WO2021073455A1 - 路径生成方法及装置、电子设备和存储介质 - Google Patents
路径生成方法及装置、电子设备和存储介质 Download PDFInfo
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- WO2021073455A1 WO2021073455A1 PCT/CN2020/120167 CN2020120167W WO2021073455A1 WO 2021073455 A1 WO2021073455 A1 WO 2021073455A1 CN 2020120167 W CN2020120167 W CN 2020120167W WO 2021073455 A1 WO2021073455 A1 WO 2021073455A1
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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
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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
- G01C21/36—Input/output arrangements for on-board computers
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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
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3667—Display of a road map
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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
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3807—Creation or updating of map data characterised by the type of data
- G01C21/3815—Road data
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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
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3863—Structures of map data
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/24—Querying
- G06F16/245—Query processing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
Definitions
- the present disclosure relates to the field of computer technology, and in particular to a path generation method and device, electronic equipment, and storage medium.
- navigation paths can be planned for users in electronic maps, but the navigation paths are road-level path planning, which involves less road information, and it is difficult to use road information for higher-precision positioning, and it is difficult to generate geographic paths. .
- the present disclosure proposes a path generation method and device, electronic equipment and storage medium.
- a path generation method including:
- a topology map corresponding to the electronic map is generated, wherein the topology map includes a plurality of nodes and the connection relationship between nodes, and the nodes in the topology map are those in the electronic map Road intersections and/or road ends;
- At least two labeled points are determined in the topological map, and the at least two labeled points include corresponding points that serve as a starting point, an end point, and N possible path points in the topological map, and N is an integer greater than or equal to 0 ;
- a topological map with less information redundancy can be obtained according to the road information of the electronic map, the key positions in the electronic map can be located with high precision, and the information redundancy can be filtered to improve the determination.
- the efficiency of the navigation path further, the geographic path corresponding to the actual geographic location can be determined, and the accuracy of the navigation can be improved.
- the electronic map is a high-precision map
- the generating a topological map corresponding to the electronic map according to the road information of the electronic map includes:
- the topology map is generated according to the queried road information.
- road information can be used to determine the connection relationship between nodes, improve the accuracy of the topology map, and provide a basis for generating high-precision navigation paths.
- generating the topology map includes:
- the topology map is generated according to the length of the corresponding road in the electronic map of the node, the connection relationship between the nodes, and the connection between the nodes having the connection relationship.
- the determining the connection relationship between the nodes according to the road information of the electronic map includes:
- a node and the second node are any nodes among a plurality of nodes in the topological graph
- the road information includes at least one of lane line information, lane restriction information, traffic flow information, and traffic control information.
- Passable roads include:
- the topology map is generated according to the length of the corresponding road in the electronic map of the node, the connection relationship between the nodes, and the connection between the nodes having the connection relationship.
- the topology graph is generated according to the node, the connection relationship between the nodes, and the weight of the connection line.
- determining the first path according to the at least two labeled points and the topological graph includes:
- one of the multiple paths is determined to be the second path; and the first path is determined according to the second path and the electronic map.
- determining one of the multiple paths as the first path according to the weight of the connection includes:
- one of the multiple paths is determined to be the second path.
- the best first path can be determined in the topology diagram, and the accuracy of determining the best path can be improved.
- determining the first path according to the second path and the electronic map includes:
- a third path corresponding to the second path is determined in the electronic map, wherein the reference line includes a lane line, a road edge line, and a center line dividing the opposite lane
- determining a third path corresponding to the first path in the electronic map according to the reference line of the first road includes:
- Fitting processing is performed on the reference line to obtain the third path.
- the method further includes:
- a first path from the start point to the end point is determined.
- querying the road information of the high-precision map includes:
- the method further includes:
- navigation, positioning, driving decision control and/or unmanned driving simulation test are performed on the unmanned driving device that has obtained the electronic map.
- a path generation device including:
- the generating module is used to generate a topology map corresponding to the electronic map according to the road information of the electronic map, wherein the topology map includes a plurality of nodes and the connection relationship between the nodes, and the nodes in the topology map are all nodes in the topology map. State the road intersection and/or road end point in the electronic map;
- the labeling module is configured to determine at least two labeling points in the topology map, the at least two labeling points include corresponding points in the topology map as starting points, ending points, and N possible path points, where N is greater than Or an integer equal to 0;
- the determining module is configured to determine a first path based on the at least two marked points and the topological map, where the first path is: from the first geographic location corresponding to the marked point as the starting point to the end point The navigation path of the second geographic location corresponding to the marked point.
- the electronic map is a high-precision map; the generating module is further configured to:
- the topology map is generated according to the queried road information.
- the generating module is further configured to:
- the topology map is generated according to the length of the corresponding road in the electronic map of the node, the connection relationship between the nodes, and the connection between the nodes having the connection relationship.
- the generating module is further configured to:
- a node and the second node are any nodes among a plurality of nodes in the topological graph
- the road information includes at least one of lane line information, lane restriction information, traffic flow information, and traffic control information.
- the generating module is further configured to:
- the generating module is further configured to:
- the topology graph is generated according to the node, the connection relationship between the nodes, and the weight of the connection line.
- the determining module is further configured to:
- one of the multiple paths is determined to be the second path; and the first path is determined according to the second path and the electronic map.
- the determining module is further configured to:
- one of the multiple paths is determined to be the second path.
- the determining module is further configured to:
- a third path corresponding to the second path is determined in the electronic map, wherein the reference line includes a lane line, a road edge line, and a center line dividing the opposite lane
- the determining module is further configured to:
- Fitting processing is performed on the reference line to obtain the third path.
- the device further includes:
- a first path determination module configured to determine a path from the starting point to the path point according to the starting point and the path point;
- a second path determination module configured to determine a path from the path point to the end point according to the path point and the end point;
- the third path determination module is configured to determine the first path from the start point to the end point according to the path from the start point to the route point and the path from the route point to the end point.
- the generating module is further configured to:
- the device further includes:
- the application module is used to perform navigation, positioning, driving decision control and/or unmanned driving simulation test on the unmanned driving device that has obtained the electronic map according to the first path.
- an electronic device including:
- a memory for storing processor executable instructions
- the processor is configured to execute the above-mentioned path generation method.
- a computer-readable storage medium having computer program instructions stored thereon, and when the computer program instructions are executed by a processor, the foregoing path generation method is implemented.
- a computer program including computer readable code, when the computer readable code is run in an electronic device, the processor in the electronic device executes for realizing The path generation method.
- Fig. 1 shows a flowchart of a path generation method according to an embodiment of the present disclosure
- Fig. 2 shows a schematic diagram of a reference line according to an embodiment of the present disclosure
- Fig. 3 shows an application schematic diagram of a path generation method according to an embodiment of the present disclosure
- Fig. 4 shows a block diagram of a path generation device according to an embodiment of the present disclosure
- FIG. 5 shows a block diagram of an electronic device according to an embodiment of the present disclosure
- FIG. 6 shows a block diagram of an electronic device according to an embodiment of the present disclosure.
