Path restoration method, apparatus, device, and medium

Abstract

This application discloses a path restoration method, apparatus, device, and medium, relating to the field of intelligent transportation. The method includes: generating a current temporary result path of the path to be restored using a path fitting algorithm; selecting a current reference point from the reference point queue of the path to be restored, removing the current reference point, and if the current reference point does not meet a preset invalidity condition, determining whether the current temporary result path contains the current reference point; if so, determining each upstream gantry of the current reference point based on a preset gantry information table to obtain the current restored result road segment; otherwise, generating the current restored result road segment of the current starting point and the current reference point; determining a new current starting point of the path to be restored, obtaining a new spliced ​​road segment, and returning to the step of selecting the current reference point from the reference point queue of the path to be restored, until the reference point queue is empty, so that the output spliced ​​road segment is determined as the target restored result. This method can reduce the amount of parameter data relied upon during path restoration.

Description

Technical Field

[0001] This invention relates to the field of intelligent transportation, and in particular to methods, apparatus, equipment and media for route reconstruction. Background Technology

[0002] Online tolling is a method used in highway toll collection systems to compensate for failed toll calculations on toll cards. The key to online tolling is route reconstruction; the accuracy of the route reconstruction directly affects the accuracy of the online tolling results. For example... Figure 1 The diagram illustrates a specific route. If the vehicle's actual route is ADEC, but gantries D and E do not detect the vehicle during the journey, then when gantry C detects the vehicle and begins billing, it will assume that gantry B was missed, and the final billing route will be ABC. If online billing is used, and gantries D and E have previously captured the vehicle, then when using D and E as reference points to reconstruct the route, the final billing route will be the vehicle's actual route, ADEC.

[0003] Path reconstruction is a new problem that arose with the development of the national highway toll collection system. Due to the presence of junk data in the reference points, it's not simply a matter of finding the shortest path between adjacent reference points and connecting these paths together as the result of path reconstruction. Reference points are crucial input parameters for path reconstruction, and the non-standardization of these input parameters (the presence of junk data) makes it difficult to find a universally applicable and standardized algorithm for path reconstruction.

[0004] Existing route reconstruction technologies typically pre-generate the minimum paths between any number of gantries and store these minimum paths in a table. When a minimum path between two gantries is needed during route reconstruction, it is retrieved from this table. While this approach ensures timeliness, it relies on a massive amount of parameter data. For example, with 2,000 gantries, assuming connectivity between every two gantries, there could be 4 million minimum paths. If the principle for generating minimum paths is based on minimizing toll fees, and considering that highway vehicles are currently categorized into 16 types with different toll rates, the number of minimum paths would need to increase 16 times, reaching as many as 60 million. This incurs significant time overhead in parameter generation (requiring regeneration for each toll rate adjustment and new road opening), parameter switching, and parameter loading.

[0005] In summary, reducing the amount of parameter data required for path restoration is a problem that needs to be solved in this field. Summary of the Invention

[0006] In view of this, the purpose of this invention is to provide a path restoration method, apparatus, device, and medium that can reduce the amount of parameter data required for path restoration. The specific solution is as follows:

[0007] Firstly, this application discloses a path restoration method, including:

[0008] The path fitting algorithm is used to generate the first minimum path between the current starting point and the target endpoint of the path to be restored, so as to obtain the current temporary result path;

[0009] Select a reference point from the reference point queue of the path to be restored as the current reference point, and remove the current reference point from the reference point queue. Determine whether the current reference point meets the preset invalid condition. If the current reference point does not meet the preset invalid condition, determine whether the current temporary result path contains the current reference point.

[0010] If the current temporary result path contains the current reference point, then each upstream gantry of the current reference point is determined from the current temporary result path based on the preset gantry information table, and the current restoration result segment is obtained based on each upstream gantry;

[0011] If the current temporary result path does not contain the current reference point, then the path fitting algorithm is used to generate a second minimum path between the current starting point and the current reference point to obtain the current restored result road segment;

[0012] Based on the current restored road segment, determine the new current starting point of the path to be restored, and then splice the previous spliced ​​road segment and the current restored road segment to obtain a new spliced ​​road segment. Then, jump back to the step of generating the first minimum path between the current starting point and the target endpoint of the path to be restored using the path fitting algorithm, until the reference point queue is empty, so that the output spliced ​​road segment is determined as the target restored result.

