Path planning method and apparatus, and computing device

Abstract

The application provides a path planning method and device and a computing device, wherein the path planning method comprises: obtaining first position information of a target object, second position information of an interactive object, and characteristic information in a path planning scene that meets a preset planning rule; determining a target position of a virtual limiter according to the first position information and / or the second position information, and determining attribute information of the virtual limiter at the target position according to the characteristic information; setting the virtual limiter at the target position according to the attribute information; and determining a movement path of the target object based on the virtual limiter. By determining the attribute information of the virtual limiter at the target position according to the characteristic information that meets the preset planning rule, the matching degree of the target object and the virtual limiter is improved, and the fluency and accuracy of the movement path are further improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computer, in particular to a path planning method. The present application also relates to a path planning device, a computing device and a computer readable storage medium. BACKGROUND

[0002] With the development of Internet technology, the route finding problem increasingly relies on the Internet. The route finding problem is one of the key technologies in many fields such as character route finding in network projects, path planning of moving targets in three-dimensional virtual scenes, robot route finding, vehicle navigation systems, vehicle path problems, and the research and application of related route finding methods are also long-term research hotspots.

[0003] In the prior art, a branch is usually found first in a certain order, and then another branch is found until the target is found, and the optimal path is calculated.

[0004] However, when the above path planning method is applied, only the optimal path is calculated without considering the attribute characteristics of the character, which inevitably leads to problems such as unsmooth path planning and inconsistency with the actual scene, resulting in low path planning accuracy and further reducing user experience. SUMMARY

[0005] Therefore, the embodiments of the present application provide a path planning method to solve the technical defects in the prior art. The embodiments of the present application also provide a path planning device, a computing device and a computer readable storage medium.

[0006] According to a first aspect of the embodiments of the present application, a path planning method is provided, comprising:

[0007] obtaining first position information of a target object, second position information of an interactive object, and characteristic information in a path planning scene that meets a preset planning rule;

[0008] determining a target position of a virtual limiter according to the first position information and / or the second position information, and determining attribute information of the virtual limiter at the target position according to the characteristic information;

[0009] setting the virtual limiter at the target position according to the attribute information;

[0010] determining a movement path of the target object based on the virtual limiter.

[0011] Optionally, the characteristic information includes first morphological information of the target object and second morphological information of the interactive object, and the attribute information includes shape information.

[0012] The step of determining the attribute information of the virtual limiter at the target position according to the characteristic information comprises:

[0013] According to the first morphological information and / or the second morphological information, shape information of the virtual limit stop at the target position is determined.

[0014] Optionally, the first morphological information comprises first size data and first motion data, the second morphological information comprises second size data and second motion data, and the shape information comprises a contour size and an included angle.

[0015] According to the first morphological information and / or the second morphological information, shape information of the virtual limit stop at the target position is determined.

[0016] According to the first size data and / or the second size data, a contour size of the virtual limit stop is determined.

[0017] According to the first motion data and / or the second motion data, an included angle of the virtual limit stop at the target position is determined.

[0018] Optionally, according to the first position information, the target position of the virtual limit stop is determined.

[0019] According to the first position information, a starting position of the target object is determined as the target position of the virtual limit stop.

[0020] According to the attribute information, the virtual limit stop at the target position is set.

[0021] A first preset target orientation of the target object at the starting position is obtained.

[0022] According to the first preset target orientation and the attribute information, the virtual limit stop at the starting position is set.

[0023] Optionally, according to the second position information, the target position of the virtual limit stop is determined.

[0024] According to the second position information, an ending position where the interactive object is located is determined as the target position of the virtual limit stop.

[0025] According to the attribute information, the virtual limit stop at the target position is set.

[0026] A second preset target orientation of the target object at the ending position is obtained.

[0027] According to the second preset target orientation and the attribute information, the virtual limit stop at the ending position is set.

[0028] Optionally, the first position information of the target object, the second position information of the interactive object, and feature information in the path planning scene that meets a preset planning rule are obtained.

[0029] acquire first real-time position information of a target object, second real-time position information of a preset real-time interactive object in a path planning scene, and feature information in the path planning scene that meets a preset planning rule;

[0030] According to the first position information and / or the second position information, determine the target position of the virtual limit stop, and according to the feature information, determine the attribute information of the virtual limit stop at the target position.

[0031] According to the first real-time position information and / or the second real-time position information, determine the real-time target position of the virtual limit stop, and according to the feature information, determine the attribute information of the virtual limit stop at the real-time target position.

[0032] According to the attribute information, set the virtual limit stop at the target position.

[0033] According to the attribute information, dynamically set the virtual limit stop at the real-time target position.

[0034] Optionally, based on the virtual limit stop, determine the motion path of the target object, including:

[0035] Take the virtual limit stop as an obstacle, and according to the attribute information of the virtual limit stop, determine the motion path of the target object by using a preset path planning algorithm.

[0036] Optionally, after the step of determining the motion path of the target object based on the virtual limit stop, further comprising:

[0037] Delete the virtual limit stop.

[0038] According to a second aspect of an embodiment of the present application, a path planning device is provided, including:

[0039] The acquisition module is configured to acquire first position information of a target object, second position information of an interactive object, and feature information in a path planning scene that meets a preset planning rule;

[0040] The first determination module is configured to determine the target position of the virtual limit stop according to the first position information and / or the second position information, and determine the attribute information of the virtual limit stop at the target position according to the feature information.

[0041] The setting module is configured to set the virtual limit stop at the target position according to the attribute information.

[0042] The second determination module is configured to determine the motion path of the target object based on the virtual limit stop.

[0043] Optionally, the feature information includes first morphological information of the target object and second morphological information of the interactive object, and the attribute information includes shape information.

[0044] The first determining module is further configured to determine shape information of the virtual limit stop at the target position according to the first modality information and / or the second modality information.

[0045] Optionally, the first modality information comprises first size data and first motion data, the second modality information comprises second size data and second motion data, and the shape information comprises a contour size and an included angle.

[0046] The first determining module is further configured to determine a contour size of the virtual limit stop according to the first size data and / or the second size data, and determine an included angle of the virtual limit stop at the target position according to the first motion data and / or the second motion data.

[0047] Optionally, the first determining module is further configured to determine a starting position of the target object as the target position of the virtual limit stop according to the first position information.

[0048] The setting module is further configured to acquire a first preset target orientation of the target object at the starting position, and set the virtual limit stop at the starting position according to the first preset target orientation and the attribute information.

[0049] Optionally, the first determining module is further configured to determine an end position of the interactive object as the target position of the virtual limit stop according to the second position information.

[0050] The setting module is further configured to acquire a second preset target orientation of the target object at the end position, and set the virtual limit stop at the end position according to the second preset target orientation and the attribute information.