- Fig. 1 shows a flowchart of a path generation method according to an embodiment of the present disclosure. As shown in Fig. 1, the method includes:
- a topological diagram corresponding to the electronic map is generated, wherein the topological diagram includes a plurality of nodes and the connection relationship between the nodes, and the nodes in the topological diagram are all nodes in the topological diagram. State the road intersection and/or road end point in the electronic map;
- step S12 at least two marked points are determined in the topological map, and the at least two marked points include corresponding points in the topological map as a starting point, an end point, and N possible path points, where N is greater than Or an integer equal to 0;
- a first path is determined according to the at least two marked points and the topological map, where the first path is from the first geographic location corresponding to the marked point as the starting point to the end point.
- the navigation path of the second geographic location corresponding to the marked point is determined according to the at least two marked points and the topological map, where the first path is from the first geographic location corresponding to the marked point as the starting point to the end point.
- a topological map with less information redundancy can be obtained according to the road information of the electronic map, the key positions in the electronic map can be located with high precision, and the redundant information can be filtered to improve the determination.
- the efficiency of the navigation path further, the geographic path corresponding to the actual geographic location can be determined, and the accuracy of the navigation can be improved.
- the method may be executed by terminal equipment, which may be User Equipment (UE), mobile equipment, user terminal, terminal, cellular phone, cordless phone, personal digital processing (Personal Digital Processing) Digital Assistant (PDA), handheld devices, computing devices, vehicle-mounted devices, wearable devices, etc.
- terminal equipment which may be User Equipment (UE), mobile equipment, user terminal, terminal, cellular phone, cordless phone, personal digital processing (Personal Digital Processing) Digital Assistant (PDA), handheld devices, computing devices, vehicle-mounted devices, wearable devices, etc.
- UE User Equipment
- PDA Personal Digital Processing
- handheld devices computing devices
- vehicle-mounted devices wearable devices
- the method may be implemented by a processor invoking computer-readable instructions stored in a memory.
- the method is executed by a server.
- the electronic map may be a high-precision electronic map (referred to as a high-precision map hereinafter).
- the high-precision map is used by the driver in comparison with a common map for the driver
- the map does not have lane-level road information, while the high-precision map is usually a map for vehicles and other equipment. It includes richer road information such as lane level and has higher recognition accuracy. It has the accuracy of lane information recognition.
- the electronic map includes a wealth of information, and some information is useful for route generation.
- the road information of the electronic map may include at least one of lane line information, lane restriction information, traffic flow information, and traffic control information.
- electronic maps also include a wealth of other information, which is useless for route generation.
- a high-precision map includes a wealth of traffic light information, traffic sign information, etc. This information is relatively
- the route generation task belongs to redundant information. If the route is directly generated based on the electronic map itself, such as a high-precision map, the redundant information included in the electronic map will increase the computational complexity, increase noise to a certain extent, and reduce the path generation Efficiency and precision. For this reason, the path generation method of the embodiment of the present disclosure can obtain a topology map with less information redundancy according to the road information of the electronic map, and generate a path based on the topology map, thereby reducing the computational complexity and improving the path generation. Efficiency and precision.
- the lane line information may include the category of the lane line, for example, a one-way lane, a straight lane, a right-turn lane, a left-turn lane, etc., and may also include a center line for dividing opposite lanes.
- the lane line information may include attributes of the lane line, for example, a solid line, a dashed line, a double solid line, a double dashed line, a stop line, a turn guide line, and the like.
- FIG. 2 shows a schematic diagram of a reference line according to an embodiment of the present disclosure
- FIG. 2 may represent a road including opposite lanes to the left and right.
- the left lanes can be represented as lane 1, lane 2 and lane 3
- the right lanes can be represented as lane-1 and lane-2.
- the lane to the right is widened and one is added.
- the lane to the right becomes lane-1, lane-2, and lane-3.
- the reference line dividing the opposite lane can be represented by a dashed line 0.
- the reference line can be located at the location of the isolation belt, guardrail, or flower bed that divides the opposite lane.
- the lane restriction information may include the width of each lane in the road, which can be used to determine whether the vehicle can travel. It can be determined whether the vehicle can travel based on the restriction information of the lane itself and the attributes of the vehicle. For example, the lane width is If the width of a large vehicle exceeds 3 meters, the vehicle cannot drive in the lane.
- the information of the lane width can provide a basis for determining the connection relationship between the nodes in the topology map, that is, if the vehicle cannot travel between two Driving on a road with a certain width between geographic locations can directly determine that there is no road between the two geographic locations, that is, there is no connection relationship between the nodes on the topological graphs corresponding to the two geographic locations.
- the lane restriction information may also include height restriction information, width restriction information, etc., which may provide a basis for determining the connection relationship between nodes in the topology map.
- the restriction information of the lane itself and the current traffic conditions can also be used to determine whether the vehicle can drive.
- the lane restriction information can also include speed limit information, current limit information, etc., for example, the current traffic flow on a road exceeds the current limit information In the case of a prescribed flow rate, the vehicle may not be able to drive in the lane, and the present disclosure does not limit the type of restriction.
- the traffic flow information may include information on the number of vehicles, pedestrians, etc. on the road, and driving speed information, etc., which can be used to determine whether the traffic is congested, and can provide a basis for determining the connection relationship between nodes in the topology map.
- the preset strategy is to avoid a congested route. If the road between two geographic locations is relatively congested (for example, the number of vehicles on the road is greater than or equal to the preset number threshold and/or the average vehicle speed is less than or Equal to the preset speed threshold), it can be directly judged that there is no road between the two geographic locations, that is, there is no connection relationship between the nodes on the topological graph corresponding to the two geographic locations. In a possible example, the generated There is no connecting line between these two nodes in the topology.
- the traffic control information may include various restriction information, for example, a certain type of vehicle is prohibited from passing through a certain road during a certain period of time (for example, vehicles with a preset license plate number are prohibited from passing through, or freight transportation is prohibited. Vehicle traffic, etc.), a road is under construction, and vehicle traffic is prohibited. This disclosure does not restrict traffic control information.
- a topology map corresponding to the electronic map may be generated according to the road information.
- the topological diagram includes multiple nodes and the connection relationship between nodes, that is, the topological diagram is a diagram abstracted by certain positions in the electronic map (corresponding to nodes) and roads connecting these positions (corresponding to the connection relationship) .
- Step S11 may include: querying the road information of the high-precision map; generating the topological map according to the queried road information.
- the road information may include at least one of lane line information, lane restriction information, traffic flow information, and traffic regulation information.
- the generated topology map can be stored, for example, stored in the hard disk or cache. In the subsequent navigation process, the stored topology map can be directly recalled.
- topology map There is no need to generate a topology map every time you navigate, which can improve processing efficiency.
- road information may change, for example, traffic flow information or traffic control information may change at any time. If the interval between two navigations is relatively short, for example, the interval does not exceed the time threshold (for example, 3 minutes, 5 minutes), you can directly call the stored topology map, if the interval exceeds the time threshold, you need to re-run according to the real-time road information Generate a topology map.