[0013] Optionally, selecting a reference point from the queue of reference points for the path to be restored as the current reference point includes:

[0014] Determine whether the reference point queue of the path to be restored is empty;

[0015] If the reference point queue of the path to be restored is not empty, then the step of selecting a reference point from the reference point queue of the path to be restored as the current reference point is executed.

[0016] If the reference point queue of the path to be restored is empty, then the current temporary result path is determined as the target restoration result of the path to be restored.

[0017] Optionally, determining whether the current reference point meets a preset invalidity condition, and if the current reference point does not meet the preset invalidity condition, then determining whether the current temporary result path contains the current reference point, includes:

[0018] The next reference point is selected from the reference point queue, and it is determined whether the current reference point is the same as the next reference point. If the current reference point is not the same as the next reference point, it is determined that the current reference point does not meet the first preset invalid condition.

[0019] Determine whether the current reference point meets the second preset invalid condition. If the current reference point does not meet the second preset invalid condition, then use the path fitting algorithm to determine whether the current reference point is reachable from the current starting point.

[0020] If the current reference point is reachable from the current starting point, then the current reference point is determined not to meet the third preset invalid condition, and then it is determined whether the current temporary result path contains the current reference point.

[0021] Optionally, determining whether the current reference point meets the second preset invalidity condition, and if the current reference point does not meet the second preset invalidity condition, then using the path fitting algorithm to determine whether the path from the current starting point to the current reference point is reachable, includes:

[0022] Determine whether the next reference point exists in the target gantry of the current temporary result path; wherein, the target gantry is the first preset number of gantry in the current temporary result path;

[0023] If the next reference point does not exist in the target gantry, then determine whether there is an upstream adjacent gantry of the next reference point in the target gantry;

[0024] If there is no upstream adjacent gantry in the target gantry, it is determined that the current reference point does not meet the second preset invalid condition, and the path fitting algorithm is used to determine whether the current reference point is reachable from the current starting point.

[0025] Optionally, before the step of re-jumping to the first minimum path between the current starting point and the target endpoint generated by the path fitting algorithm, the method further includes:

[0026] Determine whether the current endpoint of the spliced ​​road segment and the target endpoint meet the preset reachability conditions;

[0027] If the current endpoint of the spliced ​​road segment and the target endpoint satisfy the preset splicing conditions, then jump back to the step of generating the first minimum path between the current starting point and the target endpoint of the path to be restored using the path fitting algorithm;

[0028] If the current endpoint of the spliced ​​road segment does not meet the preset splicing conditions with the target endpoint, then all reference points of the current spliced ​​road segment are determined to be invalid reference points, and the process jumps back to the step of selecting a reference point from the reference point queue of the path to be restored as the current reference point.

[0029] Optionally, the step of re-jumping to the first minimum path between the current starting point and the target endpoint generated by the path fitting algorithm includes:

[0030] Determine the current endpoint of the spliced ​​road segment, and then use the path fitting algorithm to generate the third minimum path between the target starting point and the current endpoint of the path to be restored;

[0031] If there is a difference between the currently spliced ​​road segment and the third minimum path, then the first difference road segment in the currently spliced ​​road segment and the second difference road segment in the third minimum path are determined;

[0032] Determine whether the first length of the first differing road segment is not greater than a first preset multiple of the second length of the second differing road segment;

[0033] If the first length is not greater than a first preset multiple of the second length, then jump back to the step of generating the first minimum path between the current starting point and the target endpoint of the path to be restored using the path fitting algorithm; if the first length is greater than a first preset multiple of the second length, then determine whether the number of gantry segments of the first difference segment is not greater than a first preset gantry number threshold.

[0034] If the number of gantry points in the first differential road segment is not greater than the first preset gantry number threshold, then jump back to the step of generating the first minimum path between the current starting point and the target endpoint of the path to be restored using the path fitting algorithm; if the number of gantry points in the first differential road segment is greater than the first preset gantry number threshold, then determine the number of first reference points in the first differential road segment and the number of second reference points in the reference point queue, and determine the reference point ratio based on the number of first reference points and the number of second reference points, and determine whether the reference point ratio is not less than a preset ratio threshold;

[0035] If the proportion of reference points is not less than the preset proportion threshold, then jump back to the step of generating the first minimum path between the current starting point and the target endpoint of the path to be restored using the path fitting algorithm; if the proportion of reference points is less than the preset proportion threshold, then determine whether the number of the first reference points is not less than the preset reference point number threshold.

