CN116954207A

CN116954207A - Path planning method, path planning device, computer equipment and storage medium

Info

Publication number: CN116954207A
Application number: CN202210403536.2A
Authority: CN
Inventors: 郭宇峰; 赵红超; 李伟征; 黄炜; 吴雨佳
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2022-04-18
Filing date: 2022-04-18
Publication date: 2023-10-27

Abstract

The application relates to a path planning method, a path planning device, computer equipment and a storage medium. The method is applied to the field of automatic driving, and comprises the following steps: receiving a path planning request, wherein the path planning request carries a starting point position and a target end point position; if a limited line area matched with the path planning request exists, acquiring a boundary road section and a boundary turning corresponding to the limited line area; and determining a recommended route with the minimum passing cost based on the starting point position, the target end point position and the boundary road section and the boundary turning corresponding to the restricted area. By adopting the method, the occupation of service resources can be reduced without digging all road sections and turns among the road sections in the restricted area, and when the restricted area exists, the route planning is carried out only aiming at the boundary road sections and the boundary turns which are determined to be positioned at the boundary of the restricted area, so that the problem of local detouring caused by the priority of other road sections in order to avoid the restricted area is avoided, and the rationality of the determined recommended route is further improved.

Description

Path planning method, path planning device, computer equipment and storage medium

Technical Field

The present application relates to the field of artificial intelligence, and in particular, to a path planning method, apparatus, computer device, and storage medium.

Background

With the development of artificial intelligence technology and the increasingly strict safety control of road traffic, in order to relieve the local traffic pressure of different areas, a mode of setting a limited traffic area and setting corresponding limited traffic time for different limited traffic areas appears, so that vehicles in the limited traffic area are reduced, traffic jam is relieved, and road traffic safety is maintained within the specified limited traffic time.

Conventionally, when path planning is required in the case where a limited-line area exists, a way of avoiding entering the limited-line area as much as possible is often adopted. The basic idea of path planning is to calculate the cost of each road section passing through from the starting point to the ending point, determine the optimal route with the minimum cost, so that all road sections in the restricted area need to be dug out, and set larger passing cost for all road sections, so as to avoid all road sections with large passing cost in the restricted area when path planning is carried out.

However, in the current planning method, all road sections in the limited traffic area need to be mined, and traffic cost is set, so that service memory consumption is huge, and resources are wasted. Meanwhile, if a situation that the traffic is not avoided exists, such as when the terminal point is located in the traffic limiting area, the traffic limiting area is avoided preferentially until the traffic limiting area is reentered when the traffic limiting area cannot be avoided, the problem of local detour is easy to occur, and meanwhile total traffic cost is improved. Therefore, the traditional planning method still has the problems of huge consumption of resources for service memory and unreasonable route planning.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a path planning method, apparatus, computer device, computer readable storage medium, and computer program product that can reduce resource consumption and improve path planning rationality.

In a first aspect, the present application provides a path planning method. The method comprises the following steps:

receiving a path planning request, wherein the path planning request carries a starting point position and a target end point position;

if a limited line area matched with the path planning request exists, acquiring a boundary road section and a boundary turning corresponding to the limited line area;

and determining a recommended route with the minimum passing cost based on the starting point position, the target ending point position and the boundary road section and the boundary turning corresponding to the restricted area.

In one embodiment, the determining, based on the number of times each ray passes through the boundary of the area plane, the position relationship between the effective road segment corresponding to the ray and the area plane includes:

when the number of times that the ray passes through the boundary of the area surface is an odd number, determining the position relationship between the effective road section and the area surface as a first position relationship; the first position relation is used for determining a boundary road section;

When the number of times that the ray passes through the boundary of the area surface is even, determining the position relationship between the effective road section and the area surface as a second position relationship; the second positional relationship is used to determine a boundary turn.

In one embodiment, screening the minimum road segment bounding box intersected with the minimum area bounding box includes:

acquiring a first boundary vertex coordinate value of the minimum region bounding box and a second boundary vertex coordinate value of each minimum road section bounding box;

and comparing each second boundary vertex coordinate value with the first boundary vertex coordinate value respectively to determine a minimum road section bounding box intersected with the minimum region bounding box.

In a second aspect, the application further provides a path planning device. The device comprises:

the path planning request receiving module is used for receiving a path planning request, wherein the path planning request carries a starting point position and a target end point position;

the acquisition module is used for acquiring a boundary road section and a boundary turning corresponding to the restricted area if the restricted area matched with the path planning request exists;

and the recommended route determining module is used for determining a recommended route with the minimum passing cost based on the starting point position, the target ending point position and the boundary road section and the boundary turning corresponding to the restricted area.

In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor which when executing the computer program performs the steps of:

In a fourth aspect, the present application also provides a computer-readable storage medium. The computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:

In a fifth aspect, the present application also provides a computer program product. The computer program product comprises a computer program which, when executed by a processor, implements the steps of:

In the path planning method, the path planning device, the computer equipment and the storage medium, the starting point position and the target end point position carried by the path planning request are obtained by receiving the path planning request. When a limited line area matched with the path planning request exists, a boundary section and a boundary turning corresponding to the limited line area are obtained, and then a recommended route with the minimum passing cost is determined based on the starting point position, the target end point position and the boundary section and the boundary turning corresponding to the limited line area. According to the method, the occupied service resources can be greatly reduced because no turning among all road sections in the restricted area is required to be dug, and when the restricted area exists, path planning is carried out only for the determined boundary road sections and boundary turning positioned at the boundary of the restricted area, so that the problem of local detouring caused by priority of other road sections for avoiding the restricted area is avoided, and the rationality of the determined recommended route is further improved.

Drawings

FIG. 1 is an application environment diagram of a path planning method in one embodiment;

FIG. 2 is a flow diagram of a method of path planning in one embodiment;

FIG. 3 is a flow chart of determining valid road segments according to road segments in the restricted area and road network data in one embodiment;

FIG. 4 is a schematic diagram of an alignment of valid road segments and invalid road segments in one embodiment;

FIG. 5 is a schematic flow chart of determining a positional relationship of each effective road segment and an area plane of a restricted area in one embodiment;

FIG. 6 is an exemplary diagram of determining boundary segments in a path planning method in one embodiment;

FIG. 7 is a schematic flow diagram of determining a boundary turn based on a positional relationship between each active road segment and an area surface in one embodiment;

FIG. 8 is an exemplary diagram of determining a boundary turn in a path planning method in one embodiment;

FIG. 9 is a flow diagram of a recommended route for determining a minimum traffic cost in one embodiment;

FIG. 10 is a schematic diagram of a planned route based on a traditional approach to restricted areas in one embodiment;

FIG. 11 is a schematic diagram of a recommended route determined based on a path planning method in one embodiment;

FIG. 12 is a flow chart of a method of path planning in another embodiment;

FIG. 13 is a block diagram of a path planning apparatus in one embodiment;

fig. 14 is an internal structural diagram of a computer device in one embodiment.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

