Path determination method and device, vehicle, and computer-readable storage medium

Abstract

The embodiments of the present application provide a path determination method and device, a vehicle, and a computer-readable storage medium. The path determination method includes: obtaining a first road network graph, obtaining a first directed graph between a starting point and an end point in the first road network graph, obtaining a non-Euler path in the first directed graph, and completing the non-Euler path according to the non-Euler path to obtain a second directed graph of the first road network graph. The method can quickly determine the path between the starting point and the end point, thereby improving the efficiency of path planning.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a path determination method and device, a vehicle, and a computer-readable storage medium. Background Art

[0002] Since high-precision maps are time-sensitive and iterate quickly, it is necessary to arrange fleets to collect road information regularly, and the collection process requires driving all city roads. The urban road network in the real world is very complex. If navigation routes are manually formulated, a lot of labor costs will be consumed to plan routes. Summary of the invention

[0003] The embodiments of the present application provide a path determination method and device, a vehicle, and a computer-accessible storage medium to solve the above-mentioned problems.

[0004] In a first aspect, the present application provides a path determination method, which includes: obtaining a first road network graph, the first road network graph including a starting point, an end point, and a node connecting the starting point and the end point; obtaining a first directed graph between the starting point and the end point in the first road network graph; obtaining a non-Eulerian path in the first directed graph, the non-Eulerian path refers to a path in the first directed graph other than the Euler path; completing the non-Eulerian path to obtain a second directed graph of the first road network graph.

[0005] In some embodiments, completing the non-Eulerian path to obtain a second directed graph of the first road network graph includes: connecting unconnected nodes and roads in the non-Eulerian path with the shortest path to obtain the second directed graph of the first road network graph.

[0006] In some embodiments, the method of connecting unconnected nodes and roads in the non-Eulerian path with the shortest path to obtain a second directed graph of the first road network graph includes: determining a second road network graph based on untraversed nodes in the first road network graph, wherein the untraversed nodes refer to nodes in the first road network graph other than traversed nodes, and the traversed nodes refer to nodes traversed according to the first directed graph, and the second road network graph includes the starting point, the end point, and the non-Eulerian path between the starting point and the end point; connecting the non-Eulerian paths in the second road network graph with the shortest path to obtain a second directed graph of the first road network graph.

[0007] In some embodiments, the node is used to represent a bifurcation point in a road, or to represent a bifurcation point in a road and an endpoint of a dead-end road.

[0008] In some implementations, obtaining the first road network graph includes:

[0009] Acquire map data; generate a first road network diagram based on the map data, wherein the first road network diagram uses bifurcation points in the road as nodes, or uses endpoints of dead-end roads as nodes.

[0010] In some implementations, after completing the non-Eulerian path to obtain the second directed graph of the first road network graph, the method further includes:

[0011] According to the second directed graph, points are placed on the map and connected to display the corresponding traversal path.

[0012] In some implementations, after completing the non-Eulerian path to obtain the traversal path of the first road network graph, the method further includes:

[0013] The second directed graph is sent to the target vehicle, so that the target vehicle points on the map and connects to display the corresponding traversal path according to the second directed graph.

[0014] In the second aspect, the present application proposes a path determination device, which includes a network graph acquisition module, a directed graph determination module, a path acquisition module, and a path completion module. The network graph acquisition module is used to acquire a first road network graph, wherein the first road network graph includes a starting point, an end point, and a node connecting the starting point and the end point; the directed graph determination module is used to acquire a first directed graph between the starting point and the end point in the first road network graph; the path acquisition module is used to acquire a non-Eulerian path in the first directed graph, wherein the non-Eulerian path refers to a path in the first directed graph other than the Euler path; the path completion module completes the non-Eulerian path to obtain a second directed graph of the first road network graph.

[0015] In a third aspect, the present application also proposes a vehicle, comprising one or more processors; a memory; and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute a method as described in any one of the above items.

[0016] In a fourth aspect, the present application further provides a computer-readable storage medium, in which program code is stored, and the program code can be called by a processor to execute any of the methods described above.

