A method and device for determining a motion route

Abstract

The present application discloses a method and device for determining a motion route, the method comprising: determining each virtual waypoint between a motion start point and an end point according to a specified motion distance and a preset virtual route generation strategy; sequentially forming a virtual route by virtual segmented routes consisting of a motion start point and adjacent virtual waypoints, two adjacent virtual waypoints, and a motion end point and adjacent virtual waypoints; determining the matching result of the endpoints of the virtual segmented route in the actual road network; determining the actual segmented route corresponding to the virtual segmented route according to the matching result of the endpoints of the virtual segmented route in the actual road network; merging the actual segmented routes corresponding to each virtual segmented route into an alternative motion route according to the order of each virtual segmented route in the virtual route. In the present application, the above method is used to recommend alternative motion routes to users, helping users to exercise more effectively and reasonably.

Description

Technical Field

[0001] The present application relates to the technical field of route planning, and more specifically, to a method and device for determining a motion route. Background Art

[0002] As people's living standards gradually improve, people are paying more attention to their health. In order to maintain good health, most people like to adopt sports such as brisk walking, jogging and cycling to achieve the purpose of fitness. During exercise, users are usually accustomed to using terminals to record the trajectory of exercise (such as distance) to measure their exercise volume. However, terminals can only record exercise trajectories, but cannot recommend exercise routes for users to help them exercise more effectively and reasonably.

[0003] Therefore, there is an urgent need for a motion route determination method to solve the above problems. Summary of the invention

[0004] In view of this, the present application provides a method and device for determining a movement route to solve the problem that the prior art cannot recommend a movement route to a user.

[0005] In order to achieve the above objectives, the proposed solution is as follows:

[0006] A method for determining a motion route, comprising:

[0007] According to the specified movement distance and the preset virtual route generation strategy, each virtual waypoint between the movement start point and the end point is determined; the virtual segmented routes formed by the movement start point and the adjacent virtual waypoint, the two adjacent virtual waypoints, and the movement end point and the adjacent virtual waypoints are sequentially formed into a virtual route;

[0008] Determine the matching result of the endpoint of the virtual segmented route in the actual road network;

[0009] Determining the actual segmented route corresponding to the virtual segmented route according to the matching result of the endpoints of the virtual segmented route in the actual road network;

[0010] According to the order of the virtual segmented routes in the virtual route, the actual segmented routes corresponding to the virtual segmented routes are merged into the candidate motion route.

[0011] Preferably, the step of determining each virtual waypoint between the movement start point and the movement end point according to the specified movement distance and the preset virtual route generation strategy includes:

[0012] The product of the specified movement distance and the preset scaling factor is used as the route length of the generated virtual route;

[0013] Determine the curve of the virtual route generated between the movement start point and the end point according to the curve shape of the virtual route generated by the virtual route generation strategy and the route length;

[0014] A number of points set on the curve are selected as virtual waypoints.

[0015] Preferably, determining the actual segmented route corresponding to the virtual segmented route according to the matching result of the endpoint of the virtual segmented route in the actual road network includes:

[0016] For each matching result of one endpoint of the virtual segmented route, determine a combination of the matching result and each matching result of another endpoint of the virtual segmented route to obtain at least one matching result combination;

[0017] An actual segmented route from one matching result to another matching result in the matching result combination is determined as the actual segmented route corresponding to the virtual segmented route.

[0018] Preferably, the merging of the actual segmented routes corresponding to the virtual segmented routes into the candidate motion routes according to the order of the virtual segmented routes in the virtual route comprises:

[0019] Starting from the first virtual segment route in the virtual route, determining an actual segment route pair having a common endpoint in the actual segment routes corresponding to two adjacent virtual segment routes;

[0020] The two actual segment routes included in the actual segment route pair are merged into one actual segment route according to the common endpoint as the actual segment route corresponding to the merged two adjacent virtual segment routes, and the actual segment route corresponding to a virtual segment route after the two adjacent virtual segment routes is continuously merged until the actual segment route corresponding to the last virtual segment route is merged to obtain an alternative motion route.

[0021] Preferably, before merging the two actual segment routes included in the actual segment route pair into one actual segment route according to a common endpoint, the method further comprises:

[0022] Determine an actual segment route pair that satisfies a set route motion condition according to route attributes of the actual segment routes in each of the actual segment route pairs;

[0023] The actual segmented route pairs that meet the set route motion condition are retained, and the actual segmented route pairs that do not meet the set route motion condition are deleted.

[0024] Preferably, the set route motion condition includes: the minimum number of turning actions; the determining of the actual segmented route pair satisfying the set route motion condition according to the route attributes of the actual segmented route in each of the actual segmented route pairs includes:

[0025] Determining the number of turning actions included in the two actual segment routes in each actual segment route pair according to the route attributes of the actual segment routes in each actual segment route pair;

[0026] The numbers of turning actions of the actual segmented route pairs are compared, and the actual segmented route pair with the least number of turning actions is determined as the actual segmented route pair that meets the set route motion condition.

[0027] Preferably, it also includes:

[0028] Traversing the shape points of the candidate motion route, and determining whether the currently traversed shape point is the same as the previously traversed shape point;

[0029] If so, the shape points between the currently traversed shape point and the same shape point traversed previously are deleted.

[0030] Preferably, there are at least two alternative movement routes, and the method further comprises:

[0031] Calculate the difference between the length of each candidate motion route and the specified motion distance respectively;

[0032] The alternative motion routes whose difference is outside the set difference range are deleted.

[0033] Preferably, there are at least two alternative movement routes, and the method further comprises:

[0034] Determine a recommendation score of the alternative movement route according to the route attributes of the alternative movement route;

[0035] The alternative exercise routes are sorted in descending order according to the recommendation scores, and the sorting order is the recommended order.

[0036] A motion route determination device, comprising:

[0037] A virtual route determination module is used to determine each virtual waypoint between the movement start point and the end point according to the specified movement distance and the preset virtual route generation strategy; the virtual segmented routes formed by the movement start point and the adjacent virtual waypoints, the two adjacent virtual waypoints, and the movement end point and the adjacent virtual waypoints sequentially form a virtual route;

[0038] A matching result determination module, used to determine the matching result of the endpoint of the virtual segmented route in the actual road network;

[0039] An actual segmented route determination module, used to determine the actual segmented route corresponding to the virtual segmented route according to the matching result of the endpoints of the virtual segmented route in the actual road network;

[0040] The candidate motion route determining module is used to merge the actual segmented routes corresponding to the virtual segmented routes into the candidate motion route according to the order of the virtual segmented routes in the virtual route.