[0036] If the number of the first reference points is not less than the preset reference point threshold, then jump back to the step of generating the first minimum path between the current starting point and the target endpoint of the path to be restored using the path fitting algorithm; if the number of the first reference points is less than the preset reference point threshold, then obtain the third length of the current spliced ​​road segment and the fourth length of the third minimum path, and determine whether the third length is not greater than the second preset multiple of the fourth length.

[0037] If the third length is not greater than a second preset multiple of the fourth length, then jump back to the step of generating the first minimum path between the current starting point and the target endpoint of the path to be restored using the path fitting algorithm; if the third length is greater than a second preset multiple of the fourth length, then determine that the current reference point is an invalid reference point, and jump back to the step of selecting a reference point from the reference point queue of the path to be restored as the current reference point.

[0038] Optionally, after generating the second minimum path between the current starting point and the current reference point using the path fitting algorithm to obtain the current restored road segment, the method further includes:

[0039] A first target downstream reference point and a second target downstream reference point are determined from the reference point queue; wherein, the first target downstream reference point is the first reference point belonging to the current temporary result path after the current reference point, and the second target downstream reference point is the upstream adjacent reference point of the first target downstream reference point;

[0040] If the number of gantry points in the current restored road segment is greater than the second preset gantry point threshold, then all reference points from the current reference point to the downstream reference point of the second target are determined to be invalid reference points.

[0041] Remove all reference points from the current reference point to the downstream reference point of the second target from the reference point list, and then jump back to the step of selecting a reference point from the reference point queue of the path to be restored as the current reference point.

[0042] Secondly, this application discloses a path restoration apparatus, comprising:

[0043] The path fitting module is used to generate the first minimum path between the current starting point and the target endpoint of the path to be restored using a path fitting algorithm, so as to obtain the current temporary result path;

[0044] The invalidity judgment module is used to select a reference point as the current reference point from the reference point queue of the path to be restored, remove the current reference point from the reference point queue, and determine whether the current reference point meets the preset invalidity condition. If the current reference point does not meet the preset invalidity condition, it is then determined whether the current temporary result path contains the current reference point.

[0045] The first execution module is used to determine each upstream gantry of the current reference point from the current temporary result path based on a preset gantry information table if the current reference point is included in the current temporary result path, and to obtain the current restoration result segment based on each upstream gantry.

[0046] The second execution module is used to generate a second minimum path between the current starting point and the current reference point using the path fitting algorithm if the current temporary result path does not contain the current reference point, so as to obtain the current restored result road segment.

[0047] The path restoration module is used to determine the new current starting point of the path to be restored based on the current restored result road segment, and to combine the previous spliced ​​road segment with the current restored result road segment to obtain a new spliced ​​road segment. Then, it jumps back to the step of generating the first minimum path between the current starting point and the target endpoint of the path to be restored using the path fitting algorithm, until the reference point queue is empty, so as to determine the output spliced ​​road segment as the target restoration result.

[0048] Thirdly, this application discloses an electronic device, including:

[0049] Memory, used to store computer programs;

[0050] A processor is configured to execute the computer program to implement the steps of the aforementioned disclosed path restoration method.

[0051] Fourthly, this application discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the steps of the aforementioned disclosed path restoration method.

[0052] The beneficial effects of this application are as follows: This application utilizes a path fitting algorithm to generate a first minimum path between the current starting point and the target endpoint of the path to be restored, thereby obtaining a current temporary result path; a reference point is selected from the reference point queue of the path to be restored as the current reference point, and the current reference point is removed from the reference point queue; it is determined whether the current reference point meets a preset invalidity condition; if the current reference point does not meet the preset invalidity condition, it is determined whether the current temporary result path contains the current reference point; if the current temporary result path contains the current reference point, the upstream gates of the current reference point are determined from the current temporary result path based on a preset gantry information table. The system first establishes a path and obtains the current restoration result road segment based on each of the upstream gantries. If the current temporary result path does not contain the current reference point, the system uses the path fitting algorithm to generate a second minimum path between the current starting point and the current reference point to obtain the current restoration result road segment. Based on the current restoration result road segment, the system determines a new current starting point for the path to be restored. The system then splices the previous spliced ​​road segment and the current restoration result road segment to obtain a new spliced ​​road segment. The system then jumps back to the step of generating the first minimum path between the current starting point and the target endpoint of the path to be restored using the path fitting algorithm, until the reference point queue is empty, so that the output spliced ​​road segment is determined as the target restoration result. Therefore, this application utilizes a path fitting algorithm to quickly generate the minimum path between two gantries. In other words, the parameters relied upon for path reconstruction are not pre-generated, thus eliminating the need to save the pre-generated minimum path, reducing the required storage space. Even if the parameters change due to the opening of a new road, it will not affect the path reconstruction. Compared with the preset minimum path table of the prior art, the preset gantry information table of this application stores less data and relies on less parameter data, thereby achieving lightweight path reconstruction. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0054] Figure 1 This is a schematic diagram of a specific path disclosed in this application;

