Navigation route determination method, device, storage medium and electronic device

Abstract

The present invention discloses a navigation route determination method, device, storage medium and electronic device. The method comprises: obtaining multiple tracks passing through the starting point and the target point when the starting point and the target point are determined; determining multiple target track points from each of the multiple tracks; determining multiple target straight lines according to all the determined target track points; determining multiple target straight lines with the smallest angles from the multiple target straight lines; and determining the determined multiple target straight lines as the navigation route between the starting point and the target point. The present invention solves the technical problem that the human eye cannot determine the route in places such as deserts, Gobi or narrow alleys.

Description

Technical Field

[0001] The present invention relates to the field of computers, and in particular to a navigation route determination method, device, storage medium and electronic device. Background Art

[0002] In the prior art, in deserts, Gobi Desert, or narrow alleys, the route is not clear, and it is easy to deviate from the route or lose the route if the human eye recognizes it. For example, the human eye cannot determine whether the alley is passable, and cannot determine the shortest route to the target point in the desert. Summary of the invention

[0003] The embodiments of the present invention provide a navigation route determination method, device, storage medium and electronic device to at least solve the technical problem that the human eye cannot determine the route in places such as deserts, Gobi or narrow alleys.

[0004] According to one aspect of an embodiment of the present invention, a method for determining a navigation route is provided, comprising: when a starting point and a target point are determined, obtaining multiple trajectories passing through the above-mentioned starting point and the above-mentioned target point; determining multiple target trajectory points from each of the above-mentioned multiple trajectories; determining multiple target straight lines based on all the determined target trajectory points; determining multiple target straight lines with the smallest angles from the above-mentioned multiple target straight lines; and determining the determined multiple target straight lines as the navigation route between the above-mentioned starting point and the above-mentioned target point.

[0005] According to another aspect of an embodiment of the present invention, a navigation route determination device is provided, comprising: an acquisition module, for acquiring a plurality of trajectories passing through the above-mentioned starting point and the above-mentioned target point when a starting point and a target point are determined; a first determination module, for determining a plurality of target trajectory points from each of the above-mentioned plurality of trajectories; a second determination module, for determining a plurality of target straight lines based on all the determined target trajectory points; a third determination module, for determining a plurality of target straight lines with the smallest angles from the above-mentioned plurality of target straight lines; and a fourth determination module, for determining the determined plurality of target straight lines as the navigation route between the above-mentioned starting point and the above-mentioned target point.

[0006] As an optional example, the acquisition module includes: a first determination unit, used to determine two circles with the starting point and the target point as centers and a preset value as radius; a second determination unit, used to determine the trajectory passing through the two circles as a trajectory among the multiple trajectories.

[0007] As an optional example, the first determination module includes: a third determination unit, used to determine each of the multiple trajectories as a current trajectory, and perform the following operations on the current trajectory: according to the time sequence of the generation of the trajectory points of the current trajectory, every predetermined time period, take a trajectory point from the current trajectory as the target trajectory point.

[0008] As an optional example, the second determination module includes: a fourth determination unit, used to determine a first straight line for every two target trajectory points from all the target trajectory points; and a fifth determination unit, used to determine the first straight line as the target straight line when the ratio of the number of trajectory points falling into the first straight line among the target trajectory points to the total number of the target trajectory points is greater than a first threshold.

[0009] As an optional example, the above-mentioned device also includes: a fifth determination module, used to determine that the above-mentioned target trajectory point falls into the above-mentioned first straight line when the above-mentioned first straight line passes through the above-mentioned target trajectory point, or the distance between the above-mentioned target trajectory point and the above-mentioned first straight line is less than a second threshold.

[0010] As an optional example, the above-mentioned third determination module includes: a sixth determination unit, used to determine every two target straight lines among the above-mentioned multiple target straight lines as the first current straight line and the second current straight line; a seventh determination unit, used to determine the intersection of the above-mentioned first current straight line and the above-mentioned second current straight line; an eighth determination unit, used to determine the angle between the above-mentioned first current straight line and the above-mentioned second current straight line after determining the above-mentioned intersection; a ninth determination unit, used to determine the multiple target straight lines with the smallest angles after determining the angle between every two of the above-mentioned target straight lines.