- querying the road information of the high-precision map may include: in response to the vehicle being started or receiving a route generation instruction or a high-precision map update, querying the road information in the high-precision map obtained by the vehicle .
- the topology map can be regenerated when the vehicle is started or when it receives a route generation instruction or a high-precision map update, so that real-time road information can be used in navigation to provide more accurate navigation data, and when the vehicle is turned off or navigated After completion, the topology map can be deleted from the cache or hard disk to free up storage space and improve the efficiency of storage resource utilization.
- generating the topological map according to the queried road information may include: determining the nodes and all the nodes of the topological map according to road intersections and/or road end points in the electronic map. The position coordinates of the node in the electronic map; according to the road information of the electronic map, determine the connection relationship between the nodes and the corresponding road in the electronic map for the connection between the nodes with the connection relationship According to the length of the corresponding road in the electronic map of the node, the connection relationship between the nodes and the connection relationship between the nodes, the topology map is generated.
- the first node of the topological map may be determined according to the road intersection and/or the road end point in the electronic map.
- road intersections for example, intersections
- road ends for example, end points of broken roads
- the nodes may include coordinate information, that is, the nodes correspond to The position coordinates of the position in the electronic map in the electronic map.
- the position of the node in the topology map does not need to be distributed strictly according to the position coordinates, but only needs to reflect the relative position relationship between the nodes according to the position in the corresponding electronic map.
- the position in the electronic map corresponding to node A is 20km from the direct east of the position in the electronic map corresponding to node B.
- the topology map it can be reflected that the position of node A is in the east of node B, and there is no need to be strict Accurately reflect the distance between node A and node B according to the scale.
- connection relationship between the nodes can be determined according to the road information of the electronic map. If there is a connection relationship between the two nodes, the two nodes can be connected through a line, Otherwise, there is no connection between the two nodes.
- the determining the connection relationship between the nodes according to the road information of the electronic map includes: determining, according to the road information, the corresponding first position of the first node in the electronic map and the location of the second node in the electronic map.
- a passable road includes: determining whether there is a connected road between the first position and the second position according to the lane line information; there is a connected road between the first position and the second position In the case of a road, it is determined whether the connected road is passable according to the road information; in the case that the connected road is passable, it is determined that there is passable between the first position and the second position. path of.
- the road information includes at least one of lane line information, lane restriction information, traffic flow information, and traffic control information.
- both the first node and the second node are arbitrary nodes in the topological graph.
- the first node corresponds to the first position (for example, a certain intersection) and the second node in the electronic map.
- Whether there is a passable road between the corresponding second location (for example, another intersection) in the electronic map for example, it can be determined whether there is a directly connected lane line between the first location and the second location.
- there are two adjacent crossroads between the first position and the second position and the two crossroads are directly connected by a road.
- there are two non-adjacent intersections between the first position and the second position and there is no directly connected road between the two intersections (for example, another intersection is required to reach the second position from the first position).
- the road between the first location and the second location in addition to judging whether there is a directly connected road between the first location and the second location, it can also be judged whether the road between the first location and the second location is passable. For example, in a case where there is a connected road between the first location and the second location, it is determined whether the connected road is passable according to the road information.
- the vehicle can be judged whether it is passable between the first location and the second location based on the traffic flow information. For example, there is a directly connected road between the first location and the second location, but the user wants to avoid the congested route. According to the traffic flow information in the road information, the road between the first location and the second location is relatively congested, so it can be determined There is no passable road between the first position and the second position.
- the vehicle for example, the vehicle is a truck, but the road only allows passenger vehicles to pass ), it can be determined that there is no passable road between the first position and the second position.
- the connected road when the connected road is passable, it is determined that there is a passable road between the first position and the second position. That is, if there is a directly connected road between the first position and the second position, and the road is passable according to the road information, it can be determined that there is a passable road between the first position and the second position.
- the starting point and ending point may not be on the road or intersection.
- the starting point or ending point can be connected to the road before the exit of the building, and the connected connection point may be between the starting point or ending point.
- the road can correspond to a line in the topology diagram.
- the length of the corresponding road in the electronic map can also be determined for the connection between the nodes having the connection relationship.
- the position of the node in the topological map does not need to be distributed strictly according to the position coordinates, but only needs to reflect the position relationship between the nodes according to the position in the corresponding electronic map, but the connection between the nodes with the connection relationship may have Information about the length of the corresponding road.
- the topology map is generated according to the length of the corresponding road in the electronic map of the node, the connection relationship between the nodes, and the connection between the nodes having the connection relationship. , Including: determining the weight of the link according to the length of the road corresponding to the link between the nodes having the connection relationship in the electronic map; according to the node, the connection relationship between the nodes, and the The weight of the connection to generate the topological graph. For example, according to the relative position relationship between the nodes, the nodes are arranged on the graph, and the nodes with the connection relationship are connected. Further, the length of the road corresponding to the connection between the nodes can be used as the weight of the connection , That is, determine the weight for the connection between two nodes, and mark the weight of the road connected between the nodes.
- road information can be used to determine the connection relationship between nodes, improve the accuracy of the topology map, and provide a basis for generating high-precision navigation paths.
- the node may have a node index, for example, an index value may be set for each node, for example, node 1, node 2, node 3, and so on.
- the connection between the nodes having the connection relationship can be represented by the road name in the electronic map, for example, A street, B road, etc.
- the connection can also be marked with the length or weight of the corresponding road.
- step S12 at least two labeled points may be determined in the topology map, that is, the start point, the end point, and N (N is an integer greater than or equal to 0) possible pathway points.
- the labeled points can be directly labeled in the topological map, or the labeled points in the electronic map can be abstracted into nodes in the topological map, for example, according to the coordinate information of the labeled points in the electronic map, it is determined Mark the position of the node in the topology map (for example, the relative position with other nodes).
- the position of the node (including the node corresponding to the road intersection and/or the end point of the road, and the node corresponding to the marked point) in the topology map may not be strictly distributed according to the position coordinates, but only according to the corresponding electronic
- the position in the map reflects the positional relationship between the nodes.
- any point in the electronic map can be set as a starting point, an end point, or a route point, for example, a certain building, a certain park, or a certain bus station, etc.
- the present disclosure does not limit the starting point or the end point.
- the marked points also include the waypoints marked on the electronic map. When generating a navigation route, a path starting from the starting point, passing through the waypoint and reaching the ending point can be generated.
- the start point and end point can also be connected to the nearest line or node in the topology map.
- the starting point is not on a line or node in the topology map (for example, the starting point is set in a building on the side of the road)
- the navigation path can also include the path from the building to the road. Therefore, The starting point can be connected to the nearest line in the topology diagram.
- the end point is not on a line or node in the topology map (for example, the start point is set in a building on the side of the road)
- the navigation path can also include a route from a nearby road to the end point. Therefore, the end point can be set Connect with the nearest line in the topology diagram.
- the first path may be determined according to the at least two marked points and the topological map, that is, from the first geographic location corresponding to the marked point as the starting point to the ending point.