[0055] Figure 2 This is a flowchart of a path restoration method disclosed in this application;

[0056] Figure 3 This is a schematic diagram of a specific gantry disclosed in this application;

[0057] Figure 4 This is a schematic diagram of a specific reference point disclosed in this application;

[0058] Figure 5 This is a specific splicing diagram disclosed in this application;

[0059] Figure 6 This is a schematic diagram of a specific path reference point disclosed in this application;

[0060] Figure 7 This is a specific example of a wrong-way diagram disclosed in this application;

[0061] Figure 8 This is a schematic diagram of a path restoration device disclosed in this application;

[0062] Figure 9 This is a structural diagram of an electronic device disclosed in this application. Detailed Implementation

[0063] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0064] Existing route reconstruction technologies typically pre-generate the minimum paths between any number of gantries and store these minimum paths in a table. When a minimum path between two gantries is needed during route reconstruction, it is retrieved from this table. While this approach ensures timeliness, it relies on a massive amount of parameter data. For example, with 2,000 gantries, assuming connectivity between every two gantries, there could be 4 million minimum paths. If the principle for generating minimum paths is based on minimizing toll fees, and considering that highway vehicles are currently categorized into 16 types with different toll rates, the number of minimum paths would need to increase 16 times, reaching as many as 60 million. This incurs significant time overhead in parameter generation (requiring regeneration for each toll rate adjustment and new road opening), parameter switching, and parameter loading.

[0065] Therefore, this application provides a path restoration scheme that can reduce the amount of parameter data required for path restoration.

[0066] See Figure 2 As shown in the figure, this application discloses a path restoration method, including:

[0067] Step S11: Use a path fitting algorithm to generate the first minimum path between the current starting point and the target endpoint of the path to be restored, so as to obtain the current temporary result path.

[0068] In this embodiment, the gantry refers to an ETC (Electronic Toll Collection) gantry on highways, installed at highway entrances and exits, and provincial border entrances and exits, to sense information about passing vehicles. When the device senses a vehicle passing through, it collects the vehicle information, calculates the toll in real time, writes the toll result to the vehicle's toll card, and transmits the vehicle passage record to the back-end processing center. Simultaneously, the gantry is also equipped with a dedicated camera to capture license plate information and transmits the captured license plate information (along with the capture time, referred to as license plate recognition data) to the back-end processing center, which then knows that the vehicle passed through the gantry at that time. Both the vehicle passage record and license plate recognition data are crucial for the back-end processing center to reconstruct the route. However, it is worth noting that capture and sensing can fail or erroneous, which may result in noisy or invalid reference points in the reference point queue.

[0069] For two-way highways, gantries are installed in pairs, facing each other, and are called opposing gantries. One gantry is used to sense vehicles traveling in the current direction, and the other is used to sense vehicles traveling in the opposite direction. However, they can sometimes interfere with each other and generate "noise data".

[0070] A vehicle travels from gantry A to gantry B, potentially crossing several other gantries along the way. There may be multiple reachable paths from gantry A to gantry B. The minimum path from gantry A to gantry B refers to the path with the shortest distance or the lowest toll. Path fitting algorithms, given gantry A and gantry B, find a path from gantry A to gantry B based on the principle of shortest distance or lowest toll. It's important to note that this path may not be the vehicle's actual route; it only represents the shortest distance or lowest toll. Path reconstruction differs from path fitting. Path fitting finds the minimum path from start point A to end point B, given both. Path reconstruction, on the other hand, knows the start point A, end point B, and the vehicle may have passed through reference points C1, C2, C3, etc., and attempts to reconstruct the vehicle's actual travel path. Path fitting has a standard answer—correct or incorrect; path reconstruction aims to make the reconstructed path as close as possible to the vehicle's actual travel path, but without causing overcharging and resulting in complaints from vehicle owners.

