Route planning method, device, equipment and storage medium

Abstract

The present invention relates to the field of data processing technology, and discloses a route planning method, device, equipment and storage medium, wherein the method comprises: upon receiving a route planning request, determining the start and end point information according to the route planning request; determining a target area according to the start and end point information; acquiring digital elevation model DEM data corresponding to the target area; and performing route planning according to the DEM data and the start and end point information. In a field without roads, the start and end point information and the target area can be determined according to the route planning request, and the route planning can be performed according to the DEM data and the start and end point information of the target area, so as to provide navigation for users in a field environment.

Description

Technical Field

[0001] The present invention relates to the field of data processing technology, and in particular to a route planning method, device, equipment and storage medium. Background Art

[0002] The current navigation software basically provides navigation on roads. However, it is difficult to plan routes in the wild where there are no roads through the existing navigation software, and it is impossible to provide navigation for users in the wild environment.

[0003] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present invention is to propose a route planning method, device, equipment and storage medium, aiming to solve the technical problem that the prior art cannot provide navigation for users in a wild environment.

[0005] To achieve the above object, the present invention provides a route planning method, which comprises the following steps:

[0006] Upon receiving a route planning request, determining the start and end point information according to the route planning request;

[0007] Determine the target area according to the start and end point information;

[0008] Acquire digital elevation model (DEM) data corresponding to the target area;

[0009] Route planning is performed according to the DEM data and the start and end point information.

[0010] Optionally, performing route planning according to the DEM data and the start and end point information includes:

[0011] Detecting whether navigation data corresponding to the target area can be found;

[0012] When the navigation data corresponding to the target area cannot be found, route planning is performed according to the DEM data and the start and end point information.

[0013] Optionally, after the detecting whether navigation data corresponding to the target area can be found, the method further includes:

[0014] When navigation data corresponding to the target area can be found, searching for target navigation data corresponding to the target area;

[0015] Route planning is performed according to the target navigation data, the DEM data and the start and end point information.

[0016] Optionally, performing route planning according to the navigation data, the DEM data and the start and end point information includes:

[0017] Taking the area in the target area where navigation data exists as the first area to be processed;

[0018] taking an area in the target area where no navigation data exists as a second area to be processed;

[0019] Determine intersection point information according to the first to-be-processed area and the second to-be-processed area;

[0020] Route planning is performed according to the first area to be processed, the second area to be processed, the start and end point information, the intersection point information, the target navigation data and the DEM data.

[0021] Optionally, performing route planning according to the first area to be processed, the second area to be processed, the start and end point information, the intersection point information, the target navigation data and the DEM data includes:

[0022] Determine vector data according to the target navigation data;

[0023] Performing a first route planning according to the first area to be processed, the start and end point information, the intersection point information and the vector data;

[0024] Selecting target DEM data corresponding to the second area to be processed from the DEM data;

[0025] A second route planning is performed according to the second area to be processed, the start and end point information, the intersection point information, and the target DEM data.

[0026] Optionally, after performing the second route planning according to the second area to be processed, the intersection point information, the start and end point information and the DEM data, the method further includes:

[0027] Determining first planning data according to the first route planning result, and determining second planning data according to the second route planning result;

[0028] Navigation is performed according to the first planning data and the second planning data.

[0029] Optionally, the navigating according to the first planning data and the second planning data includes:

[0030] determining a first navigation route according to the first planning data, and determining a second navigation route according to the second planning route;

[0031] A target navigation route is generated according to the first navigation route and the second navigation route, and navigation is performed according to the target navigation route.

[0032] Optionally, when receiving a route planning request, determining the start and end point information according to the route planning request includes:

[0033] Determine the destination information and the route planning type according to the route planning request;

[0034] Determining whether the route planning type is a preset type;

[0035] When the route planning type is a preset type, current positioning information is obtained, and starting point information is determined according to the current positioning information.

[0036] When the route planning type is not a preset type, determining starting point information according to the route planning request;

[0037] The starting and ending point information are determined according to the starting point information and the ending point information.

[0038] Optionally, the acquiring digital elevation model (DEM) data corresponding to the target area includes:

[0039] Acquire a target image corresponding to the target area;

[0040] Performing image recognition on the target image to obtain ground morphological information of the target area;

[0041] The ground morphology information is digitized to obtain DEM data corresponding to the target area.

[0042] Optionally, performing route planning according to the DEM data and the start and end point information includes:

[0043] Extracting surface information from the DEM data;

[0044] Constructing dynamic connected grid index data according to the surface information;

[0045] Route planning is performed according to the dynamic connected grid index data and the start and end point information.

[0046] Optionally, performing route planning according to the dynamic connected grid index data and the start and end point information includes:

[0047] Dividing the target area into a plurality of area blocks according to the dynamic connected grid index data;

[0048] Selecting a candidate area block from the area blocks according to the start and end point information, and selecting candidate surface information corresponding to the candidate area block from the surface information;

[0049] Determining the connection status between adjacent to-be-selected area blocks according to the to-be-selected surface information;

[0050] A target area block is determined according to the connection status and the candidate area block, and a route is planned according to the target area block.

