Navigation path planning method, device, computer equipment and storage medium

Abstract

The present application relates to a navigation path planning method, device, computer equipment, storage medium and computer program product. The method includes: when the inspection vehicle is detected to be off course, obtaining the route data of the custom route; preprocessing the route data to obtain the valid trajectory points of the custom route; matching the candidate road segment set with the valid trajectory points within the matching range from the road network data, and determining the road matching value between the valid trajectory points and each candidate road segment in the candidate road segment set; determining the optimal path of the custom route according to the road matching value and the candidate road segment set by looping through the valid trajectory points; and correcting the navigation deviation route of the inspection vehicle according to the optimal path, the custom route and the road network data. The use of this method can improve the path accuracy of the transmission line inspection and reduce the investment of time and labor costs.

Description

Technical Field

[0001] The present application relates to the field of positioning and navigation technology, and in particular to a navigation path planning method, device, computer equipment, storage medium and computer program product. Background Art

[0002] Positioning and navigation technology has been widely used. For example, positioning and navigation technology is used in the field of unmanned driving and in ultra-high voltage inspection (such as transformer inspection and transmission line inspection). The current navigation engine technology is relatively closed and only provides corresponding path planning and navigation services to users. It cannot integrate navigation data for users' free trajectory data to perform path planning and navigation.

[0003] In the power industry's transmission line inspection business, the inspection environment of the transmission lines is relatively complex. In the transmission line inspection, the existing navigation engine is unable to integrate navigation data for uncollected roads, mountain paths inspected by transmission team members, and user-owned trajectory data, resulting in low path accuracy in the transmission line inspection business. In the power industry's transmission line inspection business, there is an embarrassing situation where it takes 10 minutes to work and 1 hour to find the way, which requires more time and manpower costs. Summary of the invention

[0004] Based on this, it is necessary to provide a navigation path planning method, device, computer equipment, computer-readable storage medium and computer program product that can improve the path accuracy of transmission line inspection and reduce the investment in time and manpower costs in order to address the above technical problems.

[0005] In a first aspect, the present application provides a navigation path planning method. The method comprises:

[0006] When the inspection vehicle is detected to be off course, the route data of the custom route is obtained;

[0007] Preprocessing the route data to obtain valid trajectory points of the custom route;

[0008] Matching a set of candidate road segments within a matching range of the valid trajectory point from the road network data, and determining a road matching value between the valid trajectory point and each candidate road segment in the set of candidate road segments;

[0009] By looping through the valid trajectory points, determining the optimal path of the custom route according to the road matching value and the candidate road segment set;

[0010] The navigation deviation route of the inspection vehicle is corrected according to the optimal path, the custom route and the road network data.

[0011] In one embodiment, the preprocessing of the route data to obtain valid track points of the custom route includes:

[0012] Obtaining trajectory points in the route data;

[0013] Preprocessing is performed on the trajectory point data of the trajectory point to obtain valid trajectory points of the custom route; the trajectory point data at least includes any one of the collection and return time point, azimuth angle and speed of the trajectory point.

[0014] In one embodiment, matching the candidate road segment set whose valid trajectory points are within the matching range from the road network data includes:

[0015] Matching a preliminary candidate road segment set whose valid trajectory points are within a matching range from the road network data;

[0016] The preliminary candidate road segment set is subjected to spatial analysis and anomaly analysis to obtain a candidate road segment set whose valid trajectory points are within a matching range.

[0017] In one embodiment, the performing of spatial analysis and anomaly analysis on the preliminary candidate road segment set to obtain the candidate road segment set whose valid trajectory points are within the matching range includes:

[0018] According to the collection and transmission time points of the effective trajectory points, the effective trajectory points within the specified radius within the continuous time period are determined to obtain the corresponding trajectory accumulation points;

[0019] Performing road grasping matching on target valid trajectory points in the trajectory accumulation points, and obtaining an intermediate candidate road segment set from the preliminary candidate road segment set;

[0020] The intermediate candidate road segment set is filtered by distance and / or direction to obtain a candidate road segment set whose valid trajectory points are within a matching range.

[0021] In one of the embodiments, determining the road matching value between the valid trajectory point and each candidate road segment in the candidate road segment set includes:

[0022] Determine the projection point of the valid trajectory point on each of the candidate road segments;

[0023] A road matching value between the valid trajectory point and each candidate road segment in the candidate road segment set is determined according to the distance between the valid trajectory point and the projection point.

[0024] In one embodiment, the step of looping through the valid trajectory points and determining the optimal path of the custom route according to the road matching value and the candidate road segment set includes:

[0025] Determining the optimal road segment of the valid trajectory point from the candidate road segment set according to the numerical value of the road matching value;

[0026] Determine a driving path between two adjacent valid trajectory points in the valid trajectory points by traversing the valid trajectory points in a loop;

[0027] An optimal path for the custom route is determined according to the driving path and the candidate road segment set.

[0028] In one embodiment, the correcting of the navigation deviation route of the inspection vehicle according to the optimal path, the custom route and the road network data includes:

[0029] After the optimal path is topologically connected and associated with the custom route, it is merged with the road network data to obtain navigation engine data;

[0030] The navigation deviation route of the inspection vehicle is corrected according to the navigation engine data to obtain a target navigation path of the inspection vehicle.

