Travel route generation method, device, equipment and storage medium

Abstract

This invention relates to the field of navigation technology and discloses a method, apparatus, device, and storage medium for generating driving routes. The invention discloses: acquiring environmental information of the area where a target vehicle is located; establishing a grid map corresponding to the area based on the environmental information; and generating a driving route for the target vehicle based on the grid map. Because this invention establishes a grid map corresponding to the area where the target vehicle is located based on the environmental information, it accurately acquires the map information of the area and generates the driving route for the target vehicle based on the grid map. This achieves accurate planning of the target vehicle's driving route within the area, effectively improving the driving efficiency of the target vehicle and enhancing the user experience.

Description

Technical Field

[0001] This invention relates to the field of navigation technology, and in particular to a method, apparatus, device, and storage medium for generating driving routes. Background Technology

[0002] With social progress and the development of science and technology, cars have gradually become ubiquitous in people's work and life. As a result, people's travel is inseparable from cars. In order to plan travel in a reasonable way and improve travel efficiency, we often obtain road information of the area to be traveled and then plan routes based on the road information. However, road information cannot accurately reflect the actual situation of the area to be traveled. Therefore, it is currently impossible to accurately build a map corresponding to the area to be traveled, which makes it impossible to effectively plan travel routes and greatly affects the user experience.

[0003] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main objective of this invention is to provide a method, apparatus, device, and storage medium for generating travel routes, aiming to solve the technical problem that existing technologies cannot accurately create maps corresponding to areas to be traveled, resulting in the inability to effectively plan travel routes.

[0005] To achieve the above objectives, the present invention provides a method for generating a driving route, the method comprising the following steps:

[0006] Obtain environmental information about the area where the target vehicle is located;

[0007] A raster map corresponding to the region is created based on the environmental information;

[0008] The driving route of the target vehicle is generated based on the grid map.

[0009] Optionally, the step of establishing a raster map corresponding to the region based on the environmental information includes:

[0010] The mapping environment is determined based on the environmental information;

[0011] An initial map corresponding to the region is created based on the environmental information, and the initial map is then rasterized.

[0012] The raster processing results are mapped according to the mapping environment;

[0013] A raster map corresponding to the region is created based on the mapping results.

[0014] Optionally, generating the driving route of the target vehicle based on the grid map includes:

[0015] The starting position information of the target vehicle and the target position information in the area are determined based on the grid map;

[0016] Generate at least one initial driving route based on the starting position information and the target position information;

[0017] Obtain candidate driving routes from the initial driving route;

[0018] The candidate driving routes are smoothed to obtain the target driving route of the target vehicle.

[0019] Optionally, obtaining candidate driving routes from the initial driving route includes:

[0020] Construct a particle cluster based on the initial driving route;

[0021] Initialize each initial particle in the particle cluster;

[0022] The initial particles in the particle cluster are evaluated after initialization, and the target particles in each initial particle are determined based on the evaluation results.

[0023] Candidate driving routes in the initial driving route are determined based on the target particle.

[0024] Optionally, obtaining the environmental information of the area where the target vehicle is located includes:

[0025] Obtain the driving area of ​​the target vehicle;

[0026] Obtain the area boundary information of the driving area, and the obstacle boundary information within the driving area;

[0027] The environmental information of the region is determined based on the region boundary information and the obstacle boundary information.

[0028] Optionally, determining the environmental information of the region based on the region boundary information and the obstacle boundary information includes:

[0029] The region outline of the driving area is determined based on the region boundary information, and the obstacle outline of the driving area is determined based on the obstacle boundary information.

[0030] The environmental information of the region is determined based on the region outline and the obstacle outline.

[0031] Optionally, determining the region outline of the driving area based on the region boundary information, and determining the obstacle outline within the driving area based on the obstacle boundary information, includes:

[0032] The search path is determined based on the area boundary information and the obstacle boundary information;

[0033] Perform the search based on the search path;

[0034] The regional outline of the driving area is determined based on the search results and the regional boundary information.

[0035] The outlines of obstacles within the driving area are determined based on the search results and the obstacle boundary information.

[0036] Furthermore, to achieve the above objectives, the present invention also proposes a route generation device, the route generation device comprising:

[0037] The information acquisition module is used to acquire environmental information about the area where the target vehicle is located.