[0051] Optionally, selecting a to-be-selected area block from the area blocks according to the start and end point information includes:

[0052] determining surface type information according to the surface information;

[0053] Determine the surface type corresponding to each area block according to the surface type information;

[0054] A to-be-selected area block is selected from the area blocks according to the start and end point information and the surface type.

[0055] Optionally, the determining the connection status between adjacent to-be-selected area blocks according to the to-be-selected surface information includes:

[0056] Detecting the center point to be processed of the selected area block;

[0057] Determine the surface information to be processed corresponding to the center point to be processed according to the surface information to be selected;

[0058] Determining the connection status between adjacent center points to be processed according to the surface information to be processed;

[0059] The connection states between adjacent to-be-selected area blocks are determined according to the connection states between adjacent to-be-processed center points.

[0060] Optionally, determining the connection status between adjacent center points to be processed according to the surface information to be processed includes:

[0061] Determine the slope information and the slope direction information according to the surface information;

[0062] Determine the connection slope between adjacent center points to be processed according to the selected slope information;

[0063] Determine the height difference between adjacent center points to be processed according to the slope information to be selected and the slope direction information to be selected;

[0064] The connection status between adjacent center points to be processed is determined according to the connection slope and the height difference.

[0065] Optionally, the determining the connection status between adjacent center points to be processed according to the connection slope and the height difference includes:

[0066] determining a mode of transportation based on the route planning request;

[0067] When the transportation mode is a car, obtaining the vehicle type of the car;

[0068] The connection status between adjacent center points to be processed is determined according to the vehicle type, the connection slope and the height difference.

[0069] In addition, to achieve the above object, the present invention further provides a route planning device, the route planning device comprising:

[0070] A start and end point information module, used to determine the start and end point information according to the route planning request when receiving the route planning request;

[0071] A target area module, used to determine the target area according to the start and end point information;

[0072] A data acquisition module is used to acquire digital elevation model (DEM) data corresponding to the target area;

[0073] The route planning module is used to plan the route according to the DEM data and the start and end point information.

[0074] Optionally, the route planning module is further used to detect whether navigation data corresponding to the target area can be found; when navigation data corresponding to the target area cannot be found, route planning is performed according to the DEM data and the start and end point information.

[0075] Optionally, the route planning module is further used to search for target navigation data corresponding to the target area when navigation data corresponding to the target area can be found; and perform route planning according to the target navigation data, the DEM data and the start and end point information.

[0076] In addition, to achieve the above-mentioned purpose, the present invention also proposes a route planning device, which includes: a memory, a processor, and a route planning program stored in the memory and executable on the processor, and the route planning program implements the steps of the route planning method described above when executed by the processor.

[0077] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a route planning program is stored, and when the route planning program is executed by a processor, the steps of the route planning method described above are implemented.

[0078] The route planning method proposed by the present invention determines the start and end point information according to the route planning request when receiving the route planning request; determines the target area according to the start and end point information; obtains the digital elevation model DEM data corresponding to the target area; and performs route planning according to the DEM data and the start and end point information. In the wild where there is no road, the start and end point information and the target area can be determined according to the route planning request, and the route planning can be performed according to the DEM data of the target area and the start and end point information, so as to provide navigation for the user in the wild environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Figure 1 It is a schematic diagram of the structure of a route planning device in a hardware operating environment involved in an embodiment of the present invention;

[0080] Figure 2 A schematic diagram of a flow chart of a first embodiment of a route planning method of the present invention;

[0081] Figure 3 A schematic diagram of a target area in an embodiment of a route planning method of the present invention;

[0082] Figure 4 A schematic diagram of a flow chart of a second embodiment of a route planning method of the present invention;

[0083] Figure 5 A schematic diagram of a first area to be processed and a second area to be processed of a second embodiment of a route planning method of the present invention;

[0084] Figure 6 A schematic diagram of a flow chart of a third embodiment of a route planning method of the present invention;

[0085] Figure 7 A schematic diagram of an area block in an embodiment of a route planning method of the present invention;

[0086] Figure 8 Schematic diagram of functional modules of the first embodiment of the route planning device of the present invention.

[0087] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0088] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0089] Reference Figure 1 , Figure 1 A schematic diagram of the structure of a route planning device in a hardware operating environment according to an embodiment of the present invention.

[0090] like Figure 1As shown, the route planning device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a button, and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0091] Those skilled in the art will understand that Figure 1 The device structure shown in the figure does not constitute a limitation on the route planning device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0092] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a route planning program.

[0093] exist Figure 1 In the route planning device shown, the network interface 1004 is mainly used to connect to the external network and communicate data with other network devices; the user interface 1003 is mainly used to connect to the user device and communicate data with the user device; the device of the present invention calls the route planning program stored in the memory 1005 through the processor 1001, and executes the route planning method provided by the embodiment of the present invention.

[0094] Based on the above hardware structure, an embodiment of the route planning method of the present invention is proposed.

[0095] Reference Figure 2 , Figure 2 Schematic diagram of the process of the first embodiment of the route planning method of the present invention.

[0096] In a first embodiment, the route planning method comprises the following steps:

[0097] Step S10, when a route planning request is received, determining the start and end point information according to the route planning request.