[0031] In a second aspect, the present application also provides a navigation path planning device. The device comprises:

[0032] An acquisition module is used to acquire the route data of a custom route when it is detected that the inspection vehicle deviates;

[0033] A preprocessing module, used for preprocessing the route data to obtain valid trajectory points of the custom route;

[0034] A matching module, used to match the candidate road segment set of the valid trajectory point within the matching range from the road network data; and determine the road matching value between the valid trajectory point and each candidate road segment in the candidate road segment set;

[0035] A determination module, configured to determine the optimal path of the custom route according to the road matching value and the candidate road segment set by traversing the valid trajectory points in a loop;

[0036] The route correction module is used to correct the navigation deviation route of the inspection vehicle according to the optimal path, the custom route and the road network data.

[0037] In a third aspect, the present application further provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0038] When the inspection vehicle is detected to be off course, the route data of the custom route is obtained;

[0039] Preprocessing the route data to obtain valid trajectory points of the custom route;

[0040] Matching a set of candidate road segments within a matching range of the valid trajectory point from the road network data, and determining a road matching value between the valid trajectory point and each candidate road segment in the set of candidate road segments;

[0041] By looping through the valid trajectory points, determining the optimal path of the custom route according to the road matching value and the candidate road segment set;

[0042] The navigation deviation route of the inspection vehicle is corrected according to the optimal path, the custom route and the road network data.

[0043] In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0044] When the inspection vehicle is detected to be off course, the route data of the custom route is obtained;

[0045] Preprocessing the route data to obtain valid trajectory points of the custom route;

[0046] Matching a set of candidate road segments within a matching range of the valid trajectory point from the road network data, and determining a road matching value between the valid trajectory point and each candidate road segment in the set of candidate road segments;

[0047] By looping through the valid trajectory points, determining the optimal path of the custom route according to the road matching value and the candidate road segment set;

[0048] The navigation deviation route of the inspection vehicle is corrected according to the optimal path, the custom route and the road network data.

[0049] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0050] When the inspection vehicle is detected to be off course, the route data of the custom route is obtained;

[0051] Preprocessing the route data to obtain valid trajectory points of the custom route;

[0052] Matching a set of candidate road segments within a matching range of the valid trajectory point from the road network data, and determining a road matching value between the valid trajectory point and each candidate road segment in the set of candidate road segments;

[0053] By looping through the valid trajectory points, determining the optimal path of the custom route according to the road matching value and the candidate road segment set;

[0054] The navigation deviation route of the inspection vehicle is corrected according to the optimal path, the custom route and the road network data.

[0055] The above-mentioned navigation path planning method, device, computer equipment, storage medium and computer program product, when the inspection vehicle deviates, determine the valid trajectory points of the custom route by acquiring the route data of the custom route; determine the candidate road segment set of the valid trajectory points; determine the optimal path of the custom route according to the valid trajectory points and the candidate road segment set by looping through the valid trajectory points; correct the navigation deviation route of the inspection vehicle according to the optimal path, the custom route and the road network data; that is, by accessing the autonomous road navigation, when the transmission line deviates during the inspection process, correct navigation and deviation calculation are performed based on the combination of the own road data, thereby ensuring the accuracy and comprehensiveness of the transmission line inspection path, thereby improving the inspection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 A diagram of an application environment of a navigation path planning method in an embodiment;

[0057] Figure 2 A flowchart of a navigation path planning method in one embodiment;

[0058] Figure 3 A schematic diagram of a flow chart of a method for determining candidate road segments of valid trajectory points in one embodiment;

[0059] Figure 4 is a flowchart of a navigation path planning method in another embodiment;

[0060] Figure 5 A schematic diagram of a flow chart of a method for determining an optimal path of a custom route in one embodiment;

[0061] Figure 6 is a structural block diagram of a navigation path planning device in one embodiment;

[0062] Figure 7 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0064] The navigation path planning method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers. When the inspection vehicle is detected to be off course, the terminal 102 obtains the route data of the custom route from the server 104; pre-processes the route data to obtain the valid trajectory points of the custom route; matches the candidate road segment set with the valid trajectory points within the matching range from the road network data, and determines the road matching value between the valid trajectory points and each candidate road segment in the candidate road segment set; by looping through the valid trajectory points, the optimal path of the custom route is determined according to the road matching value and the candidate road segment set; according to the optimal path, the custom route and the road network data, the navigation deviation route of the inspection vehicle is corrected. Among them, the terminal 102 can be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, Internet of Things devices and portable wearable devices, and the Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart car-mounted devices, etc. The portable wearable device may be a smart watch, a smart bracelet, a head-mounted device, etc. The server 104 may be implemented as an independent server or a server cluster consisting of multiple servers.

[0065] In one embodiment, Figure 2 As shown, a navigation path planning method is provided, which is applied to Figure 1 The terminal in the example of the vehicle-mounted terminal of the inspection vehicle includes the following steps:

[0066] Step 202: When it is detected that the inspection vehicle deviates from the route, the route data of the custom route is obtained.

[0067] Among them, the inspection vehicle can be an inspection vehicle in different application scenarios. In this application, the inspection scenario of ultra-high voltage transmission lines is used as an example for explanation. During the driving process of the vehicle, the on-board terminal of the inspection vehicle locates the current position of the inspection vehicle in real time, and detects whether the inspection vehicle is yawed. The yaw detection is based on the offset between the current position of the inspection vehicle and the planned navigation path being greater than a preset value (for example, 1m). The offset can be achieved using the existing GPS algorithm (such as traversing all GPS point coordinates on the navigation path, calculating the distance one by one according to the current point coordinates of the inspection vehicle, and selecting the coordinates of the two route GPS points closest to the current point to detect whether the inspection vehicle is yawed).

