CN113741415A - Path planning method and device, terminal equipment and computer readable storage medium - Google Patents
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Abstract
The application is applicable to the technical field of unmanned ship control, and provides a path planning method, a device, a terminal device and a computer readable storage medium, comprising the following steps: acquiring a plurality of first target areas, wherein the first target areas are historical navigation areas in a preset range from a path planning starting point to a path planning terminal point; generating a first path between the plurality of first target areas, the first path representing a shortest path connecting the plurality of first target areas together; and determining a second path according to the first path, wherein the second path is the shortest path from the path planning starting point to the path planning end point. By the aid of the method, the return efficiency and the return success rate of the unmanned ship can be effectively improved.
Description
Technical Field
The application belongs to the technical field of unmanned ship control, and particularly relates to a path planning method, a path planning device, terminal equipment and a computer readable storage medium.
Background
Due to the complex and variable marine environment, the unmanned ship cannot keep communication connection with the base station or the mother ship for a long time. Therefore, in the event of a communication interruption, the unmanned ship is required to automatically return to the base station or mother ship.
In the existing automatic return technology of unmanned ships, the unmanned ships are usually made to return along the original path or along the historical track. In the process that the unmanned ship goes to a task point from a base station or a mother ship, the passing area needs to be scanned. If the unmanned ship returns along the original path under the condition of communication interruption, the passing area needs to be scanned again, and the return efficiency is low. In the process of returning the unmanned ship along the historical track, if the position of the base station or the mother ship changes, the unmanned ship cannot accurately search a path returning to the base station or the mother ship, so that the return task fails.
Disclosure of Invention
The embodiment of the application provides a path planning method, a path planning device, terminal equipment and a computer-readable storage medium, which can effectively improve the return efficiency and the return success rate of an unmanned ship.
In a first aspect, an embodiment of the present application provides a path planning method, including:
acquiring a plurality of first target areas, wherein the first target areas are historical navigation areas in a preset range from a path planning starting point to a path planning terminal point;
generating a first path between the plurality of first target areas, the first path representing a shortest path connecting the plurality of first target areas together;
and determining a second path according to the first path, wherein the second path is the shortest path from the path planning starting point to the path planning end point.
By the aid of the method in the embodiment of the application, when the unmanned ship returns under the condition of communication interruption, a surrounding area does not need to be scanned again, a route is planned in a mode of acquiring a historical navigation area, and returning efficiency is effectively improved. In addition, in the embodiment of the application, the first paths among the plurality of first target areas are planned, namely the shortest paths among the historical navigation areas are determined, and then the shortest paths from the path planning starting points to the path planning end points are determined according to the first paths, so that the problem of poor accuracy of the return route caused by directly searching the shortest paths from the path planning starting points to the path planning end points along the historical flight paths is effectively solved, and the success rate of return is effectively improved.
In a possible implementation manner of the first aspect, the generating a first path between the plurality of first target areas includes:
calculating the region distance, wherein the region distance is the length of the shortest path between every two adjacent first target regions;
generating the first paths between the plurality of first target regions according to the region distances.
In a possible implementation manner of the first aspect, the first target area includes a plurality of historical track points;
the calculating the region distance comprises:
for each first track point, calculating a track point distance between the first track point and each second track point, wherein the first track point is a historical track point in a second target area, the second track point is a historical track point in a third target area, and the second target area and the third target area are any two adjacent first target areas;
determining a minimum course point distance as the zone distance between the second target zone and the third target zone.
In a possible implementation manner of the first aspect, the generating the first path between the plurality of first target areas according to the area distance includes:
marking any one of the plurality of first target areas;
determining a fourth target area with the smallest distance to the marked first target area from the unmarked first target area;
determining a shortest path between the marked first target area and the fourth target area as a third path;
marking the fourth target area;
if the unmarked first target area exists, continuing to determine the fourth target area with the minimum distance from the marked first target area from the unmarked first target area;
and if the first target area which is not marked does not exist, generating the first path according to the third path.
In a possible implementation manner of the first aspect, the determining, from the unmarked first target regions, the fourth target region with the smallest distance to the marked first target region includes:
acquiring a fifth target area from the unmarked first target areas, wherein the fifth target area is adjacent to any marked first target area;
determining the fifth target region having the smallest distance to the marked region of the first target region as the fourth target region.