[0071] In this embodiment, a reference point refers to a gantry, used to characterize whether a vehicle may have passed through it during its journey. Due to potential data acquisition errors or backend data processing errors, "passing through" here is only a high-probability possibility. In other words, reference points may contain junk data (noise points), which need to be removed during path reconstruction. Reference point information generally comes from two main sources: one part comes from the vehicle passing record (or transaction record) generated when the gantry senses a vehicle; the other part comes from the real-time capture record of the vehicle by the gantry (license plate recognition data).

[0072] To obtain the pf(A, B, C1-C2-C3...Ck) function for the path to be restored, we need to define the target start point A, the target end point B, and a queue of reference points containing C1-C2-C3...Ck. We also need to determine the current start point, which can be the target start point A. That is, if no path fitting has been performed yet, the current start point is the target start point A. In other words, there is only one target start point A and one target end point B. The current start point may differ at different stages of path restoration, but there will only be one in the current restoration stage. It's important to note that the reference points in the queue are arranged in chronological order. Understandably, if a reachable path from target end point A to target end point B cannot be found when using a path fitting algorithm, the restoration will fail.

[0073] Step S12: Select a reference point from the reference point queue of the path to be restored as the current reference point, and remove the current reference point from the reference point queue. Determine whether the current reference point meets the preset invalidity condition. If the current reference point does not meet the preset invalidity condition, determine whether the current temporary result path contains the current reference point.

[0074] In this embodiment, selecting a reference point from the reference point queue of the path to be restored as the current reference point includes: determining whether the reference point queue of the path to be restored is empty; if the reference point queue of the path to be restored is not empty, then performing the step of selecting a reference point from the reference point queue of the path to be restored as the current reference point; if the reference point queue of the path to be restored is empty, then determining the current temporary result path as the target restoration result of the path to be restored. It should be noted that the reference point queue refers to the initially obtained reference point queue, that is, the reference point queue before the current reference point selection process. In other words, the current reference point selection step will only be performed if the initial reference point queue is not empty and contains reference points. If the reference point queue is empty, then the current starting point is the target starting point A, meaning the current temporary result path is the shortest path between the target starting point A and the target ending point B, and therefore the current temporary result path is directly determined as the target restoration result of the path to be restored.

[0075] It is important to note that, for example Figure 3 The diagram shows a specific gantry. When analyzing a reference point C, the first step is to find the positive calibration point C' of that reference point. All analyses of C must be based on C'. When a vehicle is moving, it is easily captured by a reverse gantry. The reference point information may contain information about reverse gantry, so it needs to be adjusted to a positive gantry before analysis.

[0076] In this embodiment, determining whether the current reference point meets a preset invalidity condition, and if the current reference point does not meet the preset invalidity condition, then determining whether the current temporary result path contains the current reference point, includes: filtering the next reference point from the reference point queue, and determining whether the current reference point and the next reference point are the same; if the current reference point and the next reference point are not the same, then determining that the current reference point does not meet the first preset invalidity condition; determining whether the current reference point meets the second preset invalidity condition; if the current reference point does not meet the second preset invalidity condition, then using the path fitting algorithm to determine whether the current reference point is reachable from the current starting point; if the current reference point is reachable from the current starting point, then determining that the current reference point does not meet the third preset invalidity condition, and then determining whether the current temporary result path contains the current reference point. After filtering out the current reference point, it is necessary to first determine whether it meets the preset invalidity conditions. Only when the current reference point does not meet the first, second, and third preset invalidity conditions can it be determined that the current reference point does not meet the preset invalidity conditions. Among them, if a reference point is repeated, it is considered an invalid reference point and satisfies the first preset invalidity condition. For example, if the current reference point C1 and the next reference point C2 are the same, then C1 satisfies the first preset invalidity condition. If the path fitting algorithm cannot fit a path from the current starting point to the current reference point, that is, the path from the current starting point to the current reference point is unreachable, then the current reference point satisfies the third preset invalidity condition. If the path from the current starting point to the current reference point is reachable, then the current reference point does not satisfy the third preset invalidity condition.