- Step S13 may include: determining multiple paths from the start point to the end point according to the connection relationship between the nodes in the topological graph; The length of the corresponding road in the electronic map determines the weight of the link; according to the weight of the link, one of the multiple paths is determined to be the second path; according to the second path and The electronic map determines the first path.
- the multiple paths may be represented by a sequence composed of nodes having a connection relationship.
- one path is the start point, node 1, node 3, node 5, and the end point
- the other path is the start point, node 1, node 2, node 8, node 6, node 5, and end point. That is, multiple paths from the start point to the end point can be determined in the topology map.
- the best path can be determined from the above multiple paths.
- the best path can be determined according to the requirements of the user, for example, the shortest path, the path with the least time, and the least crossing. Path etc.
- the present disclosure does not limit the best path.
- the length of the road corresponding to the connection between nodes in the electronic map can be used as the weight of the connection, and the weight of the connection is determined among the multiple paths.
- One of the paths is the second path, and the second path is the best path from the start point to the end point in the topological graph.
- This step may include: determining the cost of at least one path according to the weight of the connection; and determining one of the multiple paths as the second path according to the cost.
- the cost may include a cost function with road weight as a variable, and/or estimated time cost or driving cost such as the number of nodes, speed limit information, driving time, and congestion time.
- the A* algorithm can be used to determine the best path from multiple paths.
- the cost function of each path can be determined by the weight of the connection.
- the cost function can be determined point by point.
- the cost function can include the first cost function from the start point to the current node, and the second cost function from the current node to the end point. .
- the cost function of a certain path it can be determined point by point in the node sequence of the path. For example, if the path is the starting point, node 1, node 3, node 5, and end point, the first point of node 1 can be determined. A cost function and the second cost function of node 1. The first cost function of node 1 can be determined according to the weight of the connection between the starting point and node 1, and the second cost function of node 1 can be determined according to the difference between node 1 and the end point. Euclidean distance is determined (for example, determined according to the position coordinates of node 1 and the position coordinates of the end point), or the second cost function of node 1 may be determined according to the weight of each path between node 1 and the end point. There is no restriction on how the function is determined. In this way, the first cost function and the second cost function of each node can be determined point by point, and the cost function of the path can be determined according to the first cost function and the second cost function of each node.
- the estimated time cost or driving cost can also be calculated.
- the number of nodes in a certain path ie, the number of intersections passed during driving, or the number of traffic lights that need to be waited for
- a certain number of traffic lights can be calculated.
- the total length of the route, and/or the estimated travel time of a certain route (the total length is not necessarily proportional to the estimated travel time, for example, in a certain route, there are speed limit roads or congested roads, etc.).
- the best second path is determined among multiple paths according to the cost function of each path and the estimated time cost or driving cost.
- the path with the least cost may be determined as the second path.
- the present disclosure does not limit the selection of the second path.
- the second path can also be determined by other algorithms, such as breadth first algorithm, Dijkstra algorithm, Bellman-Ford algorithm, Floyd algorithm, SPFA algorithm, and so on.
- the present disclosure does not limit the algorithm for determining the second path.
- the best first path can be determined in the topology diagram, and the accuracy of determining the best path can be improved.
- the geographic path corresponding to the second path may be determined according to the second path and its corresponding path on the electronic map.
- the first path is an actual path in the world coordinate system, that is, a geographic path that can represent a position in the path by latitude and longitude.
- determining the first path according to the second path and the electronic map includes: according to the nodes in the second path and the connections between the nodes of the second path , Determine the first road corresponding to the second path in the electronic map; determine a third path corresponding to the second path in the electronic map according to the reference line of the first road, wherein: The reference line includes one of a lane line, a road edge line, and a center line dividing the opposite lane; the third path in the electronic map is transformed from the map coordinate system to the geographic coordinate system to determine the geographic coordinates The first path in the system.
- the second path includes a node sequence composed of nodes having a connection relationship, for example, starting point, node 1 (corresponding to intersection 1 in the electronic map), node 3 (corresponding to the electronic map Junction 3), node 5 (corresponding to junction 5 in the electronic map), end point.
- the connection between the nodes corresponds to the road in the electronic map, which can be represented by the road name, such as Street A and Road B.
- the first road corresponding to the second path can be represented on the electronic map as starting from the starting point, passing through A street to junction 1, passing through B to reach junction 3, passing through C street to junction 5, and passing through D to reach the end point .
- the present disclosure does not limit the way of expressing the first road.
- the roads between intersections may have reference lines, such as lane lines, road edge lines, and reference lines dividing opposite lanes. At the intersection, the reference line will be broken.
- determining a third path corresponding to the second path in the electronic map includes: performing fitting processing on the reference line to obtain the third path.
- the second-order Bezier fitting process can be performed on the reference line of each road, and a smooth route, that is, the third path can be obtained.
- the present disclosure does not limit the fitting method.
- the third path can be used to display the path from the start point to the end point in the electronic map, and the third path can be coordinate transformed, that is, the third path under the coordinate system in the electronic map can be transformed Is the geographic path in the world coordinate system, and the first path is obtained.
- the coordinate system in the electronic map is an offset coordinate system, that is, the coordinate system is inaccurate, and the coordinate correction can be performed on the coordinate system to obtain the first path in the world coordinate system.
- the first path is a geographic path from the first geographic location corresponding to the starting point to the second geographic location corresponding to the end point.
- a geographic path that can indicate a location in the path by latitude and longitude can be used for vehicle navigation and automatic driving routes. OK and so on.
- the marked point further includes a waypoint
- the process of determining the first path may be repeated two or more times.
- the method further includes: according to the starting point and the way point , Determine the first path from the starting point to the path point; determine the first path from the path point to the end point according to the path point and the end point; according to the first path from the starting point to the path point A path, and a first path from the approach point to the end point, determine the first path from the start point to the marked end point.
- the way point can be a necessary point in the road planning set by the user. For example, the user needs to plan a road from the starting point to the end point, but the user needs to go to the way point and do something (for example, to the way point Location delivery, pick-up, etc.), and then reach the destination.
- something for example, to the way point Location delivery, pick-up, etc.
- the path generation method can be executed twice, that is, the path point is used as the end point of the first execution, and the path from the starting point to the path point is determined. Then use the path point as the starting point for the second execution, and determine the path from the path point to the end point. It is also possible to determine the path of multiple pathway points (ie, N ⁇ 2) in this way, for example, the first pathway point is used as the end point of the first execution, and the path from the starting point to the first pathway point is determined; The first path point is used as the starting point for the second execution, and the second path point is used as the end point for the second execution. Determine the path from the first path point to the second path point...
- N is A positive integer
- the path from the Nth path point to the end point is determined.
- the first path from the starting point to the marked end point can be obtained according to the aforementioned path.
- the aforementioned paths can be connected in sequence to obtain the first path from the starting point to the marked end point.
- the method further includes: performing navigation, positioning, driving decision control and/or unmanned driving simulation test on the unmanned driving device that has obtained the electronic map according to the first path .
