CN111351496B - Virtual map modeling method, device, equipment and storage medium - Google Patents
Virtual map modeling method, device, equipment and storage medium Download PDFInfo
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Abstract
The invention belongs to the technical field of dispatching maps and discloses a virtual map modeling method, device, equipment and storage medium. Generating a virtual road section and a virtual intersection according to an original road section and an original intersection in an original map; traversing the virtual road section; comparing the length of the traversed current virtual road section with a preset splitting length; splitting the current virtual road section into a target virtual road section and a target virtual intersection according to the preset splitting length when the length of the current virtual road section is greater than the preset splitting length; and when the virtual road segment traversal is finished, generating a virtual map according to the target virtual road segment and the target virtual intersection. By the method, the original map is split into the virtual map, so that the automatic guided vehicle dispatching system is convenient to conduct path planning and process intersection conflict and deadlock, and the technical problem that a map model based on points and edges cannot meet the requirements of the automatic guided vehicle dispatching system in the prior art is solved.
Description
Technical Field
The present invention relates to the field of dispatch map technologies, and in particular, to a virtual map modeling method, apparatus, device, and storage medium.
Background
In the current map, a road network in the real world is expressed by point elements and line elements by digitizing it based on a node road network model. Wherein the line elements correspond to the center line of the road section, are used for expressing the road section in the road network, and are the collection of shape points in the point elements; the point elements include shape points and nodes, which are used to express intersections (intersections) between road segments, road segment start points, or road segment end points in a road network.
For example, for a workshop automatic guided vehicle running environment with a fixed running route, an automatic guided vehicle running map is often modeled as a map model composed of points and edges, the edges in the map model are road segments, the points are intersections (intersections) between the road segments, road segment starting points or road segment ending points, but in the map model constructed based on the points and the edges, the intersection is only one point, and in actual scheduling of the automatic guided vehicle, when the automatic guided vehicle is about to drive into the intersection, it cannot judge whether the intersection can be entered through one point, and if other automatic guided vehicles are near the intersection at this time, automatic guided vehicle collision may occur, and it is not known where to wait for parking. In addition, for multi-lane representation of road segments in an automatic guided vehicle running environment, different driving criteria of different lanes at an intersection, such as representation of left turning, straight running, right turning and the like, and traffic information at the intersection by a dynamic path planning and dynamic traffic network real-time analysis function based on a map model, the road conditions cannot be described by adopting a conventional map model based on point and edge, namely the conventional map model based on point and edge cannot meet the requirements of an automatic guided vehicle dispatching system.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide a virtual map modeling method, a device, equipment and a storage medium, and aims to solve the technical problem that a map model based on points and edges cannot meet the requirements of an automatic guided vehicle dispatching system in the prior art.
To achieve the above object, the present invention provides a virtual map modeling method comprising the steps of:
generating a virtual road section and a virtual intersection according to the original road section and the original intersection in the original map;
traversing the virtual road section;
comparing the length of the traversed current virtual road section with a preset splitting length;
splitting the current virtual road section into a target virtual road section and a target virtual intersection according to the preset splitting length when the length of the current virtual road section is larger than the preset splitting length;
and when the virtual road segment traversal is finished, generating a virtual map according to the target virtual road segment and the target virtual intersection.
Preferably, before the step of generating the virtual road segments and the virtual intersections according to the original road segments and the original intersections in the original map, the method further includes:
Acquiring an original map, and extracting an original intersection and an original road section through the original map;
reading current configuration information, and obtaining road segment splitting information in the current configuration information, wherein the road segment splitting information comprises preset splitting length.
Preferably, when the length of the current virtual road section is greater than the preset splitting length, the step of splitting the current virtual road section into the target virtual road section and the target virtual intersection according to the preset splitting length specifically includes:
splitting the current virtual road section into a target virtual road section and an intersection judgment point according to a preset splitting length when the length of the current virtual road section is larger than the preset splitting length;
and generating a target virtual intersection according to the virtual intersection, the preset splitting length and the intersection judgment point.
Preferably, when the length of the current virtual road section is greater than the preset splitting length, splitting the current virtual road section into a target virtual road section and an intersection judgment point according to the preset splitting length, including:
when the length of the current virtual road section is larger than the preset splitting length, comparing the length of the current virtual road section with the preset splitting length of a preset multiple, wherein the preset splitting length of the preset multiple is larger than the preset splitting length;
If the length of the current virtual road section is greater than the preset splitting length and less than or equal to the preset splitting length of the preset multiple, splitting the current virtual road section into a target virtual road section and a first preset number of intersection judgment points according to the preset splitting length;
if the length of the current virtual road section is greater than the preset splitting length of the preset multiple, splitting the current virtual road section into a target virtual road section and a second preset number of intersection judgment points according to the preset splitting length.
Preferably, the step of generating the target virtual intersection according to the virtual intersection, the preset splitting length and the intersection judgment point specifically includes:
sequentially connecting intersection judgment points on adjacent sides of the virtual intersection by taking the virtual intersection as a center to form an intersection outer ring of the virtual intersection;
setting a preset inner ring length, and forming an intersection inner ring of the virtual intersection by taking the virtual intersection as a center according to the preset inner ring length, wherein the preset inner ring length is smaller than the preset splitting length;
and generating a target virtual intersection according to the virtual intersection, the intersection outer ring and the intersection inner ring.
Preferably, after the step of comparing the traversed length of the current virtual road segment with the preset splitting length, the method further includes:
And generating a combined virtual intersection according to the current virtual road section when the length of the current virtual road section is smaller than or equal to the preset splitting length.