[0068] A custom route refers to a route that does not exist in the existing road network data. It is a low-level road maintained by the user and a road collected by the user. That is, the road information does not exist in the original navigation route, and it is a road maintained by the user according to actual needs. In the application scenario of ultra-high voltage transmission line inspection, a custom route is a walking track collected by the operator during the inspection, and a vehicle track that does not exist in the pre-built-in navigation. The route data (i.e., KML data) of a custom route includes multiple track points and the track point coordinates of each track point.

[0069] Specifically, the on-board terminal of the inspection vehicle locates the current position in real time. When it is detected that the current position deviates from the planned navigation path, it triggers the generation of a navigation path correction instruction, and obtains the route data of the custom route from the server according to the navigation path correction instruction.

[0070] Step 204, pre-processing the route data to obtain valid track points of the custom route.

[0071] Among them, preprocessing refers to data cleaning of route data according to preset conditions, including time filtering and exception filtering; the route data includes trajectory point data of the trajectory points of the custom route, and the trajectory point data includes trajectory point coordinates, collection and return time, azimuth, speed, etc. Data cleaning can be to clean the trajectory points (GPS points) in the route data and remove invalid trajectory points; each trajectory point in the route data has corresponding trajectory point data. In other words, the preset conditions include preset conditions for time filtering and exception filtering, the preset conditions for time filtering include duplication of collection and return time, the preset conditions for exception filtering include not being within the preset azimuth range and not being within the preset speed range, and the trajectory point coordinates of the trajectory point are not within the preset coordinate range (for example, the longitude and latitude coordinates are negative values).

[0072] Specifically, the vehicle terminal pre-processes the route data, deletes invalid track points in the route data, and obtains valid track points of the custom route data. Further, the track points in the route data are obtained; the track point data of the track points are pre-processed to obtain valid track points of the custom route; the track point data includes at least one of the collection and return time point, azimuth and speed of the track point. It can be understood that the track points in the route data are sorted according to the collection and return time, and the track points with the same collection and return time are deleted, and only the first collection and return track point is retained. It can be understood that the first collection and return track point is retained at the same collection and return time, and other track points are deleted; the obtained track points continue to be cleaned, and the track points that are not within the preset azimuth range, greater than the preset speed, and the position coordinates are not within the preset longitude and latitude range are cleaned to obtain valid track points, for example, the track points with a negative speed or more than 1200km / h, a direction greater than 360 degrees, and a negative longitude and latitude coordinates or a preset range are cleaned.

[0073] Step 206, matching a set of candidate road segments whose valid trajectory points are within a matching range from the road network data, and determining a road matching value between the valid trajectory points and each candidate road segment in the set of candidate road segments.

[0074] Among them, road network data is pre-collected data, including existing roads and standard navigation electronic map data. Candidate road segments refer to standard navigation links, that is, the road information exists in the original navigation route, and the minimum segment of road data is 1 link. The matching range is determined based on the actual navigation accuracy. Different application scenarios have different requirements for navigation accuracy, and the corresponding matching range is also different for different navigation accuracy requirements. Within the matching range, there are multiple candidate road segments for each valid trajectory point.

[0075] The road matching value is the matching probability value calculated based on the distance between the valid trajectory point and the projection point of the valid trajectory point. The distance between the valid trajectory point and the projection point of the valid trajectory point satisfies the normal distribution N(μ,σ2); the projection point of the valid trajectory point refers to the point where the valid trajectory point is projected on the candidate road segment.

[0076] Specifically, a set of candidate road segments with valid trajectory points within the matching range is matched from the road network data, the projection points of each valid trajectory point on each candidate road segment in the candidate road segment set are determined, the distance value between the valid trajectory point and the projection point is calculated, and the road matching value between the valid trajectory point and each candidate road segment in the candidate road segment set is determined according to the rule that the distance satisfies the normal distribution.

[0077] Furthermore, a preliminary candidate road segment set whose valid trajectory points are within the matching range is matched from the road network data; spatial analysis and anomaly analysis are performed on the preliminary candidate road segment set to obtain a candidate road segment set whose valid trajectory points are within the matching range.

[0078] Among them, spatial analysis refers to determining the corresponding trajectory accumulation point according to the collection and return time of the effective trajectory point, and determining the first effective trajectory point in each trajectory accumulation point; performing abnormal analysis on the first effective trajectory point in each trajectory accumulation point refers to analyzing whether the distance and / or direction angle between the effective trajectory point and the preliminary candidate road segment is greater than the corresponding threshold, including: calculating the distance from the effective trajectory point to each preliminary candidate road segment in the corresponding preliminary candidate road segment set, when the distance is greater than the distance threshold (which can be adjusted according to actual needs, for example, 80 meters), it is determined that the preliminary candidate road segment is abnormal and needs to be filtered; and calculating the angle between the direction of the effective trajectory point and the driving direction of each preliminary candidate road segment in the corresponding preliminary candidate road segment set, when the angle is greater than the angle threshold (which can be adjusted according to actual needs, for example, 85 degrees), it is determined that the preliminary candidate road segment is abnormal and needs to be filtered.