[0041] Preferably, the process of the virtual route determination module determining each virtual waypoint between the movement start point and the movement end point according to the specified movement distance and the preset virtual route generation strategy specifically includes:

[0042] The product of the specified movement distance and the preset scaling factor is used as the route length of the generated virtual route;

[0043] Determine the curve of the virtual route generated between the movement start point and the end point according to the curve shape of the virtual route generated by the virtual route generation strategy and the route length;

[0044] A number of points set on the curve are selected as virtual waypoints.

[0045] Preferably, the process of the actual segmented route determination module determining the actual segmented route corresponding to the virtual segmented route according to the matching result of the endpoint of the virtual segmented route in the actual road network specifically includes:

[0046] For each matching result of one endpoint of the virtual segmented route, determine a combination of the matching result and each matching result of another endpoint of the virtual segmented route to obtain at least one matching result combination;

[0047] An actual segmented route from one matching result to another matching result in the matching result combination is determined as the actual segmented route corresponding to the virtual segmented route.

[0048] Preferably, the process of the candidate motion route determination module merging the actual segmented routes corresponding to the virtual segmented routes into the candidate motion route according to the order of the virtual segmented routes in the virtual route specifically includes:

[0049] Starting from the first virtual segment route in the virtual route, determining an actual segment route pair having a common endpoint in the actual segment routes corresponding to two adjacent virtual segment routes;

[0050] The two actual segment routes included in the actual segment route pair are merged into one actual segment route according to the common endpoint as the actual segment route corresponding to the merged two adjacent virtual segment routes, and the actual segment route corresponding to a virtual segment route after the two adjacent virtual segment routes is continuously merged until the actual segment route corresponding to the last virtual segment route is merged to obtain an alternative motion route.

[0051] Preferably, the candidate motion route determination module further performs the following operations before merging the two actual segment routes included in the actual segment route pair into one actual segment route according to a common endpoint:

[0052] Determine an actual segment route pair that satisfies a set route motion condition according to route attributes of the actual segment routes in each of the actual segment route pairs;

[0053] The actual segmented route pairs that meet the set route motion condition are retained, and the actual segmented route pairs that do not meet the set route motion condition are deleted.

[0054] Preferably, the set route motion condition includes: the minimum number of turning actions; the process of the candidate motion route determination module determining the actual segmented route pair that meets the set route motion condition according to the route attributes of the actual segmented route in each of the actual segmented route pairs specifically includes:

[0055] Determining the number of turning actions included in the two actual segment routes in each actual segment route pair according to the route attributes of the actual segment routes in each actual segment route pair;

[0056] The numbers of turning actions of the actual segmented route pairs are compared, and the actual segmented route pair with the least number of turning actions is determined as the actual segmented route pair that meets the set route motion condition.

[0057] Preferably, it also includes:

[0058] A traversal module, used for traversing the shape points of the candidate motion route, and determining whether the currently traversed shape point is the same as the previously traversed shape point;

[0059] If so, the shape point deletion module is executed to delete the shape points between the currently traversed shape point and the same shape point traversed previously.

[0060] Preferably, there are at least two alternative movement routes, and the device further comprises:

[0061] A calculation module, used for respectively calculating the difference between the length of each candidate motion route and the specified motion distance;

[0062] The alternative motion route deletion module is used to delete the alternative motion routes whose difference is outside the set difference range.

[0063] Preferably, there are at least two alternative movement routes, and the device further comprises:

[0064] A recommendation score determination module, used to determine the recommendation score of the alternative movement route according to the route attributes of the alternative movement route;

[0065] The sorting module is used to sort the candidate exercise routes in descending order according to the recommendation score, and the sorting order is the recommended order.

[0066] It can be seen from the above technical solutions that the motion route determination solution provided by the present application determines the various virtual waypoints between the motion start point and the end point according to the specified motion distance and the preset virtual route generation strategy, and the virtual segmented routes composed of the motion start point and the adjacent virtual waypoints, the two adjacent virtual waypoints, and the motion end point and the adjacent virtual waypoints in sequence to form a virtual route, and combines the road network data to determine the matching results of the endpoints of the virtual segmented routes in the actual road network, and determines the actual segmented routes corresponding to the virtual segmented routes according to the matching results of the endpoints of the virtual segmented routes in the actual road network, and merges the actual segmented routes corresponding to the virtual segmented routes into alternative motion routes according to the order of the virtual segmented routes in the virtual route, so as to recommend the alternative motion routes to the users, so as to help the users to exercise more effectively and reasonably. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0068] Figure 1 A flow chart of a method for determining a motion route disclosed in an embodiment of the present application;

[0069] Figure 2 A schematic diagram in which the virtual route is a square is illustrated;

[0070] Figure 3 A schematic diagram illustrating an actual segmented route corresponding to a virtual segmented route;

[0071] Figure 4 A schematic diagram for determining an actual segmented route pair that satisfies a set route motion condition is illustrated;

[0072] Figure 5A flowchart of another method for determining a motion route disclosed in an embodiment of the present application;

[0073] FIG6( a ) is a schematic diagram illustrating an alternative motion route before route processing;

[0074] FIG6( b ) illustrates a schematic diagram of an alternative motion route after route processing;

[0075] Figure 7 A flowchart of another method for determining a motion route disclosed in an embodiment of the present application;

[0076] Figure 8 A flowchart of another method for determining a motion route disclosed in an embodiment of the present application;

[0077] FIG9( a ) is a schematic diagram illustrating one of the top three recommended alternative exercise routes;

[0078] FIG9( b ) is a schematic diagram illustrating one of the top three recommended alternative exercise routes;

[0079] FIG9( c ) is a schematic diagram illustrating one of the top three recommended alternative exercise routes;

[0080] Fig.10 A schematic diagram of the logical structure of a motion route determination device disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0081] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0082] The embodiment of the present application discloses a method for determining a motion route. Specifically, according to a specified motion distance and a preset virtual route generation strategy, each virtual waypoint between a motion start point and an end point is determined, and virtual segmented routes formed by a motion start point and adjacent virtual waypoints, two adjacent virtual waypoints, and a motion end point and adjacent virtual waypoints are sequentially formed into a virtual route, and matching results of endpoints of the virtual segmented routes in an actual road network are determined, and actual segmented routes corresponding to the virtual segmented routes are determined according to the matching results of endpoints of the virtual segmented routes in the actual road network, and actual segmented routes corresponding to the virtual segmented routes are merged into an alternative motion route according to the order of the virtual segmented routes in the virtual route to complete the determination of the motion route.

[0083] Next, the motion route determination method of the present application is introduced, see Figure 1 As shown, the method includes:

[0084] Step S100, according to the specified movement distance and the preset virtual route generation strategy, each virtual waypoint between the movement start point and the end point is determined; the virtual segmented route consisting of the movement start point and the adjacent virtual waypoint, two adjacent virtual waypoints, and the movement end point and the adjacent virtual waypoints sequentially constitutes a virtual route.

[0085] In this embodiment, the user may determine an exercise distance according to his / her own exercise needs as the designated exercise distance.

