CN116086475A

CN116086475A - Path planning method, path planning device, electronic equipment and storage medium

Info

Publication number: CN116086475A
Application number: CN202211727284.5A
Authority: CN
Inventors: 王宇哲
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2022-12-30
Filing date: 2022-12-30
Publication date: 2023-05-09

Abstract

The disclosure relates to the field of computer technology, and in particular to the fields of intelligent traffic, electronic maps, traffic networks, and the like. The specific implementation scheme is as follows: responding to a path planning request, acquiring track information of a target user, wherein the track information comprises position information and state characterization information of a target number of track points; determining a path starting point according to the position information and the state characterization information of the target number of track points; and planning a travel path based on the path starting point. By adopting the method and the device, the rationality of the path starting point in the planned travel path can be improved.

Description

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

Technical Field

The disclosure relates to the field of computer technology, and in particular to the fields of intelligent traffic, electronic maps, traffic networks, and the like.

Background

Currently, when planning a travel path, a current position of a target user is usually positioned, and then the current position is used as a path starting point. However, in case the current position drifts or the instantaneous positioning is inaccurate due to other reasons, the obtained path start point is clearly unreasonable.

Disclosure of Invention

The disclosure provides a path planning method, a path planning device, electronic equipment and a storage medium.

According to an aspect of the present disclosure, there is provided a path planning method including:

responding to a path planning request, acquiring track information of a target user, wherein the track information comprises position information and state characterization information of a target number of track points;

determining a path starting point according to the position information and the state characterization information of the target number of track points;

and planning a travel path based on the path starting point.

According to a second aspect of the present disclosure, there is provided a path planning apparatus comprising:

the track acquisition unit is used for responding to the path planning request and acquiring track information of a target user, wherein the track information comprises position information and state characterization information of a target number of track points;

the starting point determining unit is used for determining a path starting point according to the position information and the state characterization information of the target number of track points;

and the path planning unit is used for planning a travel path based on the path starting point.

According to a third aspect of the present disclosure, there is provided an electronic device comprising:

at least one processor;

a memory communicatively coupled to the at least one processor;

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method provided in the first aspect.

According to a fourth aspect of the present disclosure there is provided a non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method provided by the first aspect.

According to a fifth aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the method provided by the first aspect.

By adopting the method and the device, the rationality of the path starting point in the planned travel path can be improved.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.

Drawings

The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

fig. 1 is a schematic flow chart of a path planning method according to an embodiment of the disclosure;

fig. 2 is a schematic diagram of a first path start point determining process according to an embodiment of the present disclosure;

FIG. 3A is a schematic diagram illustrating a second path start point determination process according to an embodiment of the present disclosure;

FIG. 3B is a schematic diagram illustrating a third path start point determination process according to an embodiment of the present disclosure;

Fig. 4 is a complete flow diagram of a path planning method according to an embodiment of the present disclosure;

fig. 5 is an application scenario schematic diagram of a path planning method according to an embodiment of the present disclosure;

FIG. 6 is a schematic block diagram of a path planning apparatus according to an embodiment of the present disclosure;

fig. 7 is a schematic block diagram of an electronic device according to an embodiment of the disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

As described in the background art, currently, when planning a travel path, the current position of the target user is usually located, and then the current position is used as the path starting point. However, in case the current position drifts or the instantaneous positioning is inaccurate due to other reasons, the obtained path start point is clearly unreasonable. For example, when the target user plans a travel path in an open ground area, a ground subway station or a conventional building, if the current position is shifted, a large deviation exists between the current position and the actual position of the target user, and at this time, it is obviously unreasonable to take the current position as the path starting point. For another example, when the target user plans the travel path in the underground subway station, the current position of the target user may be located on the road above the underground subway station, and at this time, it is obviously unreasonable to take the current position as the path starting point.

Based on the above background, the embodiments of the present disclosure provide a path planning method, which may be applied to an electronic device. A path planning method provided by the embodiment of the present disclosure will be described below with reference to a flowchart shown in fig. 1. It should be noted that although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in other orders.

Step S101, track information of a target user is obtained in response to a path planning request, wherein the track information comprises position information and state characterization information of a target number of track points;

step S102, determining a path starting point according to the position information and the state characterization information of a target number of track points;

step S103, planning a travel path based on the path starting point.