Preferably, the step of generating a virtual map according to the target virtual road segment and the target virtual intersection when the virtual road segment is traversed, specifically includes:
when the virtual road section traversal is finished, setting corresponding identification marks for the combined virtual road junction, the target virtual road section and the target virtual road junction;
and generating a virtual map according to the merged virtual intersection carrying the identity, the target virtual road section and the target virtual intersection.
In addition, to achieve the above object, the present invention also proposes a virtual map modeling apparatus, the apparatus comprising:
the first generation module is used for generating virtual road sections and virtual intersections according to the original road sections and the original intersections in the original map;
the traversing module is used for traversing the virtual road section;
the comparison module is used for comparing the length of the traversed current virtual road section with a preset splitting length;
the splitting module is used for splitting the current virtual road section into a target virtual road section and a target virtual road junction according to the preset splitting length when the length of the current virtual road section is larger than the preset splitting length;
And the second generation module is used for generating a virtual map according to the target virtual road section and the target virtual intersection when the virtual road section is traversed.
In addition, to achieve the above object, the present invention also proposes an electronic device, including: a memory, a processor, and a virtual map modeling program stored on the memory and executable on the processor, the virtual map modeling program configured to implement the steps of the virtual map modeling method as described above.
In addition, to achieve the above object, the present invention also proposes a storage medium having stored thereon a virtual map modeling program which, when executed by a processor, implements the steps of the virtual map modeling method as described above.
According to the method, virtual road sections and virtual intersections are generated according to the original road sections and the original intersections in the original map; traversing the virtual road section; comparing the length of the traversed current virtual road section with a preset splitting length; splitting the current virtual road section into a target virtual road section and a target virtual intersection according to the preset splitting length when the length of the current virtual road section is larger than the preset splitting length; and when the virtual road segment traversal is finished, generating a virtual map according to the target virtual road segment and the target virtual intersection. By the method, the original map is split into the virtual map for the automatic guided vehicle dispatching system, so that the automatic guided vehicle dispatching system can conveniently conduct path planning and process intersection conflict and deadlock, and the technical problem that the map model based on the point and the edge can not meet the requirements of the automatic guided vehicle dispatching system in the prior art is solved.
Drawings
FIG. 1 is a schematic diagram of an electronic device of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flow chart of a first embodiment of the virtual map modeling method of the present invention;
FIG. 3 is a schematic diagram of a merged virtual intersection in an embodiment of the present invention;
FIG. 4 is a schematic view of an intersection inner circle of a target virtual intersection in an embodiment of the invention;
FIG. 5 is a flowchart of a second embodiment of the virtual map modeling method of the present invention;
FIG. 6 is a flowchart of a third embodiment of a virtual map modeling method according to the present invention;
fig. 7a is a first schematic diagram illustrating virtual road segment splitting in an embodiment of the present invention;
fig. 7b is a second schematic diagram illustrating virtual road segment splitting in an embodiment of the present invention;
FIG. 8 is a schematic diagram of generating a target virtual intersection according to an embodiment of the present invention;
FIG. 9a is a schematic view of a target virtual intersection circle in an embodiment of the present invention;
FIG. 9b is a first schematic view of irregular shapes of a target virtual intersection according to an embodiment of the present invention;
FIG. 9c is a second schematic view of irregular shapes of a target virtual intersection according to an embodiment of the present invention;
fig. 10 is a block diagram showing the construction of a first embodiment of the virtual map modeling apparatus of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
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 invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an electronic device in a hardware running environment according to an embodiment of the present invention.
As shown in fig. 1, the electronic device may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a high-speed random access Memory (Random Access Memory, RAM) Memory or a stable nonvolatile Memory (NVM), such as a disk Memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
Those skilled in the art will appreciate that the structure shown in fig. 1 is not limiting of the electronic device and may include more or fewer components than shown, or may combine certain components, or may be arranged in different components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a virtual map modeling program may be included in the memory 1005 as one type of storage medium.
In the electronic device shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the electronic device of the present invention may be provided in the electronic device, and the electronic device calls the virtual map modeling program stored in the memory 1005 through the processor 1001 and executes the virtual map modeling method provided by the embodiment of the present invention.
The embodiment of the invention provides a virtual map modeling method, referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the virtual map modeling method.
In this embodiment, the virtual map modeling method includes the following steps:
step S10: and generating a virtual road section and a virtual intersection according to the original road section and the original intersection in the original map.
It should be noted that, before the step of generating the virtual road segments and the virtual intersections according to the original road segments and the original intersections in the original map, the embodiment further includes: acquiring an original map, and extracting an original intersection and an original road section through the original map; reading current configuration information, and obtaining road segment splitting information in the current configuration information, wherein the road segment splitting information comprises preset splitting length.
It is easy to understand that an original map is obtained, an original road junction and an original road segment are extracted through the original map, a path is defined by edges, the edges are defined by two points, the original map is described by an edge set, nodes in the original map are used for expressing intersection points (road junctions) between road segments, road segment starting points or road segment ending points, the original road segments are arranged between the nodes in the original map, the points and the edges in the original map are provided with unique identity marks, one original road segment comprises a road segment number and two end point numbers, the original road segment in the original map correspondingly generates a virtual road segment, the original road junction in the original map correspondingly generates a virtual road segment, and the virtual road segment and the virtual road junction are provided with unique identity marks.