- the first path is the actual geographic path in the world coordinate system, which can be used to provide navigation, positioning, driving decision control and/or for unmanned equipment (for example, unmanned vehicles, drones, etc.) Services such as driverless simulation testing.
- the first path may be generated for the unmanned vehicle, so that the unmanned vehicle will travel from the start point to the end point according to the first path.
- positioning services can be provided for unmanned vehicles, the location of unmanned vehicles and their relative positions in the topology map can be determined in real time, and navigation services can be provided for them.
- it can provide decision-making control services for unmanned vehicles, for example, it can help unmanned vehicles to set a route from the starting point to the end point, or help unmanned vehicles pass the way point and reach the end point, which can be used to pick up people and send and receive goods. Waiting for the scene. Or, during the driving process of the unmanned vehicle, the route can be changed and a new first path can be re-established. For example, when the road is congested during the driving process, it can help the unmanned vehicle to plan the first path again for unmanned driving.
- the vehicle provides driving decisions.
- it can provide unmanned driving simulation test services for unmanned vehicles. For example, it can help unmanned vehicles to plan their paths during the testing phase of unmanned vehicles, so that the unmanned vehicles can drive on the planned path. To collect driving data.
- the present disclosure does not limit the usage scenarios of the path generation method.
- the connection relationship between nodes can be determined according to road information such as lane line information, lane width information, traffic flow information, and traffic control information, thereby improving the accuracy of the topology map, and filtering redundancy Information to improve the efficiency of determining the navigation path.
- the topology map can be stored after the topology map is generated, and the stored topology map can be directly recalled in the subsequent navigation process. There is no need to generate a topology map every time you navigate, which can improve processing efficiency.
- the topology map can be regenerated when the vehicle is started or when it receives a route generation instruction or a high-precision map update, so that real-time road information can be used in navigation to provide more accurate navigation data, and after the vehicle is turned off or the navigation is completed , You can delete the topology map from the cache or hard disk, release storage space, and improve the efficiency of storage resource utilization. Further, by calculating the cost of each path, the best second path is determined in the topology map, and the accuracy of determining the best path can be improved, and the key positions in the electronic map can be located with high precision. Further, Determining the geographic path corresponding to the actual geographic location can improve the accuracy of navigation.
- Fig. 3 shows a schematic diagram of the application of the route generation method according to an embodiment of the present disclosure.
- the electronic map can be a custom xml map in OpenDrive format, and the start and end points can be set in the electronic map, and can be parsed Electronic map, get all the intersections near the starting point and ending point.
- intersections can be abstracted as nodes in a topology graph, and the connection relationship between nodes can be determined according to road information such as lane line information, lane width information, traffic flow information, and traffic control information, that is, There is a directly connected road between the positions in the electronic map corresponding to the two nodes, and according to the road information, the road can pass, it can be determined that there is a connection between the two nodes, and the two nodes can be connected through a connection . Further, the length of the road corresponding to the connection between nodes in the electronic map can be obtained, and the weight of the connection is determined based on the length.
- road information such as lane line information, lane width information, traffic flow information, and traffic control information
- the start point and the end point can be set in the topology diagram.
- the node may have a node index, for example, an index value may be set for each node, for example, node 1, node 2, node 3, and so on.
- the connection between the nodes having the connection relationship can be represented by the road name in the electronic map, for example, Street A, Road B, etc., and the connection can also be marked with the length of the corresponding road.
- the best second path from the start point to the end point can be determined in the topology map.
- the A* algorithm can be used to determine the best path from multiple paths, and multiple paths can be included from the start point to the end point.
- the cost of each path can be calculated separately, and the path with the least cost can be determined as the second path. path.
- the first path may be represented by the start point, node 1, node 3, node 5, and end point.
- the node sequence of the second path can be used to find the corresponding intersection and the road between the intersections in the electronic map, for example, starting from the starting point and passing through Street A to intersection 1 (corresponding to node 1 ), go through B road to junction 3 (corresponding to node 3), go through C street to junction 5 (corresponding to node 5), and go through D road to reach the end point.
- the road between the intersections may have a reference line that divides the opposite lanes, and at the intersection, the reference line will be disconnected.
- the second-order Bessel fitting process can be performed on the reference line of the road between the above-mentioned intersections, and a smooth route can be obtained, which can be displayed as a path from the start point to the end point in the electronic map.
- coordinate transformation (for example, coordinate correction) may be performed on the path, that is, the path in the coordinate system in the electronic map is converted to the geographic path in the world coordinate system to obtain the first path.
- the first path is a geographic path from the first geographic location corresponding to the start point to the second geographic location corresponding to the end point, that is, the geographic path that can represent the location in the path by latitude and longitude.
- the path generation method can be used in the fields of unmanned driving equipment or robot navigation, positioning, driving decision control, and/or unmanned driving simulation testing.
- the present disclosure does not limit the application field of the path generation method.
- the present disclosure also provides a path generation device, electronic equipment, computer-readable storage medium, and a program, all of which can be used to implement any path generation method provided in the present disclosure.
- a path generation device electronic equipment, computer-readable storage medium, and a program, all of which can be used to implement any path generation method provided in the present disclosure.
- the writing order of the steps does not mean a strict execution order but constitutes any limitation on the implementation process.
- the specific execution order of each step should be based on its function and possibility.
- the inner logic is determined.
- Fig. 4 shows a block diagram of a path generation device according to an embodiment of the present disclosure. As shown in Fig. 4, the device includes:
- the generating module 11 is configured to generate a topological diagram corresponding to the electronic map according to the road information of the electronic map, wherein the topological diagram includes a plurality of nodes and the connection relationship between the nodes, and the nodes in the topological diagram are Road intersections and/or road end points in the electronic map;
- the labeling module 12 is configured to determine at least two labeling points in the topological map, and the at least two labeling points include corresponding points in the topological map as a starting point, an end point, and N possible path points, where N is An integer greater than or equal to 0;
- the determining module 13 is configured to determine a first path according to the at least two marked points and the topological map, where the first path is: from the first geographic location corresponding to the marked point as the starting point to the The navigation path of the second geographic location corresponding to the marked point at the end point.
- the generating module is further configured to:
- a node and the second node are any nodes among a plurality of nodes in the topological graph
- the road information includes at least one of lane line information, lane restriction information, traffic flow information, and traffic control information.
- the generating module is further configured to:
- the generating module is further configured to:
- the topology graph is generated according to the node, the connection relationship between the nodes, and the weight of the connection line.
- the determining module is further configured to:
- one of the multiple paths is determined to be the second path; and the first path is determined according to the second path and the electronic map.
- the determining module is further configured to:
- one of the multiple paths is determined to be the second path.
- the determining module is further configured to:
- a third path corresponding to the second path is determined in the electronic map, wherein the reference line includes a lane line, a road edge line, and a center line dividing the opposite lane
- the determining module is further configured to:
- Fitting processing is performed on the reference line to obtain the third path.