[0011] As an optional example, the third determination module further includes: an acquisition unit, used to acquire a second straight line passing through the starting point and the target point before determining multiple target straight lines with the smallest angle from the multiple target straight lines; and a deletion unit, used to delete the target straight line having an angle with the second straight line greater than the third threshold value when the angle between any of the target straight lines and the second straight line is greater than the third threshold value.

[0012] According to another aspect of an embodiment of the present invention, a storage medium is provided, in which a computer program is stored, wherein the computer program executes the above-mentioned navigation route determination method when executed by a processor.

[0013] According to another aspect of an embodiment of the present invention, there is provided an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the navigation route determination method through the computer program.

[0014] In an embodiment of the present invention, a method is adopted in which, after a starting point and a target point are determined, a plurality of trajectories passing through the above-mentioned starting point and the above-mentioned target point are obtained; a plurality of target trajectory points are determined from each of the above-mentioned plurality of trajectories; a plurality of target straight lines are determined based on all the determined target trajectory points; a plurality of target straight lines with the smallest angles are determined from the above-mentioned plurality of target straight lines; and the determined plurality of target straight lines are determined as navigation routes between the above-mentioned starting point and the above-mentioned target point. In the above-mentioned method, the shortest straight line between the starting point and the target point can be determined by the trajectory points that have been passed through in history between the starting point and the target point, thereby achieving the purpose of efficient navigation in deserts, next door, narrow alleys, etc., thereby solving the technical problem that the human eye cannot determine the route in places such as deserts, Gobi or narrow alleys. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0016] Figure 1 is a flow chart of an optional navigation route determination method according to an embodiment of the present invention;

[0017] Figure 2 is a schematic diagram of target trajectory points of an optional navigation route determination method according to an embodiment of the present invention;

[0018] Figure 3 is a target straight line schematic diagram of an optional navigation route determination method according to an embodiment of the present invention;

[0019] Figure 4 is a navigation path schematic diagram of an optional navigation route determination method according to an embodiment of the present invention;

[0020] Figure 5 is a schematic structural diagram of an optional navigation route determination device according to an embodiment of the present invention;

[0021] Figure 6 is a schematic diagram of an optional electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0023] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0024] According to a first aspect of an embodiment of the present invention, a method for determining a navigation route is provided. Optionally, as follows: Figure 1 As shown, the above method includes:

[0025] S102, when the starting point and the target point are determined, obtaining multiple trajectories passing through the starting point and the target point;

[0026] S104, determining a plurality of target trajectory points from each of the plurality of trajectories;

[0027] S106, determining a plurality of target straight lines according to all the determined target trajectory points;

[0028] S108, determining a plurality of target straight lines with the smallest angles from the plurality of target straight lines;

[0029] S110: Determine the determined multiple target straight lines as navigation routes between the starting point and the target point.

[0030] Optionally, this embodiment can be applied in the process of determining the shortest route between the starting point and the target point according to the historical trajectories of multiple objects. For example, in areas such as deserts and neighboring areas, where the land is vast and sparsely populated, the route is unclear and it is difficult for the human eye to determine the route. Or at the entrance of a long and narrow alley, it is difficult for the human eye to determine whether the alley is unobstructed and whether it is passable. Through this method, the shortest straight line can be determined between the starting point and the target point according to the historical trajectory, and then the shortest straight line can be used for navigation.

[0031] Optionally, the starting point and the target point in this embodiment can be input or selected locations, for example, the user can select the target point and the starting point. Alternatively, the starting point and the target point can also be locations determined by the system. For example, in desert rescue, the starting point and the target point can be the locations of the rescuer and the rescued.