The path planning method provided by the embodiment of the application relates to an artificial intelligence technology, wherein artificial intelligence (Artificial Intelligence, AI) is a theory, a method, a technology and an application system which simulate, extend and expand human intelligence by using a digital computer or a machine controlled by the digital computer, sense environment, acquire knowledge and acquire an optimal result by using the knowledge. In other words, artificial intelligence is an integrated technology of computer science that attempts to understand the essence of intelligence and to produce a new intelligent machine that can react in a similar way to human intelligence. Artificial intelligence, i.e. research on design principles and implementation methods of various intelligent machines, enables the machines to have functions of sensing, reasoning and decision. The artificial intelligence technology is a comprehensive subject, and relates to the technology with wide fields, namely the technology with a hardware level and the technology with a software level. Artificial intelligence infrastructure technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technologies, operation/interaction systems, mechatronics, and the like. The artificial intelligence software technology mainly comprises a computer vision technology, a voice processing technology, a natural language processing technology, machine learning/deep learning and other directions.

Among them, the autopilot technology generally includes technologies such as high-precision map, environment perception, behavior decision, path planning, motion control, etc., and the autopilot technology has a wide application prospect, and as the artificial intelligence technology is researched and advanced, the artificial intelligence technology is developed and applied in various fields, such as common smart home, smart wearable devices, virtual assistants, smart speakers, smart marketing, unmanned, autopilot, unmanned aerial vehicle, robot, smart medical treatment, smart customer service, etc., and it is believed that the artificial intelligence technology will be applied in more fields and has increasingly important value as the technology is developed.

The path planning method provided by the embodiment of the application relates to an artificial intelligence automatic driving technology, and can be applied to an application environment shown in fig. 1. Wherein the terminal 102 communicates with the server 104 via a network. The data storage system may store data that needs to be processed by the server 104, and the data storage system may be integrated on the server 104, or may be placed on a cloud or other network server. The server 104 receives the path planning request sent by the terminal 102, and obtains that the path planning request carries the starting point position and the target end point position. When the server 104 determines that there is a restricted area matching the path planning request, a boundary section and a boundary turn corresponding to the restricted area are obtained, and a recommended route of the minimum traffic cost is determined based on the start position, the target end position, and the boundary section and the boundary turn corresponding to the restricted area. The server 104 may then send the determined recommended route to the terminal 102 for display for viewing by the user. The terminal 102 may be, but not limited to, various personal computers, notebook computers, smart phones, tablet computers, internet of things devices and portable wearable devices, where the internet of things devices may be intelligent voice interaction devices, intelligent home appliances (such as intelligent televisions, intelligent air conditioners, etc.), intelligent vehicle-mounted devices, aircrafts, etc. The portable wearable device may be a smart watch, smart bracelet, headset, or the like. The server 104 may be implemented as a stand-alone server or as a server cluster of multiple servers.

In one embodiment, as shown in fig. 2, a path planning method is provided, and the method is applied to the server in fig. 1 for illustration, and includes the following steps:

step S202, a path planning request is received, wherein the path planning request carries a starting point position and a target end point position.

Specifically, when a path planning request sent by a terminal device is received, a starting point position and a target end point position carried by the path planning request are acquired. The terminal device may be a vehicle-mounted intelligent terminal, or may be a mobile intelligent terminal device, such as a smart phone or a tablet computer.

The route planning request may be generated in response to a navigation operation triggered by the user for the vehicle-mounted intelligent terminal device, for example, the route planning request may be triggered by touching the vehicle-mounted intelligent terminal device or clicking a preset key of the vehicle-mounted intelligent terminal device, or may be triggered by inputting a navigation voice command. Similarly, the path planning request can be generated according to a navigation operation triggered by a user on an application program installed on the mobile intelligent terminal device, wherein the navigation operation can be triggered by clicking a preset key on the mobile intelligent terminal device or touching a preset position on the mobile intelligent terminal device, and can also be triggered by receiving a navigation voice instruction input by the user.

Further, the starting point position and the target end point position carried by the path planning request are used for determining a recommended route with the minimum passing cost from the starting point position to the target end point position. The starting point position and the target end point position can be determined by navigation information input by a user, the user can input the navigation information through a display screen of the vehicle-mounted intelligent terminal device or the mobile intelligent terminal device, and the user can also determine the starting point position and the target end point position corresponding to the navigation voice command by inputting the navigation voice command to the vehicle-mounted intelligent terminal device or the mobile intelligent terminal device.

The starting point position represents the starting point of the route when the path planning is carried out, and can be the position of a specific building or the position of a specific intersection, and can also be the specific coordinates or the specific longitude and latitude on a map, and the target end point position represents the end point of the route when the path planning is carried out, and can also be the position of a specific building or the position of a specific intersection, or the specific coordinates or the specific longitude and latitude on the map.

Step S204, if there is a restricted area matched with the path planning request, acquiring a boundary road section and a boundary turning corresponding to the restricted area.

Specifically, by judging whether a limited-line area matched with the path planning request exists or not, and when determining that the limited-line area matched with the path planning request exists, acquiring a boundary section and a boundary turning corresponding to the limited-line area. The limited area represents a specific area which is set in certain province and city or regions and used for limiting vehicles or pedestrians to pass through, the range sizes of the specific areas included in different limited areas are different, and dynamic adjustment can be carried out in different time periods according to actual conditions. Meanwhile, the corresponding limit time and specific limit parameters are set while the limit area is set, and the specific limit parameters can be license plate numbers of limit vehicles, types of limit vehicles and the like.

Further, when the path planning request is received, the path planning request needs to be further analyzed, wherein whether a restricted area matched with the path planning request exists or not can be determined by acquiring the traffic attribute information carried by the path planning request and according to the traffic attribute information carried by the path planning request.

The traffic attribute information may include a vehicle identifier input by a user, where the vehicle identifier may specifically be a license plate number or a vehicle type of the vehicle, and whether a matched restricted area exists may be determined according to the vehicle identifier, that is, whether a restricted area restricting entry of the license plate number exists may be determined according to the license plate number input by the user, or whether a restricted area restricting entry of the license plate type exists may be determined according to the vehicle type, so as to determine whether a restricted area matching with the path planning request exists.

For example, when the vehicle is identified as a license plate number, for example, a limited-line area is set for an external license plate in a certain area, the corresponding limited-line time is 18 to 22 points, that is, when the vehicle of the external license plate enters the urban area, the vehicle should be prevented from entering the corresponding limited-line area at 18 to 22 points. When the vehicle is identified as the vehicle type, for example, a limited-line area is set for the vehicle type of the large truck in a certain area, the corresponding limited-line time is 8-18 points, that is, the large truck should be prevented from entering the limited-line area corresponding to the area from 8-18 points.