The route planning request can be initiated by a target user based on map software installed on the electronic equipment, and can be specifically used for requesting to plan a bus travel route, a driving travel route, a self-driving travel route, a riding travel route, a walking travel route and the like. In a specific example, the target user may enter the trip planning interface after launching the map software, and enter "my location" at a start point input provided by the trip planning interface, and enter a path end point at an end point input to generate the path planning request. Subsequently, by the path planning method provided by the embodiment of the present disclosure, the "my position" is rationally located, that is, the current position is rationally located, and then the path starting point is determined according to the rationally located "my position", so as to plan the travel path, specifically, the travel path with the path starting point as the starting position and the path ending point as the target position can be planned.

In addition, in the embodiment of the present disclosure, the target user may be located once every interval for a preset period of time, and one track point of the target user is determined, and the location data includes the location information and the state characterization information of the track point. Thereafter, if a path planning request is generated, the generated trajectory information including the position information and the state characterization information of the target number of trajectory points is acquired in response to the path planning request. The preset duration may be 30ms, 1s, 2s, etc., and the target number may be 10, 20, 30, which is not particularly limited in the embodiment of the present disclosure. In addition, in the embodiment of the present disclosure, the state characterization information may include speed information, speed information and a movement direction angle, and may further include at least one of a building identifier, a floor identifier, an indoor identifier, and an underground identifier, which is also not particularly limited in the embodiment of the present disclosure.

After the track information of the target user, that is, the position information and the state characterization information of the target number of track points are obtained, the current position can be rationally positioned according to the position information and the state characterization information of the target number of track points, and then the path starting point can be determined according to the position information and the state characterization information. Specifically, according to the target number of state characterization information, the last position information which does not drift is determined from the target number of position information to serve as the current position, and the path starting point is determined according to the last position information. For example, when the target user is located in an open ground area, the last position information that is not shifted can be used as the current position, and then directly used as the path starting point. For another example, when the target user is located in a building such as a ground subway station, a regular building, or an underground subway station, the last position information where no drift occurs may be used as the current position, and the building where the target user is located may be determined according to the current position, and then the building or the exit position of the building may be used as the path start point.

Wherein the conventional building may be a mall building, office building, or the like, to which the embodiments of the present disclosure are not particularly limited. In addition, in the embodiment of the present disclosure, after determining the building object where the target user is located, if the building object includes a plurality of exits, the exit closest to the current position may be used as the exit position, or the exit closest to the bus station may be used as the exit position if the path planning request is used to request to plan the bus travel path.

The path planning method provided by the embodiment of the disclosure can respond to the path planning request to acquire the track information of the target user, wherein the track information comprises the position information and the state characterization information of the target number of track points; determining a path starting point according to the position information and the state characterization information of the target number of track points; and planning a travel path based on the path starting point. Because the position information of the target quantity is combined with the state representation information of the target quantity when the path starting point is determined, even if the current position is shifted or the instantaneous positioning is inaccurate due to other reasons, the current position can be rationally positioned, the path starting point is determined according to the current position, and the travel path is planned, so that the rationality of the path starting point in the planned travel path is improved.

In some alternative embodiments, "determining a path start point based on the position information and the state characterization information of the target number of trajectory points" may include the steps of:

responding to a path planning request, and acquiring positioning data of a target user;

determining the positioning accuracy of the positioning data;

setting target quantity which is inversely related to the positioning precision according to the positioning precision;

and acquiring the position information and the state characterization information of the target number of track points as track information of a target user.

The positioning data may be the latest positioning result of the target user, and the positioning accuracy may be characterized by a positioning radius, in particular, a larger positioning radius characterizes a smaller positioning accuracy, and a smaller positioning radius characterizes a larger positioning accuracy. After the positioning accuracy of the positioning data is determined, a preset accuracy interval in which the positioning accuracy is located and the target number corresponding to the preset accuracy interval can be further determined, and then the position information and the state characterization information of the target number of track points are acquired and used as track information of the target user. Wherein the number of targets is inversely related to the positioning accuracy, i.e. the greater the positioning accuracy, the smaller the number of targets, and the smaller the positioning accuracy, the greater the number of targets.

Furthermore, it should be noted that, in the embodiment of the present disclosure, the positioning data may be the latest positioning result of the target user, that is, the positioning data may be the last position information in the target number of position information, which is not particularly limited by the embodiment of the present disclosure.