[0098] It should be noted that the executor of this embodiment may be a route planning device, such as a navigation device, wherein the navigation device may be a mobile terminal, a vehicle-mounted terminal, or other devices that can achieve the same or similar functions. This embodiment does not limit this. In this embodiment, the navigation device is taken as an example for explanation.

[0099] It should be understood that when the navigation device receives a route planning request, it can determine the start and end point information according to the route planning request, wherein the start and end point information may include the start point information and the end point information.

[0100] Furthermore, since the user may need a navigation route from the current location to the destination during navigation, or may set two locations and need a navigation route between the two locations, in order to apply to more usage scenarios and improve the user experience, step S10 includes:

[0101] Determine the destination information and route planning type according to the route planning request; determine whether the route planning type is a preset type; if the route planning type is a preset type, obtain the current location information, and determine the starting point information according to the current location information. If the route planning type is not a preset type, determine the starting point information according to the route planning request; determine the starting and ending point information according to the starting point information and the destination information.

[0102] It should be noted that the route planning type may include a current position planning type and a fixed-point planning type, wherein the current position planning type may be a planning type for performing route planning based on the current position and the destination position, and the fixed-point planning type may be a planning type for performing route planning based on two locations input by the user, and this embodiment does not limit this. In this embodiment, the preset type may be set to the current position planning type.

[0103] It is understandable that the navigation device can determine the destination information and route planning type based on the route planning request, and then detect the route planning type. When the route planning type is a preset planning type, it means that the user needs a navigation route from the current location to the destination. Therefore, the current positioning information of the navigation device can be obtained, and the starting point information can be determined based on the current positioning information. In this case, the starting point is the current location of the user.

[0104] It can be understood that when the route planning type is not the preset planning type, it means that the route planning type is a fixed-point planning type. The user needs to set the navigation route between two locations. Therefore, in addition to determining the end point information according to the route planning request, the starting point information can also be determined according to the route planning request. In this case, the starting point information is also input by the user.

[0105] It is understandable that after the end point information and the starting point information are determined, the starting and ending point information can be determined based on the starting and ending point information, and the starting and ending point information can be used for subsequent route planning.

[0106] Step S20: determining a target area according to the start and end point information.

[0107] It should be understood that after determining the start and end point information, the target area can be determined according to the start and end point information, wherein the target area can be a circular area, a rectangular area, or an area of ​​other shapes, which is not limited in this embodiment. In this embodiment, a rectangular area is used as an example for description. Figure 3 As shown, Figure 3 Schematic diagram of the target area.

[0108] Step S30, obtaining digital elevation model (DEM) data corresponding to the target area.

[0109] It should be understood that in places with roads, path planning can be performed based on the vector data in the navigation data, but in the wild without roads, vector data cannot be obtained from the navigation data, so path planning cannot be performed using vector data. In this case, in order to provide navigation services to users, path planning can be performed based on DEM data.

[0110] It can be understood that after determining the target area, the digital elevation model (DEM) data corresponding to the target area can be obtained, wherein the DEM data can be directly measured from the ground, and the instruments involved include horizontal guide rails, measuring needles, measuring needle holders, relative elevation measurement plates and other components, and can also be obtained by high-end instruments such as GPS, total stations, and field measurements; it can also be obtained through photogrammetry based on aerial or aerospace images, such as stereo coordinate instrument observation and aerial triangulation encryption method, analytical mapping, digital photogrammetry, etc.; it can also be collected from existing topographic maps, such as grid reading method, digitizer hand-held tracking and scanner semi-automatic collection and then interpolation to generate DEM and other methods, which are not limited in this embodiment.

[0111] Step S40, performing route planning according to the DEM data and the start and end point information.

[0112] It should be understood that after obtaining the DEM data corresponding to the target area, route planning can be carried out based on surface information such as slope information, aspect information, and surface type information in the DEM data, combined with the start and end point information, and the target navigation route can be determined based on the route planning results. Navigation is provided to the user through the target navigation route, and route planning and navigation can ultimately be achieved without vector navigation data.

[0113] It can be understood that the technical solution in this embodiment can provide navigation for users in the wild without roads, making up for the shortcomings of the product, and has technical advantages for docking toB / toG (corporate customers, government customers), especially military projects. In addition, it can also have a certain influence on the field of outdoor tourism and improve the user experience of using navigation products.

[0114] In this embodiment, when a route planning request is received, the start and end point information is determined according to the route planning request; the target area is determined according to the start and end point information; the digital elevation model DEM data corresponding to the target area is obtained; and the route is planned according to the DEM data and the start and end point information. In the wild where there is no road, the start and end point information and the target area can be determined according to the route planning request, and the route is planned according to the DEM data and the start and end point information of the target area, so that navigation can be provided for the user in the wild environment.

[0115] In one embodiment, if Figure 4 As shown, a second embodiment of the route planning method of the present invention is proposed based on the first embodiment, and the step S40 includes:

[0116] Step S401, detecting whether navigation data corresponding to the target area can be found.

[0117] It should be understood that since in some scenarios the distance between the starting point and the end point is far, the corresponding target area is also larger. In this case, some areas may have roads but some areas may not. In order to provide users with more accurate navigation services, it is possible to first detect whether navigation data corresponding to the target area can be found to determine whether there is a road in the target area.