Specifically, in the field of automatic guided vehicle dispatching, an original map of an environment where an automatic guided vehicle is located can be obtained, virtual road sections and virtual intersections are generated according to original road sections and original intersections in the original map, the virtual road sections and the virtual intersections all have unique identity marks, and one virtual road section comprises a road virtual section number and two virtual intersection numbers. In addition, the virtual map modeling method of the present embodiment can also be used in other scheduling or navigation fields, which is not limited in this embodiment.
Step S20: traversing the virtual road section.
Step S30: and comparing the length of the traversed current virtual road section with a preset splitting length.
The method comprises the steps of reading current configuration information, obtaining road segment splitting information in the current configuration information, wherein the road segment splitting information comprises preset splitting lengths, comparing the lengths of traversed current virtual road segments with the preset splitting lengths, and splitting the current virtual road segments into target virtual road segments and target virtual intersections according to the preset splitting lengths when the lengths of the current virtual road segments are larger than the preset splitting lengths; and generating a combined virtual intersection according to the current virtual road section when the length of the current virtual road section is smaller than or equal to the preset splitting length. Comparing the length of the traversed current virtual road section with the preset splitting length, the user can split the traversed current virtual road section by adopting the same preset splitting length, and the user can set different splitting lengths for the traversed current virtual road section, so that personalized splitting of the current virtual road section is realized, and the setting of the preset splitting length is not limited in the embodiment.
It is easy to understand that the current configuration information is read in, and the road segment split information in the current configuration information is obtained, where the road segment split information may further include merging intersection information. Traversing the current virtual road section, comparing the length of the current virtual road section with the splitting length of a preset road section, judging whether the current virtual road section belongs to merging intersection information or not when the length of the current virtual road section is smaller than or equal to the preset splitting length, and adding the current virtual road section to the merging intersection information if the current virtual road section does not belong to the merging intersection information. And generating the merged virtual road junction according to the current virtual road segment in the merged road junction information.
Specifically, referring to fig. 3, fig. 3 is a schematic diagram of a merged virtual intersection in an embodiment of the present invention, as shown in fig. 3, there is a virtual intersection (1) (2), a current virtual road segment L1 between the virtual intersections (1) (2), and if it is determined that the length of the current virtual road segment L1 is less than or equal to the preset split length, the current virtual road segment L1 belongs to merged intersection information, and for the current virtual road segment in the merged intersection information, a merged virtual intersection C1 is generated according to the current virtual road segment. For example, when a plurality of automatic guided vehicles pass nearby, collision of the automatic guided vehicles can be caused under the condition that the virtual intersections (1) and (2) are close to each other. The virtual intersections (1) and (2) can be combined into a combined virtual intersection, only one automatic guided vehicle is allowed to pass in the same time period in the combined virtual intersection, and other automatic guided vehicles all wait outside the combined virtual intersection. And when the automatic guided vehicle runs to the combined virtual intersection, judging whether the automatic guided vehicle needs to park for waiting. If the automatic guided vehicle needs to be parked and waited, the automatic guided vehicle waits for a preset time and then carries out dynamic running path planning on the automatic guided vehicle again. The collision phenomenon of the automatic guided vehicles at the adjacent intersections can be effectively avoided. The merging virtual road junction not only can solve the problem of collision of automatic guided vehicles between adjacent road junctions, but also can merge the current virtual road sections frequently generated by some traffic problems into one merging virtual road junction, so that only one automatic guided vehicle is allowed to exist on the current virtual road section at the same time, and the collision is avoided.
Step S40: and splitting the current virtual road section into a target virtual road section and a target virtual intersection according to the preset splitting length when the length of the current virtual road section is larger than the preset splitting length.
When the length of the current virtual road section is greater than the preset splitting length, splitting the current virtual road section into a target virtual road section and an intersection judgment point according to the preset splitting length; and generating a target virtual intersection according to the virtual intersection, the preset splitting length and the intersection judgment point.
It is easy to understand that when the length of the current virtual road section is greater than the preset splitting length, the step of splitting the current virtual road section into the target virtual road section and the intersection judgment point according to the preset splitting length specifically includes: when the length of the current virtual road section is larger than the preset splitting length, comparing the length of the current virtual road section with the preset splitting length of a preset multiple, wherein the preset splitting length of the preset multiple is larger than the preset splitting length; if the length of the current virtual road section is greater than the preset splitting length and less than or equal to the preset splitting length of the preset multiple, splitting the current virtual road section into a target virtual road section and a first preset number of intersection judgment points according to the preset splitting length; if the length of the current virtual road section is greater than the preset splitting length of the preset multiple, splitting the current virtual road section into a target virtual road section and a second preset number of intersection judgment points according to the preset splitting length.
Specifically, the intersection judgment point is a newly generated node after the original map road section is split, and the intersection judgment point is an intersection point of the target virtual road section and the target virtual intersection. When the automatic guided vehicle reaches the node along the target virtual road section, the automatic guided vehicle is judged to have reached the target virtual road section, the processing flows such as road junction detection and the like are needed, and if the automatic guided vehicle cannot obtain the use authority of the target virtual road section, namely the automatic guided vehicle cannot pass through the target virtual road section, the automatic guided vehicle needs to stop at the road junction outer ring of the target virtual road section.