Through the steps of determining the path starting point according to the position information and the state characterization information of the target number of track points, in the embodiment of the disclosure, the positioning data of the target user can be obtained in response to the path planning request, the positioning precision of the positioning data is determined, the target number which is inversely related to the positioning precision is set according to the positioning precision, and then, when the position information and the state characterization information of the target number of track points are obtained as the track information of the target user, the track point redundancy can be avoided, the consumption of calculation resources can be reduced, and the path planning efficiency can be improved.

determining the positioning type of the target quantity and the position information;

under the condition that the positioning type belongs to the satellite positioning type, acquiring the change trend characteristics of the target quantity of state characterization information, and determining a path starting point according to the target quantity of position information and the change trend characteristics;

In the case that the positioning type belongs to the network positioning type and the target number of state characterization information has a specified meaning representation, determining a path starting point according to the target number of position information.

The positioning type may be a satellite positioning type, that is, the number of pieces of position information of the target is determined by a satellite positioning system, or a network positioning type, for example, the number of pieces of position information of the target is determined by a wireless network communication technology (also referred to as Wifi positioning technology).

In the embodiment of the disclosure, in the case that the positioning type belongs to the satellite positioning type, the state characterization information may include speed information, and may also include speed information and a movement direction angle. In addition, in the embodiment of the present disclosure, in the case where the positioning type belongs to the satellite positioning type, it may be determined that the target user is located in an open ground area, a ground subway station, or the like, which may be directly positioned by the satellite positioning system. Thereafter, a change trend characteristic of the target number of state characterization information may be obtained, the current position may be determined according to the target number of position information and the change trend characteristic, and the path start point may be determined accordingly. For example, when it is determined that the target user is located in an open ground area, the last position information that is not shifted may be determined from the target number of position information as the current position, and then directly used as the path start point. For another example, when it is determined that the target user is located at the subway station on the ground, the last position information where no drift occurs may be determined from the target number of position information as the current position, and accordingly, the building object where the target user is located may be determined, and then the building object or the exit position of the building object may be used as the path start point.

In addition, in the embodiment of the present disclosure, in the case where the positioning type belongs to the network positioning type, it may be primarily determined that the target user is located in a conventional building, an underground subway station, or the like, which cannot be directly positioned by the satellite positioning system, but can only be positioned by the wireless network communication technology. In this case, if the target number of state characterization information has a specific meaning, it can be finally determined that the target user is located in an area such as a regular building or an underground subway station. Based on this, it will be appreciated that in embodiments of the present disclosure, the designation means may be a means for characterizing the location of the target user within a conventional building, within an underground subway station, or the like. In this case, it is possible to determine the last position information where no drift occurs from the target number of position information as the current position, and accordingly determine the building object where the target user is located, and then take the building object or the exit position of the building object as the path start point.

Through the steps of determining the path start point according to the position information and the state characterization information of the target number of track points, in the embodiment of the present disclosure, corresponding path start point determining strategies are provided for two cases that the positioning type belongs to the satellite positioning type and the network positioning type, so that the path start point can be determined rationally no matter whether the positioning type belongs to the satellite positioning type or the network positioning type, thereby improving the applicable range of the path planning method.

As described above, in the embodiment of the present disclosure, in the case where the positioning type belongs to the satellite positioning type, the state characterization information includes the velocity information. Based on this, "obtaining the change trend feature of the target number of state characterization information, determining the path start point from the target number of position information and the change trend feature" may include the steps of:

acquiring the speed change trend of the target quantity of speed information;

under the condition that the speed change trend accords with the first change trend characteristic from the stable state to the acceleration jump state, determining a first instantaneous position of a target user before the acceleration jump occurs in the speed change trend from the target number of position information, and determining a path starting point according to the first instantaneous position;

and under the condition that the speed change trend accords with the second change trend characteristic of stably decelerating from a high-speed state to a static state, determining a first building surface area where a target user is positioned according to the last position information in the target number of position information, and taking the first building object represented by the first building surface area or the exit position of the first building object as a path starting point.

In the embodiment of the disclosure, when the speed change trend accords with the first change trend characteristic from the stable state to the acceleration jump state, it is indicated that some position information in the target number of position information drifts.

For example, the number of targets is 10, that is, the track information includes 10 track points, and the position information and the speed information corresponding to the 10 track points are shown in table 1:

TABLE 1

Track point	Position information	Speed information (km/h)
			Track point A1	Position A1	5
Track point A2	Position A2	5
			Track point A3	Position A3	5
Track point A4	Position A4	5
			Track point A5	Position A5	5
Track point A6	Position A6	5
			Track point A7	Position A7	5
Track point A8	Position A8	20
			Track point A9	Position A9	25
Track point A10	Position A10	15

Obviously, the speed change trend accords with the first change trend characteristic from the stable state to the acceleration jump state, which indicates that part of the position information in the target quantity of position information drifts. Therefore, the first instantaneous position of the target user before the acceleration jump occurs in the speed change trend, that is, the position A7 is determined as the first instantaneous position, and the path start point is determined according to the first instantaneous position, can be determined from the target number of position information.