[0017] The present application provides a path determination method, based on the concept of Euler circuit, to find all Euler circuits in a directed graph; after eliminating the Euler circuits, all remaining roads that cannot become Euler circuits are completed into Euler circuits to obtain the path between the starting point and the end point. This method can quickly determine the shortest path between the starting point and the end point, improving the efficiency of path planning. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the implementation modes of the present application, the drawings required for use in the description of the implementation modes will be briefly introduced below. Obviously, the drawings described below are only some implementation modes of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 A schematic diagram of the hardware operating environment of the path determination method provided in an embodiment of the present application is shown;

[0020] Figure 2 A schematic diagram of a flow chart of a path determination method provided by an embodiment of the present application is shown;

[0021] Figure 3 A schematic diagram of a first road network diagram in an embodiment of the present application is shown;

[0022] Figure 4 Another schematic diagram of the first road network diagram in an embodiment of the present application is shown;

[0023] Figure 5 A schematic diagram of a method flow for completing the non-Euler path in a path determination method provided in an embodiment of the present application is shown;

[0024] Figure 6 A schematic diagram showing the first road network graph before and after traversal in an embodiment of the present application is shown;

[0025] Figure 7 A schematic diagram showing another first road network graph before and after traversal in an embodiment of the present application is shown;

[0026] Figure 8 A schematic diagram of a flow chart of a path determination method provided by another embodiment of the present application is shown;

[0027] Fig. 9 A schematic diagram of a flow chart of a path determination method provided by another embodiment of the present application is shown;

[0028] Fig.10 A structural block diagram of a path determination device provided by an embodiment of the present application is shown;

[0029] Fig.11A structural block diagram of a vehicle provided by an embodiment of the present application is shown;

[0030] Fig.12 A structural block diagram of a computer-readable storage medium provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the implementation mode of the present application will be clearly and completely described below in conjunction with the drawings in the implementation mode of the present application. Obviously, the described implementation mode is only a part of the implementation mode of the present application, not all the implementation modes. Based on the implementation mode in the present application, all other implementation modes obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0032] In addition, the terms "first", "second", etc. are only used to distinguish descriptions and cannot be understood as specific or special structures. The descriptions of the terms "some embodiments", "other embodiments", etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In the present application, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of the different embodiments or examples without contradiction.

[0033] Since high-precision maps are highly time-sensitive and iterate quickly, it is necessary to arrange fleets to collect road information on a regular basis. The collection process requires driving on all city roads, so the problem of collection route planning arises - how to make the collection route as short as possible and reduce the workload of collecting data.

[0034] The road network of real-world city maps is very complex. If the navigation path is manually planned, it will consume a lot of labor costs to plan the route, and the planned route cannot be guaranteed to be the shortest.

[0035] Computers can be used to calculate all paths based on high-precision maps and then obtain the shortest path, but this calculation method processes a large amount of data and takes a long time to process. After long-term research, the inventor proposed a path determination method, which is based on the concept of Euler circuits and finds all Euler circuits in a directed graph; after eliminating Euler circuits, all remaining roads that cannot become Euler circuits are completed into Euler circuits to obtain the path between the starting point and the end point.

[0036] The following is a brief description of the professional terms involved in the embodiments of the present invention:

[0037] In the embodiments of the present application, a high-precision map refers to a map with high precision and refined definition. Unlike the currently widely known electronic maps, its accuracy often needs to reach the decimeter level to accurately distinguish each lane. Unlike traditional electronic maps, the main service targets of high-precision maps are autonomous driving and advanced intelligent assisted driving, such as driverless cars. High-precision maps are an indispensable component of current autonomous driving and driverless car technologies. High-precision maps contain a large amount of driving assistance information, among which the most important is the accurate three-dimensional representation of the road network (centimeter-level accuracy). In addition, high-precision maps also need to have higher real-time performance than traditional maps to ensure the "newness" and "freshness" of map elements. Because the road network changes every day, such as renovations, wear and repainting of road markings, changes in traffic signs, etc. These changes need to be reflected in high-precision maps in a timely manner to ensure the safety of driverless vehicles.

[0038] An Euler path is a path between any two different nodes in a network graph. If a path in the graph includes each edge exactly once, then the path is called an Euler path. If a circuit (the starting point of the path is equal to the end point of the path) is an Euler path, it is called an Euler circuit.

[0039] A directed graph is a graph in which each path in a network graph has a direction. An isolated point in a directed graph means that the point is not associated with any edge in the directed graph.