It should be noted that the step of generating the target virtual intersection according to the virtual intersection, the preset splitting length and the intersection judgment point specifically includes: sequentially connecting intersection judgment points on adjacent sides of the virtual intersection by taking the virtual intersection as a center to form an intersection outer ring of the virtual intersection; setting a preset inner ring length, and forming an intersection inner ring of the virtual intersection by taking the virtual intersection as a center according to the preset inner ring length, wherein the preset inner ring length is smaller than the preset splitting length; and generating a target virtual intersection according to the virtual intersection, the intersection outer ring and the intersection inner ring. The inner ring of the intersection is formed by expanding a certain distance inwards on the basis of the outer ring of the intersection, and additional splitting treatment is not needed. The intersection inner ring and the intersection outer ring are arranged, so that the intersection competition problem of multiple automatic guided vehicles can be solved, and convenience is brought to the use of an automatic guided vehicle dispatching system.
Specifically, when the automatic guided vehicle reaches the intersection judgment point along the target virtual road section, it is determined that the automatic guided vehicle has reached the target virtual intersection, and processing flows such as intersection detection are required. Referring to fig. 4, fig. 4 is a schematic diagram of an inner circle of an intersection of a target virtual intersection in an embodiment of the present invention, as shown in fig. 4, when an AGV2 arrives at the intersection, it is found that the AGV1 has not yet driven out of the inner circle of the intersection, and at this time, the AGV2 will stop on the outer circle of the intersection. However, a period of time is required from the sending of the pipe stop command to the AGV2 to the actual stopping of the AGV2, and the AGV2 advances a certain distance in the process of the sending of the pipe stop command to the actual stopping, so that the intersection inner ring is required to be arranged in the target virtual intersection in addition to the intersection outer ring, wherein the distance from the intersection judgment point to the intersection inner ring is the anti-collision distance from the automatic guided vehicle to the actual stopping after the pipe stop command is received, and the AGV2 is prevented from colliding with the AGV1 when the AGV2 does not come to stop.
Step S50: and when the virtual road segment traversal is finished, generating a virtual map according to the target virtual road segment and the target virtual intersection.
When the virtual road segment is traversed, the target virtual road segment, the merging virtual road junction, the target virtual road junction and the road junction judgment point are obtained according to the splitting of the virtual road segment. Setting corresponding identity marks for the target virtual road section, the merging virtual road junction, the target virtual road junction and the road junction judgment point; and generating a virtual map according to the target virtual road section carrying the identity mark, the merging virtual road junction, the target virtual road junction and the road junction judgment point. The merging virtual intersection and the target virtual intersection are virtual intersections in a virtual map, road information inside the virtual intersections in the virtual map is not directly displayed, and when the road information inside a certain virtual intersection in the virtual map, namely, the path information from an intersection judgment point of the certain virtual intersection to a center of the certain virtual intersection needs to be acquired, the corresponding road information can be called.
Specifically, the target virtual road segment may be a part of an original road segment, and the target virtual road segment and the corresponding original road segment have the same road base attributes of direction, speed limit, category and the like, except that the lengths of the road segments may be different.
The embodiment generates a virtual road section and a virtual intersection according to the original road section and the original intersection in the original map; traversing the virtual road section; comparing the length of the traversed current virtual road section with a preset splitting length; splitting the current virtual road section into a target virtual road section and a target virtual intersection according to the preset splitting length when the length of the current virtual road section is larger than the preset splitting length; and when the virtual road segment traversal is finished, generating a virtual map according to the target virtual road segment and the target virtual intersection. By the method, the intersections in the original map are abstracted into the areas by one node, the original map is split into the virtual map, and the virtual map can be used for an automatic guided vehicle dispatching system, so that the automatic guided vehicle dispatching system can conveniently conduct path planning and process intersection conflict and deadlock, and the technical problem that a map model based on points and edges in the prior art cannot meet the requirements of the automatic guided vehicle dispatching system is solved.
Referring to fig. 5, fig. 5 is a flowchart of a second embodiment of a virtual map modeling method according to the present invention.
Based on the first embodiment, the virtual map modeling method of the present embodiment further includes, before the step S10:
Step S101: and acquiring an original map, and extracting an original intersection and an original road section through the original map.
It is easy to understand that an original map is obtained, an original intersection and an original road section are extracted through the original map, a path is defined by edges, the edges are defined by two points, the original map is described by an edge set, nodes in the original map are used for expressing intersection points (intersections) between road sections, starting points of the road sections or ending points of the road sections, the original road sections are arranged between the nodes in the original map, unique identity marks exist on the points and the edges in the original map, and one original road section comprises a road section number and two end point numbers.
Step S102: reading current configuration information, and obtaining road segment splitting information in the current configuration information, wherein the road segment splitting information comprises preset splitting length.
It should be noted that, the current configuration information is read in, the road segment splitting information in the current configuration information is obtained, the road segment splitting information includes a preset splitting length, the preset splitting length is used for road segment splitting, the length of the traversed current virtual road segment is compared with the preset splitting length, the user can split the traversed current virtual road segment by adopting the same preset splitting length, the user can set different splitting lengths for the traversed current virtual road segment, personalized splitting of the current virtual road segment is achieved, and the setting of the preset splitting length is not limited in this embodiment.
It is easy to understand that the current configuration information is read in, and the road segment split information in the current configuration information is obtained, where the road segment split information may further include merging intersection information. Traversing the current virtual road section, comparing the length of the current virtual road section with the splitting length of a preset road section, judging whether the current virtual road section belongs to merging intersection information or not when the length of the current virtual road section is smaller than or equal to the preset splitting length, and adding the current virtual road section to the merging intersection information if the current virtual road section does not belong to the merging intersection information. And generating the merged virtual road junction according to the current virtual road segment in the merged road junction information.