In the embodiment of the disclosure, in the case where the speed change trend accords with the second change trend characteristic of stably decelerating from the high-speed state to the stationary state, it is explained that the target user arrives at a certain subway station on the ground subway, and is ready to go out.

For example, the number of targets is 10, that is, the track information includes 10 track points, and the position information and the speed information corresponding to the 10 track points are shown in table 2:

TABLE 2

Track point	Position information	Speed information (km/h)
			Track point B1	Position B1	10
Track point B2	Position B2	9
			Track point B3	Position B3	8
Track point B4	Position B4	7
			Track point B5	Position B5	5
Track point B6	Position B6	4
			Track point B7	Position B7	3
Track point B8	Position B8	2
			Track point B9	Position B9	1
Track point B10	Position B10	0

Obviously, the speed change trend conforms to the second change trend characteristic of stably decelerating from the high-speed state to the stationary state, which indicates that the target user arrives at a certain ground subway station while riding on the ground subway, and is ready to go out. Therefore, the first building surface area where the target user is located can be determined according to the last position information in the target number of position information, that is, the position B10, and then the first building object or the exit position of the first building object, which is characterized by the first building surface area, is taken as the path starting point.

Referring to fig. 2, it is assumed that, according to the position B10, the first building area where the target user is located is determined to be the building area 201, and the first building object represented by the building area 201 is the subway station 202, so the subway station 202 or the exit position of the subway station 202 can be used as the path start point.

Through the steps of acquiring the change trend characteristics of the target number of state characterization information and determining the path starting point according to the target number of position information and the change trend characteristics, in the embodiment of the present disclosure, the speed change trend of the target number of speed information may be acquired, and by performing feature matching on the speed change trend, when some of the position information in the target number of position information drifts or the target user arrives at a certain subway station on the ground subway, and prepares to go out, the path starting point is determined reasonably, on one hand, the logic complexity of the data processing process may be reduced, thereby reducing the consumption of computing resources, and meanwhile, the path planning efficiency may be improved, on the other hand, the applicable range of the path planning method may also be improved.

As described above, in the embodiment of the present disclosure, in the case where the positioning type belongs to the satellite positioning type, the state characterization information further includes a movement direction angle, that is, the state characterization information may include speed information and a movement direction angle. Based on this, the "obtaining the change trend feature of the target number of state characterization information, determining the path start point from the target number of position information and the change trend feature" may also include the steps of:

Acquiring the angle change trend of the target quantity of motion direction angles;

determining a second instantaneous position of the target user from the target number of position information before the instantaneous jump of the angle change trend occurs under the condition that the speed change trend accords with a third change trend characteristic of jumping from a high speed state to a static state and the angle change trend accords with a fourth change trend characteristic of jumping from a stable state to an instantaneous state;

and determining a second building surface area related to the target user according to the second instantaneous position, and taking the second building object or the exit position of the second building object, which is characterized by the second building surface area, as a path starting point.

In the embodiment of the disclosure, when the speed change trend accords with the third change trend characteristic of jumping from a high speed state to a static state and the angle change trend accords with the fourth change trend characteristic of jumping from a stable state to an instantaneous state, the situation that a target user arrives at a certain ground subway station on a ground subway station and is ready to go out is indicated, and part of position information in the target number of position information drifts.

For example, the number of targets is 10, that is, the track information includes 10 track points, and the position information, the speed information, and the movement direction angle corresponding to the 10 track points are shown in table 3:

TABLE 3 Table 3

Obviously, the speed change trend accords with the third change trend characteristic of jumping from a high speed state to be decelerated to a static state, and the angle change trend accords with the fourth change trend characteristic of jumping from a stable state to an instant state, so that the target user is informed that a ground subway station is reached by taking the ground subway, the station is ready to go out, and part of position information in the target quantity of position information is drifted. Therefore, the second instantaneous position of the target user, that is, the position C7, before the instantaneous jump of the angle change trend occurs can be determined from the target number of position information, and then the second building surface area related to the target user is determined according to the position C7, and the exit position of the second building object or the second building object represented by the second building surface area is taken as the path starting point.