- the device further includes:
- a first path determination module configured to determine a path from the starting point to the path point according to the starting point and the path point;
- a second path determination module configured to determine a path from the path point to the end point according to the path point and the end point;
- the third path determination module is configured to determine the first path from the start point to the end point according to the path from the start point to the route point and the path from the route point to the end point.
- the generating module is further configured to:
- the device further includes:
- the application module is used to perform navigation, positioning, driving decision control and/or unmanned driving simulation test on the unmanned driving device that has obtained the electronic map according to the first path.
- the functions or modules contained in the device provided in the embodiments of the present disclosure can be used to execute the methods described in the above method embodiments.
- the functions or modules contained in the device provided in the embodiments of the present disclosure can be used to execute the methods described in the above method embodiments.
- the embodiments of the present disclosure also provide a computer-readable storage medium on which computer program instructions are stored, and the computer program instructions implement the above-mentioned method when executed by a processor.
- the computer-readable storage medium may be a non-volatile computer-readable storage medium.
- An embodiment of the present disclosure also provides an electronic device, including: a processor; a memory for storing executable instructions of the processor; wherein the processor is configured as the above method.
- Electronic equipment can be provided as a terminal, server, vehicle-mounted equipment, intelligent driving control system, simulation control platform, or other forms of equipment.
- Fig. 5 is a block diagram showing an electronic device 800 according to an exemplary embodiment.
- the electronic device 800 may be a vehicle-mounted device, an intelligent driving control system, a simulation control platform, a mobile phone, a computer, a digital broadcasting terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, and other terminals.
- the electronic device 800 may include one or more of the following components: a processing component 802, a memory 804, a power supply component 806, a multimedia component 808, an audio component 810, an input/output (I/O) interface 812, and a sensor component 814 , And communication component 816.
- the processing component 802 generally controls the overall operations of the electronic device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations.
- the processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the foregoing method.
- the processing component 802 may include one or more modules to facilitate the interaction between the processing component 802 and other components.
- the processing component 802 may include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.
- the memory 804 is configured to store various types of data to support operations in the electronic device 800. Examples of these data include instructions for any application or method operating on the electronic device 800, contact data, phone book data, messages, pictures, videos, etc.
- the memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable and Programmable read only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.
- SRAM static random access memory
- EEPROM electrically erasable programmable read-only memory
- EPROM erasable and Programmable read only memory
- PROM programmable read only memory
- ROM read only memory
- magnetic memory flash memory
- flash memory magnetic disk or optical disk.
- the power supply component 806 provides power for various components of the electronic device 800.
- the power supply component 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 800.
- the multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and the user.
- the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user.
- the touch panel includes one or more touch sensors to sense touch, sliding, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure related to the touch or slide operation.
- the multimedia component 808 includes a front camera and/or a rear camera. When the electronic device 800 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera can receive external multimedia data. Each front camera and rear camera can be a fixed optical lens system or have focal length and optical zoom capabilities.
- the audio component 810 is configured to output and/or input audio signals.
- the audio component 810 includes a microphone (MIC), and when the electronic device 800 is in an operation mode, such as a call mode, a recording mode, and a voice recognition mode, the microphone is configured to receive an external audio signal.
- the received audio signal may be further stored in the memory 804 or transmitted via the communication component 816.
- the audio component 810 further includes a speaker for outputting audio signals.
- the I/O interface 812 provides an interface between the processing component 802 and a peripheral interface module.
- the above-mentioned peripheral interface module may be a keyboard, a click wheel, a button, and the like. These buttons may include, but are not limited to: home button, volume button, start button, and lock button.
- the sensor component 814 includes one or more sensors for providing the electronic device 800 with various aspects of state evaluation.
- the sensor component 814 can detect the on/off status of the electronic device 800 and the relative positioning of the components.
- the component is the display and the keypad of the electronic device 800.
- the sensor component 814 can also detect the electronic device 800 or the electronic device 800.
- the position of the component changes, the presence or absence of contact between the user and the electronic device 800, the orientation or acceleration/deceleration of the electronic device 800, and the temperature change of the electronic device 800.
- the sensor component 814 may include a proximity sensor configured to detect the presence of nearby objects when there is no physical contact.
- the sensor component 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications.
- the sensor component 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
- the communication component 816 is configured to facilitate wired or wireless communication between the electronic device 800 and other devices.
- the electronic device 800 can access a wireless network based on a communication standard, such as WiFi, 2G, or 3G, or a combination thereof.
- the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel.
- the communication component 816 further includes a near field communication (NFC) module to facilitate short-range communication.
- the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.
- RFID radio frequency identification
- IrDA infrared data association
- UWB ultra-wideband
- Bluetooth Bluetooth
- the electronic device 800 may be implemented by one or more application-specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field-available A programmable gate array (FPGA), controller, microcontroller, microprocessor, or other electronic components are implemented to implement the above methods.
- ASIC application-specific integrated circuits
- DSP digital signal processors
- DSPD digital signal processing devices
- PLD programmable logic devices
- FPGA field-available A programmable gate array
- controller microcontroller, microprocessor, or other electronic components are implemented to implement the above methods.
- a non-volatile computer-readable storage medium such as the memory 804 including computer program instructions, which can be executed by the processor 820 of the electronic device 800 to complete the foregoing method.
- the embodiments of the present disclosure also provide a computer program product, including computer-readable code.
- the processor in the device executes the image search method provided in any of the above embodiments. instruction.
- the embodiments of the present disclosure also provide another computer program product for storing computer-readable instructions, which when executed, cause the computer to perform the operation of the image search method provided in any of the foregoing embodiments.
- the computer program product can be specifically implemented by hardware, software, or a combination thereof.
- the computer program product is specifically embodied as a computer storage medium.
- the computer program product is specifically embodied as a software product, such as a software development kit (SDK), etc. Wait.
- SDK software development kit
- Fig. 6 is a block diagram showing an electronic device 1900 according to an exemplary embodiment.
- the electronic device 1900 may be provided as a server. 6
- the electronic device 1900 includes a processing component 1922, which further includes one or more processors, and a memory resource represented by the memory 1932, for storing instructions executable by the processing component 1922, such as application programs.
- the application program stored in the memory 1932 may include one or more modules each corresponding to a set of instructions.
- the processing component 1922 is configured to execute instructions to perform the above-described methods.
- the electronic device 1900 may also include a power supply component 1926 configured to perform power management of the electronic device 1900, a wired or wireless network interface 1950 configured to connect the electronic device 1900 to the network, and an input output (I/O) interface 1958 .
- the electronic device 1900 can operate based on an operating system stored in the memory 1932, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM or the like.
- a non-volatile computer-readable storage medium is also provided, such as the memory 1932 including computer program instructions, which can be executed by the processing component 1922 of the electronic device 1900 to complete the foregoing method.
- the present disclosure may be a system, method and/or computer program product.
- the computer program product may include a computer-readable storage medium loaded with computer-readable program instructions for enabling a processor to implement various aspects of the present disclosure.
- the computer-readable storage medium may be a tangible device that can hold and store instructions used by the instruction execution device.