According to the method, an original map is obtained, and an original intersection and an original road section are extracted through the original map; reading current configuration information, and obtaining road segment splitting information in the current configuration information, wherein the road segment splitting information comprises preset splitting length. By the method, the intersections in the original map are abstracted into the areas by one node, the original map is split into the virtual map according to the preset splitting length, and the virtual map can be used for an automatic guided vehicle dispatching system, so that the automatic guided vehicle dispatching system can conveniently conduct path planning and process intersection conflict and deadlock problems, and the technical problem that a map model based on points and edges in the prior art cannot meet the requirements of the automatic guided vehicle dispatching system is solved.
Referring to fig. 6, fig. 6 is a flowchart of a third embodiment of a virtual map modeling method according to the present invention.
Based on the above-mentioned first embodiment, the virtual map modeling method of the present embodiment specifically includes:
step S401: splitting the current virtual road section into a target virtual road section and an intersection judgment point according to a preset splitting length when the length of the current virtual road section is larger than the preset splitting length;
it should be noted that, when the length of the current virtual road section is greater than the preset splitting length, the step of splitting the current virtual road section into the target virtual road section and the intersection judgment point according to the preset splitting length specifically includes: when the length of the current virtual road section is larger than the preset splitting length, comparing the length of the current virtual road section with the preset splitting length of a preset multiple, wherein the preset splitting length of the preset multiple is larger than the preset splitting length; if the length of the current virtual road section is greater than the preset splitting length and less than or equal to the preset splitting length of the preset multiple, splitting the current virtual road section into a target virtual road section and a first preset number of intersection judgment points according to the preset splitting length; if the length of the current virtual road section is greater than the preset splitting length of the preset multiple, splitting the current virtual road section into a target virtual road section and a second preset number of intersection judgment points according to the preset splitting length.
Specifically, referring to fig. 7a, fig. 7a is a first schematic diagram of virtual road segment splitting in the embodiment of the present invention, as shown in fig. 7a, the preset splitting length is L, the length of the current virtual road segment is L2, if the length L2 of the current virtual road segment is greater than the preset splitting length L and less than or equal to two times of the preset splitting length, that is, 2L, the current virtual road segment is split into a target virtual road segment and a first preset number of intersection judgment points according to the preset splitting length L, the first preset number is 1 to obtain an intersection judgment point a, and the length of the target virtual road segment L3 is L2-L. For example, if the current virtual road section corresponds to "dead-end" and the length of the current virtual road section is L2, splitting the current virtual road section into two parts, namely a target virtual road section and a road section with a preset splitting length, wherein one end with the number of adjacent edges being 1 forms the target virtual road section and the length is L2-L; the other end with the adjacent edge number larger than 1 is the road section with the preset splitting length, and belongs to the target virtual intersection, and the length is L.
Referring to fig. 7b, fig. 7b is a second schematic diagram of virtual road segment splitting in the embodiment of the present invention, as shown in fig. 7b, the preset splitting length is L, the length of the current virtual road segment is L4, if the length of the current virtual road segment is greater than 2L, which is the twice preset splitting length, the current virtual road segment is split into a target virtual road segment and a second preset number of intersection judgment points according to the preset splitting length, the second preset number is 2, to obtain intersection judgment points A1 and A2, and the length of the target virtual road segment L5 is L4-2L. In addition, the user can split the traversed current virtual road section by adopting the same preset splitting length, and can set different splitting lengths for the traversed current virtual road section, so that personalized splitting of the current virtual road section is realized, and the setting of the preset splitting length is not limited in the embodiment.
Step S402: and generating a target virtual intersection according to the virtual intersection, the preset splitting length and the intersection judgment point.
It is easy to understand that the step of generating the target virtual intersection according to the virtual intersection, the preset splitting length and the intersection judgment point specifically includes: sequentially connecting intersection judgment points on adjacent sides of the virtual intersection by taking the virtual intersection as a center to form an intersection outer ring of the virtual intersection; setting a preset inner ring length, and forming an intersection inner ring of the virtual intersection by taking the virtual intersection as a center according to the preset inner ring length, wherein the preset inner ring length is smaller than the preset splitting length; and generating a target virtual intersection according to the virtual intersection, the intersection outer ring and the intersection inner ring. Specifically, referring to fig. 8, fig. 8 is a schematic diagram of generating a target virtual intersection in an embodiment of the present invention, where, as shown in fig. 8, the target virtual intersection includes an intersection outer ring and an intersection inner ring, which respectively form an intersection outer road section and an intersection inner road section, and an intersection competition problem of a plurality of automatic guided vehicles is handled by setting two areas of the intersection inner ring and the intersection outer ring, which brings convenience to use of an automatic guided vehicle scheduling system.
It should be noted that, the graph displayed on the outer ring of the intersection may be a circle as shown in fig. 9a, fig. 9a is a schematic view of the circle of the target virtual intersection in the embodiment of the present invention, or any convex hull of the intersection judgment point may be used to represent the outer ring of the intersection as shown in fig. 9b and fig. 9c, fig. 9b is a first schematic view of the irregular shape of the target virtual intersection in the embodiment of the present invention, fig. 9c is a second schematic view of the irregular shape of the target virtual intersection in the embodiment of the present invention, and other custom manners may be used to set the shape of the outer ring of the target virtual intersection, so that the target virtual intersection in the embodiment of the present invention is conveniently displayed by circle representation.