[0040] See also Figure 1 The path determination method provided in the embodiment of the present invention can be applied to an automatic driving control system 10, which can include a vehicle 11, a server 12, and an electronic device 13, wherein the vehicle 11 can be connected to the server 12 through a communication network, and the vehicle 11 can be connected to the electronic device 13 through a wired or wireless communication method, that is, the vehicle 11 can send data to the electronic device 13 through a wired or wireless network, and can also receive data sent by the electronic device 13 through a wired or wireless network. The electronic device 13 can be a vehicle-mounted computer, a smart phone, a tablet computer, a wearable smart device, and the like.

[0041] In the embodiment of the present application, the vehicle 11 may be equipped with an in-vehicle Bluetooth device, and the electronic device 13 may be connected to the vehicle 11 by Bluetooth through the in-vehicle Bluetooth device. When the electronic device 13 is connected to other electronic devices for a call, it can talk to other electronic devices through the vehicle, that is, the vehicle user's voice is picked up by the vehicle's microphone, and when the voice information sent by other electronic devices is received, the audio information is played through the vehicle's audio player. In addition, the user can also control the vehicle through the electronic device 13, by inputting instructions or gestures on the touch screen of the electronic device 13, or by voice input. The electronic device 13 can receive data such as high-definition maps sent by the server 12.

[0042] In the embodiment of the present application, the server 12 stores a high-precision map of the city, and can build the data structure required by the algorithm based on the urban road network, clarify the mapping relationship between the directed graph and the actual road network, and the server or electronic device obtains the final path according to the directed graph, so that the user can drive along the path intuitively.

[0043] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0044] See also Figure 2 An embodiment of the present application provides a path determination method. This embodiment describes the step flow on the electronic device side. The method may include steps S201 to S204.

[0045] S201: Acquire a first road network graph, where the first road network graph includes a starting point, an end point, and a node connecting the starting point and the end point.

[0046] In an embodiment of the present application, the obtaining of the first road network map may be by obtaining the first road network map from an associated cloud or vehicle through wireless communication technology (such as WIFI, Bluetooth, Zigbee, etc.), or by obtaining the first road network map from an associated vehicle using SPI (serial communication interface), or by directly obtaining the first road network map pre-stored in a storage unit of the terminal device.

[0047] Among them, the first road network map can be a first road network map generated by processing the vehicle posture data, camera data or lidar point cloud data collected in real time after the data collection mode is turned on for vehicles of different models and transmitted to the relevant cloud / vehicle. The first road network map can be a large-scale city map, rural map, scenic spot map, etc.

[0048] The road network graph can be a set of all edges and a set of all points. Specifically, the intersection points between the two ends of the road segment and the road within the vehicle driving range and the intersection points between the roads are set as nodes of the road network graph, and the vehicle driving range endpoint set, i.e., the road network graph node set, is obtained. The intersection points between the two ends of the road segment and the road within the test range and the intersection points between the roads are set as test range nodes, and the test range node set is obtained; the intersection points between the two ends of the road segment and the road within the added road range and the intersection points between the roads are set as added road range nodes, and the added road range endpoint set is obtained.

[0049] As an implementation method, the first road network diagram may be a network diagram formed by using the bifurcation points of the roads in the map as nodes and the roads as connection paths. Figure 3 The first road network diagram includes a network diagram formed by using the bifurcation points of the road as nodes and the roads as connection paths. As an example, the starting point can be set as node B1 and the end point can be set as node E1.

[0050] In some other embodiments, the first road network diagram may also include the midpoint between two adjacent road bifurcation points, and a network diagram formed by connecting along the road, please refer to Figure 4 The first road network diagram includes a network diagram formed by connecting the midpoint between two adjacent road bifurcations and the road bifurcations as nodes, and the small circles between the bifurcations represent the midpoints between the bifurcations. As an example, the starting point can be set to node B2, and the end point can be set to node E2.

[0051] In some other implementations, the first road network diagram may also include nodes determined in other ways, and a network diagram connected along the roads, which is not limited here.

[0052] S202: Obtain a first directed graph between a starting point and an end point in the first road network graph.