- the computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing.
- Non-exhaustive list of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) Or flash memory), static random access memory (SRAM), portable compact disk read-only memory (CD-ROM), digital versatile disk (DVD), memory stick, floppy disk, mechanical encoding device, such as a printer with instructions stored thereon
- RAM random access memory
- ROM read-only memory
- EPROM erasable programmable read-only memory
- flash memory flash memory
- SRAM static random access memory
- CD-ROM compact disk read-only memory
- DVD digital versatile disk
- memory stick floppy disk
- mechanical encoding device such as a printer with instructions stored thereon
- the computer-readable storage medium used here is not interpreted as the instantaneous signal itself, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (for example, light pulses through fiber optic cables), or through wires Transmission of electrical signals.
- the computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to various computing/processing devices, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and/or a wireless network.
- the network may include copper transmission cables, optical fiber transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers.
- the network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network, and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing/processing device .
- the computer program instructions used to perform the operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or in one or more programming languages.
- Source code or object code written in any combination, the programming language includes object-oriented programming languages such as Smalltalk, C++, etc., and conventional procedural programming languages such as "C" language or similar programming languages.
- Computer-readable program instructions can be executed entirely on the user's computer, partly on the user's computer, executed as a stand-alone software package, partly on the user's computer and partly executed on a remote computer, or entirely on the remote computer or server carried out.
- the remote computer can be connected to the user's computer through any kind of network-including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, using an Internet service provider to connect to the user's computer) connection).
- LAN local area network
- WAN wide area network
- an electronic circuit such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), can be customized by using the status information of the computer-readable program instructions.
- FPGA field programmable gate array
- PDA programmable logic array
- the computer-readable program instructions are executed to realize various aspects of the present disclosure.
- These computer-readable program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine that makes these instructions when executed by the processor of the computer or other programmable data processing device , A device that implements the functions/actions specified in one or more blocks in the flowcharts and/or block diagrams is produced. It is also possible to store these computer-readable program instructions in a computer-readable storage medium. These instructions make computers, programmable data processing apparatuses, and/or other devices work in a specific manner, so that the computer-readable medium storing instructions includes An article of manufacture, which includes instructions for implementing various aspects of the functions/actions specified in one or more blocks in the flowcharts and/or block diagrams.
- each block in the flowchart or block diagram may represent a module, program segment, or part of an instruction, and the module, program segment, or part of an instruction contains one or more components for realizing the specified logical function.
- Executable instructions may also occur in a different order than the order marked in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, or they can sometimes be executed in the reverse order, depending on the functions involved.
- each block in the block diagram and/or flowchart, and the combination of the blocks in the block diagram and/or flowchart can be implemented by a dedicated hardware-based system that performs the specified functions or actions Or it can be realized by a combination of dedicated hardware and computer instructions.
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Abstract