For example, along the moving direction from the position C1 to the position C7, the covering position C7, or the first building surface area located after the position C7, may be determined as the second building surface area, and the exit position of the second building object or the second building object represented by the second building surface area is further used as the path starting point. Referring to fig. 3A, it is assumed that, along the moving direction from the position C1 to the position C7, the coverage position C7 is determined, or the first building area located after the position C7 is the building area 301, so the building area 301 may be used as the second building area, and if the second building object represented by the building area 301 is the ground station 302, the exit position of the ground station 302 or the ground station 302 may be used as the path starting point.

For another example, the actual location information of the target user may be estimated from the location C7 as the second building surface area, and the exit location of the second building object or the second building object represented by the second building surface area may be used as the path start point. Specifically, according to a specific change trend of a plurality of speed information before the angle change trend is transient jump, the speed information corresponding to the estimated position C8 is 2km/h, the speed information corresponding to the estimated position C9 is 1km/h, and then the actual position information of the target user is estimated according to the speed information corresponding to C8 and the speed information corresponding to the position C9. Referring to fig. 3B, assuming that the actual location information of the target user is assumed to be the location C11, the building area 303 covering the location C11 may be regarded as a second building area, and if the second building object represented by the building area 303 is the ground station 304, the ground station 304 or the exit location of the ground station 304 may be regarded as a path start point.

Through the steps of acquiring the change trend characteristics of the state representation information of the target quantity and determining the path starting point according to the position information of the target quantity and the change trend characteristics, in the embodiment of the disclosure, the angle change trend of the movement direction angles of the target quantity can be acquired, and through characteristic matching of the speed change trend and the angle change trend, the path starting point is determined reasonably under the condition that a target user arrives at a certain subway station on the ground subway and is ready to get out of the station and some position information in the position information of the target quantity is drifted, on one hand, the logic complexity of the data processing process can be reduced, so that the consumption of calculation resources is reduced, meanwhile, the path planning efficiency is improved, and on the other hand, the applicable range of the path planning method can be improved.

Further, as previously described, in embodiments of the present disclosure, the designation means may be a means for characterizing the location of the target user within a conventional building, within an underground subway station, or the like. Based on this, in some optional embodiments, "determining that the target number of state characterization information has a specified meaning representation" may include the steps of:

in the case where the target number of state characterization information includes at least one of a building identification, a floor identification, an indoor identification, and an underground identification, it is determined that the target number of state characterization information has a specified meaning representation.

In the embodiment of the disclosure, under the condition that the positioning type belongs to the network positioning type, the target user can be initially determined to be positioned in a conventional building, an underground subway station and other areas which cannot be directly positioned through a satellite positioning system but can be positioned only through a wireless network communication technology. At this time, if the target number of state characterization information includes at least one of a building identification, a floor identification, an indoor identification, and an underground identification, it may be finally determined that the target user is located in an area such as a regular building, an underground subway station, or the like.

Through the above steps of "determining that the target number of state representation information has the specified meaning means" including ", in the embodiment of the present disclosure, at least one of the building identifier, the floor identifier, the indoor identifier, and the underground identifier may be used as a evidence for determining that the target user is located in an area such as a conventional building, an underground subway station, or the like, so as to improve accuracy in determining the area where the target user is located, thereby further improving rationality of a path starting point in the planned travel path.

In some alternative embodiments, "determining a path start point from the target number position information" may include the steps of:

determining a third building area where the target user is located according to the target number of position information;

and taking the third building object or the exit position of the third building object characterized by the third building surface area as a path starting point.

In the embodiment of the disclosure, when no position information in the target number of position information is determined to drift, the last position information in the target number of position information can be directly used as the current position, and when some position information in the target number of position information is determined to drift, the last position information which is not subject to drift can be determined from the target number of position information to be used as the current position.

In a specific example, the spacing between any two adjacent pieces of position information of the target number of pieces of position information may be acquired to obtain a plurality of spacing distances. If the plurality of interval distances are in a stable state all the time, no position information in the target number of position information is considered to drift, the last position information in the target number of position information can be directly used as the current position, if the plurality of interval distances accord with the fifth change trend characteristic from the stable state to the acceleration jump state, part of position information in the target number of position information is considered to drift, and the third position information of the target user can be obtained as the current position before the plurality of interval distances are subjected to acceleration jump.

And then, determining a third building surface area where the target user is located according to the current position, and taking the third building object or the exit position of the third building object, which is characterized by the third building surface area, as a path starting point.