[0077] In this embodiment, determining whether the current reference point meets the second preset invalid condition, and if the current reference point does not meet the second preset invalid condition, then using the path fitting algorithm to determine whether the current reference point is reachable from the current starting point, includes: determining whether the next reference point exists in the target gantry of the current temporary result path; wherein, the target gantry is the first preset number of gantry in the current temporary result path; if the next reference point does not exist in the target gantry, then determining whether the upstream adjacent gantry of the next reference point exists in the target gantry; if the upstream adjacent gantry does not exist in the target gantry, then determining that the current reference point does not meet the second preset invalid condition, and using the path fitting algorithm to determine whether the current reference point is reachable from the current starting point. The second preset invalid condition includes two sub-conditions. The first is whether there is a next reference point in the target gantry of the current temporary result path. For example, if the current reference point is C1 and the next reference point is C2, the first 5 gantry of the current temporary result path are determined as the target gantry. That is, does C2 exist in the first 5 gantry? If not, the first sub-condition is not satisfied. It is necessary to then determine whether there is an upstream adjacent gantry of the next reference point in the target gantry. That is, if there is one upstream adjacent gantry of C2 in the first 5 gantry, the current reference point satisfies the second sub-condition. If there is no upstream adjacent gantry of C2 in the first 5 gantry, the current reference point does not satisfy the second sub-condition. Only when neither the first nor the second sub-condition is satisfied will the current reference point not satisfy the second preset invalid condition. If either sub-condition is satisfied, the second preset invalid condition is satisfied.

[0078] It is important to note that the fact that the current reference point does not meet the preset invalidity condition does not mean that the current reference point is not an invalid reference point. The preset invalidity condition is only used to accurately filter out invalid reference points. That is to say, if the current reference point meets the preset invalidity condition, then the current reference point is determined to be an invalid reference point. If the current reference point does not meet the preset invalidity condition, it cannot be determined whether the current reference point is an invalid reference point, and further specific judgment is required.

[0079] Step S13: If the current temporary result path contains the current reference point, then determine each upstream gantry of the current reference point from the current temporary result path based on the preset gantry information table, and obtain the current restoration result segment based on each upstream gantry.

[0080] For example, if the current temporary result path is R1-R2-R3……Rm, and there is a gantry Ri that is the same as the current reference point, it can be determined that R1-……Ri-1 is the point that the vehicle passed through. R1-……Ri-1 are the upstream gantries of the current reference point in the current temporary result path. R1-……Ri-1 is taken as the first segment of the current restoration result, that is, R1-……Ri-1 is taken as the current restoration result segment.

[0081] Step S14: If the current temporary result path does not contain the current reference point, then the path fitting algorithm is used to generate the second minimum path between the current starting point and the current reference point to obtain the current restored result road segment.

[0082] If the current temporary result path does not contain the current reference point, use the path fitting algorithm to find the second minimum path L1-L2……Li-C from the current starting point to the current reference point C, and use L1-L2……Li as the current restored result road segment.

[0083] In this embodiment, after generating the second minimum path between the current starting point and the current reference point using the path fitting algorithm to obtain the current restored road segment, the method further includes: determining a first target downstream reference point and a second target downstream reference point from the reference point queue; wherein, the first target downstream reference point is the first reference point belonging to the current temporary result path after the current reference point, and the second target downstream reference point is the upstream adjacent reference point of the first target downstream reference point; if the number of gantry points of the current restored road segment is greater than a second preset gantry number threshold, then all reference points from the current reference point to the second target downstream reference point are determined to be invalid reference points; all reference points from the current reference point to the second target downstream reference point are removed from the reference point list, and the process jumps back to the step of selecting a reference point from the reference point queue of the path to be restored as the current reference point. If the current reference point is not in the current temporary result path, and if, starting from the current reference point, after passing n reference points, the (n+1)th reference point reappears at the beginning of the minimum path, then the current reference point and these n reference points are likely mixed-in "noise points." In this case, if the number of gantry points in the current restored result segment exceeds the second preset gantry number threshold m, then these n reference points are more likely to be "noise points" and should be discarded as invalid reference points. This logic can eliminate the case of n consecutively mixed-in "noise points." For example... Figure 4The diagram illustrates a specific reference point. The current reference point C1 is not in the current temporary result path R1-R2-R3-R4-R5. Starting from the current reference point C1, after passing three reference points, the fourth reference point C4 appears at the beginning of the minimum path (position R2). That is, C4 is the downstream reference point of the first target, and C3 is the downstream reference point of the second target. In this case, if the number of gantries in the current restored result segment exceeds m (in this embodiment, the current restored result segment is R1-X1-X2-C1), these three reference points C1, C2, and C3 are likely to be mixed-in "noise points." In this case, the noise points need to be removed so that the reference point queue does not contain reference points C1, C2, and C3. It is understood that the current restored result segment is also invalid and is not accepted. The process then jumps back to the step of selecting a reference point from the reference point queue of the path to be restored as the current reference point, and the path restoration is performed again.