[0079] Specifically, a preliminary candidate road segment set whose valid trajectory points are within the matching range is matched from the road network data, the corresponding trajectory accumulation point is determined according to the collection and return time of the valid trajectory point, the first valid trajectory point in each trajectory accumulation point is determined, and an abnormal analysis is performed on the first valid trajectory point in each trajectory accumulation point, which means analyzing whether the distance and / or direction angle between the valid trajectory point and the preliminary candidate road segment is greater than the corresponding threshold value, deleting the preliminary candidate road segments whose distance and / or direction angle is greater than the corresponding threshold value, and obtaining a candidate road segment set whose valid trajectory points are within the matching range. By performing spatial analysis and abnormal analysis on the candidate road segments, the navigation accuracy is improved.

[0080] Step 208 , by looping through the valid trajectory points, the optimal path of the custom route is determined according to the road matching value and the candidate road segment set.

[0081] Among them, the road network itself has directions, topological relationships, and associated nodes. When looping through the valid trajectory points, the candidate road section sequence of the custom route is determined based on the valid trajectory points, and the order of traversal of the valid trajectory points is determined.

[0082] Specifically, according to the size of the road matching value and based on the normal distribution, the probability value of each candidate road segment is calculated through spatial analysis (including spatial information quantity calculation, spatial information classification, buffer analysis, overlay analysis, network analysis, spatial statistical analysis and other algorithms), and the best projection point of the valid trajectory point and the corresponding best candidate road segment (i.e., the coordinates of the perpendicular point of the valid trajectory point and the optimal candidate Link) are backtracked to obtain; according to the inherent properties of the existing road network, the sequence of candidate road segments for the custom route is determined, and the valid trajectory points are traversed according to the candidate road segment sequence to obtain the path between every two adjacent valid trajectory points, and the optimal path of the custom route is determined.

[0083] Step 210, correcting the navigation deviation route of the inspection vehicle according to the optimal path, the custom route and the road network data.

[0084] Among them, the optimal path is topologically associated with the custom line. The topological connectivity association between the optimal path and the custom line can be achieved through existing road network related technologies, such as establishing a road node at the end of the optimal path according to the field attribute specifications of the standard navigation Link, connecting to the custom road, and setting up more nodes according to the intersection of the custom road to describe the turning information of the custom road.

[0085] Correction is to correct and re-plan the inspection route of the inspection vehicle by associating the optimal path and the custom route, and then fusing and compiling the navigation engine data with the road network data; the correction result includes the historical inspection data of the inspection vehicle and the inspection habitual route (that is, the route with an inspection frequency greater than the preset frequency, which can be understood as the inspection preference route).

[0086] Specifically, according to the field attribute specifications of the standard navigation Link, a road node is established at the end of the optimal path, connected to the custom road, and more nodes are set up according to the intersection of the custom road, describing the turning information of the custom road, and the optimal path is topologically connected with the custom line, and the missing road data is supplemented to obtain the road data of the custom line. The road network data is updated according to the road data of the custom line, and the navigation route of the inspection vehicle is corrected based on the updated road network data to obtain the planned navigation path. Among them, the road data includes road type, paving status and driving speed, road slope, road curvature, driving speed and other data.

[0087] Furthermore, before the navigation route of the patrol vehicle is corrected based on the updated road network data, the target road data is obtained from the updated road network data and the target road data is verified (for example, the corresponding driving speed is calculated through the road attributes in the road data, and the calculated driving speed is compared with the actual travel speed to verify the current road status). When the verification passes, the navigation route of the patrol vehicle is corrected based on the updated road network data to avoid the situation where the own data cannot be recognized and the correction route calculation is incorrect.

[0088] In the above navigation path planning method, when the inspection vehicle deviates, the route data of the custom route is obtained to determine the valid trajectory points of the custom route; the candidate road segment set of the valid trajectory points is determined; the effective trajectory points are traversed in a loop, and the optimal path of the custom route is determined according to the valid trajectory points and the candidate road segment set; the navigation offset route of the inspection vehicle is corrected according to the optimal path, the custom route and the road network data; that is, by accessing the autonomous road navigation, when the transmission line deviates during the inspection process, correct navigation and deviation calculation are performed based on the combination of the own road data, thereby ensuring the accuracy and comprehensiveness of the transmission line inspection path, thereby improving the inspection efficiency.

[0089] In one embodiment, Figure 3 As shown, a method for determining candidate road segments of valid trajectory points is provided, and the method is applied to Figure 1 The terminal in the example of the vehicle-mounted terminal of the inspection vehicle includes the following steps:

[0090] Step 302: Match a preliminary candidate road segment set whose valid trajectory points are within a matching range from the road network data.

[0091] Among them, the matching range is predetermined; the preliminary candidate road segments have corresponding turning information.

[0092] Specifically, a set of preliminary candidate road segments within the matching range is matched from the collected road network data according to the trajectory point coordinates of the valid trajectory points; that is, there is at least one preliminary candidate road segment within the matching range for one valid trajectory point; for example, when the inspection vehicle is at an intersection, there are preliminary candidate road segments to the left and to the right within the matching range.

[0093] Step 304, according to the collection and transmission time points of the valid trajectory points, the valid trajectory points within the specified radius in the continuous time period are determined to obtain the corresponding trajectory accumulation points.