In one embodiment, when a path planning request is received, it is necessary to further acquire the actual traffic policy and restricted area division of the current region, and determine whether there is a restricted area matching the path planning request. For example, during an epidemic situation, such as a seal control area and the like set for the severity of the epidemic situation in a certain area, the seal control area is used as a limit area to prohibit all vehicles from passing, and whether passing is possible is determined based on the license plate number or the type of the vehicles. Similarly, after the actual traffic policy and restricted area division of the current area are acquired, for example, when the current area needs to hold a major event, the area involved in holding the major event is the corresponding restricted area, and the actual traffic policy is to prohibit all vehicles from entering the restricted area during the event holding period.

In one embodiment, when a path planning request is received, the restriction avoidance parameters carried by the path planning request are obtained by parsing the path planning request. The limiting and avoiding parameters comprise an avoiding limiting area and a non-avoiding limiting area, when the limiting and avoiding parameters are the avoiding limiting area, the current user is indicated to have the requirement of avoiding the limiting area, namely, the limiting area which needs to be dynamically updated is required to be obtained in real time, and the boundary road sections and the boundary turns corresponding to the limiting area, so that the path planning is carried out based on the limiting area, and the recommended route of the minimum passing cost is determined.

When the limit-to-line avoidance parameter is a non-avoidance limit-to-line area, when path planning is performed, whether the limit-to-line area needs to be avoided is not considered, so that a recommended route of the shortest path or the shortest passing duration from the starting point position to the target end point position is determined to be displayed. The recommended route displayed may have a plurality of routes, which are considered from different angles, such as the shortest path or the shortest passing time, for further selection by the user.

In one embodiment, determining the boundary section corresponding to the restricted area and the boundary turning mode specifically includes:

Determining an effective road section according to the limited traffic area and each road section in the road network data; the effective road section is a road section intersecting with the restricted area in the road network data; and determining boundary road sections and boundary turns corresponding to the restricted area based on the effective road sections and the restricted area.

Specifically, each road section in the current road network data is obtained, the road section intersected with the restricted area is screened out from the road network data, the road section is determined to be an effective road section, and then the boundary road section and the boundary turning corresponding to the restricted area are further determined according to the effective road section and the restricted area.

And the determined boundary road sections and boundary turns are respectively stored in association with the corresponding restricted area, namely when the restricted-line avoidance parameters are the restricted-line avoidance areas, the restricted-line areas matched with the path planning requests are determined, the boundary road sections and the boundary turns corresponding to the matched restricted-line areas are acquired, and when the restricted-line area avoidance requirements exist, the path planning is performed to determine the recommended route with the minimum passing cost.

Further, when determining the effective road segments, determining specific provinces and cities or areas possibly involved in path planning according to the starting point positions and the target end point positions corresponding to the path planning requests, further acquiring road segments corresponding to the provinces and cities possibly involved in the path planning from the road network data, and determining the effective road segments according to the limited traffic areas and the determined road segments.

For example, if it is determined that the area is the B-province a area during path planning according to the start position and the target end position corresponding to the path planning request, each road segment included in the B-province a area needs to be obtained from the road network data during path planning, and then an effective road segment is determined according to the limited area and the determined road segments. Similarly, when determining that the area is the B-province a area and the B-province C area according to the start position and the target end position corresponding to the path planning request, each road section included in the B-province a area and the B-province C area needs to be acquired from the road network data.

Step S206, determining a recommended route with the minimum passing cost based on the starting point position, the target ending point position and the boundary road sections and the boundary turns corresponding to the restricted area.

Specifically, when it is determined that there is a restricted area avoidance demand, by adding a restricted weight to a boundary road section and a boundary turn corresponding to the restricted area, respectively, and further determining a first pass weight of a non-boundary road section between a start point position and a target end point position, and a second pass weight of the non-boundary turn between road sections.

The first traffic weight of the non-boundary road section between the starting point position and the target destination position is expressed as traffic costs of other road sections except the boundary road section between the starting point position and the target destination position, that is, the first traffic weight may include a sum of traffic costs of the road sections which do not enter the restricted area except the boundary road section and the road sections after entering the restricted area. When the route planning is currently performed, if the current vehicle-mounted intelligent terminal equipment downloads the offline map, the route planning and the recommended route display can be performed based on the offline map, road network data do not need to be acquired in real time, and the memory resource consumption of the vehicle-mounted intelligent terminal equipment can be reduced.

Likewise, the second traffic weight of the non-boundary turn between each link between the start point position and the target end point position is expressed as the traffic cost of the other turns than the boundary turn between the start point position and the target end point position. In particular, since turning may be understood as turning from one road section to another road section, the second traffic weight may include a sum of traffic costs of a road section turning not entering the restricted area and other road section turning after entering the restricted area, in addition to the boundary turning. Likewise, excavation and reassignment are not required for all turns inside the restricted area, and only boundary turns of the restricted area are considered and reassigned.

Further, based on the first passing weight, the second passing weight and the limiting weight, a recommended route with the minimum passing cost is determined, specifically, the sum of the first passing weight, the second passing weight and the limiting weight of each route to be recommended is calculated, and the total passing cost of each route to be recommended is obtained.

In one embodiment, when a path planning request is subjected to path planning, different distribution situations exist between a starting point position and a target end point position, and the method specifically includes: 1) the starting point position and the target end point position are both positioned in the limited line area, 2) the starting point position is positioned outside the limited line area, the target end point position is positioned in the limited line area, 3) the starting point position is positioned in the limited line area, the target end point position is positioned outside the limited line area, and 4) the starting point position and the target end point position are both positioned outside the limited line area.

Specifically, for the cases of 1) to 3), because the problem that the restricted area cannot be completely avoided exists, that is, the situation that the restricted area needs to be entered or traversed no matter how the route planning is performed, in order to avoid the problem that local detour occurs because the restricted area is bypassed as much as possible due to the fact that other road sections are prioritized, for the traffic cost of each route to be recommended, for example, when the restricted area is not traversed or entered, the minimum value needs to be considered for other road sections, and the problems that the time consumption of the recommended route is increased or the energy consumption of the driving is increased are avoided.

Further, for case 4), since both the start point position and the target end point position are located outside the restricted area, there is a possibility that the recommended route does not need to pass through the restricted area. But each recommended route also comprises a condition of passing through the restricted area and not passing through the restricted area, the passing cost when passing through the restricted area and the passing cost when not passing through the restricted area are calculated, the passing cost of each route to be recommended is compared, and the route with the minimum passing cost is determined from the comparison, so that the recommended route is determined.

When the boundary road section and the boundary turning are assigned, the corresponding restricted-traffic weight is usually much larger than the first traffic weight and the second traffic weight of the common road section or the turning, and then the recommended route of the minimum traffic cost is usually a route which does not pass through the restricted-traffic area under the condition that the starting point position and the target end point position are both located outside the restricted-traffic area.