Through the steps included in the step of determining the path starting point according to the position information of the target number, in the embodiment of the present disclosure, even if the target user is located in a region in a conventional building, an underground subway station, and the like, which cannot be directly located by a satellite positioning system, but can only be located by a wireless network communication technology, the current position can be rationally located when some position information in the position information of the target number drifts, so that the applicable range of the path planning method is improved.

A complete flow of a path planning method provided in an embodiment of the present disclosure will be described below with reference to fig. 4.

Step S401, in response to a path planning request, positioning data of a target user are obtained, positioning accuracy of the positioning data is determined, then the number of targets which are negatively related to the positioning accuracy is set according to the positioning accuracy, and position information and state characterization information of a plurality of track points of the number of targets are obtained to be used as track information of the target user;

Step S402, determining the positioning type of the target quantity of position information;

step S403, if the state characterization information includes speed information under the condition that the positioning type belongs to the satellite positioning type, acquiring the speed variation trend of the target quantity of speed information;

step S404, under the condition that the speed change trend accords with the first change trend characteristic from the stable state to the acceleration jump state, determining a first instantaneous position of a target user before the acceleration jump of the speed change trend occurs from the target number of position information, and determining a path starting point according to the first instantaneous position;

step S405, determining a first building surface area where a target user is located according to the last position information in the target number of position information under the condition that the speed change trend accords with the second change trend characteristic of stably decelerating from a high-speed state to a static state, and taking the first building object represented by the first building surface area or the exit position of the first building object as a path starting point;

step S406, under the condition that the positioning type belongs to the satellite positioning type, if the state representation information comprises a movement direction angle in addition to the speed information, simultaneously acquiring the speed change trend of the target quantity of speed information and the angle change trend of the target quantity of movement direction angles;

Step S407, determining a second instantaneous position of the target user from the target number of position information before the instantaneous jump of the angle change trend occurs, in the case that the speed change trend accords with the third change trend feature of jumping from the high speed state to the stationary state and the angle change trend accords with the fourth change trend feature of jumping from the steady state to the instantaneous state;

step S408, determining a second building surface area related to the target user according to the second instantaneous position, and taking the second building object or the exit position of the second building object represented by the second building surface area as a path starting point;

step S409, when the positioning type belongs to the network positioning type and comprises at least one of a building identifier, a floor identifier, an indoor identifier and an underground identifier, determining a third building surface area where the target user is located according to the target number of position information, and taking the exit position of the third building object or the third building object represented by the third building surface area as a path starting point.

Fig. 5 is a schematic application scenario diagram of a path planning method according to an embodiment of the disclosure.

As described above, the path planning method provided by the embodiment of the present disclosure is applied to an electronic device. Wherein the electronic device is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices, to which the disclosed embodiments are not limited.

In the embodiment of the disclosure, the electronic device may be configured to perform a path planning method:

and planning a travel path based on the path starting point.

In addition, it should be noted that, in the embodiment of the present disclosure, the electronic device may interact with a satellite positioning system or a wireless network positioning system to obtain track information of the target user.

It should also be noted that, in the embodiment of the present disclosure, the schematic view of the scenario shown in fig. 5 is merely illustrative and not restrictive, and those skilled in the art may make various obvious changes and/or substitutions based on the example of fig. 5, and the obtained technical solutions still fall within the scope of the embodiment of the present disclosure.

In order to better implement the above path planning method, the embodiments of the present disclosure further provide a path planning apparatus 600, where the path planning apparatus 600 may be integrated in an electronic device. A path planning apparatus 600 according to the disclosed embodiment will be described below with reference to the schematic structural diagram shown in fig. 6.

The path planning apparatus 600 includes:

a track acquisition unit 601, configured to acquire track information of a target user in response to a path planning request, where the track information includes position information and state characterization information of a target number of track points;

a start point determining unit 602, configured to determine a path start point according to the position information and the state characterization information of the target number of track points;

the path planning unit 603 is configured to plan a travel path based on the path start point.

In some alternative embodiments, the origin determining unit 602 is configured to:

In some alternative embodiments, the state characterization information includes speed information in the case that the positioning type belongs to a satellite positioning type;

the origin determining unit 602 is configured to:

Acquiring the speed change trend of the target quantity of speed information;

In some alternative embodiments, where the positioning type belongs to a satellite positioning type, the state characterization information further includes a direction of motion angle;

the origin determining unit 602 is further configured to:

In some alternative embodiments, the track acquisition unit 601 is configured to:

determining the positioning accuracy of the positioning data;

In the implementation, each module may be implemented as an independent entity, or may be combined arbitrarily, and implemented as the same entity or a plurality of entities, and the implementation of each module may be referred to the foregoing path planning method embodiment, which is not described herein.