[0051] Optionally, the acquiring module is further configured to acquire first real-time position information of the target object, second real-time position information of a preset real-time interactive object in a path planning scene, and feature information conforming to a preset planning rule in the path planning scene.

[0052] The first determining module is further configured to determine a real-time target position of the virtual limit stop according to the first real-time position information and / or the second real-time position information, and determine attribute information of the virtual limit stop at the real-time target position according to the feature information.

[0053] The setting module is further configured to dynamically set the virtual limit stop at the real-time target position according to the attribute information.

[0054] Optionally, the second determining module is further configured to take the virtual limit stop as an obstacle, determine a motion path of the target object according to the attribute information of the virtual limit stop by using a preset path planning algorithm.

[0055] Optionally, the device further comprises:

[0056] A deleting module configured to delete the virtual stopper.

[0057] According to a third aspect of the embodiments of the present application, a computing device is provided, comprising:

[0058] a memory and a processor;

[0059] The memory is configured to store computer-executable instructions, and the processor is configured to execute the computer-executable instructions to implement the steps of the path planning method.

[0060] According to a fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided, which stores computer-executable instructions, and the instructions are executed by a processor to implement the steps of the path planning method.

[0061] According to a fifth aspect of the embodiments of the present application, a chip is provided, which stores a computer program, and the computer program is executed by the chip to implement the steps of the path planning method.

[0062] The path planning method provided by the present application comprises the following steps: obtaining first position information of a target object, second position information of an interactive object, and feature information in a path planning scene that meets a preset planning rule; determining a target position of a virtual stopper according to the first position information and / or the second position information, and determining attribute information of the virtual stopper at the target position according to the feature information; setting the virtual stopper at the target position according to the attribute information; and determining a motion path of the target object based on the virtual stopper. By determining the attribute information of the virtual stopper at the target position according to the feature information that meets the preset planning rule, the matching degree of the target object and the virtual stopper is improved, and the fluency and accuracy of the motion path are further improved. BRIEF DESCRIPTION OF DRAWINGS

[0063] Figure 1 is a structural schematic diagram of a path planning system provided by an embodiment of the present application;

[0064] Figure 2 is a flowchart of a path planning method provided by an embodiment of the present application;

[0065] Figure 3 is a flowchart of another path planning method provided by an embodiment of the present application;

[0066] Figure 4 is a path planning schematic diagram provided by an embodiment of the present application;

[0067] Figure 5 is a flowchart of another path planning method provided by an embodiment of the present application;

[0068] Figure 6 is another path planning schematic diagram provided by an embodiment of the present application;

[0069] Figure 7 is another path planning schematic diagram provided by an embodiment of the present application;

[0070] Figure 8 is a flowchart of another path planning method provided by an embodiment of the present application;

[0071] Figure 9 is a flowchart of another path planning method provided by an embodiment of the present application;

[0072] Figure 10 is a flowchart of another path planning method provided by an embodiment of the present application;

[0073] Figure 11 is a flowchart of another path planning method provided by an embodiment of the present application;

[0074] Figure 12 is a flowchart of another path planning method provided by an embodiment of the present application;

[0075] Figure 13 is a structural schematic diagram of a path planning device provided by an embodiment of the present application;

[0076] Figure 14 is a structural block diagram of a computing device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0077] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced without the specific details. In other instances, well-known methods, procedures, components, and circuits have not been described in detail so as not to obscure the present application. Unless otherwise noted, the description of a particular embodiment of the application generally applies to every aspect of the present application, and to every embodiment of the present application.

[0078] The terminology used in this description is for the purpose of describing particular embodiments only and is not intended to limit one or more embodiments of the present application. As used in one or more embodiments of the present application, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0079] It should be understood that, although the terms first, second, etc. can be employed in describing various information in one or more embodiments of the application, the information should not be limited to these terms. These terms are only used to differentiate one piece of information from another piece of information. For example, in the scope of the one or more embodiments of the application, first can also be referred to as second, and similarly, second can also be referred to as first.

[0080] In the present application, a path planning method is provided. The present application also relates to a path planning device, a computing device, and a computer readable storage medium, which are described in detail in the following embodiments.

[0081] Referring to Figure 1 , Figure 1 A structural schematic diagram of a path planning system according to an embodiment of the present application is shown.

[0082] The present application can be divided into a server and an application terminal as two execution subjects.

[0083] The server obtains first position information of a target object, second position information of an interactive object, and feature information in a path planning scene that meets a preset planning rule provided by the application terminal, determines a target position of a virtual limiter according to the first position information and / or the second position information, and determines attribute information of the virtual limiter at the target position according to the feature information. The virtual limiter is set at the target position according to the attribute information. A movement path of the target object is determined based on the virtual limiter, and the movement path is sent to the application terminal.

[0084] The application terminal not only provides the first position information of the target object, the second position information of the interactive object, and the feature information in the path planning scene that meets the preset planning rule to the server, but also receives the movement path sent by the server.

[0085] By using the scheme of the embodiments of the present application, the first position information of the target object, the second position information of the interactive object, and the feature information in the path planning scene that meets the preset planning rule are obtained. The target position of the virtual limiter is determined according to the first position information and / or the second position information, and the attribute information of the virtual limiter at the target position is determined according to the feature information. The virtual limiter is set at the target position according to the attribute information. The movement path of the target object is determined based on the virtual limiter. By determining the attribute information of the virtual limiter at the target position according to the feature information that meets the preset planning rule, the matching degree of the target object and the virtual limiter is improved, and the fluency and accuracy of the movement path are further improved.

[0086] Figure 2 A flowchart of a path planning method according to an embodiment of the present application is shown, which specifically includes the following steps:

[0087] Step S202: obtaining first position information of a target object, second position information of an interactive object, and feature information in a path planning scene that meets a preset planning rule.

[0088] The target object refers to an object that moves in the path planning scene, including but not limited to a quadruped, a character, and a vehicle in a game. The first position information of the target object includes a starting position of the target object, and the starting position refers to a position where the target object is ready to start moving. The starting orientation of the target object at the starting position can be determined according to the feature information of the target object itself, and the ending orientation of the target object at the ending position can be determined according to the interactive object at the ending position. The second position information of the interactive object includes an ending position where the interactive object is located. The feature information in the path planning scene that meets the preset planning rule includes information of the target object itself and information of the interactive object itself, including but not limited to the name and shape information of the object, which is selected according to actual conditions, and the embodiments of the present application do not make any limitation on this.

[0089] It should be noted that the scheme provided in the embodiments of the present application can be applied in a path planning scene. The path planning scene refers to a scene where there is a target object and an interactive object. The target object needs to move from a starting position to an ending position and interact with the interactive object at the ending position. The path planning scene can be a character pathfinding in a virtual game, and can also be a robot pathfinding.