[0038] The map creation module is used to create a raster map corresponding to the area based on the environmental information.

[0039] The route generation module is used to generate the driving route of the target vehicle based on the grid map.

[0040] Furthermore, to achieve the above objectives, the present invention also proposes a driving route generation device, which includes: a memory, a processor, and a driving route generation program stored in the memory and executable on the processor, wherein the driving route generation program is configured to implement the steps of the driving route generation method described above.

[0041] In addition, to achieve the above objectives, the present invention also proposes a storage medium storing a driving route generation program, which, when executed by a processor, implements the steps of the driving route generation method described above.

[0042] This invention acquires environmental information about the area where the target vehicle is located, establishes a grid map corresponding to the area based on the environmental information, and generates the driving route of the target vehicle based on the grid map. Because this invention establishes a grid map corresponding to the area where the target vehicle is located based on the environmental information, it accurately acquires the map information of the area and generates the driving route of the target vehicle based on the grid map. This achieves accurate planning of the target vehicle's driving route within the area, effectively improving the driving efficiency of the target vehicle and enhancing the user experience. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the structure of the driving route generation device in the hardware operating environment involved in the embodiments of the present invention;

[0044] Figure 2 This is a flowchart illustrating the first embodiment of the driving route generation method of the present invention;

[0045] Figure 3 This is a flowchart illustrating the second embodiment of the driving route generation method of the present invention;

[0046] Figure 4 This is a flowchart illustrating the third embodiment of the driving route generation method of the present invention;

[0047] Figure 5 This is a structural block diagram of the first embodiment of the driving route generation device of the present invention.

[0048] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0049] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0050] Reference Figure 1 , Figure 1 This is a schematic diagram of the driving route generation device structure in the hardware operating environment involved in the embodiments of the present invention.

[0051] like Figure 1 As shown, the route generation device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be high-speed random access memory (RAM) or stable non-volatile memory (NVM), such as a disk storage device. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0052] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the route generation device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0053] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and a route generation program.

[0054] exist Figure 1 In the driving route generation device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the driving route generation device of the present invention can be set in the driving route generation device, and the driving route generation device calls the driving route generation program stored in the memory 1005 through the processor 1001 and executes the driving route generation method provided in the embodiment of the present invention.

[0055] This invention provides a method for generating driving routes, referring to... Figure 2 , Figure 2 This is a flowchart illustrating a first embodiment of a method for generating a driving route according to the present invention.

[0056] In this embodiment, the method for generating the driving route includes the following steps:

[0057] Step S10: Obtain environmental information of the area where the target vehicle is located.

[0058] It should be noted that this embodiment is applied when the target vehicle is driving in the current area and it is necessary to plan the driving route in the area. This embodiment obtains the environmental information of the area where the target vehicle is located, establishes a grid map corresponding to the area based on the environmental information, and generates the driving route of the target vehicle based on the grid map.

[0059] Compared to existing technologies that cannot accurately create maps corresponding to the areas to be traveled, thus making it impossible to effectively plan travel routes, this embodiment creates a grid map corresponding to the area where the target vehicle is located based on the environmental information of that area. This allows for accurate acquisition of map information for that area, and the generation of the target vehicle's driving route based on the grid map. This enables accurate planning of the target vehicle's driving route within the area, effectively improving the vehicle's driving efficiency and enhancing the user experience.

[0060] It should be understood that the subject executing the method in this embodiment may be a driving route generation device with data processing, network communication and program running functions, such as an on-board controller, or other devices or equipment that can achieve the same or similar functions. Here, the driving route generation device (hereinafter referred to as the route generation device) is used as an example for explanation.

[0061] It should be noted that the aforementioned area can be the area where the target vehicle is currently located or the area where the target vehicle is about to travel. For example, the area can be a tourist attraction or other areas, and this embodiment does not limit it. The aforementioned environmental information can be road information, building information, and obstacle information within the area. The route generation device can collect the environmental information of the area through internally integrated or externally connected image sensors or LiDAR and other acquisition devices.

[0062] It should be understood that the route generation device can collect environmental information of the area in advance and store the collected information to a local server or cloud server. The route generation device can search along the boundary of the area from the starting position of the area in a preset direction, collect environmental information of the area during the search process, and obtain the environmental information of the area based on the search results and the collected results.