[0118] Step S402: When the navigation data corresponding to the target area cannot be found, route planning is performed according to the DEM data and the start and end point information.

[0119] It is understandable that when the navigation data corresponding to the target area cannot be found, it means that there is no road in the target area at all. Therefore, navigation cannot be performed by means of navigation data, and navigation can only be performed using DEM data. Therefore, in this case, route planning is performed based on DEM data and start and end point information.

[0120] Furthermore, after step S401, the method further includes:

[0121] When the navigation data corresponding to the target area can be found, the target navigation data corresponding to the target area is searched; and the route is planned according to the target navigation data, the DEM data and the start and end point information.

[0122] It is understandable that when the navigation data corresponding to the target area can be found, it means that there is a road in the target area, and the target navigation data corresponding to the target area can be obtained. At this time, further detection can be performed. If there are roads in some areas of the target area and no roads in some areas, for example, when the user is off-road, the first half is a highway and the second half is a grassland. At this time, the navigation data and DEM data can be combined for navigation. In areas with roads, navigation data can be used for route planning, and in areas without roads, DEM data can be used for route planning, so as to improve navigation accuracy on the basis of providing navigation services.

[0123] Furthermore, in order to distinguish between road areas and roadless areas in the target area, different methods are used for route planning to make the route planning result more accurate. The route planning according to the navigation data, the DEM data and the start and end point information includes:

[0124] The area in the target area where navigation data exists is taken as the first area to be processed; the area in the target area where no navigation data exists is taken as the second area to be processed; the intersection point information is determined according to the first area to be processed and the second area to be processed; and the route is planned according to the first area to be processed, the second area to be processed, the start and end point information, the intersection point information, the target navigation data and the DEM data.

[0125] It should be understood that the area in the target area where navigation data exists can be used as the first area to be processed, and the area in the target area where navigation data does not exist can be used as the second area to be processed. That is, the first area to be processed is an area with roads, and the second area to be processed is an area without roads. Then, the intersection of the end of the road in the first area to be processed and the second area to be processed can be determined, and the intersection is called the intersection point. Since there may be multiple roads in the first area to be processed, there may also be multiple intersection points between the roads and the second area to be processed, and this embodiment does not limit the number.

[0126] In the specific implementation, Figure 5 As shown, Figure 5 This is a schematic diagram of the first area to be processed and the second area to be processed. It can be seen that Figure 5 There are multiple roads in the first area to be processed, but there is no road in the second area to be processed. There is a road in the first area to be processed that extends to the intersection of the two areas, and the intersection can be used as the intersection point.

[0127] Furthermore, in order to improve navigation accuracy and navigation efficiency, route planning can be performed for the two areas in different ways respectively, and the route planning is performed according to the first area to be processed, the second area to be processed, the start and end point information, the intersection point information, the target navigation data and the DEM data, including:

[0128] Determine vector data according to the target navigation data; perform a first route planning according to the first area to be processed, the start and end point information, the intersection point information and the vector data; select target DEM data corresponding to the second area to be processed from the DEM data; perform a second route planning according to the second area to be processed, the start and end point information, the intersection point information and the target DEM data.

[0129] It should be understood that vector data can be determined based on the target navigation data, and the vector data is road data. The first route planning can be performed based on the first area to be processed, the starting point information, the intersection point information and the vector data to determine the route from the starting point to the intersection point.

[0130] It should be understood that target DEM data corresponding to the second area to be processed can be selected from the DEM data, and then a second route planning can be performed based on the second area to be processed, intersection point information, end point information and DEM data to determine the route from the intersection point to the end point.

[0131] Furthermore, after performing the second route planning according to the second area to be processed, the intersection point information, the start and end point information and the DEM data, it also includes:

[0132] Determine first planning data according to the first route planning result, and determine second planning data according to the second route planning result; determine a first navigation route according to the first planning data, and determine a second navigation route according to the second planning route; generate a target navigation route according to the first navigation route and the second navigation route, and navigate according to the target navigation route.

[0133] It is understandable that after planning the routes of the first area to be processed and the second area to be processed respectively in different ways, the first planning data can be determined according to the first route planning result, and the second planning data can be determined according to the second route planning result, and then the first navigation route and the second navigation route can be determined according to the first planning data and the second planning data respectively. Figure 5 As shown, the first navigation route may be from the starting point to point M, and then from point M to the intersection point.

[0134] It is understandable that after determining the first navigation route and the second navigation route, the first navigation route and the second navigation route can be combined to form a complete target navigation route, and navigation can be performed according to the target navigation route. The user can navigate from the starting point to the end point according to the target navigation route.

[0135] In this embodiment, by detecting whether the navigation data corresponding to the target area can be found, when the navigation data corresponding to the target area cannot be found, the route planning is performed according to the DEM data and the start and end point information, and when the navigation data corresponding to the target area can be found, the target navigation data corresponding to the target area is found; the route planning is performed according to the target navigation data, the DEM data and the start and end point information. Therefore, in the case of no road, the route planning can be performed only by the DEM data, and in the case of partially having roads and partially having no roads, the navigation data and the DEM data are combined for route planning, which improves the diversity of navigation scenarios and the accuracy of route planning.