[0090] In actual application, when planning the movement path of the target object, there can be obstacles in the movement route, which will affect the planning of the movement path of the target object. Therefore, the feature information in the path planning scene can also include position information of obstacles in the scene, so as to avoid the obstacles in subsequent path planning and ensure the safety and practicability of the path planning.

[0091] Step S204: determining a target position of a virtual limiter according to the first position information and / or the second position information, and determining attribute information of the virtual limiter at the target position according to the feature information.

[0092] It should be noted that the virtual limit stopper is a tool for guiding the movement process of the target object from the starting position to the end position, which is similar to an obstacle. The target position of the virtual limit stopper refers to the position to be set by the virtual limit stopper, and the target position of the virtual limit stopper can be one or multiple, which is selected according to actual conditions. The attribute information of the virtual limit stopper refers to the information of the virtual limit stopper itself, including but not limited to the size, shape information and name of the virtual limit stopper. The attribute information of the virtual limit stopper can also be related to the target position of the virtual limit stopper, and the attribute information of the virtual limit stopper set at different target positions can be different, which is selected according to actual conditions, and the embodiments of the present application do not make any limitation on this.

[0093] In the embodiments of the present application, after obtaining the first position information, the second position information and the feature information, in order to make the path of the target object from the starting position to the end position more natural and accurate, the target position of the virtual limit stopper can be determined according to the first position information and / or the second position information, the attribute information of the virtual limit stopper at the target position can be determined according to the feature information, the virtual limit stopper is set at the target position in the path planning scene, and the movement process of the target object is guided by using the virtual limit stopper, so that the target object moves from the starting position to the end position based on the set virtual limit stopper.

[0094] In the first possible implementation, the target position of the virtual limit stopper can be determined according to the first position information of the target object. By considering the first position information of the target object, the determined virtual limit stopper can guide the movement process when the target object starts to move, and further make the movement path of the target object more smooth.

[0095] In the second possible implementation, the target position of the virtual limit stopper can be determined according to the second position information of the interactive object. By considering the second position information of the interactive object, the determined virtual limit stopper can guide the movement process when the target object moves to the interactive object, and further make the movement path of the target object more smooth.

[0096] In the third possible implementation, the target position of the virtual limit stopper can be determined according to the first position information of the target object and the second position information of the interactive object. By considering the first position information of the target object and the second position information of the interactive object, the determined virtual limit stopper can not only guide the movement process when the target object starts to move, but also guide the movement process when the target object moves to the interactive object, and further make the movement path of the target object more smooth.

[0097] In actual application, the target position of the virtual limit stop can be determined in combination with the position information of the obstacle. At this time, the virtual limit stop cannot coincide with the position of the obstacle, so that the target object can accurately and smoothly bypass the obstacle, and the accuracy of the path planning is further improved.

[0098] Step S206: At the target position, the virtual limit stop is set according to the attribute information.

[0099] In the embodiment of the present application, after the target position and the attribute information of the virtual limit stop are determined, the virtual limit stop can be set at the target position according to the attribute information of the virtual limit stop.

[0100] In a possible implementation, after the attribute information of the virtual limit stop is determined, a corresponding virtual limit stop can be generated according to the determined attribute information, and the virtual limit stop is set at the target position. For example, the attribute information of the virtual limit stop is that the arc length is 5 and the radius is 2, and at this time, an arc-shaped virtual limit stop with an arc length of 5 and a radius of 2 can be generated.

[0101] In another possible implementation, after the attribute information of the virtual limit stop is determined, a virtual limit stop matching the attribute information can be found in a preset database, and the found virtual limit stop is set at the target position. The preset database refers to a database containing a large number of virtual limit stops, which can be set by artificial, and is selected according to actual situation. The embodiment of the present application does not make any limitation in this regard.

[0102] It should be noted that the target object in the path planning scene can be one or multiple, which is selected according to actual situation. The embodiment of the present application does not make any limitation in this regard.

[0103] In a possible implementation, there is only one target object in the path planning scene, and the virtual limit stop determined according to the first position information and / or the second position information and the feature information in the path planning scene that meets the preset planning rule is used to guide the movement of the target object. It should be noted that for the target object, the virtual limit stop can be invisible, and only plays a guiding role for the movement of the target object.

[0104] In another possible implementation, there are multiple target objects in the path planning scene, and for any target object, only the virtual limit stop determined according to the target object and / or the interactive object corresponding to the target object can guide the target object.

[0105] For example, in the path planning scene, there are a first target object and a second target object, a first virtual limiter is determined according to the first target object, and a second virtual limiter is determined according to the second target object. Then, in the movement process of the first target object and the second target object, for the first target object, the second virtual limiter, the second target object, and the obstacle originally existing in the path planning scene are visible, and the first virtual limiter is invisible to the first target object. That is, for the first target object, the second target object is an obstacle in the movement process, and the movement process of the first target object can only be guided by the first virtual limiter, and the second virtual limiter cannot act on the first target object.

[0106] By setting the virtual limiter at the target position according to the attribute information, the matching degree of the target object and the virtual limiter is improved, and the fluency and accuracy of the target path are further improved.

[0107] Step S208: determining a movement path of the target object based on the virtual limiter.

[0108] It should be noted that the movement path of the target object refers to the movement trajectory of the target object from the starting position to the end position based on the guidance of the virtual limiter. Therefore, when the target path from the starting position to the end position is determined based on the virtual limiter, the movement trajectory of the target object from the starting position to the end position finally moving around the virtual limiter can be determined as the movement path of the target object.

[0109] By obtaining the first position information of the target object, the second position information of the interactive object, and the feature information conforming to the preset planning rule in the path planning scene, determining the target position of the virtual limiter according to the first position information and / or the second position information, and determining the attribute information of the virtual limiter at the target position according to the feature information, setting the virtual limiter at the target position according to the attribute information, and determining the movement path of the target object based on the virtual limiter, the matching degree of the target object and the virtual limiter is improved by determining the attribute information of the virtual limiter at the target position according to the feature information conforming to the preset planning rule, and the fluency and accuracy of the movement path are further improved.

[0110] Figure 3 A flowchart of another path planning method according to an embodiment of the present application is shown, which specifically includes the following steps:

[0111] Step S302: obtaining first position information of a target object, second position information of an interactive object, and feature information conforming to a preset planning rule in a path planning scene.

[0112] Step S304: Based on the first position information, determine the starting position of the target object as the target position of the virtual limiter, and based on the feature information, determine the attribute information of the virtual limiter at the target position.

[0113] Steps S302 and S304 are the same as steps S202 and S204 described above, and will not be repeated in this embodiment.

[0114] Step S306: Obtain the first preset target orientation of the target object at the starting position.