[0063] For example, when the area is a tourist attraction, the route generation device searches along the boundary of the tourist attraction or the boundary of the obstacle adjacent to the boundary in a preset direction from the starting position of the tourist attraction (i.e., the entrance of the tourist attraction). During the search, it collects environmental information of the tourist attraction and obtains the environmental information of the tourist attraction based on the search results and the collected results.

[0064] Step S20: Establish a raster map corresponding to the region based on the environmental information.

[0065] It should be noted that a raster map can be a regional map obtained after rasterization. A raster map can be a map that has been discretized in both space and brightness. Therefore, a raster map can accurately reflect the road information and location information within a region.

[0066] It should be understood that, in order to accurately reflect the road information and building location information within the area, the route generation device in this embodiment establishes an initial map corresponding to the area based on the environmental information, and then performs rasterization processing on the initial map to obtain a raster map corresponding to the area.

[0067] Step S30: Generate the driving route of the target vehicle based on the grid map.

[0068] It should be noted that the driving route can be the navigation route of the target vehicle within the area. The driving route can be the route taken by the target vehicle from its current location to the target location, or it can be the route taken by the target vehicle from the entrance of the area to the target location.

[0069] In its implementation, the route generation device determines the starting position information of the target vehicle and the target position information within the area based on the grid map. It then determines the starting position coordinates based on the starting position information and the target position coordinates based on the target position information. The device also determines the geographical information within the area based on the grid map, including road information, building information, and obstacle information. Based on the geographical information, the starting position coordinates, and the target position coordinates, the device generates a driving route for the target vehicle, enabling the target vehicle to travel from the starting position to the target position based on the driving route, thereby improving the driving efficiency of the target vehicle.

[0070] For example, when the area is a tourist attraction, the route generation device determines the starting position information of the target vehicle and the target position information within the area based on the grid map. The starting position can be the entrance of the tourist attraction, and the target position can be the location of a target attraction within the tourist attraction. The device determines the coordinates of the entrance based on the starting position information, the coordinates of the target attraction based on the target position information, and the geographic information within the tourist attraction based on the grid map. This geographic information includes: road information, building information, obstacle information, and information of each attraction within the tourist attraction. Based on the geographic information, the coordinates of the entrance, and the coordinates of the target attraction, the device generates a driving route for the target vehicle, enabling the vehicle to travel from the entrance to the target attraction, thereby improving the vehicle's driving efficiency.

[0071] Furthermore, in order to accurately plan the driving route of the target vehicle, step S30 above may include:

[0072] The starting position information of the target vehicle and the target position information in the area are determined based on the grid map;

[0073] Generate at least one initial driving route based on the starting position information and the target position information;

[0074] Obtain candidate driving routes from the initial driving route;

[0075] The candidate driving routes are smoothed to obtain the target driving route of the target vehicle.

[0076] It should be noted that the starting location information can be the current location of the target vehicle or the entrance location within the area. The target location information can be the destination location within the area or the target destination location of the target vehicle.

[0077] For example, when the area is a tourist attraction, the starting location information can be the location information of the entrance to the tourist attraction or the location information of the current location of the target vehicle; the target location information can be the location information of the target attraction within the tourist attraction or the location information of the exit of the tourist attraction.

[0078] The initial driving route mentioned above can be one or more driving routes generated by the route generation device based on the starting position coordinates, the target position coordinates, and the environmental information in the area. In order to improve driving efficiency, it is necessary to select the shortest and fastest route from the initial driving routes as candidate driving routes. The route generation device can use the Particle Swarm Optimization (PSO) algorithm to select the initial driving routes.

[0079] Furthermore, in order to accurately select the optimal route, the above-mentioned acquisition of candidate routes from the initial driving route may include:

[0080] Construct a particle cluster based on the initial driving route;

[0081] Initialize each initial particle in the particle cluster;

[0082] The initial particles in the particle cluster are evaluated after initialization, and the target particles in each initial particle are determined based on the evaluation results.

[0083] Candidate driving routes in the initial driving route are determined based on the target particle.

[0084] It should be noted that a particle cluster can be a cluster containing multiple initial particles. The initial particles can be particles corresponding to the initial path. In order to optimize each particle in the cluster and obtain the better particles among the initial particles, the particle swarm optimization (PSO) algorithm can be used to optimize the particle cluster. Based on the optimization results, the target particles in the initial particles are determined, and then the initial driving path corresponding to the target particles is determined. The initial driving path corresponding to the target particles is used as the candidate driving path.

