurality of sub-targets in the updated sub-target graph.
In this embodiment, after the updated sub-target graph is obtained, whether a second set condition is satisfied between the start cell and the end cell, that is, whether direct-h-reach is satisfied between the start cell and the end cell is first determined according to the updated sub-target graph, and if so, the shortest path corresponding to the first set condition is used as the target path directly. If not, the operation of S130 is performed.
Specifically, the manner of determining the initial path based on the updated sub-objective graph may be: and starting to search paths in the updated sub-target graph from the starting cell and/or the ending cell to obtain an initial path.
In this embodiment, a path search algorithm is set to perform path search in the updated sub-target graph from the initial cell to obtain an initial path; or, a path search algorithm can be set to perform path search in the updated sub-target graph by starting from the termination cell; or, starting to perform path search in the updated sub-target graph by adopting a set bidirectional shortest path search algorithm from the starting cell and the ending cell at the same time.
The shortest path search algorithm may be a heuristic search algorithm, for example: a search algorithm. The process of performing path search in the updated sub-target graph by adopting the set bidirectional shortest path search algorithm from the start cell and the end cell at the same time may be: the starting cell and the ending cell are regarded as the ending cell at the same time, search is carried out in opposite directions according to a shortest path searching algorithm, iteration is stopped when the two cells meet, and the parent nodes of the two cells are traced back respectively, so that paths can be obtained.
S140, determining sub-paths between two adjacent sub-targets in the initial path to obtain a target path.
Wherein the method comprises the steps ofThe initial path is composed of a plurality of sub-objects, i.e. divided into a plurality of segments, each segment being denoted (S) i ,S i+1 )，S i Representing the ith sub-target.
Specifically, determining a sub-path between two adjacent sub-targets in the initial path, and obtaining the target path may be: carrying out path search between every two adjacent sub-targets in the initial path to obtain a plurality of sub-paths; and splicing the plurality of sub-paths to obtain a target path.
And performing path search between two adjacent sub-targets by adopting a depth-first search algorithm to obtain sub-paths between the two adjacent sub-targets. And then splicing the multiple sub-paths according to the sequence of the sub-targets in the original path to obtain the target path.
According to the technical scheme, a sub-target map corresponding to an environment grid map is obtained; the sub-target graph comprises a sub-target set and an edge set for connecting the sub-targets; the sub-targets are cells meeting a first set condition in the environment grid map; the paths between the sub-targets at the two ends of the edge in the edge set meet a second setting condition; updating the sub-target graph according to the starting cell and/or the ending cell to obtain an updated sub-target graph; determining an initial path based on the updated sub-target graph; the initial path is composed of a plurality of sub-targets in the updated sub-target graph; and determining a sub-path between two adjacent sub-targets in the initial path to obtain a target path. According to the path planning method provided by the embodiment of the invention, the paths between the real cells and the termination cells are determined based on the updated sub-target graph, so that the efficiency and the accuracy of path planning can be improved.
Example two
Fig. 3 is a schematic structural diagram of a path planning apparatus according to a second embodiment of the present invention, as shown in fig. 3, where the apparatus includes:
a sub-target map obtaining module 310, configured to obtain a sub-target map corresponding to the environmental grid map; the sub-target graph comprises a sub-target set and an edge set for connecting the sub-targets; the sub-targets are cells meeting a first set condition in the environment grid map; the paths between the sub-targets at the two ends of the edge in the edge set meet a second setting condition;
an updating module 320, configured to update the sub-target graph according to the start cell and/or the end cell, and obtain an updated sub-target graph;
an initial path determining module 330, configured to determine an initial path based on the updated sub-objective graph; the initial path is composed of a plurality of sub-targets in the updated sub-target graph;
the target path obtaining module 340 is configured to determine a sub-path between two adjacent sub-targets in the initial path, and obtain a target path.
Optionally, the updating module 320 is further configured to:
if the starting cell belongs to the sub-target graph and the ending cell does not belong to the sub-target graph, updating the sub-target graph based on the ending cell;
if the starting cell does not belong to the sub-target graph and the ending cell belongs to the sub-target graph, updating the sub-target graph based on the starting cell;
and if the starting cell and the ending cell do not belong to the sub-target graph, updating the sub-target graph based on the starting cell and the ending cell.
Optionally, the updating module 320 is further configured to:
determining a sub-target meeting a second setting condition in the initial cell and sub-target diagram as a first sub-target;
setting edges between the initial cells and the first sub-targets to obtain a first newly added edge set;
and adding the initial cell into the sub-target set, and adding the first newly added edge set into the edge set to obtain an updated sub-target graph.
Optionally, the updating module 320 is further configured to:
determining a sub-target meeting a second setting condition in the termination cell and sub-target diagram as a second sub-target;
setting edges between the termination cells and the second sub-targets to obtain a second newly added edge set;
and adding the termination cell into the sub-target set, and adding the second newly added edge set into the edge set to obtain an updated sub-target graph.
Optionally, the initial path determining module 330 is further configured to:
and starting to search paths in the updated sub-target graph from the starting cell and/or the ending cell to obtain an initial path.
Optionally, the initial path determining module 330 is further configured to:
and starting from the starting cell and the ending cell, adopting a set bidirectional shortest path searching algorithm to perform path searching in the updated sub-target graph, and obtaining an initial path.
Optionally, the target path acquisition module 340 is further configured to:
carrying out path search between every two adjacent sub-targets in the initial path to obtain a plurality of sub-paths;
and splicing the plurality of sub-paths to obtain a target path.