[0115] It should be noted that the first preset target orientation refers to the initial orientation of the target object when it begins to move, which can be determined based on the characteristic information of the target object itself.

[0116] Step S308: Set a virtual limiter at the starting position according to the first preset target orientation and attribute information.

[0117] In this embodiment, after obtaining the attribute information of the first preset target orientation and the virtual limiter, a virtual limiter with an opening that matches the attribute information can be obtained, and the opening orientation of the virtual limiter can be set to the same orientation as the preset target orientation. The shape of the virtual limiter can be, for example, a "U-shape" or a "V-shape," and can be selected based on the actual situation; this application does not impose any limitations on this.

[0118] For example, if the virtual limiter's attribute information is an arc length of 5 and a radius of 2, then the virtual limiter is determined to be an arc-shaped virtual limiter with an arc length of 5 and a radius of 2. In this case, the opening orientation of the arc-shaped virtual limiter is the same as the preset target orientation.

[0119] Step S310: Determine the motion path of the target object based on the virtual limiter.

[0120] Step S310 is the same as step S208 above, and will not be described again in this embodiment.

[0121] like Figure 4 As shown, Figure 4 A schematic diagram of a path planning method according to an embodiment of this application is shown.

[0122] For example, a target object needs to move from a starting position A to a destination position B. There are two obstacles between these two positions. Generally, if there are no requirements regarding the initial orientation of the target object at the starting position, the movement path from starting position A to destination position B can be a dashed path. The dashed path represents the path the target object takes from starting position A to destination position B without any virtual limiters. The direction of the dashed path arrow indicates the orientation of the target object from starting position A to destination position B.

[0123] When the first preset target orientation of the target object at the starting position A is acquired as shown by the direction of the solid line path arrow in Figure 4 , the arc-shaped virtual limit stopper a in Figure 4 may be set at the starting position A according to the first preset target orientation and the attribute information, and based on the arc-shaped virtual limit stopper a, the movement path of the target object from the starting position A to the ending position B is determined as shown by the solid line path in Figure 4 , which meets the first preset target orientation of the target object at the starting position A.

[0124] In the embodiments of the present application, the first position information of the target object and the feature information in the path planning scene that meets the preset planning rule are acquired, the starting position of the target object is determined as the target position of the virtual limit stopper according to the first position information, the attribute information of the virtual limit stopper at the target position is determined according to the feature information, the first preset target orientation of the target object at the starting position is acquired, the virtual limit stopper is set at the starting position A according to the first preset target orientation and the attribute information, and the movement path of the target object is determined based on the virtual limit stopper, which realizes the limitation of the starting orientation of the target object and makes the movement path of the target object meet the customization requirements, thereby improving the user experience.

[0125] Figure 5 A flowchart of another path planning method provided by an embodiment of the present application is shown, and in the case where the target position is the ending position, the method specifically includes the following steps:

[0126] Step S502: acquiring first position information of a target object, second position information of an interactive object, and feature information in a path planning scene that meets a preset planning rule.

[0127] Step S504: determining an ending position where the interactive object is located as a target position of a virtual limit stopper according to the second position information, and determining attribute information of the virtual limit stopper at the target position according to the feature information.

[0128] The steps S502 and S504 are the same as the steps S202 and S204 described above, and the embodiments of the present application will not be described again.

[0129] Step S506: acquiring a second preset target orientation of the target object at the ending position.

[0130] It should be noted that the second preset target orientation refers to the orientation when the target object wants to reach the ending position, which can be determined in advance according to the interactive object at the ending position.

[0131] In the embodiment of the present application, in the case that the target position of the virtual stopper is the end position of the interactive object, the second preset target orientation can be obtained, so that the orientation of the target object when reaching the end position is consistent with the second preset target orientation.

[0132] Step S508: setting the virtual stopper at the end position according to the second preset target orientation and the attribute information.

[0133] In the embodiment of the present application, after obtaining the second preset target orientation and the attribute information of the virtual stopper, a virtual stopper with an opening matching the attribute information can be obtained, and the opening orientation of the virtual stopper is set to be opposite to the second preset target orientation. The shape of the virtual stopper is, for example, "U-shaped", "V-shaped", etc., which is selected according to actual conditions, and the present application does not make any limitation in this regard.

[0134] For example, the attribute information of the virtual stopper is that the arc length is 5 and the radius is 2, at this time, the virtual stopper is determined to be an arc-shaped virtual stopper with an arc length of 5 and a radius of 2, and the opening orientation of the arc-shaped virtual stopper is opposite to the preset target orientation.

[0135] Step S510: determining the motion path of the target object based on the virtual stopper.

[0136] Step S510 is the same as step S208 described above, and the embodiment of the present application will not be described in detail.

[0137] Specifically, the target object is a cat, and the cat needs to walk to the end position to interact with the interactive object, a toy doll. At this time, the second preset target orientation is the orientation opposite to the face of the toy doll, and the virtual stopper can be set at the end position, so that when the cat stops in front of the toy doll, the face of the cat is opposite to the face of the toy doll, and the motion path at this time is taken as the motion path of the cat from the starting position to the end position.

[0138] As shown in Figure 6 , another path planning schematic diagram provided by an embodiment of the present application is shown. Figure 6

[0139] For example, the target object needs to move from the starting position A to the end position B, and there are two obstacles between the starting position A and the end position B. Generally, if there is no requirement for the target orientation of the target object at the end position B, the motion path from the starting position A to the end position B can be the dashed line path, which is the path of the target object from the starting position A to the end position B without setting the virtual stopper. The direction of the arrow of the dashed line path is the orientation of the target object from the starting position A to the end position B.

[0140] ​When the second preset target orientation of the target object at the end position B is acquired as shown by the direction of the solid line path arrow in Figure 6 , the arc-shaped virtual limit stopper b in Figure 6 can be set at the end position B according to the second preset target orientation and the attribute information, and based on the arc-shaped virtual limit stopper b, the movement path of the target object from the start position A to the end position B is determined as shown by the solid line path in Figure 6 , which meets the second preset target orientation of the target object at the end position B.

[0141] By applying the scheme of the embodiments of the present application, the second position information of the interactive object and the feature information meeting the preset planning rule in the path planning scene are acquired, the end position of the interactive object is determined as the target position of the virtual limit stopper according to the second position information, the attribute information of the virtual limit stopper at the target position is determined according to the feature information, the second preset target orientation of the target object at the end position is acquired, the virtual limit stopper is set at the end position according to the second preset target orientation and the attribute information, and the movement path of the target object is determined based on the virtual limit stopper. The target orientation of the target object at the end position is limited, the movement path of the target object meets the customization requirement, and the user experience is improved.