[0085] The route generation device initializes the particle swarm optimization (PSO) algorithm, setting the population size, learning factor, obstacle weights, and current iteration count to 1. It sets the initial particle positions and velocities, defines individual inherited attributes, sets the original optimal position as the initial position, calculates the fitness function, adjusts the fuzzy neural network parameters using the initial PSO algorithm parameters, and calculates the network output for the next time step. This yields the route planning length for each initial driving route, as shown in Formulas 1 and 2 below. Formula 1 is the formula for calculating the route planning length of the initial driving route, where L is the path planning length of the initial driving route, and X... g Y is the x-coordinate of the target position. g X represents the ordinate of the target position. s Y is the x-coordinate of the starting position. s The initial position is the ordinate; Formula 2 is the fitness calculation formula, where f i c represents the current fitness. i This is the equivalent cost of the current node;

[0086]

[0087]

[0088] Referring to Formulas 3 and 4 below, adjust the parameters of the neural network and calculate the network output at the next time step, provided that the number of iterations satisfies k < k T At that time, k T Let ω represent the iteration threshold. As k increases, ω represents the inertia weight, which continues to decrease non-linearly. At this point, the parameters of the neural network are adjusted according to the following rule, and the network output at the next time step is calculated. The iteration count reaches the threshold, i.e., ω... k =ω max ω max This represents the maximum value of the inertia weight, which is a reverse process. At this point, the program is set to stop updating c. ij and σ ij To reduce redundant calculations. Since these two parameters are used to determine the position and shape of the membership function of the fuzzy neural network, they need to be continuously adjusted to obtain more accurate results. Therefore, such training rules are designed to encourage the fuzzy neural network to gradually approach and determine the minimum range and optimal solution.

[0089]

[0090]

[0091] Based on the network output at the next moment, determine the optimal position of the individual and the optimal particle position of the current generation, then update the particle swarm position and velocity, and determine whether the maximum number of generations has been reached. If not, update the weight parameters according to Formula 5 below, and update the learning factor according to Formula 6 below. If the maximum number of generations has been reached, then determine the algorithm termination condition. In Formula 5, ω max and ω min This represents the maximum and minimum values ​​of the inertia weight; k T This represents the iteration threshold; the decreasing factor λ > 0, and due to the introduction of the decreasing factor, ω during the iteration process... k The inertial weight decreases nonlinearly with the number of iterations, which helps to avoid getting trapped in local optima. The algorithm starts with a large inertial weight, which helps the particles spread throughout the search space at a large speed to determine the range of the optimal solution. Then its value is gradually reduced to focus on finding the optimal solution.

[0092]

[0093] Learning Factor Update: A new learning factor update method was designed. Maintaining a large c1 value helps particles search a wide range, but the convergence speed is relatively slow. Maintaining a large c2 value helps particles learn the social experience of the group, thus achieving rapid convergence, but the ability to search the planning space is relatively weak. To enhance the particle's search ability in the early stages of the algorithm and its convergence ability in the later stages, a larger c1 value and a smaller c2 value are maintained in the early stages of the algorithm, while a smaller and larger value are maintained in the later stages. The update formula for the learning factor is defined as Equation 6 below, where: s-state represents the initial learning factor value; f-state represents the learning factor value at the end of the algorithm. This setting ensures that as the number of algorithm iterations increases, c1 gradually decreases and c2 gradually increases, and k represents the maximum number of iterations.

[0094]

[0095] According to formulas 5 and 6, the fuzzy subset parameters c of the fuzzy network can be obtained by using the weight parameter ω and the iteration parameter k. ij and σ ij Adjustments are made, and the output of the fuzzy neural network is calculated using the network parameters provided by the optimal particle.

[0096] This embodiment obtains environmental information about the area where the target vehicle is located, establishes a grid map corresponding to the area based on the environmental information, and generates the driving route of the target vehicle based on the grid map. Because this invention establishes a grid map corresponding to the area where the target vehicle is located based on the environmental information, it accurately obtains the map information of the area and generates the driving route of the target vehicle based on the grid map. This achieves accurate planning of the driving route of the target vehicle within the area, effectively improving the driving efficiency of the target vehicle and enhancing the user experience.