In the path planning method, the path planning request is received, and the starting point position and the target end point position carried by the path planning request are acquired. When a limited line area matched with the path planning request exists, a boundary section and a boundary turning corresponding to the limited line area are obtained, and then a recommended route with the minimum passing cost is determined based on the starting point position, the target end point position and the boundary section and the boundary turning corresponding to the limited line area. According to the method, the occupied service resources can be greatly reduced because no turning among all road sections in the restricted area is required to be dug, and when the restricted area exists, path planning is carried out only for the determined boundary road sections and boundary turning positioned at the boundary of the restricted area, so that the problem of local detouring caused by priority of other road sections for avoiding the restricted area is avoided, and the rationality of the determined recommended route is further improved. In the embodiment of the application, there are various different ways of determining the effective road section, such as a way of judging whether the minimum road section bounding box of each road section and the minimum area bounding box of the restricted area intersect or a way of judging whether the end point coordinates of the road section enter the area coordinate range included in the restricted area.

In one embodiment, as shown in fig. 3, one manner of determining an effective road segment according to each road segment in the restricted area and the road network data is provided, including:

step S302, a minimum area bounding box covering the limited line area and a minimum road section bounding box of each road section in the road network data are obtained.

Specifically, a limited-line area matched with the path planning request is obtained, and a minimum area bounding box covering the limited-line area is determined according to the pole positions of the limited-line area in different directions. The pole position of the limited line area is determined by the extreme coordinates of the limited line area in different directions, for example, when the center of the limited line area is taken as an origin, the pole position of the upper left corner is determined by the minimum abscissa and the maximum ordinate, the pole position of the lower left corner is determined by the minimum abscissa and the minimum ordinate, the pole position of the upper right corner is determined by the maximum abscissa and the maximum ordinate, and the pole position of the lower right corner is determined by the maximum abscissa and the minimum ordinate.

Similarly, the minimum road section bounding box covering the corresponding road section is determined by acquiring pole positions of different directions of each road section in the road network data. The pole positions of the road sections in different directions are determined according to extreme value coordinates of the road sections in different directions, and the concrete calculation mode is the same as the pole position determination mode of the restricted area.

And S304, screening out the minimum road section bounding boxes intersected with the minimum area bounding boxes, and determining the road sections corresponding to the screened out minimum road section bounding boxes as effective road sections.

Specifically, a first boundary vertex coordinate value of a minimum region bounding box and a second boundary vertex coordinate value of each minimum road section bounding box are obtained, the second boundary vertex coordinate values are respectively compared with the first boundary vertex coordinate values, a minimum road section bounding box intersected with the minimum region bounding box is determined, and a road section corresponding to each determined minimum road section bounding box is further determined to be an effective road section.

For example, the first boundary vertex coordinate values of the minimum region bounding box may include a first upper left corner vertex coordinate value and a first lower right corner vertex coordinate value, and the second boundary vertex coordinate values of the minimum road segment bounding box may include a second upper left corner vertex coordinate value and a second lower right corner vertex coordinate value.

The method comprises the steps of comparing a first right lower angle vertex ordinate value with a second left upper angle vertex ordinate value, comparing a first right lower angle vertex abscissa value with a second left upper angle vertex abscissa value, comparing the first left upper angle vertex ordinate value with the second right lower angle vertex ordinate value, and comparing the first left upper angle vertex abscissa value with the second right lower angle vertex abscissa value.

Wherein, when any one of the following conditions is satisfied, the minimum road section bounding box and the minimum area bounding box may be considered to intersect, including: the first lower right corner vertex ordinate value is less than the second upper left corner vertex ordinate value; or the abscissa value of the first right lower-angle vertex is greater than the abscissa value of the second left upper-angle vertex; or the first upper left corner vertex ordinate value is greater than the second lower right corner vertex ordinate value; or the first upper left corner vertex abscissa value is less than the second lower right corner vertex abscissa value.

In one embodiment, as shown in fig. 4, a comparison schematic of an effective road segment and an ineffective road segment is provided, and referring to fig. 4, it can be known that by acquiring a minimum region bounding box covering a restricted area, a minimum road segment bounding box of a road segment a, and a minimum road segment bounding box of a road segment B, and comparing first boundary vertex coordinate values of the minimum region bounding box and second boundary vertex coordinate values of the minimum road segment bounding boxes of the road segment a and the road segment B, it is determined whether the minimum road segment bounding boxes of the road segment a and the road segment B intersect the minimum region bounding box.

Referring to fig. 4, it can be seen that, if the minimum link bounding box of the link a and the minimum area bounding box of the restricted area do not intersect, the link a is an invalid link, and the minimum link bounding box of the link B and the minimum area bounding box of the restricted area intersect, so that it can be determined that the link B is an valid link.

In one embodiment, it is also possible to determine whether the end coordinates of the road segment enter the area coordinate range included in the restricted area by acquiring the end coordinates of the two end points of the road segment and acquiring the area coordinate range included in the restricted area, and further comparing the end coordinates of the road segment with the area coordinate range. When the endpoint coordinates of one of the endpoints of the road segments enter the region coordinate range included in the restricted area, or when the endpoint coordinates of both endpoints enter the region coordinate range included in the restricted area, the road segments can be determined as valid road segments.

In this embodiment, a minimum section bounding box that intersects with the minimum section bounding box is screened out by acquiring a minimum area bounding box that covers a restricted area and a minimum section bounding box of each section in the road network data, and a section corresponding to each screened minimum section bounding box is determined as an effective section. The method has the advantages that the preliminary screening of each road section in the road network data is realized, the road section corresponding to the minimum road section bounding box intersected with the minimum area bounding box of the restricted area is determined, the obtained effective road section is used for further screening out the boundary road section of the restricted area for assignment processing, excavation or assignment processing of all road sections in the restricted area and all road sections in the road network data can be avoided, and occupation of service memory resources and resource consumption in the path planning process are reduced.

In one embodiment, as shown in fig. 5, the step of determining the positional relationship between each effective road segment and the area surface of the restricted area specifically includes:

step S502, determining the ray starting points corresponding to the effective road segments, and acquiring the times of rays passing through the boundary of the area surface from the ray starting points.

Specifically, the starting point and the ending point of each effective road section are obtained, the ending point and the starting point of each effective road section are respectively used as the ray starting point corresponding to each effective road section, then a ray is made from the ray starting point along any direction, the number of times that the ray from each ray starting point passes through the boundary of the area surface is obtained, and the position relationship between the effective road section corresponding to the ray and the area surface is determined according to the number of times that the ray passes through the boundary of the area surface.

In step S504, based on the number of times each ray passes through the boundary of the area plane, the positional relationship between the effective road section and the area plane to which the ray corresponds is determined.

Specifically, when the number of times the ray passes through the boundary of the area plane is an odd number, the positional relationship between the effective road section and the area plane is determined as the first positional relationship. The first position relationship is used for determining the boundary road section. Likewise, when the number of times the ray passes through the boundary of the area plane is an even number, the positional relationship between the effective road section and the area plane is determined as the second positional relationship. Wherein the second positional relationship is used to determine a boundary turn.