[0032] After the starting point and the target point are determined, multiple trajectories that pass through the starting point and the target point can be searched from all historical trajectories. The multiple trajectories can be trajectories that pass through the starting point and the target point, or they can be trajectories that start from the starting point or the target point and reach the target point or the starting point. Multiple target trajectory points are determined from each of the multiple trajectories. The target trajectory points obtained from the multiple trajectories may overlap or partially overlap, or may not overlap at all. After obtaining multiple target trajectory points, the target trajectory points are used as the base points to determine the target straight lines passing through the target trajectory points to obtain multiple target straight lines. Multiple target straight lines with the smallest angles are determined from the target straight lines, and the determined target straight lines are used as navigation routes.

[0033] Through this embodiment, through the above method, the shortest straight line between the starting point and the target point can be determined through the trajectory points passed in history, thereby achieving the purpose of efficient navigation in deserts, next door, narrow alleys, etc.

[0034] As an optional example, when the starting point and the target point are determined, obtaining multiple trajectories passing through the starting point and the target point includes:

[0035] Determine two circles with the starting point and the target point as the center and the preset value as the radius;

[0036] A trajectory that passes through two circles is determined as a trajectory among the multiple trajectories.

[0037] Optionally, in this embodiment, the preset value can be manually set and can be adjusted according to the usage rate of the navigation route determined by the system. The higher the usage rate, the more appropriate the preset value is. If the usage rate is low, the system can adjust the preset value and then check whether the usage rate is improved. Until the usage rate exceeds a predetermined threshold.

[0038] The starting point and the target point are two circles with the centers and the preset values ​​as the radii, and the trajectory passing through the two circles is determined as a trajectory among the multiple trajectories. Thus, multiple trajectories associated with the starting point and the target point can be determined.

[0039] As an optional example, determining multiple target trajectory points from each of the multiple trajectories includes:

[0040] Determine each of the multiple tracks as the current track, and perform the following operations on the current track:

[0041] According to the time sequence of the generation of the trajectory points of the current trajectory, a trajectory point is taken from the current trajectory as the target trajectory point at every predetermined time interval.

[0042] Optionally, in this embodiment, when determining the target track point from each of the multiple tracks, a track point may be selected every predetermined time period according to the time when each of the multiple tracks is generated. For example, for the current track, if the current track is 10:00-12:00, a track point may be selected every 5 minutes as the target track point. Of course, the above data are only examples, and a target track point may be selected every 1 second, every 10 milliseconds, etc. This embodiment does not limit the predetermined time period, and it may be adjusted according to actual conditions.

[0043] As an optional example, according to all the determined target trajectory points, determining a plurality of target straight lines includes:

[0044] From all the target trajectory points, a first straight line is determined with every two target trajectory points;

[0045] When, among the target trajectory points, the ratio of the number of trajectory points falling into the first straight line to the total number of target trajectory points is greater than a first threshold, the first straight line is determined as the target straight line.

[0046] Optionally, after determining the target trajectory point of each of the multiple trajectories and obtaining multiple target trajectory points, a first straight line can be determined for every two target trajectory points, and the overlapping first straight lines are counted as one first straight line, and the non-overlapping first straight lines are retained. After determining multiple first straight lines, the number of target trajectory points on each first straight line is counted, and then compared with the total number of target trajectory points. If the ratio is greater than a first threshold, the first straight line is determined as the target straight line.

[0047] As an optional example, the method further includes:

[0048] When the first straight line passes through the target trajectory point, or the distance between the target trajectory point and the first straight line is less than a second threshold, it is determined that the target trajectory point falls into the first straight line.

[0049] In this embodiment, when determining whether a target trajectory point falls on a first straight line, an error value, i.e., a second threshold value, can be set, and a certain distance between the target trajectory point and the first straight line can be allowed. If the distance is less than the second threshold value, the target trajectory point is considered to have fallen on the first straight line. When a target trajectory point falls on multiple first straight lines at the same time, the target trajectory point is counted on each first straight line.

[0050] As an optional example, determining multiple target straight lines with the smallest angles from multiple target straight lines includes:

[0051] Determine every two target straight lines among the plurality of target straight lines as a first current straight line and a second current straight line;

[0052] Determine the intersection of the first current straight line and the second current straight line;

[0053] After determining the intersection point, determining the angle between the first current straight line and the second current straight line;

[0054] After determining the included angle between every two target straight lines, multiple target straight lines with the smallest included angles are determined.