[0094] Among them, the specified radius range is pre-set, for example, it can be but not limited to 10 to 15 meters. The track accumulation point is a valid track point within the specified radius range in a continuous time period. For example, the GPS points in a continuous time period are concentrated within a radius of 10 to 15 meters, and the direction of the connection between the two GPS points before and after is unstable. For example, the track accumulation point includes valid track point A, valid track point B, valid track point C, and valid track point D. The direction of the connection between valid track point A and valid track point B may be in the same direction as the direction of the connection between valid track point B and valid track point C, or it may not be in the same direction.

[0095] Step 306: perform road tracking matching on the target valid trajectory points in the trajectory accumulation points, and obtain an intermediate candidate road segment set from the preliminary candidate road segment set.

[0096] Among them, the target valid trajectory point is determined according to the collection return time, that is, the collection return time of each valid trajectory point in the trajectory accumulation point determines the first valid trajectory point returned as the target valid trajectory point. Road tracking matching refers to matching the target valid trajectory point with the preliminary candidate road segment set to obtain the intermediate candidate road segment set within the matching range.

[0097] Specifically, the collection and return time of each valid trajectory point in the trajectory accumulation point determines the first returned valid trajectory point as the target valid trajectory point, and the target valid trajectory point is matched with the preliminary candidate road segment set to obtain the intermediate candidate road segment set within the matching range.

[0098] Step 308: filtering the intermediate candidate road segment set by distance and / or direction to obtain a candidate road segment set whose valid trajectory points are within the matching range.

[0099] Among them, distance filtering refers to deleting the intermediate candidate road segments whose distance between the target valid trajectory point and the intermediate candidate road segment set is greater than the distance threshold; direction filtering refers to deleting the intermediate candidate road segments whose direction angle between the target valid trajectory point and the intermediate candidate road segment set is greater than the direction threshold.

[0100] Specifically, a preliminary candidate road segment set with valid trajectory points within the matching range is matched from the road network data, the corresponding trajectory accumulation point is determined according to the collection and return time of the valid trajectory point, the first valid trajectory point in each trajectory accumulation point is determined, the target valid trajectory point in the trajectory accumulation point is obtained, the target valid trajectory point in the trajectory accumulation point is matched with the road grasping, an intermediate candidate road segment set is obtained from the preliminary candidate road segment set, the intermediate candidate road segment set is filtered by distance and / or direction, and a candidate road segment set with valid trajectory points within the matching range is obtained.

[0101] In the above-mentioned determination of candidate road segments for valid trajectory points, by determining the valid trajectory points within a specified radius within a continuous time period based on the collection and return time points of the valid trajectory points, the corresponding trajectory accumulation points are obtained, and road grasping matching is performed on the target valid trajectory points in the trajectory accumulation points. An intermediate candidate road segment set is obtained from the preliminary candidate road segment set, and the intermediate candidate road segment set is filtered by distance and / or direction to obtain a candidate road segment set with valid trajectory points within the matching range. By filtering the candidate road segments, the navigation accuracy is improved, the data processing amount is reduced, and the data processing performance is improved.

[0102] In another embodiment, Figure 4 As shown, a navigation path planning method is provided, which is applied to Figure 1 The terminal in the example of the vehicle-mounted terminal of the inspection vehicle includes the following steps:

[0103] Step 402: When it is detected that the inspection vehicle deviates from the route, the route data of the custom route is obtained.

[0104] Step 404, pre-processing the route data to obtain valid track points of the custom route.

[0105] Specifically, preprocessing the route data includes: obtaining track points in the route data; preprocessing the track point data of the track points to obtain valid track points of the custom route; the track point data includes at least one of the collection and return time point, azimuth and speed of the track point. For example, obtaining track points (GPS points) in the route data, sorting them according to the collection and return time, performing time filtering and abnormality filtering on the track points, and obtaining valid track points of the custom route.

[0106] For example, sort the GPS points by their collection and return time, filter out abnormal GPS points, delete the trajectory points with negative speed or exceeding 1200 km / h, direction greater than 360 degrees, and negative longitude and latitude coordinates, and then delete the trajectory points with collection and return time, and only keep one GPS point in the same time period (which can be but is not limited to the first GPS point).

[0107] Step 406, matching a set of candidate road segments whose valid trajectory points are within a matching range from the road network data, and determining a road matching value between the valid trajectory points and each candidate road segment in the set of candidate road segments.

[0108] Specifically, a preliminary candidate road segment set with valid trajectory points within the matching range is matched from the road network data; based on the collection and return time points of the valid trajectory points, the valid trajectory points within the specified radius within the continuous time period are determined to obtain the corresponding trajectory accumulation points; the target valid trajectory points in the trajectory accumulation points are matched with the road, and the intermediate candidate road segment set is obtained from the preliminary candidate road segment set; the intermediate candidate road segment set is filtered by distance and / or direction to obtain the candidate road segment set with valid trajectory points within the matching range. The projection points of the valid trajectory points on each candidate road segment are determined; based on the distance between the valid trajectory points and the projection points, the road matching values ​​between the valid trajectory points and each candidate road segment in the candidate road segment set are determined.

[0109] Step 408 , by looping through the valid trajectory points, the optimal path of the custom route is determined according to the road matching value and the candidate road segment set.

[0110] The optimal path is generally determined based on the user's selected strategy. For example, if small roads are selected first, the custom path is preferred. Figure 5 As shown, the following steps are included:

[0111] Step 502: Determine the optimal road segment of the valid trajectory point from the candidate road segment set according to the numerical value of the road matching value.

[0112] Among them, according to the numerical values ​​of the road matching values, the candidate road segment corresponding to the road matching value with the largest numerical value is determined as the optimal road segment for the valid trajectory point.