The position relationship between the effective road section and the area surface comprises the following cases: the starting point and the ending point of the effective road section are positioned outside the area surface, and the ending point of the effective road section is positioned inside the area surface; the starting point and the end point of the effective road section are both positioned outside the area surface; the starting point and the ending point of the effective road section are positioned inside the area surface, and the ending point of the effective road section is positioned outside the area surface; the start point and the end point of the effective road section are both positioned inside the area plane.

Further, when the number of times of crossing the boundary of the area surface is an even number, the ray corresponding to the start point of the effective road section is determined to be located outside the area surface, and when the number of times of crossing the boundary of the area surface is an odd number, the end point of the effective road section is determined to be located inside the area surface. And when the number of times of the ray corresponding to the starting point and the ray corresponding to the ending point of the effective road section passing through the boundary of the area surface is even, the starting point and the ending point of the effective road section are both positioned outside the area surface.

That is, the first positional relationship may include that the number of times the ray corresponding to the start point of the effective road segment passes through the boundary of the area surface is even, and the number of times the ray corresponding to the end point passes through the boundary of the area surface is odd, that is, the positional relationship between the effective road segment and the area surface is that the start point of the effective road segment is located outside the area surface and the end point is located inside the area surface. And when the number of times of passing through the boundary of the area surface is even, namely the position relationship between the effective road section and the area surface is that the starting point and the ending point of the effective road section are both positioned outside the area surface.

Similarly, when the number of times of crossing the boundary of the area surface is an odd number, the ray corresponding to the start point of the effective link is determined to be located inside the area surface, and when the number of times of crossing the boundary of the area surface is an even number, the end point of the effective link is determined to be located outside the area surface. And when the number of times of the ray corresponding to the starting point and the ray corresponding to the ending point of the effective road section passing through the boundary of the area surface is odd, the starting point and the ending point of the effective road section are both positioned in the area surface.

That is, the second positional relationship may include that the number of times the ray corresponding to the start point of the effective link passes through the boundary of the area plane is odd, and the number of times the ray corresponding to the end point passes through the boundary of the area plane is even, that is, the positional relationship between the effective link and the area plane is such that the start point of the effective link is located inside the area plane and the end point is located outside the area plane. The method also comprises the step of determining that the positions of the effective road section and the area surface are in the position relationship that the starting point and the ending point of the effective road section are both positioned in the area surface.

In this embodiment, the number of times that the ray from each ray start point passes through the boundary of the area plane is obtained by determining the ray start point corresponding to each effective road segment, and then the positional relationship between the effective road segment corresponding to the ray and the area plane is determined based on the number of times that each ray passes through the boundary of the area plane. The position relationship between the effective road section and the regional surface of the restricted area can be accurately determined, so that the boundary road section and the boundary turning to be excavated are further determined for assignment, excavation or assignment processing of all road sections in the restricted area and all road sections in road network data can be avoided, and occupation of service memory resources and resource consumption in the path planning process are reduced.

In one embodiment, the step of determining the boundary road segments and the boundary turns corresponding to the restricted area according to the effective road segments and the restricted area includes:

determining the position relationship between each effective road section and the area surface of the restricted area; based on the position relation between each effective road section and the area surface, selecting boundary road sections from the effective road sections; based on the positional relationship between each effective road section and the area plane, a boundary turning is determined.

Specifically, by determining the ray starting point corresponding to each effective road segment and acquiring the number of times the ray from each ray starting point passes through the boundary of the area plane, the positional relationship between the effective road segment corresponding to the ray and the area plane can be determined based on the number of times each ray passes through the boundary of the area plane.

Further, after determining the positional relationship between each effective link and the area surface of the restricted area, the effective links having the start point located outside the restricted area and having points located within the restricted area among other points except the start point are selected based on the positional relationship between each effective link and the area surface, and are determined as boundary links.

Similarly, after determining the positional relationship between each effective road segment and the area surface of the restricted area, a target road segment whose starting point is located on the boundary of the restricted area is acquired based on the positional relationship between the effective road segment and the area surface, and an in-road segment corresponding to a turn taking the target road segment as an out-road segment is acquired. And when the entering road section is determined not to intersect with the area surface, determining the turning formed by the entering road section and the target road section as a boundary turning.

In this embodiment, the position relationship between each effective road segment and the area surface of the restricted area is determined, so that the boundary road segment can be screened from the effective road segments based on the position relationship between each effective road segment and the area surface, and the boundary turning can be determined. The method and the device have the advantages that the boundary road sections and boundary turning are determined based on the position relation between each effective road section and the area surface, so that subsequent assignment is facilitated, excavation or assignment processing of all road sections in the limited area and all road sections in road network data can be avoided, occupation of service memory resources is reduced, and resource consumption in the path planning process is reduced.

In one embodiment, the step of screening the boundary road segments from the effective road segments based on the positional relationship between each effective road segment and the area plane includes:

and screening out the effective road sections with starting points outside the restricted area and points in the restricted area among other points except the starting points based on the position relation between the effective road sections and the area surface, and determining the effective road sections as boundary road sections.

Specifically, the boundary road section is determined according to a first positional relationship between the effective road section and the area plane. The first positional relationship may include that the start point and the end point of the effective road segment are located outside the area plane and inside the area plane, so that when the start point and the end point of the effective road segment are located outside the area plane and inside the area plane, or both the start point and the end point of the effective road segment are located outside the area plane, the effective road segment with the start point located outside the restricted area and points located inside the restricted area among other points except the start point is further screened out, and the effective road segment is determined as the boundary road segment.

Further, as shown in fig. 6, an exemplary schematic diagram of determining a boundary road segment in the path planning method is provided, and referring to fig. 6, it can be seen that the starting point of the effective road segment C is located outside the restricted area, the ending point is located within the restricted area, the starting point and the ending point of the effective road segment D are both located outside the restricted area, but there are points located within the restricted area among other points except the starting point and the ending point. And because the starting point is located outside the restricted area, and the effective road sections of the points located in the restricted area exist in other points except the starting point, namely the boundary road sections, the effective road sections C and the effective road sections D can be determined to meet the judgment conditions of the boundary road sections, namely the effective road sections C and the effective road sections D are determined to be the boundary road sections.

In this embodiment, based on the positional relationship between the effective link and the area plane, the effective link whose starting point is located outside the restricted area and whose point located within the restricted area is present in other points than the starting point is selected, and determined as the boundary link. The method and the system realize accurate determination of the boundary road sections so as to facilitate subsequent assignment, can avoid excavation or assignment processing of all road sections in a limited area and all road sections in road network data, and reduce occupation of service memory resources and resource consumption in a path planning process.

In one embodiment, as shown in fig. 7, the step of determining a boundary turn based on the positional relationship between each effective road segment and the area plane specifically includes:

in step S702, a target link whose starting point is located on the boundary of the restricted area is acquired based on the positional relationship between the effective link and the area plane.