In the embodiment, when the length of the current virtual road section is greater than the preset splitting length, splitting the current virtual road section into a target virtual road section and an intersection judgment point according to the preset splitting length; and generating a target virtual intersection according to the virtual intersection, the preset splitting length and the intersection judgment point. Through the mode, the intersection inner ring and the intersection outer ring are arranged to solve the intersection competition problem of a plurality of automatic guided vehicles, and convenience is brought to the use of an automatic guided vehicle dispatching system, so that the technical problem that the map model based on the point and the edge in the prior art cannot meet the requirement of the automatic guided vehicle dispatching system is solved.
In addition, the embodiment of the invention also provides a storage medium, wherein the storage medium is stored with a virtual map modeling program, and the virtual map modeling program realizes the steps of the virtual map modeling method when being executed by a processor.
Referring to fig. 10, fig. 10 is a block diagram showing the construction of a first embodiment of the virtual map modeling apparatus of the present invention.
As shown in fig. 10, a virtual map modeling apparatus according to an embodiment of the present invention includes:
the first generation module 10 is configured to generate virtual road segments and virtual intersections according to the original road segments and the original intersections in the original map.
It should be noted that, before the step of generating the virtual road segments and the virtual intersections according to the original road segments and the original intersections in the original map, the embodiment further includes: acquiring an original map, and extracting an original intersection and an original road section through the original map; reading current configuration information, and obtaining road segment splitting information in the current configuration information, wherein the road segment splitting information comprises preset splitting length.
It is easy to understand that an original map is obtained, an original road junction and an original road segment are extracted through the original map, a path is defined by edges, the edges are defined by two points, the original map is described by an edge set, nodes in the original map are used for expressing intersection points (road junctions) between road segments, road segment starting points or road segment ending points, the original road segments are arranged between the nodes in the original map, the points and the edges in the original map are provided with unique identity marks, one original road segment comprises a road segment number and two end point numbers, the original road segment in the original map correspondingly generates a virtual road segment, the original road junction in the original map correspondingly generates a virtual road segment, and the virtual road segment and the virtual road junction are provided with unique identity marks.
Specifically, in the field of automatic guided vehicle dispatching, an original map of an environment where an automatic guided vehicle is located can be obtained, virtual road sections and virtual intersections are generated according to original road sections and original intersections in the original map, the virtual road sections and the virtual intersections all have unique identity marks, and one virtual road section comprises a road virtual section number and two virtual intersection numbers. In addition, the virtual map modeling method of the present embodiment can also be used in other scheduling or navigation fields, which is not limited in this embodiment.
And the traversing module 20 is used for traversing the virtual road section.
And the comparison module 30 is used for comparing the length of the traversed current virtual road section with a preset splitting length.
The method comprises the steps of reading current configuration information, obtaining road segment splitting information in the current configuration information, wherein the road segment splitting information comprises preset splitting lengths, comparing the lengths of traversed current virtual road segments with the preset splitting lengths, and splitting the current virtual road segments into target virtual road segments and target virtual intersections according to the preset splitting lengths when the lengths of the current virtual road segments are larger than the preset splitting lengths; and generating a combined virtual intersection according to the current virtual road section when the length of the current virtual road section is smaller than or equal to the preset splitting length. Comparing the length of the traversed current virtual road section with the preset splitting length, the user can split the traversed current virtual road section by adopting the same preset splitting length, and the user can set different splitting lengths for the traversed current virtual road section, so that personalized splitting of the current virtual road section is realized, and the setting of the preset splitting length is not limited in the embodiment.
It is easy to understand that the current configuration information is read in, and the road segment split information in the current configuration information is obtained, where the road segment split information may further include merging intersection information. Traversing the current virtual road section, comparing the length of the current virtual road section with the splitting length of a preset road section, judging whether the current virtual road section belongs to merging intersection information or not when the length of the current virtual road section is smaller than or equal to the preset splitting length, and adding the current virtual road section to the merging intersection information if the current virtual road section does not belong to the merging intersection information. And generating the merged virtual road junction according to the current virtual road segment in the merged road junction information.
Specifically, referring to fig. 3, fig. 3 is a schematic diagram of a merged virtual intersection in an embodiment of the present invention, as shown in fig. 3, there is a virtual intersection (1) (2), a current virtual road segment L1 between the virtual intersections (1) (2), and if it is determined that the length of the current virtual road segment L1 is less than or equal to the preset split length, the current virtual road segment L1 belongs to merged intersection information, and for the current virtual road segment in the merged intersection information, a merged virtual intersection C1 is generated according to the current virtual road segment. For example, when a plurality of automatic guided vehicles pass nearby, collision of the automatic guided vehicles can be caused under the condition that the virtual intersections (1) and (2) are close to each other. The virtual intersections (1) and (2) can be combined into a combined virtual intersection, only one automatic guided vehicle is allowed to pass in the same time period in the combined virtual intersection, and other automatic guided vehicles all wait outside the combined virtual intersection. And when the automatic guided vehicle runs to the combined virtual intersection, judging whether the automatic guided vehicle needs to park for waiting. If the automatic guided vehicle needs to be parked and waited, the automatic guided vehicle waits for a preset time and then carries out dynamic running path planning on the automatic guided vehicle again. The collision phenomenon of the automatic guided vehicles at the adjacent intersections can be effectively avoided. The merging virtual road junction not only can solve the problem of collision of automatic guided vehicles between adjacent road junctions, but also can merge the current virtual road sections frequently generated by some traffic problems into one merging virtual road junction, so that only one automatic guided vehicle is allowed to exist on the current virtual road section at the same time, and the collision is avoided.