[0086] Of course, the user can also determine the exercise time according to his own exercise needs. The present application can determine the exercise distance according to the exercise time combined with the exercise speed as the designated exercise distance.

[0087] The starting point and the end point of the movement can also be specified by the user. The starting point and the end point of the movement can be the same or different. The present application determines each virtual waypoint between the starting point and the end point of the movement according to the specified movement distance and the preset virtual route generation strategy.

[0088] The virtual route generation strategy may indicate the curve shape of the generated virtual route, for example, generating a square or circular virtual route. Of course, the curve shape indicated by the virtual route generation strategy is not required to be exactly the same as the curve shape of the final real movement route. It is only a virtual route plan. The planned virtual route also needs to be matched with the actual road network to determine the final movement route.

[0089] The movement starting point, the virtual waypoint and the movement end point are connected in sequence to form a virtual route. The process may specifically include:

[0090] The movement start point and its adjacent virtual waypoints constitute a virtual segmented route, any two adjacent virtual waypoints constitute a virtual segmented route, and the movement end point and its adjacent virtual waypoints constitute a virtual segmented route;

[0091] The virtual segmented routes formed by the movement start point and the adjacent virtual waypoints, the two adjacent virtual waypoints, and the movement end point and the adjacent virtual waypoints constitute the virtual route in sequence.

[0092] Step S110: Determine the matching result of the endpoints of the virtual segmented route in the actual road network.

[0093] It is understandable that the virtual segmented route has two endpoints. If the virtual segmented route is composed of a movement start point and its adjacent virtual waypoint, the two endpoints of the virtual segmented route are the movement start point and the virtual waypoint respectively; if the virtual segmented route is composed of two adjacent virtual waypoints, the two endpoints of the virtual segmented route are two virtual waypoints respectively; if the virtual segmented route is composed of a movement end point and its adjacent virtual waypoints, the two endpoints of the virtual segmented route are the movement end point and the virtual waypoint respectively.

[0094] Based on the specific implementation method of the endpoints of the virtual segmented routes, determining the matching results of the endpoints of each virtual segmented route in the actual road network can be understood as: determining the matching results of the movement starting point, movement end point and each virtual waypoint in the virtual route in the actual road network.

[0095] It should be noted that the matching result of the endpoint of the virtual segmented route in the actual road network may include: the matching road of the endpoint of the virtual segmented route in the actual road network and the matching point on the matching road.

[0096] Step S120: Determine the actual segmented route corresponding to the virtual segmented route according to the matching result of the endpoints of the virtual segmented route in the actual road network.

[0097] Specifically, the matching results of the endpoints of the virtual segmented route in the actual road network have been determined in the previous step. For each virtual segmented route, the actual segmented route corresponding to the virtual segmented route can be determined based on the matching results of its two endpoints. That is, the route from the matching result of one endpoint to the matching result of another endpoint in the actual road network is determined as the actual segmented route corresponding to the virtual segmented route.

[0098] Step S130: According to the order of the virtual segmented routes in the virtual route, the actual segmented routes corresponding to the virtual segmented routes are merged into an alternative motion route.

[0099] Since the actual segmented route is the route in the actual road network corresponding to the virtual segmented route, in order to combine the actual segmented routes into a complete movement route, the actual segmented routes corresponding to the virtual segmented routes can be merged into an alternative movement route according to the order of the virtual segmented routes in the virtual route.

[0100] It should be noted that there may be one or more preset virtual route generation strategies, which can generate one or more virtual routes. In each virtual route, there may be one or more matching results of the endpoints of the virtual segmented route in the actual road network, and there may also be one or more actual segmented routes corresponding to the virtual segmented route. Different actual segmented routes will be combined to obtain multiple different alternative motion routes. It can be seen that this embodiment can obtain one or more alternative motion routes, based on which more motion route solutions can be provided to users, expanding user choices.

[0101] The motion route determination method provided in the present application determines, according to a specified motion distance and a preset virtual route generation strategy, each virtual waypoint between a motion start point and an end point, and a virtual segmented route consisting of a motion start point and adjacent virtual waypoints, two adjacent virtual waypoints, and a motion end point and adjacent virtual waypoints, in sequence to form a virtual route, and determines, in combination with road network data, a matching result of the endpoints of the virtual segmented route in an actual road network, determines an actual segmented route corresponding to the virtual segmented route according to the matching result of the endpoints of the virtual segmented route in an actual road network, and merges the actual segmented routes corresponding to each virtual segmented route into an alternative motion route in the order of each virtual segmented route in the virtual route, so that the alternative motion route can be recommended to the user to help the user to perform more effective and reasonable exercise.

[0102] In another embodiment of the present application, the process of determining the matching result of the endpoint of the virtual segmented route in the actual road network is introduced as follows:

[0103] S1. Determine roads near the endpoints of the virtual segmented route in the actual road network.

[0104] Since the data in the actual road network has been spatially indexed, after the coordinates of the endpoints of the virtual segmented route in the actual road network are determined, the roads near the endpoints of the virtual segmented route can be quickly determined in the actual road network.

[0105] S2. Draw a perpendicular line to each road near the endpoint of the virtual segmented route. If the foot of the perpendicular falls on the road, the distance of the perpendicular line is calculated, the position of the foot of the perpendicular is used as the matching point, and the distance of the perpendicular line is used as the matching distance; if the foot of the perpendicular falls on the extension line of the road, the endpoint of the two endpoints of the road closest to the foot of the perpendicular is determined as the matching point, and the distance from the endpoint of the virtual segmented route to the matching point is calculated as the matching distance.

[0106] S3. According to the matching distance, select a set number of roads as matching roads for the virtual segmented route.

[0107] Preferably, a predetermined number of roads may be selected as matching roads for the endpoints of the virtual segmented route in order of matching distance from small to large.

[0108] The setting number of this step can be set flexibly, and can be specifically set to 3.

[0109] In another embodiment of the present application, the process of determining each virtual waypoint between the movement start point and the end point according to the specified movement distance and the preset virtual route generation strategy is introduced as follows:

[0110] S1. The product of the specified movement distance and the preset scaling factor is used as the route length of the generated virtual route.

[0111] In this step, the purpose of taking the product of the specified movement distance and the preset scaling factor as the route length of the generated virtual route is to adjust the route length of the generated virtual route so that the route length of the candidate movement route to be generated is closer to the specified movement distance.

[0112] In this embodiment, the preset zoom factor is related to the curve shape of the generated virtual route. The present application can flexibly set the size of the preset zoom factor according to the curve shape of the generated virtual route.