[0097] refer to Figure 3 , Figure 3 This is a flowchart illustrating a second embodiment of a method for generating a driving route according to the present invention.

[0098] Based on the first embodiment described above, in this embodiment, step S20 includes:

[0099] Step S201: Determine the mapping environment based on the environmental information;

[0100] Step S202: Establish an initial map corresponding to the region based on the environmental information, and perform rasterization processing on the initial map;

[0101] Step S203: Map the raster processing results according to the mapping environment;

[0102] Step S204: Establish a raster map corresponding to the region based on the mapping results.

[0103] It should be noted that the mapping environment can be a processing environment that maps and represents the rasterization results. The initial map mentioned above can be an initial texture of a regional map built based on environmental information. To improve the accuracy of the regional map, the initial map also needs to be rasterized.

[0104] It should be understood that, in order to accurately determine the coordinates of the starting position and the target position, and thus accurately plan the driving route of the target vehicle, the route generation device in this embodiment determines the mapping environment based on the environmental information, determines the road information and obstacle information within the area based on the environmental information, imports the obtained road information and obstacle information into a pre-built map generation model, thereby realizing the reproduction of the area map, marks the position and shape of the road within the map generation model, marks the size and shape of the obstacle, establishes an initial map corresponding to the area based on the marking results, and performs rasterization processing on the initial map, maps the rasterization processing results according to the mapping environment, establishes a raster map corresponding to the area based on the mapping results, and determines the coordinates of the starting position of the target vehicle and the coordinates of the target position within the area based on the raster map.

[0105] In its implementation, the route generation device determines the mapping environment of the map based on environmental information, then determines the road and obstacle information within the area based on the environmental information. Based on the road information, it determines the road distribution and location within the area, and based on the obstacle information, it determines the size, shape, and location of obstacles within the area. Based on the road distribution, road location, obstacle size, shape, and location, it establishes an initial map corresponding to the area and performs rasterization processing on the initial map. Based on the mapping environment, it maps the rasterized result to the preset environment, thereby establishing a raster map represented in the preset environment based on the mapping result.

[0106] This embodiment determines the mapping environment based on the environmental information, establishes an initial map corresponding to the region based on the environmental information, performs rasterization processing on the initial map, maps the rasterization result according to the mapping environment, and establishes a raster map corresponding to the region based on the mapping result. Because this invention determines the mapping environment of the region based on the environmental information, establishes an initial map corresponding to the region based on the environmental information, performs rasterization processing on the initial map to obtain a raster map corresponding to the environmental information, and then maps the rasterization result according to the mapping environment to establish a raster map corresponding to the region based on the mapping result, it achieves accurate establishment of a raster map of the region, thus improving the accuracy of the region map.

[0107] refer to Figure 4 , Figure 4 This is a flowchart illustrating a third embodiment of a method for generating a driving route according to the present invention.

[0108] Based on the first embodiment described above, in this embodiment, step S10 includes:

[0109] Step S101: Obtain the driving area of ​​the target vehicle;

[0110] Step S102: Obtain the area boundary information of the driving area and the obstacle boundary information within the driving area;

[0111] Step S103: Determine the environmental information of the region based on the region boundary information and the obstacle boundary information.

[0112] It should be noted that the driving area can be a drivable area within the region where the target vehicle is located, and the driving area can be a road distribution area within the region where the target vehicle is located. The aforementioned area boundary information can be related information about the outline boundary of the driving area, such as the area area and outline shape of the driving area. The aforementioned obstacle boundary information can be the outline boundary information of obstacles within the area, such as the obstacle size, shape, and location.

[0113] It should be understood that, in order to accurately collect environmental information within the area where the target vehicle is located, the route generation device in this embodiment performs boundary learning on the area where the target vehicle is located to obtain the driving area of ​​the area where the target vehicle is located, thereby determining the collection range and the driving range of the target vehicle. Based on the collection range and the driving range, information is collected on the driving area to obtain the area boundary information of the driving area and the obstacle boundary information within the driving area. Then, the environmental information of the area is determined based on the area boundary information and the obstacle boundary information.

[0114] In practice, the route generation device acquires the driving area of ​​the target vehicle, thereby determining the collection range and the driving range of the target vehicle. Based on the collection range and the driving range, the target vehicle is controlled to search along the driving area boundary and obstacle boundary of the area from the starting position of the area in a preset search direction, and information is collected during the search process. The environmental information of the area is determined based on the search results and the information collection results.