[0055] Optionally, in this embodiment, when determining the angle, the two target straight lines may be extended until there is an intersection between the two first straight lines. The angle formed by the intersection and the two target straight lines is counted. After counting the angle between each two target straight lines, multiple target straight lines with the smallest angles may be selected as navigation routes. Since the angle may be zero, more than two target straight lines may be used as navigation routes. If there is no target straight line with a zero angle, two target straight lines with the smallest angles may be selected as navigation routes.

[0056] As an optional example, before determining a plurality of target straight lines with the smallest angles from the plurality of target straight lines, the method further includes:

[0057] Get a second straight line passing through the starting point and the target point;

[0058] When the included angle between any target straight line and the second straight line is greater than the third threshold, the target straight line whose included angle with the second straight line is greater than the third threshold is deleted.

[0059] Optionally, in this embodiment, in order to avoid interference from some wrong target routes, before determining the target straight line with the smallest angle as the navigation route, the angle between each target straight line and the second straight line can be determined. If the angle is greater than a third threshold, it means that the target straight line deviates too much from the second straight line formed by the starting point and the target point. Such a target straight line is an incorrect target straight line and needs to be deleted. Then, the navigation route is determined from the remaining target straight lines.

[0060] Figure 2 is a schematic diagram of the target trajectory points determined in this embodiment. Figure 2The navigation route is determined from the target track points determined from the multiple tracks in the navigation system. For the target track points, the location information reported by many people over a period of time collected by the device may have certain errors or deviations due to the positioning accuracy. A certain number of straight lines passing through the points are displayed as the target straight lines, so that there will be many crisscrossing straight lines displayed in the system. Then, multiple straight lines with more crossing points and smaller connecting angles are selected to show the approximate route. Thus, a navigation route is formed.

[0061] Figure 3 This is a schematic diagram of the target route determined in this embodiment. Calculate the lines on a line whose deviation is within X percent and whose connecting points are greater than Y percent of the total points, and then finally count the line sets a, b, c..., etc., where X and Y are positive numbers. Finally, calculate the multiple lines with the smallest deviation based on the angle deviation of the a\b\c... lines. Finally, display the route, Figure 3 Finally, two lines are counted, and the angle between the two lines is 0 degrees. Therefore, the route area and direction are determined based on these two antennas. An angle of 0 degrees means that the included angle is zero. Figure 4 It is a schematic diagram of the determined navigation route.

[0062] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0063] According to another aspect of the embodiment of the present application, a navigation route determination device is also provided. Figure 5 As shown, including:

[0064] An acquisition module 502 is used to acquire multiple trajectories passing through the starting point and the target point when the starting point and the target point are determined;

[0065] A first determination module 504 is used to determine a plurality of target trajectory points from each of the plurality of trajectories;

[0066] A second determination module 506 is used to determine a plurality of target straight lines according to all the determined target trajectory points;

[0067] A third determination module 508 is used to determine two target straight lines with the smallest angle from the multiple target straight lines;

[0068] The fourth determination module 510 is used to determine the two determined target straight lines as the navigation route between the starting point and the target point.

[0069] Optionally, this embodiment can be applied in the process of determining the shortest route between the starting point and the target point according to the historical trajectories of multiple objects. For example, in areas such as deserts and neighboring areas, where the land is vast and sparsely populated, the route is unclear and it is difficult for the human eye to determine the route. Or at the entrance of a long and narrow alley, it is difficult for the human eye to determine whether the alley is unobstructed and whether it is passable. Through this method, the shortest straight line can be determined between the starting point and the target point according to the historical trajectory, and then the shortest straight line can be used for navigation.

[0070] Optionally, the starting point and the target point in this embodiment can be input or selected locations, for example, the user can select the target point and the starting point. Alternatively, the starting point and the target point can also be locations determined by the system. For example, in desert rescue, the starting point and the target point can be the locations of the rescuer and the rescued.