[0142] In actual application, the virtual limit stopper can also be set at the start position of the target object and the end position of the interactive object respectively, and the movement path of the target object is planned. As shown in Figure 7 , Figure 7 another path planning diagram according to an embodiment of the present application is shown.

[0143] For example, the target object needs to move from the start position A to the end position B, and there are two obstacles between the start position A and the end position B. Generally, if there is no requirement for the start orientation of the target object at the start position A and the target orientation of the target object at the end position B, the movement path of the target object from the start position A to the end position B can be the dashed line path, which is the path of the target object from the start position A to the end position B without setting the virtual limit stopper. The direction of the dashed line path arrow is the orientation of the target object from the start position A to the end position B.

[0144] When the third preset target orientation of the target object at the start position A and the fourth preset target orientation of the target object at the end position B are acquired as shown by the direction of the solid line path arrow in Figure 7 , the arc-shaped virtual limit stopper a in Figure 7 can be set at the start position A according to the third preset target orientation and the attribute information, and the arc-shaped virtual limit stopper b in Figure 7the arc-shaped virtual limit stop b, based on the arc-shaped virtual limit stop a and the arc-shaped virtual limit stop b, determine the motion path from the starting position A to the ending position B as shown by the solid path in Figure 7 satisfy the third preset target orientation of the target object at the starting position A and the fourth preset target orientation at the ending position B.

[0145] Figure 8 a flowchart of another path planning method according to an embodiment of the present application is shown, which specifically includes the following steps:

[0146] Step S802: Obtain the first position information of the target object, the second position information of the interactive object, and the characteristic information in the path planning scene that meets the preset planning rule.

[0147] Step S804: Determine the target position of the virtual limit stop according to the first position information and / or the second position information, and determine the attribute information of the virtual limit stop at the target position according to the characteristic information.

[0148] Step S806: Set the virtual limit stop at the target position according to the attribute information.

[0149] Among them, step S802, step S804, step S806 are the same as step S202, step S204, step S206 described above, the embodiments of the present application will not be described again.

[0150] Step S808: Take the virtual limit stop as an obstacle, and determine the motion path of the target object by using a preset path planning algorithm according to the attribute information of the virtual limit stop.

[0151] In the embodiments of the present application, the virtual limit stop is taken as an obstacle, and the path planning scene is divided into a scene graph composed of a plurality of squares of equal size according to the attribute information of the virtual limit stop. If one of the squares includes an obstacle, the target object should avoid the square during the motion process. From the starting position of the target object, the remaining squares that do not include obstacles are sequentially queried until the interactive object that the target object needs to interact is found. The square in which the interactive object is located is taken as the ending position of the target object, and the trajectory from the starting position to the ending position is determined as the motion path of the target object.

[0152] In practical applications, in addition to the above method of determining the motion path of the target object, other algorithms can also be used to obtain the motion path of the target object, such as Dijkstra algorithm. The present application does not make any limitation on this, and the specific selection is made according to the actual situation.

[0153] By adopting the scheme of the embodiment of the application, the virtual limit stopper is taken as an obstacle, the motion path of the target object is determined according to the attribute information of the virtual limit stopper by using a preset path planning algorithm, the planned path is more practical, the efficiency of the target object moving from the starting position to the end position is improved, and the user experience is further improved.

[0154] Figure 9 A flowchart of another path planning method provided by an embodiment of the application is shown, and specifically includes the following steps:

[0155] In step S902, the first position information of the target object, the second position information of the interactive object, and the feature information in the path planning scene that meets the preset planning rule are acquired.

[0156] It should be noted that step S902 is the same as step S202 described above, and the embodiment of the application will not be described again.

[0157] In step S904, the target position of the virtual limit stopper is determined according to the first position information and / or the second position information, and the shape information of the virtual limit stopper at the target position is determined according to the first shape information and / or the second shape information.

[0158] It should be noted that the first shape information refers to the appearance information and motion state information of the target object, the second shape information refers to the appearance information and motion state information of the interactive object, and the shape of the virtual limit stopper can be “U-shaped”, “V-shaped”, “barbell-shaped” and the like, which is not limited in the application and can be selected according to actual conditions.

[0159] In actual application, in order to accurately guide the motion process of the target object, the shape information of the virtual limit stopper should match the appearance information of the target object and / or the appearance information of the interactive object, and the target position of the virtual limit stopper should match the motion state information of the target object and / or the motion state information of the interactive object. For example, if the appearance of the target object is a car, the shape of the virtual limit stopper can be “U-shaped”.

[0160] In the first possible implementation manner, the shape information of the virtual limit stopper can be determined according to the first shape information of the target object. By considering the first shape information of the target object, the determined virtual limit stopper is more matched with the target object, and the motion path of the target object is further more accurate and smooth.

[0161] In the second possible implementation manner, the shape information of the virtual limit stopper can be determined according to the second shape information of the interactive object. By considering the second shape information of the interactive object, the determined virtual limit stopper is more matched with the interactive object, and the motion path of the target object is further more accurate and smooth.

[0162] In a third possible implementation, the shape information of the virtual stopper can be determined according to the first shape information of the target object and the second shape information of the interactive object. By considering the first shape information of the target object and the second shape information of the interactive object, the matching of the determined virtual stopper with the target object and the interactive object is higher, and the movement path of the target object is more accurate and smooth.

[0163] By applying the scheme of the embodiments of the present application, the shape information of the virtual stopper at the target position is determined according to the shape information of the target object and / or the shape information of the interactive object, so that the virtual stopper is more suitable for the target object, and the accuracy of the target path planning is improved.

[0164] Step S906: At the target position, the virtual stopper is set according to the shape information.

[0165] Step S908: The movement path of the target object is determined based on the virtual stopper.

[0166] The steps S906 and S908 are the same as the steps S206 and S208 described above, and the embodiments of the present application will not be described again.

[0167] By applying the scheme of the embodiments of the present application, the first position information of the target object, the second position information of the interactive object, and the feature information in the path planning scene that meets the preset planning rule are obtained, the target position of the virtual stopper is determined according to the first position information and / or the second position information, and the shape information of the virtual stopper at the target position is determined according to the first shape information and / or the second shape information. At the target position, the virtual stopper is set according to the shape information, and the movement path of the target object is determined based on the virtual stopper. By determining the shape information of the virtual stopper at the target position according to the first shape information and / or the second shape information, the matching degree of the target object and / or the interactive object with the virtual stopper is improved, and the smoothness and accuracy of the movement path are further improved.

[0168] Figure 10 A flowchart of another path planning method provided by an embodiment of the present application is shown, which specifically includes the following steps:

[0169] Step S1002: The first position information, the first size data, and the first movement data of the target object are obtained, and the second position information, the second size data, and the second movement data of the interactive object are obtained.