In a possible implementation manner of the first aspect, the determining the second path according to the first path includes:
determining a sixth target area which is closest to the path planning starting point and a seventh target area which is closest to the path planning end point from the plurality of first target areas;
determining a shortest path in the first path for connecting the sixth target area and the seventh target area as a fourth path;
determining a fifth path and a sixth path, wherein the fifth path is a shortest path from the path planning starting point to the sixth target area, and the sixth path is a shortest path from the path planning end point to the seventh target area;
determining the second path according to the fourth path, the fifth path and the sixth path.
In a possible implementation manner of the first aspect, the determining the second path according to the fourth path, the fifth path, and the sixth path includes:
respectively acquiring track sampling points in the fourth path, the fifth path and the sixth path according to a preset search distance;
and searching out the second path according to the track sampling point.
In a second aspect, an embodiment of the present application provides a path planning apparatus, including:
the system comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring a plurality of first target areas, and the first target areas are historical navigation areas in a preset range from a path planning starting point to a path planning terminal point;
a generating unit configured to generate a first path between the plurality of first target areas, the first path representing a shortest path connecting the plurality of first target areas together;
and the planning unit is used for determining a second path according to the first path, wherein the second path is the shortest path from the path planning starting point to the path planning end point.
In a third aspect, an embodiment of the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor, when executing the computer program, implements the path planning method according to any one of the first aspects.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, and the embodiment of the present application provides a computer-readable storage medium, where a computer program is stored, where the computer program, when executed by a processor, implements the path planning method according to any one of the foregoing first aspects.
In a fifth aspect, an embodiment of the present application provides a computer program product, which when run on a terminal device, causes the terminal device to execute the path planning method according to any one of the above first aspects.
It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flowchart of a path planning method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a historical navigation area provided by an embodiment of the application;
fig. 3 is a schematic diagram of a generation process of a first path provided in an embodiment of the present application;
FIG. 4 is a schematic diagram of a second path provided by an embodiment of the present application;
fig. 5 is a block diagram of a path planning apparatus according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when.. or" upon "or" in response to a determination "or" in response to a detection ".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise.
The path planning method provided by the embodiment of the application is suitable for unmanned ships and is also suitable for automatic control devices such as unmanned planes and unmanned vehicles. For convenience of description, the following embodiments are described taking an unmanned ship as an example. Fig. 1 is a schematic flow chart of a path planning method provided in the embodiment of the present application. By way of example and not limitation, the method may include the steps of:
s101, obtaining a plurality of first target areas, wherein the first target areas are historical navigation areas in a preset range from a path planning starting point to a path planning terminal point.
The first target area includes a plurality of historical track points. Referring to fig. 2, a schematic diagram of a historical navigation area provided in an embodiment of the present application is shown. Fig. 2 includes 3 historical navigation areas 21, 22, and 23, each including a plurality of historical track points.
When the unmanned ship executes a task each time, track points in a passing navigation area can be recorded, and the track points are used as historical track points. For example, when planning the path of the unmanned ship a, the historical voyage area of the unmanned ship a may be used as the first target area, the historical voyage areas of other unmanned ships may be used as the first target area, and the historical voyage areas of the unmanned ship a and other unmanned ships may be both used as the first target area. In other words, the historical voyage area within the preset range between the starting point of the path planning and the path planning can be used as reference. The historical voyage area for the unmanned ship a itself may be stored in a storage medium on the unmanned ship a. For the historical navigation areas of other unmanned ships, when the unmanned ship establishes communication connection with the base station or the mother ship, the historical navigation areas of the other unmanned ships can be sent to the unmanned ship A through the base station or the mother ship and stored.
In practical application, the unmanned ship records track points at regular intervals. Optionally, if the number of the track points in a certain water area is greater than a preset value, the water area is determined as a historical navigation area. As shown in fig. 2, the historical track points outside the historical navigation areas 21, 22, and 23 are not concentrated in a certain water area, and therefore, these historical track points do not constitute the historical navigation area.
The path planning starting point refers to the current position of the unmanned ship. When the unmanned ship performs automatic back-navigation, the path planning end point refers to a starting point before the unmanned ship reaches the current position. For example: the unmanned ship starts from the base station/mother ship, executes the task at the position B and then returns from the position B. The position B is a path planning starting point, and the base station/mother ship is a path planning terminal point.