[0071] After the starting point and the target point are determined, multiple trajectories that pass through the starting point and the target point can be searched from all historical trajectories. The multiple trajectories can be trajectories that pass through the starting point and the target point, or they can be trajectories that start from the starting point or the target point and reach the target point or the starting point. Multiple target trajectory points are determined from each of the multiple trajectories. The target trajectory points obtained from the multiple trajectories may overlap or partially overlap, or may not overlap at all. After obtaining multiple target trajectory points, the target trajectory points are used as the base points to determine the target straight lines passing through the target trajectory points to obtain multiple target straight lines. Multiple target straight lines with the smallest angles are determined from the target straight lines, and the determined target straight lines are used as navigation routes.

[0072] Through this embodiment, through the above method, the shortest straight line between the starting point and the target point can be determined through the trajectory points passed in history, thereby achieving the purpose of efficient navigation in deserts, next door, narrow alleys, etc.

[0073] As an optional example, the acquisition module includes:

[0074] A first determining unit is used to determine two circles with a starting point and a target point as centers and a preset value as radius;

[0075] The second determining unit is used to determine the trajectory passing through the two circles as a trajectory among the multiple trajectories.

[0076] Optionally, in this embodiment, the preset value can be manually set and can be adjusted according to the usage rate of the navigation route determined by the system. The higher the usage rate, the more appropriate the preset value is. If the usage rate is low, the system can adjust the preset value and then check whether the usage rate is improved. Until the usage rate exceeds a predetermined threshold.

[0077] The starting point and the target point are two circles with the centers and the preset values ​​as the radii, and the trajectory passing through the two circles is determined as a trajectory among the multiple trajectories. Thus, multiple trajectories associated with the starting point and the target point can be determined.

[0078] As an optional example, the first determining module includes:

[0079] The third determining unit is used to determine each of the multiple trajectories as a current trajectory, and perform the following operations on the current trajectory:

[0080] According to the time sequence of the generation of the trajectory points of the current trajectory, a trajectory point is taken from the current trajectory as the target trajectory point at every predetermined time interval.

[0081] Optionally, in this embodiment, when determining the target track point from each of the multiple tracks, a track point may be selected every predetermined time period according to the time when each of the multiple tracks is generated. For example, for the current track, if the current track is 10:00-12:00, a track point may be selected every 5 minutes as the target track point. Of course, the above data are only examples, and a target track point may be selected every 1 second, every 10 milliseconds, etc. This embodiment does not limit the predetermined time period, and it may be adjusted according to actual conditions.

[0082] As an optional example, the second determining module includes:

[0083] A fourth determining unit, configured to determine a first straight line from every two target trajectory points from all target trajectory points;

[0084] The fifth determining unit is configured to determine the first straight line as the target straight line when a ratio of the number of trajectory points falling within the first straight line to the total number of target trajectory points among the target trajectory points is greater than a first threshold.

[0085] Optionally, after determining the target trajectory point of each of the multiple trajectories and obtaining multiple target trajectory points, a first straight line can be determined for every two target trajectory points, and the overlapping first straight lines are counted as one first straight line, and the non-overlapping first straight lines are retained. After determining multiple first straight lines, the number of target trajectory points on each first straight line is counted, and then compared with the total number of target trajectory points. If the ratio is greater than a first threshold, the first straight line is determined as the target straight line.

[0086] As an optional example, the above device further includes:

[0087] The fifth determination module is used to determine that the target trajectory point falls into the first straight line when the first straight line passes through the target trajectory point or the distance between the target trajectory point and the first straight line is less than a second threshold.

[0088] In this embodiment, when determining whether a target trajectory point falls on a first straight line, an error value, i.e., a second threshold value, can be set, and a certain distance between the target trajectory point and the first straight line can be allowed. If the distance is less than the second threshold value, the target trajectory point is considered to have fallen on the first straight line. When a target trajectory point falls on multiple first straight lines at the same time, the target trajectory point is counted on each first straight line.