[0136] In one embodiment, if Figure 6 As shown, a third embodiment of the route planning method of the present invention is proposed based on the first embodiment or the second embodiment. In this embodiment, the first embodiment is used for description. Step S30 includes:

[0137] Step S301, obtaining a target image corresponding to the target area.

[0138] It should be understood that after determining the target area, a target image corresponding to the target area can be obtained. The target image can be a bird's-eye view of the target area. The bird's-eye view can be obtained via satellite or aerospace imaging, and this embodiment does not limit this.

[0139] Step S302: performing image recognition on the target image to obtain ground morphological information of the target area.

[0140] It is understandable that image recognition can be performed on the target image, and the ground morphology information of the target area can be determined based on the image recognition result. The ground morphology information can be various morphological information of the ground in the target area, which may include altitude, terrain, etc. This embodiment does not limit this.

[0141] Step S303: digitally process the ground morphology information to obtain DEM data corresponding to the target area.

[0142] It is understandable that the ground morphology information of the target area can be digitized and converted into digital information to obtain DEM data corresponding to the target area.

[0143] Furthermore, in order to more conveniently perform route planning according to the DEM data and improve route planning efficiency, the route planning according to the DEM data and the start and end point information includes:

[0144] Surface information is extracted from the DEM data; dynamic connected grid index data is constructed according to the surface information; and route planning is performed according to the dynamic connected grid index data and the start and end point information.

[0145] It should be understood that surface information can be extracted from DEM data, and the surface information may include slope information, aspect information, surface type information, etc., and may also include other information, which is not limited in this embodiment.

[0146] It can be understood that dynamic connected network index data can be constructed based on surface information, and then route planning and navigation can be performed by designing a route planning algorithm, ultimately achieving route planning and navigation without vector navigation data.

[0147] Furthermore, in order to perform route planning more accurately, the route planning according to the dynamic connected grid index data and the start and end point information includes:

[0148] The target area is divided into a plurality of area blocks according to the dynamic connected grid index data; a candidate area block is selected from the area blocks according to the start and end point information, and candidate surface information corresponding to the candidate area block is selected from the surface information; a connection state between adjacent candidate area blocks is determined according to the candidate surface information; a target area block is determined according to the connection state and the candidate area blocks, and a route is planned according to the target area block.

[0149] It is understandable that if Figure 7 As shown, the target area can be divided into multiple area blocks according to the dynamic connected grid index data, wherein the target area can be divided according to the navigation accuracy, and the size and number of the area blocks can be determined according to the navigation accuracy, which is not limited in this embodiment.

[0150] It should be understood that the selected regional block can be selected from the regional blocks according to the starting point information and the end point information, and then the selected surface information corresponding to the selected regional block can be selected from the surface information, and then the connection state between the adjacent selected regional blocks according to the selected surface information can be determined. The connection state can be used to indicate the connectivity between the adjacent selected regional blocks, and the connection state can include a connectable state and an unconnectable state. The connectable state indicates that the adjacent selected regional blocks can be connected, and the unconnectable state indicates that the adjacent selected regional blocks cannot be connected.

[0151] It is understandable that after determining the connection status between adjacent candidate area blocks, the target area block can be determined based on the connection status and the candidate area blocks, and then the target area blocks can be connected to perform path planning. Among them, one navigation route can be generated according to the path planning, or multiple navigation routes can be generated according to the path planning, which is not limited in this embodiment. In the case of multiple navigation routes, multiple navigation routes can be displayed to the user, or the navigation route with the shortest distance can be selected and displayed to the user, or other methods can be used, which is not limited in this embodiment.

[0152] Furthermore, since some areas may not be accessible, the communication areas need to be screened, and the selecting of the area blocks to be selected from the area blocks according to the start and end point information includes:

[0153] Determine surface type information according to the surface information; determine the surface type corresponding to each area block according to the surface type information; and select a to-be-selected area block from the area blocks according to the start and end point information and the surface type.

[0154] It can be understood that the surface type information can be determined based on the surface information, and then the surface type corresponding to each area block can be determined based on the surface type information, where the surface type may include deserts, waters, grasslands, mountains, and swamps, etc., and may also be other surface types, which are not limited in this embodiment.

[0155] It should be understood that due to certain surface types, such as swamps, vehicles are difficult to pass through and there is a great risk of passing through. Therefore, in order to reduce safety risks and ensure the safety of drivers, the candidate area blocks can be selected from the area blocks according to the surface type and the start and end point information. For example, the area blocks with the surface type of swamp in the area blocks can be filtered out, and the remaining area blocks are used as the candidate area blocks.

[0156] Furthermore, in order to improve the detection efficiency of determining the connection status between adjacent to-be-selected area blocks, the step of determining the connection status between adjacent to-be-selected area blocks according to the to-be-selected surface information includes:

[0157] Detect the to-be-processed center point of the to-be-selected area block; determine the to-be-processed surface information corresponding to the to-be-processed center point based on the to-be-selected surface information; determine the connection status between adjacent to-be-processed center points based on the to-be-processed surface information; determine the connection status between adjacent to-be-selected area blocks based on the connection status between adjacent to-be-processed center points.