The path planning device provided by the embodiment of the disclosure can respond to the path planning request to acquire the track information of the target user, wherein the track information comprises the position information and the state characterization information of the target number of track points; determining a path starting point according to the position information and the state characterization information of the target number of track points; and planning a travel path based on the path starting point. Because the position information of the target quantity is combined with the state representation information of the target quantity when the path starting point is determined, even if the current position is shifted or the instantaneous positioning is inaccurate due to other reasons, the current position can be rationally positioned, the path starting point is determined according to the current position, and the travel path is planned, so that the rationality of the path starting point in the planned travel path is improved.

In the technical scheme of the disclosure, the acquisition, storage, application and the like of the related user personal information all conform to the regulations of related laws and regulations, and the public sequence is not violated.

According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a storage medium, and a computer program product.

Fig. 7 illustrates a schematic block diagram of an example electronic device 700 that may be used to implement embodiments of the present disclosure.

As previously mentioned, in the presently disclosed embodiments, electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 7, the electronic device 700 includes a computing unit 701 that can perform various appropriate actions and processes according to a computer program stored in a Read-Only Memory (ROM) 702 or a computer program loaded from a storage unit 708 into a random access Memory (Random Access Memory, RAM) 703. In the RAM703, various programs and data required for the operation of the electronic device 700 may also be stored. The computing unit 701, the ROM 702, and the RAM703 are connected to each other through a bus 704. An Input/Output (I/O) interface 705 is also connected to bus 704.

Various components in the electronic device 700 are connected to the I/O interface 705, including: an input unit 706 such as a keyboard, a mouse, and the like; an output unit 707 such as various types of displays, speakers, and the like; a storage unit 708, such as a magnetic disk, an optical disk, or the like; and a communication unit 709, such as a network card, modem, wireless communication transceiver, or the like. The communication unit 709 allows the electronic device 700 to exchange information/data with other devices through a computer network, such as the internet, and/or various telecommunication networks.

The computing unit 701 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 701 include, but are not limited to, a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU), various dedicated artificial intelligence (Artificial Intelligence, AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (Digital Signal Process, DSP), and any suitable processor, controller, microcontroller, etc. The calculation unit 701 performs the respective methods and processes described above, for example, a path planning method. For example, in some alternative embodiments the path planning methods may each be implemented as a computer software program tangibly embodied on a non-transitory computer-readable storage medium, e.g., the storage unit 708. In some alternative embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 700 via the ROM 702 and/or the communication unit 709. When the computer program is loaded into the RAM 703 and executed by the computing unit 701, one or more steps of the path planning method described above may be performed. Alternatively, in other embodiments, the computing unit 701 may be configured to perform the path planning method by any other suitable means (e.g. by means of firmware).

Various implementations of the systems and techniques described here above can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (Field Programmable Gate Array, FPGAs), application specific integrated circuits (Application Specific Integrated Circuit, ASICs), application specific standard products (Application Specific Standard Product, ASSPs), systems On Chip (SOC), complex programmable logic devices (Complex Programmable Logic Device, CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a non-transitory computer readable storage medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The non-transitory computer readable storage medium may be a machine readable signal medium or a machine readable storage medium. The non-transitory computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a non-transitory computer readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a RAM, a ROM, an erasable programmable read-Only Memory (EPROM) or flash Memory, an optical fiber, a portable compact disc read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: other types of devices may also be used to provide interaction with a user, for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback), and input from the user may be received in any form (including acoustic input, speech input, or tactile input).

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local area network (Local Area Network, LAN), wide area network (Wide Area Network, WAN) and the internet.

The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server incorporating a blockchain.

The disclosed embodiments also provide a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the aforementioned path planning method.

The disclosed embodiments also provide a computer program product comprising a computer program which, when executed by a processor, implements the aforementioned path planning method.