[0089] As an optional example, the third determining module includes:

[0090] a sixth determining unit, configured to determine, among the plurality of target straight lines, every two target straight lines as a first current straight line and a second current straight line;

[0091] a seventh determining unit, configured to determine an intersection point between the first current straight line and the second current straight line;

[0092] an eighth determining unit, configured to determine an angle between the first current straight line and the second current straight line after determining the intersection point;

[0093] The ninth determining unit is used to determine two target straight lines with the smallest angle after determining the angle between each two target straight lines.

[0094] Optionally, in this embodiment, when determining the angle, the two target straight lines may be extended until there is an intersection between the two first straight lines. The angle formed by the intersection and the two target straight lines is counted. After counting the angle between each two target straight lines, multiple target straight lines with the smallest angles may be selected as navigation routes. Since the angle may be zero, more than two target straight lines may be used as navigation routes. If there is no target straight line with a zero angle, two target straight lines with the smallest angles may be selected as navigation routes.

[0095] As an optional example, the third determining module further includes:

[0096] An acquisition unit, used for acquiring a second straight line passing through the starting point and the target point before determining two target straight lines with the smallest angle from a plurality of target straight lines;

[0097] The deleting unit is used to delete the target straight line whose angle with the second straight line is greater than the third threshold value when the angle between the target straight line and the second straight line is greater than the third threshold value.

[0098] Optionally, in this embodiment, in order to avoid interference from some wrong target routes, before determining the target straight line with the smallest angle as the navigation route, the angle between each target straight line and the second straight line can be determined. If the angle is greater than a third threshold, it means that the target straight line deviates too much from the second straight line formed by the starting point and the target point. Such a target straight line is an incorrect target straight line and needs to be deleted. Then, the navigation route is determined from the remaining target straight lines.

[0099] For other examples of this embodiment, please refer to the above examples and will not be repeated here.

[0100] Figure 6 is a structural block diagram of an optional electronic device according to an embodiment of the present application, such as Figure 6 As shown, it includes a processor 602, a communication interface 604, a memory 606 and a communication bus 608, wherein the processor 602, the communication interface 604 and the memory 606 communicate with each other through the communication bus 608, wherein,

[0101] Memory 606, used to store computer programs;

[0102] The processor 602 is used to implement the following steps when executing the computer program stored in the memory 606:

[0103] When the starting point and the target point are determined, a plurality of trajectories passing through the starting point and the target point are obtained;

[0104] Determine a plurality of target trajectory points from each of the plurality of trajectories;

[0105] According to all the determined target trajectory points, a plurality of target straight lines are determined;

[0106] From multiple target straight lines, determine two target straight lines with the smallest angle;

[0107] The two determined target straight lines are determined as the navigation route between the starting point and the target point.

[0108] Optionally, in this embodiment, the communication bus may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 The communication interface is used for communication between the above electronic device and other devices.

[0109] The memory may include RAM, or may include non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0110] As an example, the above-mentioned memory 606 may include but is not limited to the acquisition module 502, the first determination module 504, the second determination module 506, the third determination module 508 and the fourth determination module 510 in the above-mentioned navigation route determination device. In addition, it may also include but is not limited to other module units in the above-mentioned request processing device, which will not be repeated in this example.

[0111] The above-mentioned processor can be a general-purpose processor, which can include but not be limited to: CPU (Central Processing Unit), NP (Network Processor), etc.; it can also be DSP (Digital Signal Processing), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0112] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment will not be described in detail here.

[0113] It can be understood by those skilled in the art that Figure 6 The structure shown is for illustration only. The device for implementing the above-mentioned navigation route determination method may be a terminal device, which may be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a PDA, a mobile Internet device (Mobile Internet Devices, MID), a PAD, and other terminal devices. Figure 6 The structure of the electronic device is not limited. Figure 6 More or fewer components (such as network interfaces, display devices, etc.) shown in, or having Figure 6 Different configurations shown.

[0114] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and the program can be stored in a computer-readable storage medium, which can include: a flash drive, ROM, RAM, a magnetic disk or an optical disk, etc.