And the splitting module 40 is configured to split the current virtual road segment into a target virtual road segment and a target virtual intersection according to a preset splitting length when the length of the current virtual road segment is greater than the preset splitting length.
When the length of the current virtual road section is greater than the preset splitting length, splitting the current virtual road section into a target virtual road section and an intersection judgment point according to the preset splitting length; and generating a target virtual intersection according to the virtual intersection, the preset splitting length and the intersection judgment point.
It is easy to understand that when the length of the current virtual road section is greater than the preset splitting length, the step of splitting the current virtual road section into the target virtual road section and the intersection judgment point according to the preset splitting length specifically includes: when the length of the current virtual road section is larger than the preset splitting length, comparing the length of the current virtual road section with the preset splitting length of a preset multiple, wherein the preset splitting length of the preset multiple is larger than the preset splitting length; if the length of the current virtual road section is greater than the preset splitting length and less than or equal to the preset splitting length of the preset multiple, splitting the current virtual road section into a target virtual road section and a first preset number of intersection judgment points according to the preset splitting length; if the length of the current virtual road section is greater than the preset splitting length of the preset multiple, splitting the current virtual road section into a target virtual road section and a second preset number of intersection judgment points according to the preset splitting length.
Specifically, the intersection judgment point is a newly generated node after the original map road section is split, and the intersection judgment point is an intersection point of the target virtual road section and the target virtual intersection. When the automatic guided vehicle reaches the node along the target virtual road section, the automatic guided vehicle is judged to have reached the target virtual road section, the processing flows such as road junction detection and the like are needed, and if the automatic guided vehicle cannot obtain the use authority of the target virtual road section, namely the automatic guided vehicle cannot pass through the target virtual road section, the automatic guided vehicle needs to stop at the road junction outer ring of the target virtual road section.
It should be noted that the step of generating the target virtual intersection according to the virtual intersection, the preset splitting length and the intersection judgment point specifically includes: sequentially connecting intersection judgment points on adjacent sides of the virtual intersection by taking the virtual intersection as a center to form an intersection outer ring of the virtual intersection; setting a preset inner ring length, and forming an intersection inner ring of the virtual intersection by taking the virtual intersection as a center according to the preset inner ring length, wherein the preset inner ring length is smaller than the preset splitting length; and generating a target virtual intersection according to the virtual intersection, the intersection outer ring and the intersection inner ring. The inner ring of the intersection is formed by expanding a certain distance inwards on the basis of the outer ring of the intersection, and additional splitting treatment is not needed. The intersection inner ring and the intersection outer ring are arranged, so that the intersection competition problem of multiple automatic guided vehicles can be solved, and convenience is brought to the use of an automatic guided vehicle dispatching system.
Specifically, when the automatic guided vehicle reaches the intersection judgment point along the target virtual road section, it is determined that the automatic guided vehicle has reached the target virtual intersection, and processing flows such as intersection detection are required. Referring to fig. 4, fig. 4 is a schematic diagram of an inner circle of an intersection of a target virtual intersection in an embodiment of the present invention, as shown in fig. 4, when an AGV2 arrives at the intersection, it is found that the AGV1 has not yet driven out of the inner circle of the intersection, and at this time, the AGV2 will stop on the outer circle of the intersection. However, a period of time is required from the sending of the pipe stop command to the AGV2 to the actual stopping of the AGV2, and the AGV2 advances a certain distance in the process of the sending of the pipe stop command to the actual stopping, so that the intersection inner ring is required to be arranged in the target virtual intersection in addition to the intersection outer ring, wherein the distance from the intersection judgment point to the intersection inner ring is the anti-collision distance from the automatic guided vehicle to the actual stopping after the pipe stop command is received, and the AGV2 is prevented from colliding with the AGV1 when the AGV2 does not come to stop.
And the second generation module 50 is configured to generate a virtual map according to the target virtual road segment and the target virtual intersection when the virtual road segment is traversed.
Step S50: and when the virtual road segment traversal is finished, generating a virtual map according to the target virtual road segment and the target virtual intersection.
When the virtual road segment is traversed, the target virtual road segment, the merging virtual road junction, the target virtual road junction and the road junction judgment point are obtained according to the splitting of the virtual road segment. Setting corresponding identity marks for the target virtual road section, the merging virtual road junction, the target virtual road junction and the road junction judgment point; and generating a virtual map according to the target virtual road section carrying the identity mark, the merging virtual road junction, the target virtual road junction and the road junction judgment point. The merging virtual intersection and the target virtual intersection are virtual intersections in a virtual map, road information inside the virtual intersections in the virtual map is not directly displayed, and when the road information inside a certain virtual intersection in the virtual map, namely, the path information from an intersection judgment point of the certain virtual intersection to a center of the certain virtual intersection needs to be acquired, the corresponding road information can be called.
Specifically, the target virtual road segment may be a part of an original road segment, and the target virtual road segment and the corresponding original road segment have the same road base attributes of direction, speed limit, category and the like, except that the lengths of the road segments may be different.