[0158] It is understandable that the center point to be processed of the selected area block can be detected, and for the convenience of calculation, the area block can be represented by the center point. The selected surface information corresponding to the center point to be processed can be determined according to the selected surface information, and the connection status between adjacent center points to be processed can be determined according to the surface information to be processed, so as to determine the connection status between adjacent area blocks to be selected.

[0159] Further, the determining the connection status between adjacent center points to be processed according to the surface information to be processed includes:

[0160] Determine the slope information and the slope direction information to be selected according to the surface information to be selected; determine the connection slope between adjacent center points to be processed according to the slope information to be selected; determine the height difference between adjacent center points to be processed according to the slope information to be selected and the surface information to be selected; determine the connection status between adjacent center points to be processed according to the connection slope and the height difference.

[0161] It is understandable that the slope information and the aspect information to be selected can be determined according to the surface information to be selected, and the connection slope between adjacent center points to be processed can be determined according to the selected slope information, and the height difference between adjacent center points to be processed can be determined according to the selected slope information and the aspect information to be selected. Since the connectivity between adjacent center points to be processed will be weak if the connection slope and / or the height difference between them is large, the slope threshold and the height threshold can be set in advance, and the connection slope and the height difference can be compared with the slope threshold and the height threshold, respectively, to determine the connection status between adjacent center points to be processed.

[0162] In the specific implementation, Figure 7 As shown, through the calculation and route planning of the above steps, two navigation routes can be determined: one is starting point-point A-point B-point D-point E-end point, and the other is starting point-point B-point C-end point.

[0163] Furthermore, due to the different passability of different modes of transportation, for example, there is a difference in the passability of off-road vehicles and cars, and some sections are passable by off-road vehicles but not by cars. In order to ensure the passability of users and avoid encountering obstacles when users move forward according to the navigation route, the connection state between adjacent to-be-processed center points is determined according to the connection slope and the height difference, including:

[0164] Determine the mode of transportation according to the route planning request; when the mode of transportation is a car, obtain the vehicle type of the car; determine the connection status between adjacent center points to be processed according to the vehicle type, the connection slope and the height difference.

[0165] It is understandable that the mode of transportation can be determined according to the route planning request. When the mode of transportation is a car, the vehicle type of the car can be obtained, and the vehicle type can include an off-road vehicle, a sedan, a truck, etc., and can also be other vehicle types, which are not limited in this embodiment. After determining the vehicle type, the connection state between adjacent center points to be processed can be determined according to the vehicle type, the connection slope, and the height difference, which improves the user's passability and improves the accuracy of navigation.

[0166] In this embodiment, the target image corresponding to the target area is obtained; image recognition is performed on the target image to obtain ground morphological information of the target area; the ground morphological information is digitized to obtain DEM data corresponding to the target area, and surface information is extracted from the DEM data; dynamic connected grid index data is constructed according to the surface information; and route planning is performed according to the dynamic connected grid index data and the start and end point information. Thus, a safer navigation route can be provided to the user, the user's passability is guaranteed, and the accuracy of navigation is improved.

[0167] In addition, an embodiment of the present invention further proposes a storage medium, on which a route planning program is stored. When the route planning program is executed by a processor, the steps of the route planning method described above are implemented.

[0168] Since the storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0169] In addition, refer to Figure 8 The embodiment of the present invention further provides a route planning device, the route planning device comprising:

[0170] The start and end point information module 10 is used to determine the start and end point information according to the route planning request when a route planning request is received.

[0171] The target area module 20 is used to determine the target area according to the start and end point information.

[0172] The data acquisition module 30 is used to acquire the digital elevation model DEM data corresponding to the target area.

[0173] The route planning module 40 is used to plan a route according to the DEM data and the start and end point information.

[0174] In this embodiment, when a route planning request is received, the start and end point information is determined according to the route planning request; the target area is determined according to the start and end point information; the digital elevation model DEM data corresponding to the target area is obtained; and the route is planned according to the DEM data and the start and end point information. In the wild where there is no road, the start and end point information and the target area can be determined according to the route planning request, and the route is planned according to the DEM data and the start and end point information of the target area, so that navigation can be provided for the user in the wild environment.

[0175] In one embodiment, the route planning module 40 is also used to use the area in the target area where navigation data exists as the first area to be processed; use the area in the target area where no navigation data exists as the second area to be processed; determine the intersection point information based on the first area to be processed and the second area to be processed; and perform route planning based on the first area to be processed, the second area to be processed, the start and end point information, the intersection point information, the target navigation data and the DEM data.

[0176] In one embodiment, the route planning module 40 is also used to determine vector data based on the target navigation data; perform a first route planning based on the first area to be processed, the start and end point information, the intersection point information and the vector data; select target DEM data corresponding to the second area to be processed from the DEM data; and perform a second route planning based on the second area to be processed, the start and end point information, the intersection point information, and the target DEM data.

[0177] In one embodiment, the route planning module 40 is further used to determine first planning data according to the first route planning result, and to determine second planning data according to the second route planning result; and to perform navigation according to the first planning data and the second planning data.