[0113] The following example illustrates the size of the preset scaling factor, for example:

[0114] If the curve shape of the generated virtual route is a broken line, it means that the generated virtual route is composed of at least one straight line, and the length of the actual movement route between two points in the road network is generally greater than the straight-line distance between the two points. In order to make the length of the alternative movement route closer to the specified movement distance, the length of the generated virtual route needs to be less than the specified movement distance. Therefore, the preset scaling factor can be set to a number not greater than 1, such as 0.7.

[0115] If the curve shape of the generated virtual route is a non-broken line (such as a parabola), the length of the actual movement route between two points in the road network is generally less than the parabola distance between the two points. In order to make the length of the alternative movement route closer to the specified movement distance, the length of the generated virtual route needs to be greater than the specified movement distance. Therefore, the preset scaling factor can be set to a number greater than 1, such as 1.2.

[0116] Of course, the above examples only illustrate the scaling factor values ​​corresponding to the curve shapes of two virtual routes. Specifically, according to other curve shapes of the virtual route, the present application can also flexibly set the scaling factor value.

[0117] S2. Determine the curve of the virtual route generated between the movement start point and the end point according to the curve shape of the virtual route generated by the virtual route generation strategy and the route length.

[0118] Specifically, the movement start point and end point define two end points of the generated curve, and a curve is generated between the two end points according to the indicated curve shape and route length, and the curve represents the virtual route.

[0119] S3. Selecting a number of points set on the curve as virtual waypoints.

[0120] Specifically, the several points set on the curve are points other than the starting point and the end point of the movement. The present application can flexibly select points on the curve as virtual waypoints. For example, starting from the starting point or the end point, a point is selected as a virtual waypoint every set route length. Or, some key points on the curve are selected as virtual waypoints, such as the inflection point of the curve.

[0121] In this embodiment, the curve of the virtual route generated between the starting point and the end point of the movement is a square as an example. Figure 2 , steps S1-S3 in this embodiment are introduced as follows:

[0122] The virtual route generation strategy indicates that the curve shape of the generated virtual route is a square, and the specified movement distance is L. The product of the specified movement distance L and the preset scaling factor a is used as the route length of the generated virtual route. The route length is L*a, where a is a number not greater than 1. According to the curve shape being a square and the route length L*a, the curve of the virtual route generated between the movement start point and the end point is determined as follows: Figure 2 The side length of the square is L*a / 4, and the coordinates of the specified starting point of the movement are <X 0 ,Y 0 >, the movement route starts from the movement starting point and returns to the movement starting point, that is, the movement end point and the movement starting point are the same point, and the coordinates are <X 0 ,Y 0 >. The four vertices of the square virtual route and the midpoint of each side can be selected as virtual passing points. For example, <X 1 ,Y 1 The vertex of > is one of the waypoints. The length of each virtual segmented route is L*a / 8. For example, the distance of the virtual segmented route formed by connecting the starting point and the virtual waypoint 1 is L*a / 8.

[0123] In another embodiment of the present application, a process of determining the actual segmented route corresponding to the virtual segmented route according to the matching result of the endpoints of the virtual segmented route in the actual road network is introduced as follows:

[0124] S1. For each matching result of one endpoint of the virtual segmented route, determine a combination of the matching result and each matching result of another endpoint of the virtual segmented route to obtain at least one matching result combination.

[0125] Each endpoint of the virtual segmented route has at least one matching result in the actual road network. On this basis, when each matching result of one endpoint of the virtual segmented route is combined with each matching result of another endpoint of the virtual segmented route, at least one matching result combination can be obtained. In more detail, it can be understood as follows: if one endpoint of the virtual segmented route has m matching results and the other endpoint of the virtual segmented route has n matching results, then the combination of each matching result of one endpoint of the virtual segmented route and each matching result of the other endpoint is determined to obtain (m*n) matching result combinations, where m and n are integers greater than or equal to 1. Among them, when m and n are both 1, that is, each endpoint of the virtual segmented route has only one matching result, then the combination of the matching result of one endpoint of the virtual segmented route and the matching result of the other endpoint is determined to obtain a matching result combination.

[0126] S2. Determine an actual segmented route from one matching result to another matching result in the matching result combination as the actual segmented route corresponding to the virtual segmented route.

[0127] If multiple matching result combinations are obtained in the above steps, then in this step, for each matching result combination, an actual segmented route from one matching result to another matching result in the matching result combination needs to be determined. Each determined actual segmented route is used as the actual segmented route corresponding to the virtual segmented route.

[0128] Generally, there is only one actual segmented route from one matching result to another matching result in the determined matching result combination, which is the optimal actual segmented route. Specifically, the shortest path planning algorithm can be used to determine the actual segmented route from one matching result to another matching result in the matching result combination. The determination process can refer to the process of determining the route using the shortest path planning algorithm in the prior art, which will not be repeated here.

[0129] Preferably, the A* algorithm in the shortest path planning algorithm may be used to determine the actual segmented route from one matching result to another matching result in the matching result combination.

[0130] It can be understood that, when there is only one actual segmented route from one matching result to another matching result in the matching result combination, the number of actual segmented routes corresponding to the virtual segmented route finally determined is the same as the number of the matching result combination. For example, one endpoint of the virtual segmented route is virtual waypoint 1, and virtual waypoint 1 has 3 matching results, which are matching roads a1, b1, and c1 respectively. The other endpoint of the virtual segmented route is virtual waypoint 2, and virtual waypoint 2 has 3 matching results, which are matching roads a2, b2, and c2 respectively (here, only the matching roads included in the matching results are illustrated, and the matching points on the matching roads are not marked). Then, the combination of each matching result of one endpoint of the virtual segmented route and each matching result of the other endpoint is determined, and (3*3=9) matching result combinations are obtained, which are as follows:

[0131] [a1,a2], [a1,b2], [a1,c2], [b1,a2], [b1,b2], [b1,c2], [c1,a2], [c1,b2], [c1c2].

[0132] Further, the actual segmented routes from one matching result to another matching result in the above 9 matching result combinations are determined respectively, and 9 actual segmented routes are obtained as the actual segmented routes corresponding to the virtual segmented routes, such as Figure 3 As shown, the virtual segmented route corresponds to 9 actual segmented routes in total.

[0133] In another embodiment of the present application, an implementation method of merging the actual segmented routes corresponding to the virtual segmented routes into the candidate motion route according to the order of the virtual segmented routes in the virtual route is introduced as follows:

[0134] S1. Starting from the first virtual segment route in the virtual route, determine a pair of actual segment routes having a common endpoint in actual segment routes corresponding to two adjacent virtual segment routes.

[0135] It can be understood that an actual segment route pair with a common endpoint includes two actual segment routes, and these two actual segment routes have a common endpoint, such as actual segment route 1 is AB, actual segment route 2 is BC, A, B, and C are three different endpoints, and endpoint B is the common endpoint of actual segment route 1 and actual segment route 2.