[0084] Step S15: Based on the current restored road segment, determine the new current starting point of the path to be restored, and splice the previous spliced ​​road segment and the current restored road segment to obtain a new spliced ​​road segment. Then, jump back to the step of generating the first minimum path between the current starting point and the target endpoint of the path to be restored using the path fitting algorithm until the reference point queue is empty, so as to determine the output spliced ​​road segment as the target restoration result.

[0085] For example Figure 5 The diagram illustrates a specific splicing process. The current reference point C1 is not within the current temporary result path R1-R2-R3-R4-R5. The previous spliced ​​segment was R1-R2-X1, and the current restored result segment is X1-C2-C3-B. The endpoint of the previous spliced ​​segment is the starting point of the current restored result segment. By splicing the two segments and removing the duplicate X1, a new spliced ​​segment R1-R2-X1-C2-C3-B is obtained. It's important to note that when a new spliced ​​segment is obtained, the current starting point of the path to be restored also needs to be updated. The new current starting point becomes the endpoint of the new spliced ​​segment. For example, if the current reference point is C and the target endpoint of the path to be restored is B, the resulting new spliced ​​segment is R1-R2-…Ri-1, with the endpoint being Ri-1. Therefore, the new current starting point is Ri-1, meaning that pf(Ri-1, B, C2-C3…Ck) needs to be restored next.

[0086] In this embodiment, before the step of re-jumping to the first minimum path between the current starting point and the target endpoint of the path to be restored generated by the path fitting algorithm, the method further includes: determining whether the current endpoint of the currently spliced ​​road segment and the target endpoint meet a preset reachability condition; if the current endpoint of the currently spliced ​​road segment and the target endpoint meet the preset splicing condition, then re-jumping to the step of generating the first minimum path between the current starting point and the target endpoint of the path to be restored using the path fitting algorithm; if the current endpoint of the currently spliced ​​road segment and the target endpoint do not meet the preset splicing condition, then determining that all reference points of the currently spliced ​​road segment are invalid reference points, and re-jumping to the step of selecting a reference point from the reference point queue of the path to be restored as the current reference point.

[0087] For example Figure 6 The diagram illustrates a specific path reference point. The current reference point C1 is not in the current temporary result path R1-R2-R3-R4-R5. The new spliced ​​road segment is R1-R2-X2, but X2 and the target endpoint B are not reachable. That is, the current endpoint X2 and the target endpoint B do not meet the preset reachability condition. R1-R2-X2 and the current reference point C1 are determined to be invalid reference points, and these invalid reference points are removed from the reference point queue. Then, the process jumps back to the step of selecting a reference point from the reference point queue of the path to be restored as the current reference point, that is, selecting a new current reference point.