[0170] It should be noted that the size data of the object refers to the size of the object, for example, when the object is a car, the size data of the object is the length, width and height of the car; if the object is a character, the size data of the object is the height of the character. The motion data of the object refers to the relevant data of the object in the motion process, including but not limited to the motion speed and motion time of the object, which is not limited in the present application, and is selected according to the actual situation.

[0171] Step S1004: determining the target position of the virtual limit stop according to the first position information and / or the second position information, and determining the profile size of the virtual limit stop according to the first size data and / or the second size data.

[0172] In the embodiments of the present application, in order to make the path of the target object from the starting position to the end position more natural and accurate, the first size data of the target object and / or the second size data of the interactive object can be matched with the preset rule to determine the profile size of the virtual limit stop, wherein the profile size of the virtual limit stop includes but is not limited to the radius and length of the virtual limit stop, and the preset rule can refer to a rule that is set in advance and is used to limit the association between the size data and the profile size data of the virtual limit stop.

[0173] In the first possible implementation, the preset rule can be to directly use the size data of the object as the profile size data of the virtual limit stop.

[0174] Specifically, when the profile size of the virtual limit stop is determined according to the first size data, the first size data of the target object obtained is the profile size data of the virtual limit stop. When the profile size of the virtual limit stop is determined according to the second size data, the second size data of the interactive object obtained is the profile size data of the virtual limit stop. When the profile size of the virtual limit stop is determined according to the first size data and the second size data, the larger size data between the first size data of the target object and the second size data of the interactive object obtained is used as the profile size data of the virtual limit stop.

[0175] For example, the target object is a cylinder with a radius of 10 cm and a length of 20 cm, at this time, the radius of the virtual limit stop is determined to be 10 cm and the length is determined to be 20 cm.

[0176] In the second possible implementation, the preset rule can be to increase the size data of the object by a preset value to obtain the profile size data of the virtual limit stop, wherein the size of the preset value is selected according to the actual situation, which is not limited in the present application. At this time, after obtaining the size data of the object, the preset value is added to the size data of the object to obtain the profile size data of the virtual limit stop.

[0177] Specifically, when the profile size of the virtual limit stop is determined according to the first size data, the first size data of the target object is increased by a preset value to obtain the profile size data of the virtual limit stop. When the profile size of the virtual limit stop is determined according to the second size data, the second size data of the interactive object is increased by a preset value to obtain the profile size data of the virtual limit stop. When the profile size of the virtual limit stop is determined according to the first size data and the second size data, the larger size data between the first size data of the target object and the second size data of the interactive object is increased by a preset value to obtain the profile size data of the virtual limit stop.

[0178] For example, the target object is a cylinder with a radius of 10 cm and a length of 20 cm, and the preset value is 4 cm. In this case, the radius of the virtual limit stop is determined to be 14 cm, and the length of the virtual limit stop is determined to be 24 cm.

[0179] In a third possible implementation, the preset rule can be to randomly select a value greater than the size data of the object as the profile size data of the virtual limit stop. In this case, after the size data of the object is obtained, any value greater than the size data can be randomly selected as the profile size data of the virtual limit stop.

[0180] Specifically, when the profile size of the virtual limit stop is determined according to the first size data, the first size data of the target object is increased by a preset value to obtain the profile size data of the virtual limit stop. When the profile size of the virtual limit stop is determined according to the second size data, the second size data of the interactive object is increased by a preset value to obtain the profile size data of the virtual limit stop. When the profile size of the virtual limit stop is determined according to the first size data and the second size data, the larger size data between the first size data of the target object and the second size data of the interactive object is increased by a preset value to obtain the profile size data of the virtual limit stop.

[0181] For example, the target object is a cylinder with a radius of 10 cm and a length of 20 cm, and the preset value is 4 cm. In this case, the radius of the virtual limit stop is determined to be 14 cm, and the length of the virtual limit stop is determined to be 24 cm.

[0182] Step S1006: determining the included angle of the virtual limit stop at the target position according to the first motion data and / or the second motion data.

[0183] In the embodiments of the present application, the included angle of the virtual limit stop at the target position can be determined according to the motion data of the object, wherein the motion data of the object refers to the relevant data of the object in the motion process, including but not limited to the motion speed and the motion time of the object, which are not limited in the present application and can be selected according to the actual situation.

[0184] In practical applications, the motion speed and the motion time of the target object and / or the interactive object can be matched with the preset relationship table to determine the included angle of the virtual limit stop, wherein the preset relationship table includes the corresponding relationship between the motion speed, the motion time and the included angle, which can be selected according to the actual situation and is not limited in the present application.

[0185] For example, the preset relationship table can be as shown in Table 1 below. Assuming that the motion speed of the target object is 2 m / s, the range of the motion speed of the target object in the preset relationship table shown in Table 1 below is “1 m / s-10 m / s”, and in the preset relationship table, the range of the included angle corresponding to “1 m / s-10 m / s” is “10°-30°”. At this time, “12°” can be randomly selected as the included angle of the virtual limit stop in the range of “10°-30°”.

[0186] Table 1: Preset relationship table

[0187]

[0188]

[0189] Step S1008: At the target position, the virtual limit stop is set according to the contour size and the included angle.

[0190] Step S1010: The motion path of the target object is determined based on the virtual limit stop.

[0191] Wherein, the steps S1008 and S1010 are the same as the steps S206 and S208 described above, and the embodiments of the present application will not be described again.

[0192] It should be noted that the motion path of the target object should be parallel to the angle bisector of the included angle of the virtual limit stop to ensure that the virtual limit stop correctly guides the target object in the motion process.

[0193] According to the scheme of the embodiment of the application, the first position information, the first size data and the first motion data of the target object are acquired, the second position information, the second size data and the second motion data of the interactive object are acquired, the target position of the virtual limiter is determined according to the first position information and / or the second position information, the profile size of the virtual limiter is determined according to the first size data and / or the second size data, the included angle of the virtual limiter at the target position is determined according to the first motion data and / or the second motion data, the virtual limiter is set at the target position according to the profile size and the included angle, and the motion path of the target object is determined based on the virtual limiter. By determining the profile size of the virtual limiter according to the first size data and / or the second size data, and determining the included angle of the virtual limiter at the target position according to the first motion data and / or the second motion data, the matching degree of the target object and / or the interactive object with the virtual limiter is improved, and the fluency and accuracy of the target path are further improved.

[0194] Figure 11 A flowchart of another path planning method according to an embodiment of the application is shown, which specifically includes the following steps:

[0195] In step S1102, the first position information of the target object, the second position information of the interactive object and the feature information in the path planning scene that meets the preset planning rule are acquired.

[0196] In step S1104, the target position of the virtual limiter is determined according to the first position information and / or the second position information, and the attribute information of the virtual limiter at the target position is determined according to the feature information.