[0115] Furthermore, in order to accurately obtain environmental information within the area, step S103 above may include:

[0116] The region outline of the driving area is determined based on the region boundary information, and the obstacle outline of the driving area is determined based on the obstacle boundary information.

[0117] The environmental information of the region is determined based on the region outline and the obstacle outline.

[0118] It should be noted that the area outline can be the outline of the boundary shape of the drivable area within the area, and the aforementioned obstacle outline can be the outline of the shape of the obstacle within the drivable area within the area.

[0119] Furthermore, in order to accurately determine the region outline and obstacle outline within the driving area, the above-mentioned determination of the region outline of the driving area based on the region boundary information, and determination of the obstacle outline within the driving area based on the obstacle boundary information, may include:

[0120] The search path is determined based on the area boundary information and the obstacle boundary information;

[0121] Perform the search based on the search path;

[0122] The regional outline of the driving area is determined based on the search results and the regional boundary information.

[0123] The outlines of obstacles within the driving area are determined based on the search results and the obstacle boundary information.

[0124] It should be noted that the search path can be the path by which the target vehicle learns the boundaries of the driving area. In order to accurately collect environmental information within the area, the route generation device can pre-control the target vehicle to search the driving area based on the search path and collect information during the search process. In this process, the outline of the entire driving environment and the distribution of obstacles are obtained and the data is recorded, thereby realizing boundary learning and information collection within the area.

[0125] This embodiment obtains the driving area of ​​the target vehicle, the boundary information of the driving area, and the boundary information of obstacles within the driving area. Based on the boundary information and the obstacle boundary information, the environmental information of the area is determined. Because this invention determines the environmental information within the area based on the boundary information and obstacle boundary information, it achieves accurate information collection of the area and effectively avoids the problem of map creation errors caused by inaccurate information collection.

[0126] Furthermore, this embodiment of the invention also proposes a storage medium storing a driving route generation program, which, when executed by a processor, implements the steps of the driving route generation method described above.

[0127] Since this storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0128] Reference Figure 5 , Figure 5 This is a structural block diagram of the first embodiment of the driving route generation device of the present invention.

[0129] like Figure 5 As shown, the driving route generation device proposed in this embodiment of the invention includes:

[0130] Information acquisition module 10 is used to acquire environmental information of the area where the target vehicle is located;

[0131] Map building module 20 is used to build a raster map corresponding to the area based on the environmental information;

[0132] The route generation module 30 is used to generate the driving route of the target vehicle based on the grid map.

[0133] Furthermore, the map building module 20 is also used to determine the mapping environment based on the environmental information; build an initial map corresponding to the region based on the environmental information, and perform rasterization processing on the initial map; map the rasterization processing result based on the mapping environment; and build a raster map corresponding to the region based on the mapping result.

[0134] Furthermore, the route generation module 30 is also used to determine the starting position information of the target vehicle and the target position information in the area based on the grid map; generate at least one initial driving route based on the starting position information and the target position information; obtain candidate driving routes in the initial driving route; and perform smoothing processing on the candidate driving routes to obtain the target driving route of the target vehicle.

[0135] Furthermore, the route generation module 30 is also used to construct a particle cluster based on the initial driving route; initialize each initial particle in the particle cluster; evaluate each initialized initial particle in the particle cluster, determine the target particle in each initialized initial particle based on the evaluation result; and determine the candidate driving route in the initial driving route based on the target particle.

[0136] Furthermore, the information acquisition module 10 is also used to acquire the driving area of ​​the target vehicle; acquire the area boundary information of the driving area and the obstacle boundary information within the driving area; and determine the environmental information of the area based on the area boundary information and the obstacle boundary information.

[0137] Furthermore, the information acquisition module 10 is also used to determine the regional outline of the driving area based on the regional boundary information, and to determine the obstacle outline within the driving area based on the obstacle boundary information; and to determine the environmental information of the area based on the regional outline and the obstacle outline.

[0138] Furthermore, the information acquisition module 10 is also used to determine a search path based on the area boundary information and the obstacle boundary information; perform a search based on the search path; determine the area outline of the driving area based on the search results and the area boundary information; and determine the obstacle outline within the driving area based on the search results and the obstacle boundary information.