The first generation module 10 is configured to generate a virtual road segment and a virtual intersection according to an original road segment and an original intersection in an original map; a traversing module 20, configured to traverse the virtual road segment; the comparison module 30 is configured to compare the traversed length of the current virtual road segment with a preset splitting length; the splitting module 40 is configured to split the current virtual road segment into a target virtual road segment and a target virtual intersection according to a preset splitting length when the length of the current virtual road segment is greater than the preset splitting length; and the second generation module 50 is configured to generate a virtual map according to the target virtual road segment and the target virtual intersection when the virtual road segment is traversed. By the method, the intersections in the original map are abstracted into the areas by one node, the original map is split into the virtual map, and the virtual map can be used for an automatic guided vehicle dispatching system, so that the automatic guided vehicle dispatching system can conveniently conduct path planning and process intersection conflict and deadlock, and the technical problem that a map model based on points and edges in the prior art cannot meet the requirements of the automatic guided vehicle dispatching system is solved.
It should be understood that the foregoing is illustrative only and is not limiting, and that in specific applications, those skilled in the art may set the invention as desired, and the invention is not limited thereto.
It should be noted that the above-described working procedure is merely illustrative, and does not limit the scope of the present invention, and in practical application, a person skilled in the art may select part or all of them according to actual needs to achieve the purpose of the embodiment, which is not limited herein.
In addition, technical details that are not described in detail in the present embodiment may refer to the virtual map modeling method provided in any embodiment of the present invention, and are not described herein.
Furthermore, it should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. Read Only Memory)/RAM, magnetic disk, optical disk) and including several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. A method of virtual map modeling, the method comprising:
generating a virtual road section and a virtual intersection according to the original road section and the original intersection in the original map;
traversing the virtual road section;
comparing the length of the traversed current virtual road section with a preset splitting length;
splitting the current virtual road section into a target virtual road section and a target virtual intersection according to the preset splitting length when the length of the current virtual road section is larger than the preset splitting length;
and when the virtual road segment traversal is finished, generating a virtual map according to the target virtual road segment and the target virtual intersection.
2. The method of claim 1, wherein prior to the step of generating virtual road segments and virtual intersections from the original road segments and the original intersections in the original map, further comprising:
acquiring an original map, and extracting an original intersection and an original road section through the original map;
reading current configuration information, and obtaining road segment splitting information in the current configuration information, wherein the road segment splitting information comprises preset splitting length.
3. The method of claim 1, wherein when the length of the current virtual road segment is greater than the preset splitting length, splitting the current virtual road segment into a target virtual road segment and a target virtual intersection according to the preset splitting length, specifically comprises:
Splitting the current virtual road section into a target virtual road section and an intersection judgment point according to a preset splitting length when the length of the current virtual road section is larger than the preset splitting length;
and generating a target virtual intersection according to the virtual intersection, the preset splitting length and the intersection judgment point.
4. The method of claim 3, wherein when the length of the current virtual road segment is greater than the preset splitting length, splitting the current virtual road segment into a target virtual road segment and an intersection decision point according to the preset splitting length, specifically comprising:
when the length of the current virtual road section is larger than the preset splitting length, comparing the length of the current virtual road section with the preset splitting length of a preset multiple, wherein the preset splitting length of the preset multiple is larger than the preset splitting length;
if the length of the current virtual road section is greater than the preset splitting length and less than or equal to the preset splitting length of the preset multiple, splitting the current virtual road section into a target virtual road section and a first preset number of intersection judgment points according to the preset splitting length;
if the length of the current virtual road section is greater than the preset splitting length of the preset multiple, splitting the current virtual road section into a target virtual road section and a second preset number of intersection judgment points according to the preset splitting length.
5. The method of claim 3, wherein the step of generating the target virtual intersection according to the virtual intersection, the preset split length, and the intersection decision point specifically comprises:
sequentially connecting intersection judgment points on adjacent sides of the virtual intersection by taking the virtual intersection as a center to form an intersection outer ring of the virtual intersection;
setting a preset inner ring length, and forming an intersection inner ring of the virtual intersection by taking the virtual intersection as a center according to the preset inner ring length, wherein the preset inner ring length is smaller than the preset splitting length;
and generating a target virtual intersection according to the virtual intersection, the intersection outer ring and the intersection inner ring.
6. The method of claim 1, wherein after the step of comparing the length of the traversed current virtual road segment with a preset split length, further comprising:
and generating a combined virtual intersection according to the current virtual road section when the length of the current virtual road section is smaller than or equal to the preset splitting length.
7. The method of claim 6, wherein the step of generating a virtual map from the target virtual road segment and the target virtual intersection at the end of the traversal of the virtual road segment, specifically comprises:
When the virtual road section traversal is finished, setting corresponding identification marks for the combined virtual road junction, the target virtual road section and the target virtual road junction;
and generating a virtual map according to the merged virtual intersection carrying the identity, the target virtual road section and the target virtual intersection.
8. A virtual map modeling apparatus, the apparatus comprising:
the first generation module is used for generating virtual road sections and virtual intersections according to the original road sections and the original intersections in the original map;
the traversing module is used for traversing the virtual road section;
the comparison module is used for comparing the length of the traversed current virtual road section with a preset splitting length;
the splitting module is used for splitting the current virtual road section into a target virtual road section and a target virtual road junction according to the preset splitting length when the length of the current virtual road section is larger than the preset splitting length;
and the second generation module is used for generating a virtual map according to the target virtual road section and the target virtual intersection when the virtual road section is traversed.
9. An electronic device, the device comprising: a memory, a processor and a virtual map modeling program stored on the memory and executable on the processor, the virtual map modeling program configured to implement the steps of the virtual map modeling method of any of claims 1 to 7.
10. A storage medium having stored thereon a virtual map modeling program which, when executed by a processor, implements the steps of the virtual map modeling method of any of claims 1 to 7.
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