S102, generating a first path among the plurality of first target areas, wherein the first path represents the shortest path for connecting the plurality of first target areas together.
It should be noted that the shortest path referred to in the embodiments of the present application may be a straight path or a curved path. For example, when there is no obstacle between the two first target areas, the shortest path between the two first target areas is a straight path. When an obstacle exists between the two first target areas, the shortest path between the two first target areas is a curved path avoiding the obstacle.
In an embodiment of the present application, the method for generating the first path and the like may include:
and S1021, calculating the region distance, wherein the region distance is the length of the shortest path between every two adjacent first target regions.
As described above, the first target region includes a plurality of historical track points therein. Based on this, the following describes a manner of calculating the area distance by taking the second target area and the third target area as an example. The second target area and the third target area are any two adjacent first target areas. For example, as shown in fig. 2, when the area distance between the history flight area 21 and the history flight area 22 is calculated, the history flight area 21 may be regarded as the second target area, and the history flight area 22 may be regarded as the third target area. When calculating the area distance between the history flight area 22 and the history flight area 23, the history flight area 22 may be regarded as the second target area, and the history flight area 23 may be regarded as the third target area.
Optionally, one calculation method of the area distance is as follows:
a center point distance between the second target region and the third target region may be calculated; the center point distance is determined as the zone distance between the second target zone and the third target zone.
The shape of the first target area is usually irregular, and therefore, it is difficult to count the center point of the first target area.
In order to simplify the calculation difficulty, an alternative calculation method of the region distance is as follows:
for each first track point, calculating a track point distance between the first track point and each second track point, wherein the first track point is a historical track point in a second target area, and the second track point is a historical track point in a third target area; and determining the minimum track point distance as the area distance between the second target area and the third target area.
For example, assume that there are 3 historical track points in the second target area 31, 32, 33 and there are 2 historical track points in the third target area 34, 35. Track point distances between 31 and 34, between 31 and 35, between 32 and 34, between 32 and 35, between 33 and 34, and between 33 and 35 are calculated, respectively. And determining the minimum value of the calculated 6 track point distances as the area distance between the second target area and the third target area.
As described above, the shortest distance may be a straight distance or a curved distance. And when the straight line path between the first track point and the second track point does not pass through the barrier, the track point distance between the first track point and the second track point is the length of the straight line path between the first track point and the second track point. When a straight-line segment path between the first track point and the second track point passes through the barrier, the track point distance between the first track point and the second track point is the length of the shortest curve segment path between the first track point and the second track point, and the shortest curve segment path bypasses the barrier.
The calculation mode is simple, the involved calculation is simple operation, and the data processing amount is small.
S1022, a first path between the plurality of first target regions is generated according to the region distance.
Optionally, S1022 may include the following steps:
a. any one of the plurality of first target regions is marked.
When the first marking is performed, the first target area closest to the route planning start point may be marked first, the first target area closest to the route planning end point may be marked first, or any one of the first target areas may be marked.
Fig. 3 is a schematic diagram of a generation process of the first path according to the embodiment of the present application. As shown in FIG. 3 (a), there are 6 first target regions V1-V6 in total. The weight on the dashed line between every two first target areas represents the area distance between the two first target areas. If the weight on the dashed line between V1 and V2 is 6, it means that the regional distance between V1 and V2 is 6 km. Of course, the weight value may also represent a normalized value of the region distance. For example, the regional distance is 6km, and the normalized value is 6; the regional distance was 4km and the normalized value was 4. The weight is not particularly limited as long as it can represent the magnitude relationship of different region distances.
b. Determining a fourth target region from the unmarked first target regions, which has the smallest distance to the marked region of the first target region.
As shown in FIG. 3 (b), V1 is labeled, and the unlabeled first target region has V2-V6, i.e., the fourth target region is identified from V2-V6.
Optionally, the manner of determining the fourth target area is as follows:
acquiring a fifth target area from the unmarked first target areas, wherein the fifth target area is adjacent to any marked first target area; determining the fifth target area with the smallest area distance to the marked first target area as a fourth target area.