[0115] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program executes the steps in the above-mentioned navigation route determination method when executed by a processor.

[0116] Optionally, in this embodiment, a person of ordinary skill in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing hardware related to the terminal device through a program, and the program may be stored in a computer-readable storage medium, and the storage medium may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0117] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0118] If the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above computer-readable storage medium. Based on such understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling one or more computer devices (which can be personal computers, servers or network devices, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention.

[0119] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0120] In the several embodiments provided in the present application, it should be understood that the disclosed client can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0121] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0122] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0123] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for determining a navigation route, characterized in that: Applied in navigation scenarios in deserts or Gobi, including: When a starting point and a target point are determined, a plurality of trajectories passing through the starting point and the target point are obtained; Determining a plurality of target trajectory points for each of the plurality of trajectories; Determining a plurality of target straight lines according to all target track points of all determined tracks, including: determining a first straight line for every two target track points from all the target track points; determining the first straight line as the target straight line when the ratio of the number of track points falling into the first straight line to the total number of the target track points among the target track points is greater than a first threshold, and determining that the target track point falls into the first straight line when the first straight line passes through the target track point or the distance between the target track point and the first straight line is less than a second threshold; Determining a plurality of target straight lines with the smallest angles from the plurality of target straight lines, comprising: determining every two target straight lines from the plurality of target straight lines as a first current straight line and a second current straight line; determining an intersection point between the first current straight line and the second current straight line; after determining the intersection point, determining an angle between the first current straight line and the second current straight line; after determining the angle between every two target straight lines, determining a plurality of target straight lines with the smallest angles; The determined multiple target straight lines with the smallest angles are determined as navigation routes between the starting point and the target point.

2. The method according to claim 1, characterized in that When the starting point and the target point are determined, obtaining a plurality of trajectories passing through the starting point and the target point comprises: Determine two circles with the starting point and the target point as the center and a preset value as the radius; A trajectory passing through the two circles is determined as a trajectory among the plurality of trajectories.

3. The method according to claim 1, characterized in that Determining a plurality of target trajectory points from each of the plurality of trajectories comprises: Determine each of the multiple trajectories as a current trajectory, and perform the following operations on the current trajectory: According to the time sequence of the generation of the trajectory points of the current trajectory, a trajectory point is taken from the current trajectory as the target trajectory point at every predetermined time period.

4. The method according to claim 1, characterized in that Before determining a plurality of target straight lines with the smallest angles from the plurality of target straight lines, the method further includes: Acquire a second straight line passing through the starting point and the target point; When the included angle between any one of the target straight lines and the second straight line is greater than a third threshold, the target straight line whose included angle with the second straight line is greater than the third threshold is deleted.

5. A navigation route determination device, characterized in that: Applied in navigation scenarios in deserts or Gobi, including: An acquisition module, configured to acquire a plurality of trajectories passing through the starting point and the target point when a starting point and a target point are determined; A first determination module, configured to determine a plurality of target trajectory points of each trajectory from each of the plurality of trajectories; The second determination module is used to determine a plurality of target straight lines according to all target track points of all determined tracks, including: determining a first straight line for every two target track points from all the target track points; determining the first straight line as the target straight line when the ratio of the number of track points falling into the first straight line to the total number of the target track points among the target track points is greater than a first threshold, and determining that the target track point falls into the first straight line when the first straight line passes through the target track point or the distance between the target track point and the first straight line is less than a second threshold; The third determination module is used to determine a plurality of target straight lines with the smallest angles from the plurality of target straight lines, including: determining every two target straight lines among the plurality of target straight lines as a first current straight line and a second current straight line; determining an intersection point between the first current straight line and the second current straight line; after determining the intersection point, determining an angle between the first current straight line and the second current straight line; after determining the angle between every two target straight lines, determining a plurality of target straight lines with the smallest angles; The fourth determination module is used to determine the multiple target straight lines with the smallest angles as the navigation routes between the starting point and the target point.

6. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 4 is executed.

7. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 4 through the computer program.

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