Description
Claims (31)
- 一种路径生成方法,其特征在于,包括:根据电子地图的道路信息,生成与所述电子地图对应的拓扑图,其中,所述拓扑图包括多个节点和节点之间的连接关系,所述拓扑图中的节点为所述电子地图中的道路交叉点和/或道路终点;在所述拓扑图中确定至少二个标注点,所述至少二个标注点包括在所述拓扑图中分别作为起点、终点和N个可能途径点的对应点,N为大于或等于0的整数;根据所述至少二个标注点和所述拓扑图,确定第一路径,其中,所述第一路径为:从作为起点的所述标注点对应的第一地理位置至作为终点的所述标注点对应的第二地理位置的导航路径。
- 根据权利要求1所述的方法,其特征在于,所述电子地图为高精地图;所述根据电子地图的道路信息,生成与所述电子地图对应的拓扑图,包括:查询所述高精地图的道路信息;根据查询到的所述道路信息生成所述拓扑图。
- 根据权利要求1或2所述的方法,其特征在于,生成所述拓扑图,包括:根据所述电子地图中的道路交叉点和/或道路终点,确定所述拓扑图的节点以及所述节点在所述电子地图中的位置坐标;根据所述电子地图的道路信息,确定所述节点之间的连接关系以及具有连接关系的节点之间的连线在所述电子地图中对应的道路的长度;根据所述节点、所述节点之间的连接关系以及具有连接关系的节点之间的连线在所述电子地图中对应的道路的长度,生成所述拓扑图。
- 根据权利要求3所述的方法,其特征在于,所述根据所述电子地图的道路信息,确定所述节点之间的连接关系,包括:根据所述道路信息,确定第一节点在所述电子地图中对应的第一位置和第二节点在所述电子地图中对应的第二位置之间是否具有能够通行的道路,其中,所述第一节点和所述第二节点为所述拓扑图的多个节点中的任意节点;在所述第一位置和所述第二位置之间具有能够通行的道路的情况下,确定所述第一节点和所述第二节点之间具有连接关系。
- 根据权利要求1-4任一所述的方法,其特征在于,所述道路信息包括车道线信息、车道限制信息、交通流量信息和交通管制信息中的至少一种。
- 根据权利要求5所述的方法,其特征在于,根据所述道路信息,确定第一节点在所述电子地图中对应的第二位置和第四节点在所述电子地图中对应的第二位置之间是否具有能够通行的道路,包括:根据所述车道线信息,确定所述第一位置和所述第二位置之间是否具有相连的道路;在所述第一位置和所述第二位置之间具有相连的道路的情况下,根据道路信息,确定所述相连的道路是否能够通行;在所述相连的道路能够通行的情况下,确定所述第一位置和所述第二位置之间具有能够通行的道路。
- 根据权利要求3所述的方法,其特征在于,根据所述节点、所述节点之间的连接关系以及具有连接关系的节点之间的连线在所述电子地图中对应的道路的长度,生成所述拓扑图,包括:根据具有连接关系的节点之间的连线在所述电子地图中对应的道路的长度,确定所述连线的权重;根据所述节点、所述节点之间的连接关系以及所述连线的权重,生成所述拓扑图。
- 根据权利要求1-7任一所述的方法,其特征在于,根据所述至少二个标注点和所述拓扑图,确定第一路径,包括:根据所述拓扑图的节点和所述节点之间的连接关系,确定从所述起点到所述终点的多条路径;根据具有连接关系的节点之间的连线在所述电子地图中对应的道路的长度,确定所述连线的权重;根据所述连线的权重,在所述多条路径中确定其中一条路径为第二路径;根据所述第二路径以及所述电子地图,确定第一路径。
- 根据权利要求8所述的方法,其特征在于,根据所述连线的权重,在所述多条路径中确定其中一条路径为所述第一路径,包括:根据所述连线的权重,确定至少一条路径的代价;根据所述代价,在所述多条路径中确定其中一条路径为所述第二路径。
- 根据权利要求8或9所述的方法,其特征在于,根据所述第二路径以及所述电子地图,确定第一路径,包括:根据所述第二路径中的节点以及所述第二路径的节点之间的连线,确定所述第二路径在所述电子地图中对应的第一道路;根据所述第一道路的参考线,在所述电子地图中确定与所述第二路径对应的第三路径,其中,所述参考线包括车道线、道路边缘线和划分对向车道的中线中的一种;对所述电子地图中的第三路径进行由地图坐标系至地理坐标系的坐标变换处理,确定地理坐标系中的所述第一路径。
- 根据权利要求10所述的方法,其特征在于,根据所述第一道路的参考线,在所述电子地图中确定与所述第一路径对应的第三路径,包括:对所述参考线进行拟合处理,获得所述第三路径。
- 根据权利要求1-11任一所述的方法,其特征在于,所述方法还包括:根据所述起点和所述途径点,确定所述起点至所述途径点的路径;根据所述途径点和所述终点,确定所述途径点至所述终点的路径;根据所述起点至所述途径点的路径,以及所述途径点至所述终点的路径,确定所述起点至所述终点的第一路径。
- 根据权利要求2-12中任一项所述的方法,其特征在于,查询所述高精地图的道路信息,包括:响应于车辆启动或接收到路径生成指令或高精地图更新,查询所述车辆获取的高精地图中的道路信息。
- 根据权利要求1-13中任一项所述的方法,其特征在于,所述方法还包括:根据所述第一路径,对获取有所述电子地图的无人驾驶设备进行导航、定位、驾驶决策控制和/或无人驾驶仿真测试。
- 一种路径生成装置,其特征在于,包括:生成模块,用于根据电子地图的道路信息,生成与所述电子地图对应的拓扑图,其中,所述拓扑图包括多个节点和节点之间的连接关系,所述拓扑图中的节点为所述电子地图中的道路交叉点和/或道路终点;标注模块,用于在所述拓扑图中确定至少二个标注点,所述至少二个标注点包括在所述拓扑图中分别作为起点、终点和N个可能途径点的对应点,N为大于或等于0的整数;确定模块,用于根据所述至少二个标注点和所述拓扑图,确定第一路径,其中,所述第一路径为:从作为起点的所述标注点对应的第一地理位置至作为终点的所述标注点对应的第二地理位置的导航路径。
- 根据权利要求15所述的装置,其特征在于,所述电子地图为高精地图;所述生成模块被进一步配置为:查询所述高精地图的道路信息;根据查询到的所述道路信息生成所述拓扑图。
- 根据权利要求15或16所述的装置,其特征在于,所述生成模块被进一步配置为:根据所述电子地图中的道路交叉点和/或道路终点,确定所述拓扑图的节点以及所述节点在所述电子地图中的位置坐标;根据所述电子地图的道路信息,确定所述节点之间的连接关系以及具有连接关系的节点之间的连 线在所述电子地图中对应的道路的长度;根据所述节点、所述节点之间的连接关系以及具有连接关系的节点之间的连线在所述电子地图中对应的道路的长度,生成所述拓扑图。
- 根据权利要求17所述的装置,其特征在于,所述生成模块被进一步配置为:根据所述道路信息,确定第一节点在所述电子地图中对应的第一位置和第二节点在所述电子地图中对应的第二位置之间是否具有能够通行的道路,其中,所述第一节点和所述第二节点为所述拓扑图的多个节点中的任意节点;在所述第一位置和所述第二位置之间具有能够通行的道路的情况下,确定所述第一节点和所述第二节点之间具有连接关系。
- 根据权利要求15-18中任一项所述的装置,其特征在于,所述道路信息包括车道线信息、车道限制信息、交通流量信息和交通管制信息中的至少一种。
- 根据权利要求19所述的装置,其特征在于,所述生成模块被进一步配置为:根据所述车道线信息,确定所述第一位置和所述第二位置之间是否具有相连的道路;在所述第一位置和所述第二位置之间具有相连的道路的情况下,根据道路信息,确定所述相连的道路是否能够通行;在所述相连的道路能够通行的情况下,确定所述第一位置和所述第二位置之间具有能够通行的道路。
- 根据权利要求17所述的装置,其特征在于,所述生成模块被进一步配置为:根据具有连接关系的节点之间的连线在所述电子地图中对应的道路的长度,确定所述连线的权重;根据所述节点、所述节点之间的连接关系以及所述连线的权重,生成所述拓扑图。
- 根据权利要求15-21中任一项所述的装置,其特征在于,所述确定模块被进一步配置为:根据所述拓扑图的节点和所述节点之间的连接关系,确定从所述起点到所述终点的多条路径;根据具有连接关系的节点之间的连线在所述电子地图中对应的道路的长度,确定所述连线的权重;根据所述连线的权重,在所述多条路径中确定其中一条路径为第二路径;根据所述第二路径以及所述电子地图,确定第一路径。
- 根据权利要求22所述的装置,其特征在于,所述确定模块被进一步配置为:根据所述连线的权重,确定至少一条路径的代价;根据所述代价,在所述多条路径中确定其中一条路径为所述第二路径。
- 根据权利要求22或23所述的装置,其特征在于,所述确定模块被进一步配置为:根据所述第二路径中的节点以及所述第二路径的节点之间的连线,确定所述第二路径在所述电子地图中对应的第一道路;根据所述第一道路的参考线,在所述电子地图中确定与所述第二路径对应的第三路径,其中,所述参考线包括车道线、道路边缘线和划分对向车道的中线中的一种;对所述电子地图中的第三路径进行由地图坐标系至地理坐标系的坐标变换处理,确定地理坐标系中的所述第一路径。
- 根据权利要求24所述的装置,其特征在于,所述确定模块被进一步配置为:对所述参考线进行拟合处理,获得所述第三路径。
- 根据权利要15-25中任一项所述的装置,其特征在于,所述装置还包括:第一路径确定模块,用于根据所述起点和所述途径点,确定所述起点至所述途径点的路径;第二路径确定模块,用于根据所述途径点和所述终点,确定所述途径点至所述终点的路径;第三路径确定模块,用于根据所述起点至所述途径点的路径,以及所述途径点至所述终点的路径,确定所述起点至所述终点的第一路径。
- 根据权利要16-26中任一项所述的装置,其特征在于,所述生成模块被进一步配置为:响应于车辆启动或接收到路径生成指令或高精地图更新,查询所述车辆获取的高精地图中的道路信息。
- 根据权利要15-27中任一项所述的装置,其特征在于,所述装置还包括:应用模块,用于根据所述第一路径,对获取有所述电子地图的无人驾驶设备进行导航、定位、驾驶决策控制和/或无人驾驶仿真测试。
- 一种电子设备,其特征在于,包括:处理器;用于存储处理器可执行指令的存储器;其中,所述处理器被配置为调用所述存储器存储的指令,以执行权利要求1至14中任意一项所述的方法。
- 一种计算机可读存储介质,其上存储有计算机程序指令,其特征在于,所述计算机程序指令被处理器执行时实现权利要求1至14中任意一项所述的方法。
- 一种计算机程序,其特征在于,所述计算机程序包括计算机可读代码,当所述计算机可读代码在电子设备中运行时,所述电子设备中的处理器执行用于实现权利要求1至14中任意一项所述的方法。
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