Illustratively, as shown in fig. 3 (b), the first target regions adjacent to V1 are V2, V3 and V4, i.e., the fifth target regions are V2, V3 and V4. If the zone distance between V1 and V2 is 6, the zone distance between V1 and V3 is 1, and the zone distance between V1 and V4 is 5, the fifth target zone V3 corresponding to the smallest zone distance 1 is the fourth target zone.
c. Determining the shortest path between the marked first target area and the fourth target area as a third path.
d. The fourth target area is marked.
As shown in (c) in fig. 3, the solid line between V1 and V3 represents the shortest path between V1 and V3, i.e., determined as the third path. V3 was labeled, and the first target region labeled at this time was V1 and V3.
e. If there is an unmarked first target area, step b is executed, namely, a fourth target area with the smallest distance to the marked area of the first target area is determined continuously from the unmarked first target area.
As shown in fig. 3 (c), the unlabeled first target regions at this time have V2, V4, V5 and V6, and the fourth target region is continuously determined from the 4 first target regions. Since the number of first target regions marked at this time is 2 in total, V1 and V3, it is necessary to find neighboring first target regions of V1 and V3, respectively. As described in the fourth target region determination method in step b, when the fifth target regions have V2, V4, V5 and V6, where V2 and V4 are adjacent to V1, and V2, V4, V5 and V6 are adjacent to V3, it is necessary to determine the region distance between each fifth target region and each of the labeled first target regions adjacent to it. The zone distance between V2 and V1 is 6, the zone distance between V4 and V1 is 5, the zone distance between V2 and V3 is 5, the zone distance between V4 and V3 is 5, the zone distance between V5 and V3 is 6, and the zone distance between V6 and V3 is 4. It can be seen that the minimum value of the above region distances is 4 (the region distance between V6 and V3), i.e., V6 is determined as the fourth target region. Then, the shortest path between V6 and V3 is determined as a third path, as shown in (d) in fig. 3, the solid line between V3 and V6 is determined as the third path, and V6 is marked.
The steps a to e are performed in sequence, and the steps (e) and (f) in the figure 3 are sequentially referred to.
f. And if the unmarked first target area does not exist, generating a first path according to the third path.
As shown in (g) in fig. 3, V1-V6 are all marked, and the shortest path between V1 and V3, the shortest path between V3 and V2, the shortest path between V3 and V6, the shortest path between V6 and V4, and the shortest path between V2 and V5 are determined as the first paths.
In another embodiment, a navigation time between every two first target areas may also be calculated, and the first path may be generated according to the navigation time.
The first path is generated according to the voyage time, which is equivalent to the weight value in fig. 3. The method for generating the first path according to the weight is the same as that described in S1022, and is not described herein again.
In the embodiment shown in fig. 3, the method for searching the shortest path between the plurality of first target areas is simple and fast, and is beneficial to improving the efficiency of path planning.
S103, determining a second path according to the first path, wherein the second path is the shortest path from the path planning starting point to the path planning end point.
In an embodiment of the present application, one implementation manner of determining the second path according to the first path is as follows:
determining a sixth target area which is closest to the path planning starting point and a seventh target area which is closest to the path planning end point from the plurality of first target areas; determining a shortest path used for connecting the sixth target area and the seventh target area in the first path as a fourth path; determining a fifth path and a sixth path, wherein the fifth path is the shortest path from the path planning starting point to the sixth target area, and the sixth path is the shortest path from the path planning end point to the seventh target area; and determining a second path according to the fourth path, the fifth path and the sixth path.
Due to the reasons of obstacles (such as icebergs and other ships), or limited turning angles of the unmanned ship, in practical application, the unmanned ship does not necessarily sail strictly according to the fourth path, the fifth path and the sixth path, and obstacle avoidance exists in the middle. Therefore, in order to improve flexibility and safety of navigation of the unmanned ship, the second path may be determined according to the fourth path, the fifth path and the sixth path based on the shortest path search algorithm. Specifically, the method comprises the following steps: respectively acquiring track sampling points in a fourth path, a fifth path and a sixth path according to a preset search distance; and searching out a second path according to the track sampling point.
Any shortest path search algorithm in the prior art may be used, and is not specifically limited herein.
Illustratively, referring to fig. 4, a schematic diagram of a second path provided by an embodiment of the present application is shown. The dashed line shown in fig. 4 is a planned route formed by the fourth path, the fifth path, and the sixth path. The implementation shown in fig. 4 is a second path generated from a planned route using a shortest path search algorithm. As can be seen from fig. 4, the solid line path and the dashed line path are in the same general direction, but are locally slightly offset.