[0197] In step S1106, the virtual limiter is set at the target position according to the attribute information.

[0198] In step S1108, the motion path of the target object is determined based on the virtual limiter.

[0199] The steps S1102, S1104, S1106 and S1108 are the same as the steps S202, S204, S206 and S208 described above, and the embodiment of the application will not be described again.

[0200] In step S1110, the virtual limiter is deleted.

[0201] In a possible implementation manner, after the motion path of the target object is determined based on the virtual limiter, the virtual limiter has completed the planning of the motion path, at this time, the virtual limiter can be deleted, the pressure of the server is reduced, and the efficiency of path planning is further improved.

[0202] In another possible implementation, if the target object is interrupted when moving based on the virtual limiter-based guidance, the virtual limiter is also deleted, and a new virtual limiter is set again according to the updated first position information of the target object, the second position information of the interactive object, and the feature information in the path planning scene that meets the preset planning rule, and the updated target path is further determined, thereby improving the accuracy of path planning.

[0203] Figure 12 A flowchart of another path planning method according to an embodiment of the present application is shown, which specifically includes the following steps:

[0204] In step S1202, the first real-time position information of the target object, the second real-time position information of the preset real-time interactive object in the path planning scene, and the feature information in the path planning scene that meets the preset planning rule are acquired.

[0205] In step S1204, the real-time target position of the virtual limiter is determined according to the first real-time position information and / or the second real-time position information, and the attribute information of the virtual limiter at the real-time target position is determined according to the feature information.

[0206] In step S1206, the virtual limiter is dynamically set at the real-time target position according to the attribute information.

[0207] In step S1208, the movement path of the target object is determined based on the virtual limiter.

[0208] The steps S1202, S1204, S1206, and S1208 are the same as the steps S202, S204, S206, and S208 described above, and thus the embodiments of the present application will not be described again.

[0209] It should be noted that the number of interactive objects can be one or multiple. The positions of the interactive objects can be dynamically set during the movement of the target object. When the path is planned, the first real-time position information of the target object and the second real-time position information of the preset real-time interactive object in the path planning scene are acquired, the real-time target position of the virtual limiter is determined according to the real-time position information, the virtual limiter is dynamically set at the real-time target position according to the attribute information, and the movement path of the target object is determined based on the virtual limiter. The real-time target position of the virtual limiter is determined according to the first real-time position information and / or the second real-time position information, thereby improving the accuracy of the virtual limiter in guiding the path.

[0210] Corresponding to the method embodiments described above, the present application also provides path planning device embodiments, Figure 13 A structural schematic diagram of a path planning device according to an embodiment of the present application is shown. As shown in the figure, Figure 13 the device includes:

[0211] The acquisition module 1302 is configured to acquire first position information of the target object, second position information of the interactive object, and feature information in the path planning scene that meets a preset planning rule;

[0212] The first determination module 1304 is configured to determine a target position of the virtual stopper according to the first position information and / or the second position information, and determine attribute information of the virtual stopper at the target position according to the feature information;

[0213] The setting module 1306 is configured to set the virtual stopper at the target position according to the attribute information;

[0214] The second determination module 1308 is configured to determine a motion path of the target object based on the virtual stopper.

[0215] Optionally, the feature information includes first morphological information of the target object and second morphological information of the interactive object, and the attribute information includes shape information.

[0216] The first determination module 1304 is further configured to determine shape information of the virtual stopper at the target position according to the first morphological information and / or the second morphological information.

[0217] Optionally, the first morphological information includes first size data and first motion data, the second morphological information includes second size data and second motion data, and the shape information includes contour size and included angle.

[0218] The first determination module 1304 is further configured to determine contour size of the virtual stopper according to the first size data and / or the second size data, and determine an included angle of the virtual stopper at the target position according to the first motion data and / or the second motion data.

[0219] Optionally, the first determination module 1304 is further configured to determine a starting position of the target object as the target position of the virtual stopper according to the first position information.

[0220] The setting module 1306 is further configured to acquire a first preset target orientation of the target object at the starting position, and set the virtual stopper at the starting position according to the first preset target orientation and the attribute information.

[0221] Optionally, the first determination module 1304 is further configured to determine an ending position of the interactive object as the target position of the virtual stopper according to the second position information.

[0222] The setting module 1306 is further configured to acquire a second preset target orientation of the target object at the end position; and set the virtual limiter at the end position according to the second preset target orientation and the attribute information.

[0223] Optionally, the acquisition module 1302 is further configured to acquire first real-time position information of the target object, second real-time position information of a preset real-time interactive object in a path planning scene, and feature information conforming to a preset planning rule in the path planning scene.

[0224] The first determination module 1304 is further configured to determine a real-time target position of the virtual limiter according to the first real-time position information and / or the second real-time position information, and determine attribute information of the virtual limiter at the real-time target position according to the feature information.

[0225] The setting module 1306 is further configured to dynamically set the virtual limiter at the real-time target position according to the attribute information.

[0226] Optionally, the second determination module 1308 is further configured to take the virtual limiter as an obstacle, determine a motion path of the target object according to the attribute information of the virtual limiter by using a preset path planning algorithm.

[0227] Optionally, the apparatus further includes:

[0228] The deletion module is configured to delete the virtual limiter.

[0229] By using the scheme of the embodiments of the present application, the first position information of the target object, the second position information of the interactive object, and the feature information conforming to the preset planning rule in the path planning scene are acquired; the target position of the virtual limiter is determined according to the first position information and / or the second position information, and the attribute information of the virtual limiter at the target position is determined according to the feature information; the virtual limiter is set at the target position according to the attribute information; and the motion path of the target object is determined based on the virtual limiter. By determining the attribute information of the virtual limiter at the target position according to the feature information conforming to the preset planning rule, the matching degree of the target object and the virtual limiter is improved, and the fluency and accuracy of the motion path are further improved.

[0230] The above is a schematic scheme of the path planning device of the embodiment. It should be noted that the technical scheme of the path planning device and the technical scheme of the path planning method described above belong to the same concept, and the details of the technical scheme of the path planning device that are not described in detail can be referred to the description of the technical scheme of the path planning method. In addition, each component in the device embodiment should be understood as a functional module that must be established to implement each step of the program flow or each step of the method. Each functional module is not limited by actual functional division or separation. The device claim defined by such a group of functional modules should be understood as a functional module architecture for implementing the solution by the computer program mainly recorded in the specification, and should not be understood as an entity device for implementing the solution mainly by hardware.

[0231] Figure 14 A structural block diagram of a computing device 1400 is shown according to an embodiment of the present application. The components of the computing device 1400 include, but are not limited to, a memory 1410 and a processor 1420. The processor 1420 is connected to the memory 1410 through a bus 1430, and a database 1450 is used to save data.