[0053] Please refer again Figure 3As an implementation method, the Hierholzer algorithm can be used to obtain the path from the starting point to the end point as the first directed graph. The specific calculation process is roughly as follows: first, recursion is performed from the starting point: for any current node x, and any node y that does not overlap with node x, all edges connected to the node x are scanned. When a (x, y) is scanned, the edge is deleted, and y is recursively returned. After scanning all edges, x is added to the result queue. Starting from the starting point, each execution of the recursive function is equivalent to simulating the process of a single stroke. The boundary of the recursion is the end point of the path. For a graph with an Euler path, all edges on the graph have been deleted at this time, and naturally the recursion cannot continue. Since the storage of the results is performed after the traversal, the result storage is also in reverse order, so the results must be output in reverse order. In some other implementation methods, the end point and the starting point can also be the same node, so that the path starting from the same point and returning to the same point can become an Euler circuit.

[0054] It should be noted that, since the first road network graph is generated by a map, and intersections between roads will appear in the map, when forming an Euler circuit, there will be some untraversed roads in the path.

[0055] S203: Acquire a non-Eulerian path in the first directed graph, where the non-Eulerian path refers to a path other than the Euler path in the first directed graph.

[0056] In this embodiment, the untraversed path refers to the set of roads remaining in the first road network graph after excluding the points traversed by the above-mentioned Euler path. However, in some other embodiments, since the map also contains dead-end roads, when the starting point and the end point are not the endpoints of the dead-end roads, the dead-end roads and the endpoints on the dead-end roads cannot be traversed by the Euler path, so in the process of obtaining the non-Euler path, the dead-end roads and the endpoints on the dead-end roads are also obtained. In this embodiment, the non-Euler path is the road in the path that is not traversed when the Euler loop is formed.

[0057] S204: Complete the non-Eulerian path to obtain a second directed graph of the first road network graph.

[0058] See also Figure 5 As an example, in this step, the unconnected nodes and roads in the non-Euler path are connected by the shortest path to obtain a second directed graph of the first road network graph. The specific method includes steps S501 to S502. However, in some other implementations, the non-Euler path is completed by other methods, and the obtained directed graph can also be used as a path, which is not limited here.

[0059] S501: Determine a second road network graph based on the untraversed nodes in the first road network graph, wherein the untraversed nodes refer to the nodes in the first road network graph other than the traversed nodes, the traversed nodes refer to the nodes traversed according to the first directed graph, and the second road network graph includes the starting point, the end point, and the non-Eulerian path between the starting point and the end point.

[0060] In some embodiments, the nodes and paths that have not been traversed in the first road network graph can be integrated to form a first road network graph F. However, the first road network graph F may have the following problems: Figure 6 , let node M be a three-way intersection in a road. When the first directed graph traverses and passes through node M, node M cannot be traversed for a second time due to the formation of an Euler circuit. Therefore, there is only one route passing through node M, and the route passes through two of the three routes branched out from the three-way intersection, and the remaining road will not be traversed. Let the remaining road be a dead-end road, and its endpoint is K. At this time, the section of road from node M to node K objectively exists. However, after excluding the traversed path, since node M is excluded together, the section of route from node K to node M will not exist in the second road network graph formed after excluding the traversed path. At this time, the result of obtaining the shortest path may be inaccurate.

[0061] In some specific implementations, when excluding traversal paths, if a certain node is an intersection point where any odd-numbered routes converge, in order to make the final path conform to the shortest path, in the process of excluding traversal paths, the nodes of the odd-numbered routes and the nodes connected to the dead-end roads need to be retained so that the final result conforms to the objective route. As an example, please refer to Figure 7 , the traversed path passes through point M. After excluding the traversed path, point M is retained. At this time, since point M and point K exist at the same time, a section of road between point M and point K is defined as a connecting line in the second road network diagram, which is roughly consistent with the objective road.

[0062] S502: Connect the non-Eulerian paths in the second road network graph with the shortest paths to obtain a second directed graph of the first road network graph.

[0063] The second road network graph refers to the part of nodes and road sections retained in the first road network graph after excluding the path traversed by the first directed graph. Specifically, in the first network road graph, the remaining roads and nodes after excluding the path traversed by the first directed graph, since each node is independently distributed, the path after excluding the first directed graph, such as dead-end roads, will exist independently in the network graph after excluding the directed graph, so the path needs to be completed at this time. The purpose of completion is to connect each independent road and node. However, in order to be consistent with the objective map, the path is completed on the basis of retaining some nodes on the first road network graph.