[0136] The actual segmented route set corresponding to the first virtual segmented route of two adjacent virtual segmented routes is defined as X1, X1 includes at least one actual segmented route, and the actual segmented route set corresponding to the second virtual segmented route is defined as X2, X2 includes at least one actual segmented route. Then, for each actual segmented route in X1, an actual segmented route in X2 that has a common endpoint with the actual segmented route is determined, and each determined actual segmented route and the actual segmented route form an actual segmented route pair.

[0137] The first virtual segmented route in the virtual route may be understood as a virtual segmented route whose first endpoint is a designated movement starting point.

[0138] S2. Merge the two actual segment routes included in the actual segment route pair into one actual segment route according to the common endpoint, as the actual segment route corresponding to the merged two adjacent virtual segment routes, and continue to merge with the actual segment route corresponding to a virtual segment route after the two adjacent virtual segment routes, until the actual segment route corresponding to the last virtual segment route is merged to obtain an alternative motion route.

[0139] In this embodiment, the two actual segmented routes included in the actual segmented route pair are merged into one actual segmented route according to a common endpoint as the actual segmented route corresponding to the merged two adjacent virtual segmented routes. The actual segmented route corresponding to a virtual segmented route after the two adjacent virtual segmented routes can also be merged according to the common endpoint until it is merged with the actual segmented route corresponding to the last virtual segmented route to obtain an alternative motion route.

[0140] Now, steps S1-S2 in this embodiment are explained by taking an example. For example, the virtual route includes 8 virtual segment routes, which are virtual segment routes 1, 2, ..., 8 adjacent in sequence. Virtual classification route 1 is the first virtual segment route. It is determined that there is an actual segment route pair A1 with a common endpoint in the actual segment routes corresponding to the virtual segment routes 1 and 2 respectively. The two actual segment routes included in the actual segment route pair A1 are merged into an actual segment route A11 according to the common endpoint as the actual segment route corresponding to the virtual segment routes 1 and 2. The actual segment route A11 is further merged with the actual segment route corresponding to the virtual segment route 3 to obtain the actual segment route A12. A12 is further merged with the actual segment route corresponding to the virtual segment route 4 to obtain the actual segment route A13, ... until the actual segment route A16 is further merged with the actual segment route corresponding to the virtual segment route 8 to obtain the actual segment route A17. The actual segment route A17 is used as the alternative motion route.

[0141] In another embodiment of the present application, another implementation method of merging the actual segmented routes corresponding to each virtual segmented route into an alternative motion route according to the order of each virtual segmented route in the virtual route is introduced, as follows:

[0142] S1. Starting from the first virtual segment route in the virtual route, determine a pair of actual segment routes having a common endpoint in actual segment routes corresponding to two adjacent virtual segment routes.

[0143] The detailed process of step S1 in this embodiment can be found in the related introduction in the above-mentioned embodiment, and will not be described again here.

[0144] S2. Determine an actual segment route pair that meets a set route motion condition according to route attributes of the actual segment route in each of the actual segment route pairs.

[0145] In this embodiment, in order to avoid an increase in the amount of data processing and a long calculation time due to too many actual segmented route pairs, some actual segmented route pairs can be screened out by setting route motion conditions.

[0146] The route attributes of the actual segmented route can be understood as: the attributes of the actual segmented route itself, such as the number of turning actions, the number of forks, the number of traffic lights, etc. included in the actual segmented route.

[0147] The route motion conditions can be set corresponding to the route attributes.

[0148] S3. The actual segmented route pairs that meet the set route motion conditions are retained, and the actual segmented route pairs that do not meet the set route motion conditions are deleted.

[0149] After the actual segmented route pairs satisfying the set route motion conditions are determined in step S2, this step achieves the purpose of screening out some actual segmented route pairs by retaining the actual segmented route pairs satisfying the set route motion conditions and deleting the actual segmented route pairs not satisfying the set route motion conditions.

[0150] S4. Merge the two actual segment routes included in the actual segment route pair into one actual segment route according to the common endpoint, as the actual segment route corresponding to the merged two adjacent virtual segment routes, and continue to merge with the actual segment route corresponding to a virtual segment route after the two adjacent virtual segment routes, until the actual segment route corresponding to the last virtual segment route is merged to obtain an alternative motion route.

[0151] The detailed process of step S4 in this embodiment can be found in the related introduction in the above-mentioned embodiment, and will not be repeated here.

[0152] In another embodiment of the present application, the setting route motion conditions are introduced as follows:

[0153] The set route movement condition may include: the number of turning actions is minimal.

[0154] Based on the fact that the set route motion condition includes: an implementation method with the least number of turning actions, the process of determining the actual segmented route pair that meets the set route motion condition according to the route attributes of the actual segmented route in each of the actual segmented route pairs may specifically include the following steps:

[0155] S1. Determine the number of turning actions included in the two actual segment routes in each actual segment route pair according to the route attributes of the actual segment routes in each actual segment route pair.

[0156] It can be understood that the number of turning actions is recorded in the route attributes of the actual segmented routes in each of the actual segmented route pairs. Therefore, the number of turning actions contained in the two actual segmented routes in each of the actual segmented route pairs can be determined based on the route attributes of the actual segmented routes in each of the actual segmented route pairs.

[0157] S2. Compare the numbers of turning actions of the actual segmented route pairs, and determine the actual segmented route pair with the least number of turning actions as the actual segmented route pair that meets the set route motion condition.

[0158] In this embodiment, the actual segmented route pair with the least turning action book is determined as the actual segmented route pair that meets the set route motion condition, which can ensure the smoothness of the motion route to a large extent and avoid excessive turning.

[0159] It should be noted that, during the comparison process, there may be a situation where two or more actual segmented route pairs have the same and the least number of turning movements. In this case, you can arbitrarily select one from the actual segmented route pairs with the same and the least number of turning movements as the actual segmented route pair that meets the set route motion conditions, or you can retain all of them.

[0160] Now, the steps S1-S2 in this embodiment are described by taking an example, for example:

[0161] Please also see Figure 4 and Table 1, such as Figure 4As shown, virtual waypoint 1 and virtual waypoint 2 are connected to form virtual segmented route 1, virtual waypoint 2 and virtual waypoint 3 are connected to form virtual segmented route 2, three matching roads of virtual waypoint 1 in the actual road network are selected, namely a1, b1, and c1, three matching roads of virtual waypoint 2 in the actual road network are selected, namely a2, b2, and c2, and three matching roads of virtual waypoint 3 in the actual road network are selected, namely a3, b3, and c3. The connection between matching roads a1-c1 and matching roads a2-c2 can be regarded as the actual segmented route corresponding to virtual segmented route 1, and the connection between matching roads a2-c2 and matching roads a3-c3 can be regarded as the actual segmented route corresponding to virtual segmented route 2. It is determined that there are actual segmented route pairs with common endpoints in the actual segmented routes corresponding to virtual segmented routes 1 and 2 respectively. The number of turning actions in the route attributes of each actual segmented route is shown in Table 1 below. According to the number of turning actions of each actual segmented route shown in Table 1, the number of turning actions contained in the two actual segmented routes in each actual segmented route pair is determined. The number of turning actions of each actual segmented route pair is compared, and the actual segmented route pair with the least number of turning actions is determined as the actual segmented route pair that meets the set route motion condition. The calculation process and results of the comparison are shown in Table 1. The actual segmented route pair that meets the set route motion condition after comparison is shown in Table 1. Figure 4 .