[0113] Step 504: determine the driving path between two adjacent valid trajectory points by traversing the valid trajectory points in a loop.

[0114] Among them, when looping through the valid trajectory points and determining the driving path between two adjacent valid trajectory points among the valid trajectory points, when inferring the next position point (such as the next valid trajectory point) based on the current valid trajectory point, if the optimal road segment matched by the current valid trajectory point is not on the road connecting the current valid trajectory point and the next valid trajectory point, it is automatically interrupted, and the optimal road segment of the next valid trajectory point is used as the starting point to continue the inference, and the driving path between two adjacent valid trajectory points among the valid trajectory points is determined in turn, and the distance between the starting point of the optimal road segment of the next valid trajectory point and the next position point is supplemented.

[0115] For example, when the current valid trajectory point starts from point A and is inferred to point B 1 km later, if the road matched by the subsequent GPS point is not on the road connected to point B, it will be automatically interrupted and the inference will continue based on the link matched by the subsequent GPS point as the starting point (such as point C). Then the recommended route from point B to point C is calculated through path planning (i.e. navigation calculation) to complete the calculation. The optimal path is generally determined according to the user's selected strategy. For example, if small roads are selected first, the custom path will be given priority.

[0116] Step 506 , determining the optimal path of the custom route according to the driving path and the candidate road segment set.

[0117] Among them, the optimal path is determined according to the path determination strategy, which can be determined by the shortest time priority or the road grade (for example, the lowest road grade or the highest road grade). The road grade is pre-defined, for example, the road grade of a mountain road is lower than that of a highway. It can also be determined based on the historical inspection habits of the inspection staff.

[0118] Step 410, correcting the navigation deviation route of the inspection vehicle according to the optimal path, the custom route and the road network data.

[0119] Specifically, after the optimal path is topologically connected and associated with the custom route, it is fused with the road network data to obtain the navigation engine data; the navigation offset route of the inspection vehicle is corrected according to the navigation engine data to obtain the target navigation route of the inspection vehicle; that is, the inspection area to be inspected is determined, the road network data of the inspection area is obtained, and when the deviation of the inspection vehicle is detected, the navigation engine data is obtained, which is obtained by integrating and compiling the custom route and the corresponding optimal route in the existing road network data based on the above-mentioned navigation path planning method; the navigation engine data of the inspection area and the inspection destination are obtained, and according to the path planning strategy data (such as the fastest time, the shortest path, not taking the highway, etc.) one or more combinations), convolution processing is performed on the navigation engine data to obtain a corresponding feature map, dilation convolution is performed on the feature map to obtain a first feature of roads with topological association in space, a second feature of the road section closest to the inspection destination, and a third feature representing road attributes (such as expressways / trunk roads / branch roads, custom roads / existing road networks), the first feature, the second feature and the third feature are fused to obtain a first fused feature, the first fused feature and the feature map are fused to obtain a second fused feature, dimensionality reduction processing is performed on the second fused feature to obtain the optimal feature for road planning, the navigation offset route of the inspection vehicle is corrected based on the optimal feature to obtain a target navigation path.

[0120] The navigation engine data refers to updating the road network data after the optimal path is topologically connected and associated with the custom route, that is, obtained through fusion compilation.

[0121] The following is an application scenario of navigation path planning. When the line inspector drives to the end of the existing road network at the foot of the mountain, he finds that there is still a road ahead and on the historical track route (he has been there before), the line inspector chooses to continue moving forward. The navigation detects that the GPS track deviates from the current route (>50 meters), and then starts the deviation recalculation. According to the above navigation path planning method steps, the self-owned route is found and displayed on the map for driving reference. According to the optimal path, custom route and road network data, the navigation deviation route of the inspection vehicle is corrected to obtain the target navigation path of the inspection vehicle and complete the inspection of the transmission line.

[0122] In the above navigation path planning method, by accessing the route data of the custom route, a candidate road segment set is determined based on the valid trajectory points of the custom route; by looping through the valid trajectory points, the optimal path of the custom route is determined based on the valid trajectory points and the candidate road segment set; according to the optimal path, the custom route and the road network data, the navigation offset route of the inspection vehicle is corrected; that is, by accessing the autonomous road navigation, when the transmission line deviates during the inspection, correct navigation and deviation calculation are performed based on the combination of the own road data, thereby ensuring the accuracy and comprehensiveness of the transmission line inspection path, saving time and labor cost investment, and improving the inspection efficiency.

[0123] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0124] Based on the same inventive concept, the embodiment of the present application also provides a navigation path planning device for implementing the navigation path planning method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more navigation path planning device embodiments provided below can refer to the limitations of the navigation path planning method above, and will not be repeated here.

[0125] In one embodiment, Figure 6As shown, a navigation path planning device is provided, including: an acquisition module 602, a preprocessing module 604, a matching module 606, a determination module 608 and a route correction module 610, wherein:

[0126] The acquisition module 602 is used to acquire the route data of the custom route when it is detected that the inspection vehicle deviates.

[0127] The preprocessing module 604 is used to preprocess the route data to obtain valid track points of the custom route.

[0128] The matching module 606 is used to match the candidate road segment set whose valid trajectory points are within the matching range from the road network data; and determine the road matching value between the valid trajectory point and each candidate road segment in the candidate road segment set.