[0064] In the above scheme, after eliminating the Euler circuit, all the remaining roads that cannot become Euler circuits are completed into Euler circuits. The completed roads are the roads that need to be repeated. Therefore, it is only necessary to ensure that the completed roads are the shortest to ensure that the final output path is the shortest. In other words, the roads are completed with the shortest path to make the urban road network a large Euler circuit.

[0065] The technical solution proposed in this application is based on the concept of Euler circuits, and finds all Euler circuits in a directed graph; after eliminating Euler circuits, all remaining roads that cannot become Euler circuits are completed into Euler circuits to obtain the path between the starting point and the end point. This method can quickly determine the path between the starting point and the end point, improving the efficiency of path planning.

[0066] See also Figure 8 An embodiment of the present application provides a path determination method. This embodiment describes the step flow on the electronic device side. The method may include steps S801 to S805.

[0067] S801: Acquire a first road network graph, where the first road network graph includes a starting point, an end point, and a node connecting the starting point and the end point.

[0068] S802: Obtain a first directed graph between a starting point and an end point in the first road network graph.

[0069] S803: Acquire a non-Eulerian path in the first directed graph, where the non-Eulerian path refers to a path other than the Euler path in the first directed graph;

[0070] S804: Complete the non-Eulerian path to obtain a second directed graph of the first road network graph.

[0071] For the detailed description of steps S801 to S804 , please refer to the detailed description of steps S101 to S104 above, which will not be described in detail here.

[0072] S805: According to the second directed graph, dots are placed on the map and connected to display the corresponding traversal path.

[0073] As an implementation method, the map can be displayed on the central control screen of the vehicle, or on the electronic display screen of the electronic device. In the embodiment of the present application, the map parameters can be pre-stored in the storage unit of the terminal device, or obtained from the associated cloud or electronic device through wireless communication technology, or obtained from the associated electronic device through SPI, which is not limited here.

[0074] As an implementation method, first obtain the position parameters of the vehicle in reality, correspond to the position on the map and display the virtual vehicle position. Afterwards, determine the predicted position of each time node in the map according to the second directed graph, wherein the predicted position is the position of the virtual vehicle on the virtual path, the virtual vehicle is an identifier indicating the vehicle location on the client map, and the virtual path is a path formed by dotting and connecting the nodes traversed according to the second directed graph. Through the above steps, the second directed graph can be mapped to the map, so that the user can clearly observe the route, which is convenient for the user to follow the route for fast map traversal.

[0075] This embodiment provides a path determination method, which obtains a first road network graph; determines the starting point and the end point. Determine a first directed graph between the starting point and the end point in the first road network graph; determine a non-Euler path in the directed graph, wherein the non-Euler path refers to a path other than the Euler path in the directed graph; determine the path between the starting point and the end point based on the non-Euler path, and according to the second directed graph, mark points on the map and connect to display the corresponding traversal path. By operating on the vehicle, the user is guided to perform the traversal operation.

[0076] See also Fig. 9 An embodiment of the present application provides a path determination method. This embodiment describes the step flow on the server side. The method may include steps S901 to S905.

[0077] S901: Acquire a first road network graph, where the first road network graph includes a starting point, an end point, and a node connecting the starting point and the end point;

[0078] S902: Acquire a first directed graph between a starting point and an end point in the first road network graph;

[0079] S903: Acquire a non-Eulerian path in the first directed graph, where the non-Eulerian path refers to a path other than the Euler path in the first directed graph;

[0080] S904: Complete the non-Eulerian path to obtain a second directed graph of the first road network graph.

[0081] For the detailed description of steps S901 to S904 , please refer to the detailed description of steps S101 to S104 above, which will not be described in detail here.

[0082] S905: Send the second directed graph to the target vehicle, so that the target vehicle points on the map and connects to display the corresponding traversal path according to the second directed graph.

[0083] In this embodiment, the position parameters of the vehicle in reality are first obtained, and the position on the map is matched and the position of the virtual vehicle is determined at the corresponding point. After that, the second directed graph is sent to the target vehicle. The target vehicle predicts the position at each time node in the map according to the second directed graph, wherein the predicted position is the position of the virtual vehicle on the virtual path, the virtual vehicle is an identifier indicating the vehicle positioning position on the client map, and the virtual path is a path formed by dotting and connecting the nodes traversed according to the second directed graph.