[0178] In one embodiment, the route planning module 40 is also used to determine a first navigation route based on the first planning data, and determine a second navigation route based on the second planning route; generate a target navigation route based on the first navigation route and the second navigation route, and navigate according to the target navigation route.

[0179] In one embodiment, the start and end point information module 10 is further used to determine the end point information and the route planning type according to the route planning request; determine whether the route planning type is a preset type; if the route planning type is a preset type, obtain the current location information, and determine the start point information according to the current location information. If the route planning type is not a preset type, determine the start point information according to the route planning request; determine the start and end point information according to the start point information and the end point information.

[0180] In one embodiment, the data acquisition module 30 is further used to acquire a target image corresponding to the target area; perform image recognition on the target image to obtain ground morphology information of the target area; and digitize the ground morphology information to obtain DEM data corresponding to the target area.

[0181] In one embodiment, the route planning module 40 is further used to extract surface information from the DEM data; construct dynamic connected grid index data based on the surface information; and perform route planning based on the dynamic connected grid index data and the start and end point information.

[0182] In one embodiment, the route planning module 40 is further used to divide the target area into multiple area blocks according to the dynamic connected grid index data; select a candidate area block from the area blocks according to the start and end point information, and select candidate surface information corresponding to the candidate area block from the surface information; determine the connection status between adjacent candidate area blocks according to the candidate surface information; determine the target area block according to the connection status and the candidate area block, and perform route planning according to the target area block.

[0183] In one embodiment, the route planning module 40 is further used to determine surface type information based on the surface information; determine the surface type corresponding to each area block based on the surface type information; and select a candidate area block from the area blocks based on the start and end point information and the surface type.

[0184] In one embodiment, the route planning module 40 is also used to detect the center point to be processed of the area block to be selected; determine the surface information to be processed corresponding to the center point to be processed based on the surface information to be selected; determine the connection status between adjacent center points to be processed based on the surface information to be processed; determine the connection status between adjacent area blocks to be selected based on the connection status between adjacent center points to be processed.

[0185] In one embodiment, the route planning module 40 is also used to determine the selected slope information and the selected slope direction information according to the selected surface information; determine the connection slope between adjacent center points to be processed according to the selected slope information; determine the height difference between adjacent center points to be processed according to the selected slope information and the selected slope direction information; determine the connection status between adjacent center points to be processed according to the connection slope and the height difference.

[0186] In one embodiment, the route planning module 40 is also used to determine the mode of transportation according to the route planning request; when the mode of transportation is a car, obtain the vehicle type of the car; and determine the connection status between adjacent center points to be processed according to the vehicle type, the connection slope and the height difference.

[0187] For other embodiments or specific implementation methods of the route planning device of the present invention, reference may be made to the above-mentioned method embodiments, which will not be described in detail here.

[0188] It should be noted that, in this article, the terms "include", "comprises" or any other variations 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, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0189] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0190] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product is stored in a computer-readable storage medium (such as ROM / RAM, disk, CD) as described above, including a number of instructions for enabling an intelligent device (which can be a mobile phone, computer, route planning device, or network route planning device, etc.) to execute the methods described in each embodiment of the present invention.

[0191] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A route planning method, characterized in that: The route planning method comprises the following steps: Upon receiving a route planning request, determining the start and end point information according to the route planning request; Determine the target area according to the start and end point information; Acquire digital elevation model (DEM) data corresponding to the target area; Extracting surface information from the DEM data; Constructing dynamic connected grid index data according to the surface information; Dividing the target area into a plurality of area blocks according to the dynamic connected grid index data; Selecting a candidate area block from the area blocks according to the start and end point information, and selecting candidate surface information corresponding to the candidate area block from the surface information; Determining the connection status between adjacent to-be-selected area blocks according to the to-be-selected surface information; Determine a target area block according to the connection state and the candidate area block, and perform route planning according to the target area block; The step of determining the connection status between adjacent candidate area blocks according to the candidate surface information includes: Determine the slope information to be processed and the slope direction information to be processed corresponding to the center point to be processed according to the selected surface information; Determining the connection slope between adjacent center points to be processed according to the slope information to be processed; Determine the height difference between adjacent center points to be processed according to the slope information to be processed and the slope direction information to be processed; The connection status between adjacent to-be-selected area blocks is determined according to the connection slope and the height difference.

2. The route planning method according to claim 1, characterized in that: The route planning according to the DEM data and the start and end point information includes: Detecting whether navigation data corresponding to the target area can be found; When the navigation data corresponding to the target area cannot be found, route planning is performed according to the DEM data and the start and end point information.

3. The route planning method according to claim 2, characterized in that: After the detection of whether the navigation data corresponding to the target area can be found, the method further includes: When navigation data corresponding to the target area can be found, searching for target navigation data corresponding to the target area; Route planning is performed according to the target navigation data, the DEM data and the start and end point information.

4. The route planning method according to claim 3, characterized in that: The performing route planning according to the navigation data, the DEM data and the start and end point information comprises: Taking the area in the target area where navigation data exists as the first area to be processed; taking an area in the target area where no navigation data exists as a second area to be processed; Determine intersection point information according to the first to-be-processed area and the second to-be-processed area; Route planning is performed according to the first area to be processed, the second area to be processed, the start and end point information, the intersection point information, the target navigation data and the DEM data.