By the aid of the method in the embodiment of the application, when the unmanned ship returns under the condition of communication interruption, a surrounding area does not need to be scanned again, a route is planned in a mode of acquiring a historical navigation area, and returning efficiency is effectively improved. In addition, in the embodiment of the application, the first paths among the plurality of first target areas are planned, namely the shortest paths among the historical navigation areas are determined, and then the shortest paths from the path planning starting points to the path planning end points are determined according to the first paths, so that the problem of poor accuracy of the return route caused by directly searching the shortest paths from the path planning starting points to the path planning end points along the historical flight paths is effectively solved, and the success rate of return is effectively improved.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 5 is a block diagram of a path planning apparatus according to an embodiment of the present application, which corresponds to the path planning method according to the foregoing embodiment, and only shows portions related to the embodiment of the present application for convenience of description.
Referring to fig. 5, the apparatus includes:
the acquiring unit 51 is configured to acquire a plurality of first target areas, where the first target areas are historical navigation areas within a preset range from a path planning starting point to a path planning ending point.
A generating unit 52, configured to generate a first path between the plurality of first target areas, where the first path represents a shortest path connecting the plurality of first target areas together.
And the planning unit 53 is configured to determine a second path according to the first path, where the second path is a shortest path from the path planning start point to the path planning end point.
Optionally, the generating unit 52 is further configured to:
calculating the region distance, wherein the region distance is the length of the shortest path between every two adjacent first target regions; generating the first paths between the plurality of first target regions according to the region distances.
Optionally, the first target area includes a plurality of historical track points.
Correspondingly, the generating unit 52 is further configured to:
for each first track point, calculating a track point distance between the first track point and each second track point, wherein the first track point is a historical track point in a second target area, the second track point is a historical track point in a third target area, and the second target area and the third target area are any two adjacent first target areas; determining a minimum course point distance as the zone distance between the second target zone and the third target zone.
Optionally, the generating unit 52 is further configured to:
marking any one of the plurality of first target areas;
determining a fourth target area with the smallest distance to the marked first target area from the unmarked first target area;
determining a shortest path between the marked first target area and the fourth target area as a third path;
marking the fourth target area;
if the unmarked first target area exists, continuing to determine the fourth target area with the minimum distance from the marked first target area from the unmarked first target area;
and if the first target area which is not marked does not exist, generating the first path according to the third path.
Optionally, the generating unit 52 is further configured to:
acquiring a fifth target area from the unmarked first target areas, wherein the fifth target area is adjacent to any marked first target area; determining the fifth target region having the smallest distance to the marked region of the first target region as the fourth target region.
Optionally, the planning unit 53 is further configured to:
determining a sixth target area which is closest to the path planning starting point and a seventh target area which is closest to the path planning end point from the plurality of first target areas;
determining a shortest path in the first path for connecting the sixth target area and the seventh target area as a fourth path;
determining a fifth path and a sixth path, wherein the fifth path is a shortest path from the path planning starting point to the sixth target area, and the sixth path is a shortest path from the path planning end point to the seventh target area;
determining the second path according to the fourth path, the fifth path and the sixth path.
Optionally, the planning unit 53 is further configured to:
respectively acquiring track sampling points in the fourth path, the fifth path and the sixth path according to a preset search distance; and searching out the second path according to the track sampling point.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
The path planning apparatus shown in fig. 5 may be a software unit, a hardware unit, or a combination of software and hardware unit built in the existing terminal device, may be integrated into the terminal device as an independent pendant, or may exist as an independent terminal device.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
Fig. 6 is a schematic structural diagram of a terminal device according to an embodiment of the present application. As shown in fig. 6, the terminal device 6 of this embodiment includes: at least one processor 60 (only one shown in fig. 6), a memory 61, and a computer program 62 stored in the memory 61 and executable on the at least one processor 60, the processor 60 implementing the steps in any of the various path planning method embodiments described above when executing the computer program 62.