The electronic equipment, the storage medium and the computer program product provided by the embodiment of the disclosure can respond to the path planning request to acquire the track information of the target user, wherein the track information comprises the position information and the state characterization information of the target number of track points; determining a path starting point according to the position information and the state characterization information of the target number of track points; and planning a travel path based on the path starting point. Because the position information of the target quantity is combined with the state representation information of the target quantity when the path starting point is determined, even if the current position is shifted or the instantaneous positioning is inaccurate due to other reasons, the current position can be rationally positioned, the path starting point is determined according to the current position, and the travel path is planned, so that the rationality of the path starting point in the planned travel path is improved.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel, sequentially, or in a different order, provided that the desired results of the disclosed aspects are achieved, and are not limited herein. Moreover, in this disclosure, relational terms such as "first," "second," "third," and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Furthermore, the term "plurality" in this disclosure may be understood as at least two.

The foregoing detailed description is not intended to limit the scope of the disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.

Claims

1. A path planning method, comprising:

Responding to a path planning request, and acquiring track information of a target user, wherein the track information comprises position information and state characterization information of a target number of track points;

and planning a travel path based on the path starting point.

2. The method of claim 1, wherein the determining a path start point from the location information and the state characterization information of the target number of trajectory points comprises:

under the condition that the positioning type belongs to a satellite positioning type, acquiring the change trend characteristics of the target quantity of state characterization information, and determining the path starting point according to the target quantity of position information and the change trend characteristics;

and determining the path starting point according to the target quantity position information under the condition that the positioning type belongs to a network positioning type and the target quantity state characterization information has a designated meaning representation.

3. The method of claim 2, wherein the state characterization information includes speed information in the case that the positioning type belongs to a satellite positioning type;

The obtaining the change trend feature of the target number of state characterization information, and determining the path starting point according to the target number of position information and the change trend feature includes:

acquiring the speed change trend of the target quantity of speed information;

determining a first instantaneous position of the target user before the acceleration jump occurs in the speed change trend from the target number of position information under the condition that the speed change trend accords with a first change trend characteristic from a stable state to an acceleration jump state, and determining the path starting point according to the first instantaneous position;

and under the condition that the speed change trend accords with the second change trend characteristic of stably decelerating from a high-speed state to a static state, determining a first building surface area where the target user is positioned according to the last position information in the target number of position information, and taking the first building object represented by the first building surface area or the exit position of the first building object as the path starting point.

4. A method according to claim 3, wherein, in case the positioning type belongs to a satellite positioning type, the state characterization information further comprises a direction of motion angle;

The method for obtaining the change trend characteristics of the target number of state characterization information, determining the path starting point according to the target number of position information and the change trend characteristics, further comprises the following steps:

determining a second instantaneous position of the target user from the target number of position information before the instantaneous jump of the angle change trend occurs, in the case that the speed change trend accords with a third change trend characteristic of jumping from a high speed state to a stationary state and the angle change trend accords with a fourth change trend characteristic of jumping from a steady state to an instantaneous state;

and determining a second building surface area related to the target user according to the second instantaneous position, and taking a second building object or an outlet position of the second building object, which is characterized by the second building surface area, as the path starting point.

5. The method of claim 2, wherein determining that the target number of state representation information has a specified meaning representation comprises:

in the case where the target number of state characterization information includes at least one of a building identification, a floor identification, an indoor identification, and an underground identification, it is determined that the target number of state characterization information has the specified meaning representation.

6. The method of claim 2 or 5, wherein the determining a path start point from the target number of location information comprises:

and taking a third building object characterized by the third building surface area or an outlet position of the third building object as the path starting point.

7. The method of claim 1, wherein the obtaining track information of the target user in response to the path planning request comprises:

responding to a path planning request, and acquiring positioning data of the target user;

determining the positioning accuracy of the positioning data;

and acquiring the position information and the state characterization information of the target number of track points as the track information of the target user.

8. A path planning apparatus comprising:

9. The apparatus of claim 8, wherein the origin determining unit is configured to:

10. The apparatus of claim 9, wherein the state characterization information includes speed information in the case that the positioning type belongs to a satellite positioning type;

the start point determining unit is used for:

acquiring the speed change trend of the target quantity of speed information;

11. The apparatus of claim 10, wherein the state characterization information further includes a direction of motion angle in the case that the positioning type belongs to a satellite positioning type;

the origin determining unit is further configured to:

12. The apparatus of claim 9, wherein the origin determining unit is configured to:

13. The apparatus according to claim 9 or 12, wherein the origin determining unit is configured to:

14. The apparatus of claim 8, wherein the trajectory acquisition unit is to:

determining the positioning accuracy of the positioning data;

15. An electronic device, comprising:

At least one processor;

a memory communicatively coupled to the at least one processor;

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 7.

16. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-7.

17. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 7.