Optionally, the first setting condition includes: the cells are unblocked, cells adjacent to the cells along the first direction of movement are unblocked, cells adjacent to the cells along the second direction of movement are unblocked, and cells adjacent to the cells along the third direction of movement are blocked; the first moving direction and the second moving direction are perpendicular to each other, and the included angles between the third moving direction and the first moving direction and between the third moving direction and the second moving direction are 45 degrees; the second setting condition is that a shortest path exists between two sub-targets in the grid map, and other sub-targets are not included in the shortest path.
The device can execute the method provided by all the embodiments of the invention, and has the corresponding functional modules and beneficial effects of executing the method. Technical details not described in detail in this embodiment can be found in the methods provided in all the foregoing embodiments of the invention.
Example III
Fig. 4 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 4, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as the path planning method.
In some embodiments, the path planning method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. One or more of the steps of the path planning method described above may be performed when the computer program is loaded into RAM 13 and executed by processor 11. Alternatively, in other embodiments, the processor 11 may be configured to perform the path planning method in any other suitable way (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (11)
1. A method of path planning, comprising:
acquiring a sub-target map corresponding to an environment grid map; the sub-target graph comprises a sub-target set and an edge set for connecting the sub-targets; the sub-target is a cell meeting a first set condition in the environment grid map; the paths between the sub-targets at the two ends of the edges in the edge set meet a second setting condition;
updating the sub-target graph according to the starting cell and/or the ending cell to obtain an updated sub-target graph;
determining an initial path based on the updated sub-target graph; wherein the initial path is composed of a plurality of sub-targets in the updated sub-target graph;
and determining a sub-path between two adjacent sub-targets in the initial path to obtain a target path.
2. The method of claim 1, wherein updating the sub-target graph according to a starting cell and/or a terminating cell comprises:
if the starting cell belongs to the sub-target graph and the ending cell does not belong to the sub-target graph, updating the sub-target graph based on the ending cell;
if the starting cell does not belong to the sub-target graph and the ending cell belongs to the sub-target graph, updating the sub-target graph based on the starting cell;
and if the starting cell and the ending cell do not belong to the sub-target graph, updating the sub-target graph based on the starting cell and the ending cell.
3. The method of claim 2, wherein updating the sub-target graph based on the starting cell comprises:
determining a sub-target meeting the second setting condition in the initial cell and the sub-target diagram as a first sub-target;
setting edges between the initial cell and the first sub-target to obtain a first newly added edge set;
and adding the initial cell to the sub-target set, and adding the first newly added edge set to the edge set to obtain an updated sub-target graph.
4. The method of claim 2, wherein updating the sub-target graph based on the termination cell comprises:
determining a sub-target meeting the second setting condition in the termination cell and the sub-target diagram as a second sub-target;
setting edges between the termination unit cells and the second sub-targets to obtain a second newly added edge set;
and adding the termination unit cell into the sub-target set, and adding the second newly added edge set into the edge set to obtain an updated sub-target graph.
5. The method of claim 1, wherein determining the initial path based on the updated sub-objective graph comprises:
and starting to search paths in the updated sub-target graph from the starting cell and/or the ending cell to obtain an initial path.
6. The method of claim 5, wherein starting with the starting cell and/or the ending cell to perform a path search in the updated sub-target graph to obtain an initial path, comprising:
and starting to search paths in the updated sub-target graph by adopting a set bidirectional shortest path searching algorithm from the starting cell and the ending cell to obtain an initial path.
7. The method of claim 1, wherein determining a sub-path between two adjacent sub-targets in the initial path to obtain a target path comprises:
performing path search between every two adjacent sub-targets in the initial path to obtain a plurality of sub-paths;
and splicing the plurality of sub-paths to obtain a target path.
8. The method of claim 1, wherein the first set of conditions comprises: the method comprises the steps that a cell is not blocked, a cell adjacent to the cell along a first moving direction is not blocked, a cell adjacent to the cell along a second moving direction is not blocked, and a cell adjacent to the cell along a third moving direction is blocked; the first moving direction and the second moving direction are perpendicular to each other, and the included angles between the third moving direction and the first moving direction and between the third moving direction and the second moving direction are 45 degrees; the second setting condition is that a shortest path exists between two sub-targets in the grid map, and other sub-targets are not included in the shortest path.
9. A path planning apparatus, comprising:
the sub-target map acquisition module is used for acquiring a sub-target map corresponding to the environment grid map; the sub-target graph comprises a sub-target set and an edge set for connecting the sub-targets; the sub-target is a cell meeting a first set condition in the environment grid map; the paths between the sub-targets at the two ends of the edges in the edge set meet a second setting condition;
the updating module is used for updating the sub-target graph according to the starting cell and/or the ending cell to obtain an updated sub-target graph;
an initial path determining module, configured to determine an initial path based on the updated sub-target graph; wherein the initial path is composed of a plurality of sub-targets in the updated sub-target graph;
and the target path acquisition module is used for determining a sub-path between two adjacent sub-targets in the initial path to acquire a target path.
10. An electronic device, the electronic device comprising: at least one processor; and a memory communicatively coupled to the at least one processor;
wherein the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the path planning method of any one of claims 1-8.
11. A computer readable storage medium storing computer instructions for causing a processor to perform the path planning method of any one of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310500285.4A CN116592902A (en) | 2023-05-05 | 2023-05-05 | Path planning method, device, equipment and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310500285.4A CN116592902A (en) | 2023-05-05 | 2023-05-05 | Path planning method, device, equipment and storage medium |
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| CN202310500285.4A Pending CN116592902A (en) | 2023-05-05 | 2023-05-05 | Path planning method, device, equipment and storage medium |
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| Country | Link |
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