[0232] The computing device 1400 also includes an access device 1440, which enables the computing device 1400 to communicate via one or more networks 1460. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 1440 can include one or more of any type of network interface (e.g., a network interface card (NIC)), such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a Worldwide Interoperability for Microwave Access (Wi-MAX) interface, an Ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a Bluetooth interface, a Near Field Communication (NFC) interface, and the like.

[0233] In an embodiment of the present application, the above components of the computing device 1400 and Figure 14Other components not shown can also be connected to each other in the system, such as through a bus. It should be understood that Figure 14 The illustrated computing device structural block diagram is merely for the purpose of example, and is not a limitation on the scope of the present application. Other components can be added or replaced by those skilled in the art as needed.

[0234] The computing device 1400 can be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smartphone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other type of mobile device, or a stationary computing device such as a desktop computer or PC. The computing device 1400 can also be a mobile or stationary server.

[0235] The processor 1420 is configured to execute computer-executable instructions of the path planning method.

[0236] The above is a schematic scheme of the computing device of the embodiment. It should be noted that the technical scheme of the computing device belongs to the same concept as the technical scheme of the path planning method described above, and the details of the technical scheme of the computing device that are not described in detail can be referred to the description of the technical scheme of the path planning method.

[0237] An embodiment of the present application also provides a computer readable storage medium storing computer instructions, which are executed by a processor to implement the path planning method described above.

[0238] The above is a schematic scheme of the computer readable storage medium of the embodiment. It should be noted that the technical scheme of the storage medium belongs to the same concept as the technical scheme of the path planning method described above, and the details of the technical scheme of the storage medium that are not described in detail can be referred to the description of the technical scheme of the path planning method.

[0239] An embodiment of the present application also provides a chip storing a computer program, which is executed by the chip to implement the steps of the path planning method described above.

[0240] The specific embodiments of the present application are described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order and still achieve desirable results. Additionally, the process depicted in the figures does not necessarily require the particular order shown, or sequential order to achieve desirable results. In some embodiments, multitasking and parallel processing can be advantageous.

[0241] The computer readable medium can include any entity or apparatus capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, software distribution medium, etc.

[0242] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the action sequence described, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0243] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0244] The preferred embodiments of the present application disclosed above are only used to help explain the present application. The alternative embodiments do not describe all the details and limit the application to the specific embodiments described. Obviously, according to the content of the present application, many modifications and changes can be made. The present application selects and describes these embodiments in order to better explain the principles and practical applications of the present application, so that those skilled in the art can well understand and use the present application. The present application is limited by the claims and their entire scope and equivalents.

Claims

1. A path planning method characterized by, The method comprises the following steps: acquiring first position information of a target object, second position information of an interactive object, and feature information in a path planning scene that meets a preset planning rule; determining a target position of a virtual limit stop according to the first position information and / or the second position information, and determining attribute information of the virtual limit stop at the target position according to the feature information, wherein the feature information comprises first shape information of the target object and second shape information of the interactive object, and the attribute information of the virtual limit stop comprises shape information determined according to the first shape information and / or the second shape information; setting the virtual limit stop at the target position according to the attribute information; determining a movement path of the target object based on the virtual limit stop.

2. The method of claim 1, wherein, The first shape information comprises first size data and first movement data, the second shape information comprises second size data and second movement data, and the shape information comprises contour size and included angle; The step of determining attribute information of the virtual limit stop at the target position according to the feature information comprises: determining contour size of the virtual limit stop according to the first size data and / or the second size data; determining an included angle of the virtual limit stop at the target position according to the first movement data and / or the second movement data.

3. The method according to any of claims 1-2, characterized in that, The step of determining a target position of a virtual limit stop according to the first position information comprises: determining a starting position of the target object as the target position of the virtual limit stop according to the first position information; The step of setting the virtual limit stop at the target position according to the attribute information comprises: acquiring a first preset target orientation of the target object at the starting position; setting the virtual limit stop at the starting position according to the first preset target orientation and the attribute information.

4. The method according to any one of claims 1-2, characterized in that, The step of determining a target position of a virtual limit stop according to the second position information comprises: determining a terminal position of the interactive object as the target position of the virtual limit stop according to the second position information; The step of setting the virtual limit stop at the target position according to the attribute information comprises: acquiring a second preset target orientation of the target object at the terminal position; setting the virtual limit stop at the terminal position according to the second preset target orientation and the attribute information.

5. The method of claim 1, wherein, The step of acquiring first position information of a target object, second position information of an interactive object, and feature information in a path planning scene that meets a preset planning rule comprises: acquiring first real-time position information of a target object, second real-time position information of a preset real-time interactive object in a path planning scene, and feature information in the path planning scene that meets a preset planning rule; The step of determining a target position of a virtual limit stop according to the first position information and / or the second position information, and determining attribute information of the virtual limit stop at the target position according to the feature information comprises: According to the first real-time position information and / or the second real-time position information, a real-time target position of a virtual limit stopper is determined, and according to the feature information, attribute information of the virtual limit stopper at the real-time target position is determined; The step of setting the virtual limit stopper at the target position according to the attribute information comprises: The virtual limit stopper is dynamically set at the real-time target position according to the attribute information.

6. The method of claim 1, wherein, The step of determining the motion path of the target object based on the virtual limit stopper comprises: The virtual limit stopper is taken as an obstacle, and a preset path planning algorithm is used to determine the motion path of the target object according to the attribute information of the virtual limit stopper.

7. The method of claim 1, wherein, After the step of determining the motion path of the target object based on the virtual limit stopper, the method further comprises: The virtual limit stopper is deleted.

8. A route planning apparatus characterized by comprising: Comprise: An acquisition module is configured to acquire first position information of a target object, second position information of an interactive object, and feature information in a path planning scene that meets a preset planning rule; A first determination module is configured to determine a target position of a virtual limit stopper according to the first position information and / or the second position information, and determine attribute information of the virtual limit stopper at the target position according to the feature information, wherein the feature information comprises first morphological information of the target object and second morphological information of the interactive object, the attribute information comprises shape information, and the shape information of the virtual limit stopper is determined according to the first morphological information and / or the second morphological information; A setting module is configured to set the virtual limit stopper at the target position according to the attribute information; A second determination module is configured to determine a motion path of the target object based on the virtual limit stopper.

9. A computing device, comprising: Comprise: A memory and a processor; The memory is used to store computer executable instructions, and the processor is used to execute the computer executable instructions to realize the steps of the path planning method in any one of claims 1 to 7.

10. A computer-readable storage medium storing computer instructions, wherein, The instructions are executed by the processor to realize the steps of the path planning method in any one of claims 1 to 7.

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