[0084] Through the above steps, the second directed graph can be mapped onto the map, so that the user can clearly observe the route, and it is convenient for the user to follow the route to quickly traverse the map.

[0085] In other embodiments, the server may also form a traversal path by connecting dots on a map according to the second directed graph, and send the traversal path to the target vehicle and display it on the target vehicle.

[0086] This embodiment provides a path determination method, which is obtained by obtaining a first road network graph; determining the starting point and the end point. Determining a first directed graph between the starting point and the end point in the first road network graph; determining a non-Euler path in the directed graph, wherein the non-Euler path refers to a path other than the Euler path in the directed graph; determining the path between the starting point and the end point based on the non-Euler path, and according to the second directed graph, dotting and connecting the corresponding traversal path on the map. Sending the second directed graph to the target vehicle so that the target vehicle can dot and connect the corresponding traversal path on the map based on the second directed graph. Through calculation on the server, the second directed graph can be sent to the terminal, and the terminal determines the shortest traversal route based on the second directed graph.

[0087] It should be noted that each embodiment of this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the embodiments can be referred to each other. For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. Any processing method described in the method embodiment can be implemented by the corresponding processing module in the device embodiment, and will not be repeated one by one in the device embodiment.

[0088] See also Fig.10 Based on the above-mentioned path determination method, the present application proposes a path determination device 110, which includes a network graph acquisition module 111, a directed graph determination module 112, a path acquisition module 113, and a path completion module 114.

[0089] Specifically, the network graph acquisition module 111 is used to acquire a first road network graph, wherein the first road network graph includes a starting point, an end point, and a node connecting the starting point and the end point. The directed graph determination module 112 is used to acquire a first directed graph between the starting point and the end point in the first road network graph. The path acquisition module 113 is used to acquire a non-Eulerian path in the first directed graph, wherein the non-Eulerian path refers to a path other than the Euler path in the first directed graph. The path completion module 114 is used to complete the non-Eulerian path to obtain a second directed graph of the first road network graph.

[0090] In some embodiments, the path completion module 114 includes a path connection module for connecting unconnected nodes and roads in the non-Euler path with the shortest path to obtain a second directed graph of the first road network graph.

[0091] In some embodiments, the path connection module includes a directed graph determination module, which is used to determine a second road network graph based on the untraversed nodes in the first road network graph, wherein the untraversed nodes refer to the nodes in the first road network graph other than the traversed nodes, and the traversed nodes refer to the nodes traversed according to the first directed graph, and the second road network graph includes the starting point, the end point, and the non-Eulerian path between the starting point and the end point; the non-Eulerian paths in the second road network graph are connected with the shortest path to obtain a second directed graph of the first road network graph.

[0092] In some implementations, the network graph acquisition module 111 includes a network graph determination module, and the network graph determination module is used to generate a first road network graph according to the map data, wherein the first road network graph uses bifurcation points in the road as nodes.

[0093] In some implementations, the path determination device 110 includes a display processing module, and the display processing module is used to mark points on a map and connect and display the corresponding traversal path according to the second directed graph.

[0094] In some embodiments, the path determination device 110 includes a directed graph sending module, which sends the second directed graph to the target vehicle, so that the target vehicle points on the map and connects to display the corresponding traversal path according to the second directed graph.

[0095] In some embodiments, the path determination device 110 includes a path sending module, which forms a traversal path by connecting dots on a map according to the second directed graph, and sends the traversal path to a target vehicle and displays it on the target vehicle.

[0096] In this embodiment, the path determination device may be disposed in the vehicle so as to determine the vehicle's driving route to traverse the map during the vehicle's driving. In other embodiments, the path determination device may also be disposed in a server, and after determining the path, the server sends it to the vehicle to guide the vehicle to traverse the path, which is not limited here.

[0097] See also Fig.11 Based on the above-mentioned path determination method, the present application also provides another vehicle 11 including a processor that can execute the above-mentioned path determination method, and the vehicle 11 also includes one or more processors 1110, a memory 1120, and one or more application programs. The memory 1120 stores a program that can execute the content of the above-mentioned embodiment, and the processor 610 can execute the program stored in the memory 1120. The vehicle 11 can be a vehicle, an intelligent robot, a tablet computer, a personal computer, etc.