Specifically, the target road segments with the starting points positioned on the boundary of the restricted area are screened out according to the second position relation between the effective road segments and the area surface. The second positional relationship may include a case where the start point and the end point of the effective link are located inside the area plane and outside the area plane, and a case where the start point and the end point of the effective link are both located inside the area plane, and the like.

For example, if the start point and the end point of an effective link are both located inside the area plane and the start point is located on the limited-travel area boundary, the effective link may be determined as the target link.

Step S704, obtaining an in-edge road section corresponding to a turn taking the target road section as an out-edge road section.

Specifically, after the target road section is determined, the turn-in road section corresponding to the turn taking the target road section as the out road section is further acquired. When the target road section is taken as the outgoing road section, the starting point of the target road section is located on the boundary of the restricted area, the incoming road section corresponding to the turn taking the target road section as the outgoing road section needs to be acquired, and the incoming road section corresponding to the turn taking the target road section as the outgoing road section can comprise the incoming road section passing through the restricted area and the incoming road section not passing through the restricted area.

An entry road segment that passes through the restricted area is understood to mean that the end point is located outside the restricted area, but there are points located within the restricted area among other points than the end point, and an entry road segment that does not pass through the restricted area is understood to mean that all points of the entry road segment are located outside the restricted area.

In step S706, if the entering road segment does not intersect with the area surface, the turn formed by the entering road segment and the target road segment is determined as a boundary turn.

Specifically, after all the entering edge sections corresponding to the turns taking the target section as the exiting edge section are obtained, the entering edge sections are further screened, the entering edge sections which do not intersect with the area surface of the restricted area are determined, namely the entering edge sections which do not pass through the restricted area are determined, and the turns formed by the entering edge sections which do not intersect with the area surface of the restricted area and the target section are determined as boundary turns.

Further, as shown in fig. 8, an exemplary schematic diagram of determining a boundary turn in the path planning method is provided, and referring to fig. 8, it can be known that, if the start point and the end point of the effective road segment E are both located in the limited-line area, the positional relationship between the effective road segment E and the area surface of the limited-line area can be determined as the second positional relationship. Since the starting point of the effective road segment E is located on the boundary of the restricted area, the effective road segment E may be determined as a target road segment, and the entering road segment F corresponding to the turn taking the target road segment as the exiting road segment may be obtained, so as to further determine whether the entering road segment F intersects with the area surface of the restricted area.

As can be seen from fig. 8, when the area surfaces of the entering road section F and the restricted area do not intersect, the turn made up of the entering road section F and the target road section can be determined as a boundary turn.

In this embodiment, based on the positional relationship between the effective road section and the area surface, a target road section with a start point on the boundary of the restricted area is obtained, and an in-edge road section corresponding to a turn taking the target road section as an out-edge road section is obtained, and when it is determined that the in-edge road section does not intersect with the area surface, the turn formed by the in-edge road section and the target road section is determined as a boundary turn. The method and the device have the advantages that the boundary turning is accurately determined, so that assignment can be conveniently carried out subsequently, excavation and assignment processing on all road sections in a limited area and turning among the road sections can be avoided, occupation of service memory resources is reduced, and resource consumption in the path planning process is reduced.

In one embodiment, as shown in fig. 9, the step of determining the recommended route of the minimum traffic cost, that is, the step of determining the recommended route of the minimum traffic cost based on the start position, the target end position, and the boundary road section and the boundary turn corresponding to the restricted area, specifically includes:

in step S902, a line limiting weight is added to each of the boundary segment and the boundary turn corresponding to the line limiting region.

Specifically, when it is determined that there is a restricted area avoidance request, a restricted area matching the path planning request is acquired, and a boundary section and a boundary turn corresponding to the restricted area are acquired. The line limiting area, the line limiting time of the line limiting area, the line limiting license plate number and the like in the road network data can be dynamically updated, so that when the line limiting area avoidance requirement is detected, the current updated line limiting area, the boundary road section corresponding to the line limiting area and the boundary turning can be obtained in real time.

Further, when it is determined that the restricted area avoidance requirement exists, traffic attribute information carried by the path planning request is further acquired. The traffic attribute information may include a vehicle identifier input by a user, where the vehicle identifier may specifically be a license plate number or a vehicle type of the vehicle, and whether a matched restricted area exists may be determined according to the vehicle identifier, that is, whether a restricted area restricting entry of the license plate number exists may be determined according to the license plate number input by the user, or whether a restricted area restricting entry of the license plate type exists may be determined according to the vehicle type, so as to determine whether a restricted area matching with the path planning request exists.

After the boundary road section and the boundary turning corresponding to the restricted area are obtained, the same restricted weight is added to the restricted area and the restricted turning respectively. The license plate number to be limited is in corresponding limit time, when entering the limit area, the problems of fine or deduction and the like exist, so that the limit area needs to be avoided as much as possible when the route planning is carried out, and further, the limit area can be avoided by adding the maximum limit weight to the boundary road section and the boundary turning corresponding to the limit area, so that the passing cost when passing through the limit area is increased, and the purpose of avoiding the limit area is achieved.

Step S904, determining a first traffic weight of a non-boundary road segment between the start point position and the target end point position, and a second traffic weight of a non-boundary turn between the road segments.

Specifically, the first traffic weight of the non-boundary road segment between the start point position and the target end point position is expressed as the traffic cost of other road segments than the boundary road segment between the start point position and the target end point position, that is, the first traffic weight may include the sum of the traffic cost on the road segment not entering the restricted area and the road segment after entering the restricted area except the boundary road segment. And if the boundary road section is an effective road section of which the starting point is positioned outside the restricted area and the points positioned in the restricted area exist in other points except the starting point, the non-boundary road section is expressed as a road section which does not enter the restricted area except the boundary road section and other road sections after entering the restricted area.

Likewise, the second traffic weight of the non-boundary turn between each link between the start point position and the target end point position is expressed as the traffic cost of the other turns than the boundary turn between the start point position and the target end point position. In particular, since turning can be understood as turning from one road section to another road section, the second traffic weight includes the sum of traffic costs of a road section turning not entering the restricted area and a road section turning after entering the restricted area, in addition to the boundary turning. The boundary turning is a turning composed of a target road section with a starting point located on the boundary of the restricted area and an entering road section which does not intersect with the area surface, and the non-boundary turning is represented by a road section turning which does not enter the restricted area and other road section turning after entering the restricted area except the boundary turning.

Step S906, determining a recommended route with minimum passing cost based on the first passing weight, the second passing weight and the limiting weight.

Specifically, due to different actual usage scenarios, multiple recommended routes exist for each actual usage scenario, including multiple recommended routes that pass through a restricted area and do not pass through the restricted area, and further, the sum of a first pass weight, a second pass weight and a restricted pass weight of each route to be recommended needs to be calculated respectively to obtain the total pass cost of each route to be recommended, the total pass cost of each route to be recommended is compared, and a route with the minimum pass cost is determined from the comparison results to determine the route to be recommended.