[0129] The determination module 608 is used to determine the optimal path of the custom route according to the road matching value and the candidate road segment set by looping through the valid trajectory points.

[0130] The route correction module 610 is used to correct the navigation deviation route of the inspection vehicle according to the optimal path, the custom route and the road network data.

[0131] The above-mentioned navigation path planning device, when the inspection vehicle deviates, determines the effective trajectory points of the custom route by acquiring the route data of the custom route; determines the candidate road segment set of the effective trajectory points; determines the optimal path of the custom route according to the effective trajectory points and the candidate road segment set by looping through the effective trajectory points; corrects the navigation deviation route of the inspection vehicle according to the optimal path, the custom route and the road network data; that is, by accessing the autonomous road navigation, when the transmission line deviates during the inspection process, correct navigation and deviation calculation are performed based on the combination of the own road data, thereby ensuring the accuracy and comprehensiveness of the transmission line inspection path, thereby improving the inspection efficiency.

[0132] In one embodiment, a navigation path planning device is provided, which includes, in addition to an acquisition module 602, a preprocessing module 604, a matching module 606, a determination module 608 and a route correction module 610, a traversal module and an association module, wherein:

[0133] Optionally, in one embodiment, the acquisition module 602 is further used to acquire track points in the route data.

[0134] Optionally, in one embodiment, the preprocessing module 604 is further used to perform preprocessing based on the trajectory point data of the trajectory point to obtain valid trajectory points of the custom route; the trajectory point data includes at least one of the collection and return time point, azimuth and speed of the trajectory point.

[0135] Optionally, in one embodiment, the matching module 606 is further configured to match a preliminary candidate road segment set whose valid trajectory points are within a matching range from the road network data.

[0136] Optionally, in one embodiment, the pre-processing module 604 is further configured to perform spatial analysis and anomaly analysis on the preliminary candidate road segment set to obtain a candidate road segment set whose valid trajectory points are within the matching range.

[0137] The preprocessing module 604 includes a determination unit, a road tracking matching unit and a preprocessing unit, wherein the determination unit is used to determine the valid trajectory points within a specified radius within a continuous time period according to the collection and return time points of the valid trajectory points, and obtain the corresponding trajectory accumulation points;

[0138] A road tracking and matching unit is used to perform road tracking and matching on target valid trajectory points in the trajectory accumulation points, and obtain an intermediate candidate road segment set from the preliminary candidate road segment set;

[0139] The preprocessing unit is used to filter the intermediate candidate road segment set by distance and / or direction to obtain a candidate road segment set whose valid trajectory points are within the matching range.

[0140] Optionally, in one embodiment, the matching module 606 is further used to determine the projection point of the valid trajectory point on each candidate road segment; and determine the road matching value between the valid trajectory point and each candidate road segment in the candidate road segment set according to the distance between the valid trajectory point and the projection point.

[0141] Optionally, in one embodiment, the determination module 608 is further configured to determine an optimal road segment for a valid trajectory point from the candidate road segment set according to a numerical value of the road matching value.

[0142] The traversal module is used to determine the driving path between two adjacent valid trajectory points by traversing the valid trajectory points in a loop.

[0143] Optionally, in one embodiment, the determination module 608 is further configured to determine an optimal path for the custom route according to the driving path and the candidate road segment set.

[0144] The association module is used to connect the optimal path with the custom line in a topological manner, and then fuse it with the road network data to obtain the navigation engine data.

[0145] Optionally, in one embodiment, the route correction module 610 is used to correct the navigation deviation route of the inspection vehicle according to the navigation engine data to obtain the target navigation path of the inspection vehicle.

[0146] Each module in the above navigation path planning device can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module above.

[0147] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 7 As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a navigation path planning method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a button, a trackball or a touch pad set on the computer device housing, or an external keyboard, touch pad or mouse, etc.

[0148] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0149] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0150] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0151] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0152] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0153] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0154] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0155] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A navigation path planning method, It is characterized in that The method comprises: When the inspection vehicle is detected to be off course, the route data of the custom route is obtained; Acquire the trajectory points in the route data, perform preprocessing on the trajectory point data of the trajectory point, and obtain valid trajectory points of the custom route, wherein the trajectory point data at least includes any one of the collection and return time point, azimuth angle and speed of the trajectory point, and the preprocessing refers to performing data cleaning on the trajectory point data according to preset conditions, wherein the preset conditions include preset conditions for time filtering and abnormal filtering, the preset conditions for time filtering include duplication of collection and return time, the preset conditions for abnormal filtering include not being within a preset azimuth angle range and not being within a preset speed range, and the trajectory point coordinates of the trajectory point are not within a preset coordinate range; Matching a preliminary candidate road segment set whose valid trajectory points are within a matching range from the road network data; According to the collection and transmission time point of the effective trajectory point, determine the effective trajectory point within the specified radius within the continuous time period, and obtain the corresponding trajectory accumulation point, wherein the trajectory accumulation point is the effective trajectory point within the specified radius within the continuous time period; Performing road tracking matching on the target valid trajectory points in the trajectory accumulation points, and obtaining an intermediate candidate road segment set from the preliminary candidate road segment set, wherein the road tracking matching refers to matching the target valid trajectory point with the preliminary candidate road segment set to obtain an intermediate candidate road segment set within a matching range, and the target valid trajectory point refers to the first valid trajectory point returned in the collection and return time of each valid trajectory point of the trajectory accumulation point; Performing distance and / or direction filtering on the intermediate candidate road segment set to obtain a candidate road segment set whose valid trajectory points are within a matching range, wherein the distance filtering refers to deleting the intermediate candidate road segments whose distances between the target valid trajectory points and the intermediate candidate road segment set are greater than a distance threshold, and the direction filtering refers to deleting the intermediate candidate road segments whose direction angles between the target valid trajectory points and the intermediate candidate road segment set are greater than a direction threshold; Determining a road matching value between the valid trajectory point and each candidate road segment in the candidate road segment set; By looping through the valid trajectory points, determining the optimal path of the custom route according to the road matching value and the candidate road segment set; The navigation deviation route of the inspection vehicle is corrected according to the optimal path, the custom route and the road network data.