[0098] Among them, the processor 1110 may include one or more cores for processing data and a message matrix unit. The processor 1110 uses various interfaces and lines to connect various parts in the entire vehicle, and executes various functions and processes data of the vehicle 11 by running or executing instructions, programs, code sets or instruction sets stored in the memory 1120, and calling data stored in the memory 1120. Optionally, the processor 1110 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor 1110 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor, but implemented separately through a communication chip.

[0099] The memory 1120 may include a random access memory (RAM) or a read-only memory (ROM). The memory 1120 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 1120 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as obtaining a map to be segmented, etc.), instructions for implementing the following various method embodiments, etc. The data storage area may also store data created by the terminal during use (such as a map to be segmented, preset map parameters, preset conditions), etc.

[0100] See also Fig.12 , which shows a structural block diagram of a computer-readable storage medium 1300 provided in an embodiment of the present application. The computer-readable storage medium 1300 stores a program code 1310, and the program code 1310 can be called by a processor to execute the method described in the above method embodiment.

[0101] The computer readable storage medium 1300 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk, or a ROM. Optionally, the computer readable storage medium 1300 includes a non-transitory computer-readable storage medium. The computer readable storage medium 1300 has storage space for program codes 1310 that perform any of the method steps in the above method. These program codes 1310 may be read from or written to one or more computer program products. The program code may be compressed, for example, in an appropriate form.

[0102] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

[0103] The above implementation modes are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned implementation modes, a person skilled in the art should understand that the technical solutions described in the aforementioned implementation modes can still be modified, or some of the technical features can be replaced by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various implementation modes of the present application, and should all be included in the protection scope of the present application.

Claims

1. A path determination method, characterized in that: The path determination method comprises: Acquire a first road network graph, wherein the first road network graph includes a starting point, an end point, and a node connecting the starting point and the end point; Acquire a first directed graph between a starting point and an end point in the first road network graph; Obtain a non-Eulerian path in the first directed graph, where the non-Eulerian path refers to a path in the first directed graph other than the Euler path; Connecting unconnected nodes and roads in the non-Euler path with the shortest path to complete the non-Euler path, to obtain a second directed graph of the first road network graph; According to the second directed graph, points are placed on the map and connected to display the corresponding traversal path.

2. The method according to claim 1, characterized in that The step of connecting unconnected nodes and roads in the non-Euler path with the shortest path to complete the non-Euler path to obtain a second directed graph of the first road network graph includes: Determine a second road network graph according to the untraversed nodes in the first road network graph, wherein the second road network graph includes the starting point, the end point, and the non-Eulerian path between the starting point and the end point; The non-Eulerian paths in the second road network graph are connected by the shortest paths to obtain a second directed graph of the first road network graph.

3. The method according to claim 1, characterized in that The node is used to represent a bifurcation point in a road, or to represent a bifurcation point in a road and an end point of a dead-end road.

4. The method according to claim 1, characterized in that: The obtaining of the first road network graph comprises: Get map data; A first road network graph is generated according to the map data, wherein the first road network graph uses bifurcation points in the road as nodes, or uses endpoints of dead-end roads as nodes.

5. The method according to any one of claims 1 to 4, characterized in that: After completing the non-Eulerian path to obtain the traversal path of the first road network graph, the method further includes: The second directed graph is sent to the target vehicle, so that the target vehicle points on the map and connects to display the corresponding traversal path according to the second directed graph.

6. A path determination device, characterized in that: The path determination device comprises: A network graph acquisition module, used to acquire a first road network graph, wherein the first road network graph includes a starting point, an end point, and a node connecting the starting point and the end point; A directed graph determination module, used to obtain a first directed graph between a starting point and an end point in the first road network graph; A path acquisition module, used for acquiring a non-Eulerian path in the first directed graph, wherein the non-Eulerian path refers to a path other than the Euler path in the first directed graph; A path completion module, used for connecting unconnected nodes and roads in the non-Euler path with the shortest path to complete the non-Euler path, so as to obtain a second directed graph of the first road network graph; The display processing module is used to mark points on the map and connect and display the corresponding traversal path according to the second directed graph.

7. A vehicle, characterized in that: include: one or more processors; Memory; One or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program codes, which can be called by a processor to execute the method according to any one of claims 1 to 5.

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