[0162] Table 1

[0163]

[0164]

[0165] In another embodiment of the present application, another method for determining a motion route is provided. Figure 5 The motion route determination method may include the following steps:

[0166] Step S200: Determine each virtual waypoint between the movement start point and the end point according to the specified movement distance and the preset virtual route generation strategy; the virtual segmented routes formed by the movement start point and the adjacent virtual waypoint, the two adjacent virtual waypoints, and the movement end point and the adjacent virtual waypoints sequentially form a virtual route.

[0167] Step S210: Determine the matching result of the endpoints of the virtual segmented route in the actual road network.

[0168] Step S220: Determine the actual segmented route corresponding to the virtual segmented route according to the matching result of the endpoints of the virtual segmented route in the actual road network.

[0169] Step S230: According to the order of the virtual segmented routes in the virtual route, the actual segmented routes corresponding to the virtual segmented routes are merged into an alternative motion route.

[0170] The detailed process of step S200 to step S230 can be found in the implementation methods introduced in the above embodiments, and will not be repeated here.

[0171] Step S240: traverse the shape points of the candidate motion route, and determine whether the currently traversed shape point is the same as the previously traversed shape point.

[0172] If so, it means that the route between the currently traversed shape point and the previously traversed shape point may be a redundant route of turning back or running in and out. The redundant route needs to be deleted to ensure that the alternative motion route is smoother. Specifically, step S250 can be executed.

[0173] Step S250: Delete the shape points between the currently traversed shape point and the same shape point traversed previously.

[0174] Please refer to Figures 6(a)-(b), which show schematic diagrams of alternative motion routes before and after route processing. As shown in Figure 6(a), there are some redundant routes of running in and out in the alternative motion routes before route processing. Route processing is performed on the alternative motion routes with redundant routes, and the redundant routes are deleted to obtain the alternative motion routes after smoother route processing as shown in Figure 6(b).

[0175] In another embodiment of the present application, another method for determining a motion route is provided. Figure 7 , which may include the following steps:

[0176] Step S300: Determine each virtual waypoint between the movement start point and the end point according to the specified movement distance and the preset virtual route generation strategy; the virtual segmented routes formed by the movement start point and the adjacent virtual waypoint, the two adjacent virtual waypoints, and the movement end point and the adjacent virtual waypoints sequentially form a virtual route.

[0177] Step S310: Determine the matching result of the endpoints of the virtual segmented route in the actual road network.

[0178] Step S320: Determine the actual segmented route corresponding to the virtual segmented route according to the matching result of the endpoints of the virtual segmented route in the actual road network.

[0179] Step S330: According to the order of the virtual segmented routes in the virtual route, the actual segmented routes corresponding to the virtual segmented routes are merged into an alternative motion route.

[0180] The detailed process of step S300 to step S330 can be found in the implementation methods introduced in the above-mentioned embodiments, and will not be repeated here.

[0181] It should be noted that there are at least two alternative movement routes in this embodiment.

[0182] Step S340: Calculate the difference between the length of each candidate movement route and the specified movement distance.

[0183] Step S350: Delete the candidate motion routes whose difference is outside the set difference range.

[0184] In this embodiment, the difference range is set to ensure that the length of the reserved candidate movement route is as close as possible to the movement distance specified by the user, thereby meeting the user's movement needs.

[0185] The set difference range can be set flexibly. For example, in order to ensure that the alternative movement route is at least equal to the movement distance specified by the user, the set difference range can be set to [0,1000 meters]. Of course, in the case of allowing the actual movement distance to be less than the specified movement distance, the set difference range can also be set to [-1000 meters, 1000 meters].

[0186] Of course, steps S340 - S350 may also be performed after step S250 in the aforementioned embodiment as another implementation of the method for determining the motion route.

[0187] In another embodiment of the present application, another method for determining a motion route is provided. Figure 8 , which may include the following steps:

[0188] Step S400: Determine each virtual waypoint between the movement start point and the movement end point according to the specified movement distance and the preset virtual route generation strategy; the virtual segmented routes formed by the movement start point and the adjacent virtual waypoint, the two adjacent virtual waypoints, and the movement end point and the adjacent virtual waypoints sequentially form a virtual route.

[0189] Step S410: Determine the matching result of the endpoints of the virtual segmented route in the actual road network.

[0190] Step S420: Determine the actual segmented route corresponding to the virtual segmented route according to the matching result of the endpoints of the virtual segmented route in the actual road network.

[0191] Step S430: According to the order of the virtual segmented routes in the virtual route, the actual segmented routes corresponding to the virtual segmented routes are merged into an alternative motion route.

[0192] The detailed process of step S400 to step S430 can be found in the implementation methods introduced in the above embodiments, and will not be repeated here.

[0193] It should be noted that there are at least two alternative movement routes in this embodiment.

[0194] Step S440: Determine a recommendation score of the candidate movement route according to the route attributes of the candidate movement route.

[0195] The route attributes of the alternative motion route are the inherent attributes of the alternative motion route itself, such as the number of turning actions, the number of forks, the number of traffic lights passed, etc.

[0196] Specifically, the corresponding relationship between different attribute values ​​in the route attributes of the alternative movement route and the recommended score can be set, such as the fewer the number of turning actions, the higher the recommended score; the fewer the number of forks, the higher the recommended score; the fewer the number of traffic lights passed, the higher the recommended score, etc.

[0197] It should be noted that, in this embodiment, the recommendation score of the alternative movement route can be determined separately according to a certain attribute value in the route attributes of the alternative movement route. For example, the recommendation score of the movement route is determined only according to the number of turning actions of the alternative movement route. Of course, the recommendation score of the alternative movement route can also be determined according to the result of combining several attribute values ​​in the route attributes of the alternative movement route. For example, the recommendation score of the alternative movement route is determined according to the number of turning actions of the alternative movement route and the number of traffic lights passed.

[0198] Step S450: sort the candidate exercise routes in descending order of recommendation scores, and the sorting order is the recommended order.

[0199] In this embodiment, each candidate movement route may be recommended in a recommendation order. Preferably, the candidate movement routes with a higher ranking order may be recommended first.

[0200] Among them, the alternative exercise routes recommended in the recommended order can be seen in Figures 9(a)-(c), and Figures 9(a)-(c) show the top three alternative exercise routes in the recommended order.