In one embodiment, as shown in fig. 10, a schematic diagram of a planned route is provided by performing restricted area avoidance based on a conventional method, where the concept of the conventional restricted area avoidance method is to implement avoidance of the restricted area by planning as few road segments in the restricted area as possible, that is, avoiding entering the restricted area as much as possible, prioritizing other road segments outside the restricted area, and entering the restricted area until avoidance is not possible. Referring to fig. 10, it can be seen that, in the conventional restricted area avoidance mode, in order to reduce the number of road segments in the planned restricted area, other road segments outside the restricted area are prioritized, and when the target destination position is located inside the restricted area, the problem of local detouring occurs in the path planning mode shown in fig. 10, resulting in time consuming and energy loss improvement of the recommended route, and the rationality of path planning is to be improved.

In one embodiment, as shown in fig. 11, a schematic diagram of a recommended route determined based on a path planning method is provided, and as compared with a conventional route planning method for avoiding in a restricted area, when a target destination position is located inside the restricted area, the total traffic weights of all the routes to be recommended entering the restricted area from different boundaries of the restricted area are compared at the same time, so as to determine a route with the minimum traffic cost as a recommended route, as shown in fig. 11.

Specifically, referring to fig. 11, it can be seen that, since the target destination location is located inside the restricted area, the restricted area cannot be avoided, and the requirement of determining the minimum traffic cost can be achieved by reducing the first traffic weight of the non-boundary road section between the start location and the target destination location and the second traffic weight of the non-boundary turn between each road section between the start location and the target destination location as much as possible, so that the problem of local detours caused by other road sections outside the priority restricted area can be avoided.

Further, as the boundary section and the boundary turning of the restricted area are increased by the same restricted weight, the emphasis of the minimum traffic cost is that the minimum value of the first traffic weight corresponding to the non-boundary section and the minimum value of the second traffic weight corresponding to the non-boundary turning are determined, so that when the restricted weight is consistent under the condition that the restricted area needs to be entered, the minimum first traffic weight and the minimum second traffic weight are taken as far as possible to determine the recommended route corresponding to the minimum traffic cost. In this embodiment, by adding a restriction weight to the boundary road section and the boundary turn corresponding to the restriction area, and determining a first pass weight of a non-boundary road section between the start point position and the target end point position and a second pass weight of a non-boundary turn between the road sections, the recommended route of the minimum pass cost is determined based on the first pass weight, the second pass weight and the restriction weight. The method and the device have the advantages that only boundary road sections and boundary turns are excavated and assigned, excavation and reassignment are not needed for all road sections and turns in the limited area, occupation of service memory resources can be reduced, meanwhile, the problem that local detours occur due to the fact that other road sections are prioritized for avoiding the limited area is avoided, and the rationality of the determined recommended route is further improved.

In one embodiment, as shown in fig. 12, a path planning method is provided, which specifically includes the following steps:

step S1201, a path planning request is received, and the path planning request is parsed to obtain a start position, a target end position, a traffic restriction avoidance parameter and traffic attribute information carried by the path planning request.

Step S1202, when the limit-to-line avoidance parameter is the avoidance limit-to-line area, determining whether the limit-to-line area matched with the path planning request exists according to the traffic attribute information.

In step S1203, if there is a restricted area matching the path planning request, a minimum area bounding box covering the restricted area and a minimum link bounding box for each link in the road network data are obtained.

Step S1204, a minimum road section bounding box intersected with the minimum area bounding box is screened out, and the road section corresponding to each screened out minimum road section bounding box is determined to be an effective road section.

In step S1205, the ray start points corresponding to the respective effective road segments are determined, and the number of times the ray from each ray start point passes through the boundary of the area plane is acquired.

In step S1206, a positional relationship between the effective link to which the ray corresponds and the area plane is determined based on the number of times each ray passes through the boundary of the area plane.

In step S1207, the effective link having the start point located outside the restricted area and having the point located in the restricted area in other points than the start point is selected based on the positional relationship between the effective link and the area plane, and is determined as the boundary link.

Step S1208, based on the positional relationship between the effective road segments and the area surface, a target road segment with a start point on the boundary of the restricted area is obtained, and an in-road segment corresponding to a turn with the target road segment as an out-road segment is obtained.

In step S1209, if the entering road section does not intersect with the area surface, the turn formed by the entering road section and the target road section is determined as a boundary turn.

In step S1210, the line limiting weight is added to the boundary segment and the boundary turn corresponding to the line limiting region.

In step S1211, a first traffic weight of a non-boundary road segment between the start point position and the target end point position, and a second traffic weight of a non-boundary turn between the road segments are determined.

Step S1212, determining a recommended route with minimum traffic cost based on the first traffic weight, the second traffic weight and the restriction weight.

In the path planning method, the path planning request is received, and the starting point position and the target end point position carried by the path planning request are acquired. When a limited line area matched with the path planning request exists, a boundary section and a boundary turning corresponding to the limited line area are obtained, and then a recommended route with the minimum passing cost is determined based on the starting point position, the target end point position and the boundary section and the boundary turning corresponding to the limited line area. According to the method, the occupied service resources can be greatly reduced because no turning among all road sections in the restricted area is required to be dug, and when the restricted area exists, path planning is carried out only for the determined boundary road sections and boundary turning positioned at the boundary of the restricted area, so that the problem of local detouring caused by priority of other road sections for avoiding the restricted area is avoided, and the rationality of the determined recommended route is further improved.

It should be understood that, although the steps in the flowcharts related to the above embodiments are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.

Based on the same inventive concept, the embodiment of the application also provides a path planning device for realizing the path planning method. The implementation of the solution provided by the apparatus is similar to the implementation described in the above method, so the specific limitation in one or more embodiments of the path planning apparatus provided below may refer to the limitation of the path planning method hereinabove, and will not be repeated herein.

In one embodiment, as shown in fig. 13, there is provided a path planning apparatus including: a path planning request receiving module 1302, an obtaining module 1304, and a recommended route determining module 1306, wherein:

the path planning request receiving module 1302 is configured to receive a path planning request, where the path planning request carries a start position and a target end position.

The obtaining module 1304 is configured to obtain, if there is a restricted area matching the path planning request, a boundary road segment and a boundary turn corresponding to the restricted area.

The recommended route determining module 1306 is configured to determine a recommended route with a minimum passing cost based on the start position, the target end position, and the boundary road segment and the boundary turn corresponding to the restricted area.