5. The route planning method according to claim 4, characterized in that: The performing of route planning according to the first to-be-processed area, the second to-be-processed area, the start and end point information, the intersection point information, the target navigation data and the DEM data includes: Determine vector data according to the target navigation data; Performing a first route planning according to the first area to be processed, the start and end point information, the intersection point information and the vector data; Selecting target DEM data corresponding to the second area to be processed from the DEM data; A second route planning is performed according to the second area to be processed, the start and end point information, the intersection point information, and the target DEM data.

6. The route planning method according to claim 5, characterized in that: After performing the second route planning according to the second area to be processed, the intersection point information, the start and end point information and the DEM data, the method further includes: Determining first planning data according to the first route planning result, and determining second planning data according to the second route planning result; Navigation is performed according to the first planning data and the second planning data.

7. The route planning method according to claim 6, characterized in that: The navigating according to the first planning data and the second planning data includes: determining a first navigation route according to the first planning data, and determining a second navigation route according to the second planning route; A target navigation route is generated according to the first navigation route and the second navigation route, and navigation is performed according to the target navigation route.

8. The route planning method according to any one of claims 1 to 7, characterized in that: When receiving a route planning request, determining the start and end point information according to the route planning request includes: Determine the destination information and the route planning type according to the route planning request; Determining whether the route planning type is a preset type; When the route planning type is a preset type, obtaining current positioning information, and determining starting point information according to the current positioning information; When the route planning type is not a preset type, determining starting point information according to the route planning request; The starting and ending point information are determined according to the starting point information and the ending point information.

9. The route planning method according to any one of claims 1 to 7, characterized in that: The step of obtaining the digital elevation model (DEM) data corresponding to the target area includes: Acquire a target image corresponding to the target area; Performing image recognition on the target image to obtain ground morphological information of the target area; The ground morphology information is digitized to obtain DEM data corresponding to the target area.

10. The route planning method according to claim 1, characterized in that: The selecting a to-be-selected area block from the area blocks according to the start and end point information includes: determining surface type information according to the surface information; Determine the surface type corresponding to each area block according to the surface type information; A to-be-selected area block is selected from the area blocks according to the start and end point information and the surface type.

11. The route planning method according to claim 1, characterized in that: Before determining the surface information to be processed corresponding to the center point to be processed according to the selected surface information, the method further includes: Detect the center point of the selected area block to be processed.

12. The route planning method according to claim 1, characterized in that: The step of determining the connection state between adjacent to-be-selected area blocks according to the connection slope and the height difference includes: Determining the connection status between adjacent center points to be processed according to the connection slope and the height difference; The connection status between adjacent to-be-selected area blocks is determined according to the connection status between the adjacent to-be-processed center points.

13. The route planning method according to claim 12, characterized in that: The step of determining the connection state between adjacent center points to be processed according to the connection slope and the height difference includes: determining a mode of transportation based on the route planning request; When the transportation mode is a car, obtaining the vehicle type of the car; The connection status between adjacent center points to be processed is determined according to the vehicle type, the connection slope and the height difference.

14. A route planning device, characterized in that: The route planning device comprises: A start and end point information module, used to determine the start and end point information according to the route planning request when receiving the route planning request; A target area module, used to determine the target area according to the start and end point information; A data acquisition module is used to acquire digital elevation model (DEM) data corresponding to the target area; A route planning module, used for performing route planning according to the DEM data and the start and end point information; The route planning module is further used to extract surface information from the DEM data; construct dynamic connected grid index data according to the surface information; divide the target area into multiple area blocks according to the dynamic connected grid index data; select a candidate area block from the area block according to the start and end point information, and select candidate surface information corresponding to the candidate area block from the surface information; determine the connection status between adjacent candidate area blocks according to the candidate surface information; determine the target area block according to the connection status and the candidate area block, and perform route planning according to the target area block; The route planning module is also used to determine the slope information to be processed and the slope direction information to be processed corresponding to the center point to be processed according to the surface information to be selected; determine the connection slope between adjacent center points to be processed according to the slope information to be processed; determine the height difference between adjacent center points to be processed according to the slope information to be processed and the slope direction information to be processed; and determine the connection status between adjacent area blocks to be selected according to the connection slope and the height difference.

15. The route planning device according to claim 14, characterized in that: The route planning module is also used to detect whether navigation data corresponding to the target area can be found; when navigation data corresponding to the target area cannot be found, route planning is performed according to the DEM data and the start and end point information.

16. The route planning device according to claim 15, characterized in that: The route planning module is further used to find target navigation data corresponding to the target area when navigation data corresponding to the target area can be found; and perform route planning according to the target navigation data, the DEM data and the start and end point information.

17. A route planning device, characterized in that: The route planning device comprises: a memory, a processor, and a route planning program stored in the memory and executable on the processor, wherein the route planning program is configured to implement the steps of the route planning method according to any one of claims 1 to 13.

18. A storage medium, characterized in that: The storage medium stores a route planning program, and when the route planning program is executed by the processor, the steps of the route planning method according to any one of claims 1 to 13 are implemented.

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