[0201] It should be noted that steps S440 - S450 may also be performed after step S250 or after step S350 in the aforementioned embodiment, as another implementation of the method for determining the motion route.

[0202] The following is a description of a motion route determination device provided in an embodiment of the present application. The motion route determination device described below and the motion route determination method described above can correspond to each other.

[0203] See also Fig.10, which shows a logical structure diagram of the motion route determination device provided by the present application, the motion route determination device includes: a virtual route determination module 11, a matching result determination module 12, an actual segmented route determination module 13 and an alternative motion route determination module 14.

[0204] The virtual route determination module 11 is used to determine each virtual waypoint between the movement start point and the end point according to the specified movement distance and the preset virtual route generation strategy; the virtual segmented route consisting of the movement start point and the adjacent virtual waypoint, the two adjacent virtual waypoints, and the movement end point and the adjacent virtual waypoints constitutes a virtual route in sequence.

[0205] The matching result determination module 12 is used to determine the matching result of the endpoint of the virtual segmented route in the actual road network.

[0206] The actual segmented route determining module 13 is used to determine the actual segmented route corresponding to the virtual segmented route according to the matching result of the endpoints of the virtual segmented route in the actual road network.

[0207] The candidate motion route determining module 14 is used to merge the actual segmented routes corresponding to the virtual segmented routes into the candidate motion route according to the order of the virtual segmented routes in the virtual route.

[0208] In this embodiment, the process of the virtual route determination module 11 determining each virtual waypoint between the movement start point and the end point according to the specified movement distance and the preset virtual route generation strategy specifically includes:

[0209] The product of the specified movement distance and the preset scaling factor is used as the route length of the generated virtual route;

[0210] Determine the curve of the virtual route generated between the movement start point and the end point according to the curve shape of the virtual route generated by the virtual route generation strategy and the route length;

[0211] A number of points set on the curve are selected as virtual waypoints.

[0212] In this embodiment, the actual segmented route determination module 13 determines the actual segmented route corresponding to the virtual segmented route according to the matching result of the endpoint of the virtual segmented route in the actual road network, which specifically includes:

[0213] For each matching result of one endpoint of the virtual segmented route, determine a combination of the matching result and each matching result of another endpoint of the virtual segmented route to obtain at least one matching result combination;

[0214] An actual segmented route from one matching result to another matching result in the matching result combination is determined as the actual segmented route corresponding to the virtual segmented route.

[0215] In this embodiment, the process of the candidate motion route determination module 14 merging the actual segmented routes corresponding to the virtual segmented routes into the candidate motion route according to the order of the virtual segmented routes in the virtual route specifically includes:

[0216] Starting from the first virtual segment route in the virtual route, determining an actual segment route pair having a common endpoint in the actual segment routes corresponding to two adjacent virtual segment routes;

[0217] The two actual segment routes included in the actual segment route pair are merged into one actual segment route according to the common endpoint as the actual segment route corresponding to the merged two adjacent virtual segment routes, and the actual segment route corresponding to a virtual segment route after the two adjacent virtual segment routes is continuously merged until the actual segment route corresponding to the last virtual segment route is merged to obtain an alternative motion route.

[0218] In this embodiment, the candidate motion route determining module 14 further performs the following operations before merging the two actual segment routes included in the actual segment route pair into one actual segment route according to the common endpoints:

[0219] Determine an actual segment route pair that satisfies a set route motion condition according to route attributes of the actual segment routes in each of the actual segment route pairs;

[0220] The actual segmented route pairs that meet the set route motion condition are retained, and the actual segmented route pairs that do not meet the set route motion condition are deleted.

[0221] In this embodiment, the set route motion condition includes: the minimum number of turning actions; the process of the candidate motion route determination module 14 determining the actual segmented route pair that meets the set route motion condition according to the route attributes of the actual segmented route in each of the actual segmented route pairs specifically includes:

[0222] Determining the number of turning actions included in the two actual segment routes in each actual segment route pair according to the route attributes of the actual segment routes in each actual segment route pair;

[0223] The numbers of turning actions of the actual segmented route pairs are compared, and the actual segmented route pair with the least number of turning actions is determined as the actual segmented route pair that meets the set route motion condition.

[0224] The above-mentioned motion route determination device may further include: a traversal module and a shape point deletion module.

[0225] The traversal module is used to traverse the shape points of the candidate motion route and determine whether the currently traversed shape point is the same as the previously traversed shape point.

[0226] If so, the shape point deletion module is executed to delete the shape points between the currently traversed shape point and the same shape point traversed previously.

[0227] In the case that there are at least two candidate motion routes, the motion route determination device may further include: a calculation module and a candidate motion route deletion module.

[0228] The calculation module is used to calculate the difference between the length of each candidate movement route and the specified movement distance.

[0229] The alternative motion route deletion module is used to delete the alternative motion routes whose difference is outside the set difference range.

[0230] In the case that there are at least two candidate movement routes, the movement route determination device may further include: a recommendation score determination module and a sorting module.

[0231] The recommendation score determination module is used to determine the recommendation score of the candidate movement route according to the route attributes of the candidate movement route.

[0232] The sorting module is used to sort the candidate exercise routes in descending order according to the recommendation score, and the sorting order is the recommended order.

[0233] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0234] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0235] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for determining a motion route, characterized in that: include: According to the specified movement distance and the preset virtual route generation strategy, each virtual passing point between the movement starting point and the end point is determined; The virtual segmented routes formed by the movement start point and the adjacent virtual waypoints, the two adjacent virtual waypoints, and the movement end point and the adjacent virtual waypoints sequentially form a virtual route; Determine the matching result of the endpoint of the virtual segmented route in the actual road network; Determining the actual segmented route corresponding to the virtual segmented route according to the matching result of the endpoints of the virtual segmented route in the actual road network; According to the order of each virtual segment route in the virtual route, the actual segment routes corresponding to each virtual segment route are merged into an alternative motion route; The step of determining each virtual waypoint between the starting point and the end point of the movement according to the specified movement distance and the preset virtual route generation strategy includes: The product of the specified movement distance and the preset scaling factor is used as the route length of the generated virtual route; Determine the curve of the virtual route generated between the movement start point and the end point according to the curve shape of the virtual route generated by the virtual route generation strategy and the route length; A number of points set on the curve are selected as virtual waypoints.

2. The method according to claim 1, characterized in that: The determining, according to the matching result of the endpoints of the virtual segmented route in the actual road network, the actual segmented route corresponding to the virtual segmented route comprises: For each matching result of one endpoint of the virtual segmented route, determine a combination of the matching result and each matching result of another endpoint of the virtual segmented route to obtain at least one matching result combination; An actual segmented route from one matching result to another matching result in the matching result combination is determined as the actual segmented route corresponding to the virtual segmented route.