[0139] This embodiment obtains environmental information about the area where the target vehicle is located, establishes a grid map corresponding to the area based on the environmental information, and generates the driving route of the target vehicle based on the grid map. Because this invention establishes a grid map corresponding to the area where the target vehicle is located based on the environmental information, it accurately obtains the map information of the area and generates the driving route of the target vehicle based on the grid map. This achieves accurate planning of the driving route of the target vehicle within the area, effectively improving the driving efficiency of the target vehicle and enhancing the user experience.

[0140] It should be understood that the above are merely illustrative examples and do not constitute any limitation on the technical solutions of the present invention. In specific applications, those skilled in the art can make settings as needed, and the present invention does not impose any restrictions on this.

[0141] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of this invention. In practical applications, those skilled in the art can select some or all of the workflow to achieve the purpose of this embodiment according to actual needs, and no restrictions are imposed here.

[0142] In addition, for technical details not described in detail in this embodiment, please refer to the driving route generation method provided in any embodiment of the present invention, which will not be repeated here.

[0143] Furthermore, it should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0144] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0145] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory (ROM) / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0146] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A travel route generating method characterized by comprising: The route generation method, applied to a route generation device, includes: Obtain environmental information about the area where the target vehicle is located; A raster map corresponding to the region is created based on the environmental information; Generate the driving route of the target vehicle based on the grid map; Obtain environmental information about the area where the target vehicle is located, including: Obtain the driving area of ​​the target vehicle; Obtain the boundary information of the driving area, as well as the boundary information of obstacles within the driving area; Determine the environmental information of the area based on the area boundary information and obstacle boundary information; The environmental information of the area is determined based on the area boundary information and obstacle boundary information, including: The region outline of the driving area is determined based on the region boundary information, and the obstacle outline of the driving area is determined based on the obstacle boundary information. Determine the environmental information of the region based on the region outline and obstacle outline; Determining the region outline of the driving area based on region boundary information, and determining the obstacle outline within the driving area based on obstacle boundary information, including: The search path is determined based on the area boundary information and obstacle boundary information. The search path is the path that the target vehicle learns the boundaries of the driving area. Search based on the search path; Determine the regional outline of the driving area based on the search results and regional boundary information; The outlines of obstacles within the driving area are determined based on the search results and obstacle boundary information; The route generation device is used to obtain the driving area of ​​the target vehicle, determine the collection range and the driving range of the target vehicle, and control the target vehicle to search along the driving area boundary and obstacle boundary of the area from the starting position of the area in a preset search direction based on the collection range and driving range. During the search, information is collected to obtain the area boundary information of the driving area and the obstacle boundary information of the driving area. The obstacle boundary information includes obstacle size, obstacle shape and obstacle location; the area boundary information includes area and area shape of the driving area; the area contour is the contour of the boundary shape of the driving area within the area; the obstacle contour is the contour of the shape of the obstacle in the driving area within the area; the target vehicle is controlled to search the driving area based on the search path and collect information during the search process to obtain the contour of the entire driving environment and the distribution of obstacles. The area is a scenic area. Based on the geographical information in the raster map, the coordinates of the scenic area entrance, and the coordinates of the target attraction, a driving route for the target vehicle is generated so that the target vehicle can travel from the scenic area entrance to the target attraction based on the driving route. The route generation device is used to determine the mapping environment based on the environmental information, determine the road information and obstacle information within the area based on the environmental information, import the obtained road information and obstacle information into a pre-built map generation model to reproduce the area map, mark the position and shape of the roads within the map generation model, mark the size and shape of the obstacles, establish an initial map corresponding to the area based on the marking results, and perform rasterization processing on the initial map, map the rasterization results according to the mapping environment, establish a raster map corresponding to the area based on the mapping results, and determine the coordinates of the starting position of the target vehicle and the coordinates of the target position within the area based on the raster map. The step of establishing a raster map corresponding to the region based on the environmental information includes: Determine the mapping environment of the map based on environmental information; Based on environmental information, determine road and obstacle information within the area; based on road information, determine the road distribution and location within the area. Based on obstacle information, determine the size, shape, and location of obstacles within the area. Based on road distribution, road location, obstacle size, shape, and location, establish an initial map corresponding to the area. Then, perform rasterization on the initial map. Map the rasterized result to the preset environment according to the mapping environment, so that the mapping result is mapped to the preset environment. In this way, a raster map representing the preset environment is established based on the mapping result.