2. The method according to claim 1, It is characterized in that The determining of the road matching value between the valid trajectory point and each candidate road segment in the candidate road segment set includes: Determine the projection point of the valid trajectory point on each of the candidate road segments; A road matching value between the valid trajectory point and each candidate road segment in the candidate road segment set is determined according to the distance between the valid trajectory point and the projection point.

3. The method according to claim 1, It is characterized in that The step of looping through the valid trajectory points and determining the optimal path of the custom route according to the road matching value and the candidate road segment set includes: Determining the optimal road segment of the valid trajectory point from the candidate road segment set according to the numerical value of the road matching value; Determine a driving path between two adjacent valid trajectory points in the valid trajectory points by traversing the valid trajectory points in a loop; An optimal path for the custom route is determined according to the driving path and the candidate road segment set.

4. The method according to claim 1, It is characterized in that The correcting of the navigation deviation route of the inspection vehicle according to the optimal path, the custom route and the road network data includes: After the optimal path is topologically connected and associated with the custom route, it is merged with the road network data to obtain navigation engine data; The navigation deviation route of the inspection vehicle is corrected according to the navigation engine data to obtain a target navigation path of the inspection vehicle.

5. A navigation path planning device, It is characterized in that The device comprises: An acquisition module, used to acquire the route data of the custom route and the track points in the route data when the inspection vehicle is detected to be off course; A preprocessing module, used for preprocessing the trajectory point data of the trajectory point to obtain the valid trajectory point of the custom route, wherein the trajectory point data at least includes any one of the collection and return time point, azimuth and speed of the trajectory point, and the preprocessing refers to data cleaning of the trajectory point data according to preset conditions, wherein the preset conditions include preset conditions of time filtering and abnormal filtering; the preset conditions of time filtering include duplication of collection and return time, the preset conditions of abnormal filtering include not being within a preset azimuth range and not being within a preset speed range, and the trajectory point coordinates of the trajectory point are not within a preset coordinate range; A matching module, used to match a preliminary candidate road segment set whose valid trajectory points are within a matching range from the road network data; The preprocessing module is further used to determine the valid trajectory points within the specified radius within the continuous time period according to the collection and return time point of the valid trajectory points, and obtain the corresponding trajectory accumulation points, wherein the trajectory accumulation points are the valid trajectory points within the specified radius within the continuous time period; The preprocessing module includes a road tracking matching unit, which is used to perform road tracking matching on the target valid trajectory point in the trajectory accumulation point, and obtain an intermediate candidate road segment set from the preliminary candidate road segment set, wherein the road tracking matching refers to matching the target valid trajectory point with the preliminary candidate road segment set to obtain an intermediate candidate road segment set within a matching range, and the target valid trajectory point refers to the first valid trajectory point returned in the collection and return time of each valid trajectory point of the trajectory accumulation point; The preprocessing module includes a preprocessing unit, which is used to perform distance and / or direction filtering on the intermediate candidate road segment set to obtain the candidate road segment set of the valid trajectory point within the matching range, wherein the distance filtering refers to deleting the intermediate candidate road segment whose distance between the target valid trajectory point and the intermediate candidate road segment set is greater than a distance threshold, and the direction filtering refers to deleting the intermediate candidate road segment whose direction angle between the target valid trajectory point and the intermediate candidate road segment set is greater than a direction threshold; The matching module is also used to determine a road matching value between the valid trajectory point and each candidate road segment in the candidate road segment set; A determination module, configured to determine the optimal path of the custom route according to the road matching value and the candidate road segment set by traversing the valid trajectory points in a loop; The route correction module is used to correct the navigation deviation route of the inspection vehicle according to the optimal path, the custom route and the road network data.

6. The device according to claim 5, It is characterized in that The matching module is also used to determine the projection point of the valid trajectory point on each of the candidate road segments; and determine the road matching value between the valid trajectory point and each candidate road segment in the candidate road segment set according to the distance between the valid trajectory point and the projection point.

7. The device according to claim 5, It is characterized in that The determining module is further used to determine the optimal road segment of the valid trajectory point from the candidate road segment set according to the numerical value of the road matching value; the device also includes a traversal module, which is used to determine the driving path between two adjacent valid trajectory points among the valid trajectory points by traversing the valid trajectory points in a loop; The determination module is further used to determine the optimal path of the custom route according to the driving path and the candidate road segment set.

8. The device according to claim 5, It is characterized in that The device also includes an association module, which is used to topologically connect and associate the optimal path with the custom route, and then fuse them with the road network data to obtain navigation engine data; the route correction module is also used to correct the navigation offset route of the inspection vehicle according to the navigation engine data to obtain the target navigation path of the inspection vehicle.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program. It is characterized in that When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, It is characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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