3. The method according to claim 1, characterized in that: The step of merging the actual segmented routes corresponding to the virtual segmented routes into the candidate motion route according to the order of the virtual segmented routes in the virtual route includes: Starting from the first virtual segment route in the virtual route, determining an actual segment route pair having a common endpoint in the actual segment routes corresponding to two adjacent virtual segment routes; The two actual segment routes included in the actual segment route pair are merged into one actual segment route according to the common endpoint as the actual segment route corresponding to the merged two adjacent virtual segment routes, and the actual segment route corresponding to a virtual segment route after the two adjacent virtual segment routes is continuously merged until the actual segment route corresponding to the last virtual segment route is merged to obtain an alternative motion route.

4. The method according to claim 3, characterized in that: Before merging the two actual segment routes included in the actual segment route pair into one actual segment route according to a common endpoint, the method further includes: Determine an actual segment route pair that satisfies a set route motion condition according to route attributes of the actual segment routes in each of the actual segment route pairs; The actual segmented route pairs that meet the set route motion condition are retained, and the actual segmented route pairs that do not meet the set route motion condition are deleted.

5. The method according to claim 4, characterized in that The set route motion condition includes: the minimum number of turning actions; the actual segmented route pair satisfying the set route motion condition is determined according to the route attributes of the actual segmented route in each of the actual segmented route pairs, including: Determining the number of turning actions included in the two actual segment routes in each actual segment route pair according to the route attributes of the actual segment routes in each actual segment route pair; The numbers of turning actions of the actual segmented route pairs are compared, and the actual segmented route pair with the least number of turning actions is determined as the actual segmented route pair that meets the set route motion condition.

6. The method according to any one of claims 1 to 5, characterized in that: Also includes: Traversing the shape points of the candidate motion route, and determining whether the currently traversed shape point is the same as the previously traversed shape point; If so, the shape points between the currently traversed shape point and the same shape point traversed previously are deleted.

7. The method according to any one of claims 1 to 5, characterized in that: There are at least two alternative movement routes, and the method further includes: The difference between the length of each candidate motion route and the specified motion distance is calculated respectively; and the candidate motion routes whose difference is outside the set difference range are deleted.

8. The method according to any one of claims 1 to 5, characterized in that: There are at least two alternative movement routes, and the method further includes: Determine a recommendation score of the alternative movement route according to the route attributes of the alternative movement route; The alternative exercise routes are sorted in descending order according to the recommendation scores, and the sorting order is the recommended order.

9. A motion route determination device, characterized in that: include: A virtual route determination module is used to determine each virtual waypoint between the movement start point and the end point according to the specified movement distance and the preset virtual route generation strategy; The virtual segmented routes formed by the movement start point and the adjacent virtual waypoints, the two adjacent virtual waypoints, and the movement end point and the adjacent virtual waypoints sequentially form a virtual route; A matching result determination module, used to determine the matching result of the endpoint of the virtual segmented route in the actual road network; An actual segmented route determination module, used to determine the actual segmented route corresponding to the virtual segmented route according to the matching result of the endpoints of the virtual segmented route in the actual road network; An alternative motion route determination module is used to merge the actual segmented routes corresponding to the virtual segmented routes into an alternative motion route according to the order of the virtual segmented routes in the virtual route; The process of determining each virtual waypoint between the starting point and the end point of the movement according to the specified movement distance and the preset virtual route generation strategy by the virtual route determination module specifically includes: The product of the specified movement distance and the preset scaling factor is used as the route length of the generated virtual route; Determine the curve of the virtual route generated between the movement start point and the end point according to the curve shape of the virtual route generated by the virtual route generation strategy and the route length; A number of points set on the curve are selected as virtual waypoints.

10. The device according to claim 9, characterized in that The process of the actual segmented route determination module determining the actual segmented route corresponding to the virtual segmented route according to the matching result of the endpoint of the virtual segmented route in the actual road network specifically includes: For each matching result of one endpoint of the virtual segmented route, determine a combination of the matching result and each matching result of another endpoint of the virtual segmented route to obtain at least one matching result combination; An actual segmented route from one matching result to another matching result in the matching result combination is determined as the actual segmented route corresponding to the virtual segmented route.

11. The device according to claim 9, characterized in that The process in which the candidate motion route determination module combines the actual segmented routes corresponding to the virtual segmented routes into the candidate motion route according to the order of the virtual segmented routes in the virtual route specifically includes: Starting from the first virtual segment route in the virtual route, determining an actual segment route pair having a common endpoint in the actual segment routes corresponding to two adjacent virtual segment routes; The two actual segment routes included in the actual segment route pair are merged into one actual segment route according to the common endpoint as the actual segment route corresponding to the merged two adjacent virtual segment routes, and the actual segment route corresponding to a virtual segment route after the two adjacent virtual segment routes is continuously merged until the actual segment route corresponding to the last virtual segment route is merged to obtain an alternative motion route.

12. The device according to claim 11, characterized in that Before merging the two actual segment routes included in the actual segment route pair into one actual segment route according to the common endpoint, the candidate motion route determination module further performs the following operations: Determine an actual segment route pair that satisfies a set route motion condition according to route attributes of the actual segment routes in each of the actual segment route pairs; The actual segmented route pairs that meet the set route motion condition are retained, and the actual segmented route pairs that do not meet the set route motion condition are deleted.

13. The device according to claim 12, characterized in that The set route motion condition includes: the minimum number of turning actions; the process of the candidate motion route determination module determining the actual segmented route pair that meets the set route motion condition according to the route attributes of the actual segmented route in each of the actual segmented route pairs specifically includes: Determining the number of turning actions included in the two actual segment routes in each actual segment route pair according to the route attributes of the actual segment routes in each actual segment route pair; The numbers of turning actions of the actual segmented route pairs are compared, and the actual segmented route pair with the least number of turning actions is determined as the actual segmented route pair that meets the set route motion condition.

14. The device according to any one of claims 9 to 13, characterized in that: Also includes: A traversal module, used for traversing the shape points of the candidate motion route, and determining whether the currently traversed shape point is the same as the previously traversed shape point; If so, the shape point deletion module is executed to delete the shape points between the currently traversed shape point and the same shape point traversed previously.

15. The device according to any one of claims 9 to 13, characterized in that: There are at least two alternative motion routes, and the device further comprises: A calculation module, used for respectively calculating the difference between the length of each candidate motion route and the specified motion distance; The alternative motion route deletion module is used to delete the alternative motion routes whose difference is outside the set difference range.

16. The device according to any one of claims 9 to 13, characterized in that: There are at least two alternative motion routes, and the device further comprises: A recommendation score determination module, used to determine the recommendation score of the alternative movement route according to the route attributes of the alternative movement route; The sorting module is used to sort the candidate exercise routes in descending order according to the recommendation score, and the sorting order is the recommended order.

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