2. The travel route generating method according to claim 1, characterized by, The step of generating the driving route of the target vehicle based on the grid map includes: The starting position information of the target vehicle and the target position information in the area are determined based on the grid map; Generate at least one initial driving route based on the starting position information and the target position information; Obtain candidate driving routes from the initial driving route; The candidate driving routes are smoothed to obtain the target driving route of the target vehicle.

3. The travel route generating method according to claim 2, characterized by, The step of obtaining candidate driving routes from the initial driving route includes: Construct a particle cluster based on the initial driving route; Initialize each initial particle in the particle cluster; The initial particles in the particle cluster are evaluated after initialization, and the target particles in each initial particle are determined based on the evaluation results. Candidate driving routes in the initial driving route are determined based on the target particle.

4. A route generation device, characterized in that, Applied to route generation equipment, the route generation device includes: The information acquisition module is used to acquire environmental information about the area where the target vehicle is located. The map creation module is used to create a raster map corresponding to the area based on the environmental information. A route generation module is used to generate the driving route of the target vehicle based on the grid map; The information acquisition module is used to acquire the driving area of ​​the target vehicle; acquire the area boundary information of the driving area, as well as the obstacle boundary information within the driving area; and determine the environmental information of the area based on the area boundary information and obstacle boundary information. The information acquisition module is used to determine the outline of the driving area based on the area boundary information, and to determine the outline of obstacles within the driving area based on the obstacle boundary information; and to determine the environmental information of the area based on the area outline and the obstacle outline. The information acquisition module is also used to determine a search path based on the area boundary information and obstacle boundary information. The search path is the path through which the target vehicle learns the boundaries of the driving area. The module performs a search based on the search path. It determines the area contour of the driving area based on the search results and area boundary information. It determines the obstacle contours within the driving area based on the search results and obstacle boundary information. The route generation device is used to acquire the driving area of ​​the area where the target vehicle is located, determine the collection range and the driving range of the target vehicle, and control the target vehicle to search along the driving area boundary and obstacle boundary of the area from the starting position of the area according to a preset search direction based on the collection range and driving range. During the search, information is collected to obtain the area boundary information of the driving area and the obstacle boundary information within the driving area. The obstacle boundary information includes obstacle size, shape, and location; the area boundary information includes the area and shape of the driving area; the area contour is the outline of the boundary shape of the drivable area within the area; the obstacle contour is the outline of the shape of the obstacles within the drivable area within the area; the target vehicle is controlled to search the driving area based on the search path, and information is collected during the search process to obtain the outline of the entire driving environment and the distribution of obstacles; the area is a scenic spot, and the driving route of the target vehicle is generated based on the geographical information in the raster map, the coordinates of the scenic spot entrance, and the coordinates of the target attraction, so that the target vehicle can drive from the scenic spot entrance to the target attraction based on the driving route. The route generation device is further configured to determine the mapping environment based on the environmental information, determine the road information and obstacle information within the area based on the environmental information, import the obtained road information and obstacle information into a pre-built map generation model to reproduce the area map, mark the position and shape of the roads within the map generation model, mark the size and shape of the obstacles, establish an initial map corresponding to the area based on the marking results, perform rasterization processing on the initial map, map the rasterization results according to the mapping environment, establish a raster map corresponding to the area based on the mapping results, and determine the coordinates of the starting position of the target vehicle and the coordinates of the target position within the area based on the raster map. The map building module is also used to determine the mapping environment of the map based on environmental information; determine road and obstacle information within the area based on environmental information; determine the road distribution and location within the area based on road information; determine the size, shape, and location of obstacles within the area based on obstacle information; build an initial map corresponding to the area based on road distribution, road location, obstacle size, shape, and location; perform rasterization processing on the initial map; and map the rasterized result to the preset environment based on the mapping environment, thereby building a raster map represented in the preset environment based on the mapping result.

5. A route generation device, characterized in that, The driving route generation device includes: a memory, a processor, and a driving route generation program stored in the memory and executable on the processor, the driving route generation program being configured to implement the driving route generation method as described in any one of claims 1 to 3.

6. A storage medium, characterized in that, The storage medium stores a route generation program, which, when executed by a processor, implements the route generation method as described in any one of claims 1 to 3.

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