In the path planning device, the starting point position and the target end point position carried by the path planning request are acquired by receiving the path planning request. When a limited line area matched with the path planning request exists, a boundary section and a boundary turning corresponding to the limited line area are obtained, and then a recommended route with the minimum passing cost is determined based on the starting point position, the target end point position and the boundary section and the boundary turning corresponding to the limited line area. Because the method does not need to dig out all road sections and turns among the road sections in the restricted area, occupation of service resources can be greatly reduced, and when the restricted area exists, path planning is carried out only aiming at the determined boundary road sections and boundary turns positioned at the boundary of the restricted area, so that the problem that local detours occur due to the fact that other road sections are prioritized for avoiding the restricted area is avoided, and the rationality of the determined recommended route is further improved.

In one embodiment, a path planning apparatus is provided, further comprising: the effective road section determining module is used for determining an effective road section according to the limited traffic area and each road section in the road network data; the effective road section is a road section intersecting with the restricted area in the road network data; and the first determining module is used for determining the boundary road section and the boundary turning corresponding to the restricted area based on the effective road section and the restricted area.

In one embodiment, the valid road segment determination module is further to: acquiring a minimum area bounding box covering a restricted area and a minimum road section bounding box of each road section in road network data; screening out the minimum road section bounding boxes intersected with the minimum area bounding boxes, and determining the road sections corresponding to the screened out minimum road section bounding boxes as effective road sections

In one embodiment, the first determination module includes: the position relation determining module is used for determining the position relation of the area surfaces of each effective road section and the restricted area; the boundary road section determining module is used for screening boundary road sections from the effective road sections based on the position relation between each effective road section and the area surface; and the boundary turning determining module is used for determining boundary turning based on the position relation between each effective road section and the area surface.

In one embodiment, the positional relationship determination module is further configured to: determining a ray starting point corresponding to each effective road section, and acquiring the number of times that rays from each ray starting point pass through the boundary of the area surface; and determining the position relationship between the effective road section corresponding to the rays and the area surface based on the times that each ray passes through the boundary of the area surface.

In one embodiment, the boundary segment determination module is further configured to: and screening out the effective road sections with starting points outside the restricted area and points in the restricted area among other points except the starting points based on the position relation between the effective road sections and the area surface, and determining the effective road sections as boundary road sections.

In one embodiment, the boundary turning determining module is further configured to obtain, based on a positional relationship between the effective road segment and the area plane, a target road segment with a start point located on a boundary of the restricted area; acquiring a turning corresponding entering road section taking a target road section as an exiting road section; and if the entering side road section is not intersected with the area surface, determining the turning formed by the entering side road section and the target road section as a boundary turning.

In one embodiment, the recommended route determination module is further configured to: respectively adding a line limiting weight to a boundary road section and a boundary turn corresponding to the line limiting area; determining a first passing weight of a non-boundary road section between a starting point position and a target end point position and a second passing weight of a non-boundary turning between the road sections; and determining a recommended route with the minimum passing cost based on the first passing weight, the second passing weight and the restricted passing weight.

In one embodiment, the positional relationship determination module is further configured to: when the number of times that the ray passes through the boundary of the area surface is an odd number, determining the position relationship between the effective road section and the area surface as a first position relationship; the first position relation is used for determining a boundary road section; when the number of times that the ray passes through the boundary of the area surface is even, determining that the position relationship between the effective road section and the area surface is a second position relationship; the second positional relationship is used to determine a boundary turn.

In one embodiment, the effective road segment determining module is further configured to: acquiring a first boundary vertex coordinate value of a minimum region bounding box and a second boundary vertex coordinate value of each minimum road section bounding box; and comparing the coordinate values of the second boundary vertexes with the coordinate values of the first boundary vertexes respectively, and determining a minimum road section bounding box intersected with the minimum region bounding box.

The various modules in the path planning apparatus described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, a computer device is provided, which may be a server, and the internal structure of which may be as shown in fig. 14. The computer device includes a processor, a memory, an Input/Output interface (I/O) and a communication interface. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface is connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used for storing data such as a starting point position, a target end point position, a limited area, a boundary turning, a boundary road section, a recommended route and the like. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a path planning method.

It will be appreciated by those skilled in the art that the structure shown in fig. 14 is merely a block diagram of a portion of the structure associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements are applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.

In an embodiment, there is also provided a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the method embodiments described above when the computer program is executed.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, carries out the steps of the method embodiments described above.

In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of the method embodiments described above.

It should be noted that, the user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the related data need to comply with the related laws and regulations and standards of the related country and region.

Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not limited thereto.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.

Claims

1. A method of path planning, the method comprising:

2. The method of claim 1, wherein determining the boundary segment corresponding to the restricted area and the manner in which the boundary turns comprises:

determining an effective road section according to the limited traffic area and each road section in the road network data; the effective road section is a road section intersecting the restricted area in the road network data;

and determining a boundary road section and a boundary turning corresponding to the restricted area based on the effective road section and the restricted area.

3. The method of claim 2, wherein the determining the valid road segments from the road segments in the restricted area and road network data comprises:

acquiring a minimum area bounding box covering the restricted area and a minimum road section bounding box of each road section in the road network data;

and screening out the minimum road section bounding boxes intersected with the minimum area bounding boxes, and determining the road sections corresponding to the screened out minimum road section bounding boxes as effective road sections.

4. A method according to claim 2 or 3, wherein said determining boundary segments and boundary turns corresponding to said restricted area from said valid segments and said restricted area comprises:

Determining the position relationship between each effective road section and the area surface of the limited area;

selecting a boundary road section from the effective road sections based on the position relation between the effective road sections and the regional surface;

and determining boundary turning based on the position relation between each effective road section and the area surface.

5. The method of claim 4, wherein determining the positional relationship between each of the valid road segments and the area plane of the restricted area comprises:

determining a ray starting point corresponding to each effective road section, and acquiring the number of times that rays starting from each ray starting point pass through the boundary of the regional surface;

and determining the position relationship between the effective road section corresponding to the rays and the regional surface based on the times that the rays pass through the boundary of the regional surface.

6. The method of claim 4, wherein the screening boundary segments from the effective segments based on the positional relationship between each of the effective segments and the regional surface comprises:

7. The method of claim 4, wherein determining a boundary turn based on a positional relationship between each of the valid road segments and the regional plane comprises:

acquiring a target road section with a starting point positioned on a boundary of a restricted area based on the position relation between the effective road section and the area surface;

acquiring a turning corresponding entering road section taking the target road section as an exiting road section;

and if the entering side road section is not intersected with the area surface, determining a turn formed by the entering side road section and the target road section as a boundary turn.

8. A method according to any one of claims 1 to 3, wherein determining the recommended route of the minimum traffic cost based on the start point position, the target end point position, and the boundary section and boundary turn corresponding to the restricted area comprises:

respectively adding a line limiting weight to a boundary road section and a boundary turn corresponding to the line limiting area;

determining a first passing weight of a non-boundary road section between the starting point position and the target end point position and a second passing weight of a non-boundary turn between the road sections;

and determining a recommended route with the minimum passing cost based on the first passing weight, the second passing weight and the restricted passing weight.

9. A path planning apparatus, the apparatus comprising:

10. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 8 when the computer program is executed.

11. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 8.