The terminal device can be a desktop computer, a notebook, a palm computer, a cloud server and other computing devices. The terminal device may include, but is not limited to, a processor, a memory. Those skilled in the art will appreciate that fig. 6 is only an example of the terminal device 6, and does not constitute a limitation to the terminal device 6, and may include more or less components than those shown, or combine some components, or different components, such as an input/output device, a network access device, and the like.
The Processor 60 may be a Central Processing Unit (CPU), and the Processor 60 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 61 may in some embodiments be an internal storage unit of the terminal device 6, such as a hard disk or a memory of the terminal device 6. The memory 61 may also be an external storage device of the terminal device 6 in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are equipped on the terminal device 6. Further, the memory 61 may also include both an internal storage unit and an external storage device of the terminal device 6. The memory 61 is used for storing an operating system, an application program, a Boot Loader (Boot Loader), data, and other programs, such as program codes of the computer programs. The memory 61 may also be used to temporarily store data that has been output or is to be output.
The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.
The embodiments of the present application provide a computer program product, which when running on a terminal device, enables the terminal device to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to an apparatus/terminal device, recording medium, computer Memory, Read-Only Memory (ROM), Random-Access Memory (RAM), electrical carrier wave signals, telecommunications signals, and software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A method of path planning, comprising:
acquiring a plurality of first target areas, wherein the first target areas are historical navigation areas in a preset range from a path planning starting point to a path planning terminal point;
generating a first path between the plurality of first target areas, the first path representing a shortest path connecting the plurality of first target areas together;
and determining a second path according to the first path, wherein the second path is the shortest path from the path planning starting point to the path planning end point.
2. The path planning method of claim 1, wherein the generating a first path between the plurality of first target regions comprises:
calculating the region distance, wherein the region distance is the length of the shortest path between every two adjacent first target regions;
generating the first paths between the plurality of first target regions according to the region distances.
3. The path planning method according to claim 2, wherein the first target area includes a plurality of historical waypoints;
the calculating the region distance comprises:
for each first track point, calculating a track point distance between the first track point and each second track point, wherein the first track point is a historical track point in a second target area, the second track point is a historical track point in a third target area, and the second target area and the third target area are any two adjacent first target areas;
determining a minimum course point distance as the zone distance between the second target zone and the third target zone.
4. The path planning method according to claim 2, wherein the generating the first path between the plurality of first target regions according to the region distance comprises:
marking any one of the plurality of first target areas;
determining a fourth target area with the smallest distance to the marked first target area from the unmarked first target area;
determining a shortest path between the marked first target area and the fourth target area as a third path;
marking the fourth target area;
if the unmarked first target area exists, continuously determining the fourth target area from the unmarked first target area according to the area distance;
and if the first target area which is not marked does not exist, generating the first path according to the third path.
5. The path planning method according to claim 4, wherein the continuing to determine the fourth target region having the smallest distance from the marked first target region from the unmarked first target region comprises:
acquiring a fifth target area from the unmarked first target areas, wherein the fifth target area is adjacent to any marked first target area;
determining the fifth target region having the smallest distance to the marked region of the first target region as the fourth target region.
6. The path planning method according to claim 1, wherein said determining a second path based on said first path comprises:
determining a sixth target area which is closest to the path planning starting point and a seventh target area which is closest to the path planning end point from the plurality of first target areas;
determining a shortest path in the first path for connecting the sixth target area and the seventh target area as a fourth path;
determining a fifth path and a sixth path, wherein the fifth path is a shortest path from the path planning starting point to the sixth target area, and the sixth path is a shortest path from the path planning end point to the seventh target area;
determining the second path according to the fourth path, the fifth path and the sixth path.
7. The path planning method according to claim 6, wherein the determining the second path according to the fourth path, the fifth path, and the sixth path comprises:
respectively acquiring track sampling points in the fourth path, the fifth path and the sixth path according to a preset search distance;
and searching out the second path according to the track sampling point.
8. A path planning apparatus, comprising:
the system comprises an acquisition unit, a processing unit and a control unit, wherein the acquisition unit is used for acquiring a plurality of first target areas, and the first target areas are historical navigation areas in a preset range from a path planning starting point to a path planning terminal point;
a generating unit configured to generate a first path between the plurality of first target areas, the first path representing a shortest path connecting the plurality of first target areas together;
and the planning unit is used for determining a second path according to the first path, wherein the second path is the shortest path from the path planning starting point to the path planning end point.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.
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