[0088] In this embodiment, the step of re-jumping to the first minimum path between the current starting point and the target ending point of the path to be restored generated by the path fitting algorithm includes: determining the current ending point of the currently spliced ​​road segment, and then using the path fitting algorithm to generate a third minimum path between the target starting point and the current ending point of the path to be restored; if there is a difference between the currently spliced ​​road segment and the third minimum path, then determining a first difference segment in the currently spliced ​​road segment and a second difference segment in the third minimum path; determining whether the first length of the first difference segment is not greater than a first preset multiple of the second length of the second difference segment; if the first length is not greater than the second length... If the length is greater than a first preset multiple of the second length, then the process jumps back to the step of generating the first minimum path between the current starting point and the target endpoint of the path to be restored using the path fitting algorithm; if the first length is greater than a first preset multiple of the second length, then it is determined whether the number of gantry segments of the first differing road segment is not greater than a first preset gantry number threshold; if the number of gantry segments of the first differing road segment is not greater than the first preset gantry number threshold, then the process jumps back to the step of generating the first minimum path between the current starting point and the target endpoint of the path to be restored using the path fitting algorithm; if the number of gantry segments of the first differing road segment is greater than the first preset gantry number threshold, then the first reference point number of the first differing road segment and the first reference point queue number are determined. The system calculates the number of reference points and determines the reference point ratio based on the first and second reference point counts. It then checks if the reference point ratio is not less than a preset ratio threshold. If the reference point ratio is not less than the preset ratio threshold, the system jumps back to the step of generating the first minimum path between the current starting point and the target endpoint of the path to be restored using a path fitting algorithm. If the reference point ratio is less than the preset ratio threshold, the system checks if the number of the first reference points is not less than a preset reference point count threshold. If the number of the first reference points is not less than the preset reference point count threshold, the system jumps back to the step of generating the first minimum path between the current starting point and the target endpoint of the path to be restored using a path fitting algorithm. If the number of the first reference points is less than the preset reference point number threshold, then the third length of the current spliced ​​road segment and the fourth length of the third minimum path are obtained, and it is determined whether the third length is not greater than a second preset multiple of the fourth length; if the third length is not greater than a second preset multiple of the fourth length, then the process jumps back to the step of generating the first minimum path between the current starting point and the target ending point of the path to be restored using the path fitting algorithm; if the third length is greater than a second preset multiple of the fourth length, then the current reference point is determined to be an invalid reference point, and the process jumps back to the step of selecting a reference point from the reference point queue of the path to be restored as the current reference point.Upon obtaining a new spliced ​​road segment, it is necessary to determine whether to accept it. Only by accepting the new spliced ​​road segment can the process return to the step of generating the first minimum path between the current starting point and the target endpoint of the path to be restored using the path fitting algorithm. The specific process is as follows: The new spliced ​​road segment, i.e., the current spliced ​​road segment, consists of three segments A, B, and C. The current endpoint of the current spliced ​​road segment is C. The starting point of the current spliced ​​road segment is the target starting point A of the path to be restored. The third minimum path between the target starting point A and the current endpoint C generated by the path fitting algorithm consists of three segments A, B, and C. In other words, there is a difference between the current spliced ​​road segment and the third minimum path. The first difference segment of the current spliced ​​road segment is B, and the second difference segment of the third minimum path is b. The following judgment is made:

[0089] 1) Determine whether the first length of segment B is within n times the second length of segment b (the first preset multiple n can be set by parameters);

[0090] 2) If so, the step of jumping back to the first minimum path between the current starting point and the target endpoint generated by the path fitting algorithm can be performed;

[0091] 3) If not, determine whether the number of gantry frames in segment B is not greater than m (the first preset threshold number of gantry frames m can be specified by parameters);

[0092] 4) If so, accept the current restoration result, and proceed to the step of jumping back to the first minimum path between the current starting point and the target endpoint of the path to be restored generated by the path fitting algorithm;

[0093] 5) If not, determine whether the proportion of reference points contained in segment B is not less than e% (the preset proportion threshold e can be specified by parameters);

[0094] 6) If so, accept the current restoration result, and proceed to the step of jumping back to the first minimum path between the current starting point and the target endpoint of the path to be restored generated by the path fitting algorithm;

[0095] 7) If not, determine whether the number of first reference points contained in segment B is not less than k (the preset reference point threshold k can be specified by parameters);

[0096] 8) If so, accept the current restoration result, and proceed to the step of jumping back to the first minimum path between the current starting point and the target endpoint of the path to be restored generated by the path fitting algorithm;

[0097] 9) If not, determine whether the path length of ABC does not exceed x times the path length of AbC (the second preset multiple x can be specified by parameters);

[0098] 10) If so, accept the current restoration result, that is, you can proceed to the step of jumping back to the first minimum path between the current starting point and the target endpoint of the path to be restored generated by the path fitting algorithm;

[0099] 11) If not, the current reference point is determined to be an invalid reference point, and the process jumps back to the step of selecting a reference point from the reference point queue of the path to be restored as the current reference point.

[0100] For example Figure 7 The diagram illustrates a specific detour. When a vehicle travels from A to B (assuming the shortest path is R1-R2-R3), it mistakenly reaches point C1 and then travels back to point R2 along C2, C3, and X. If the number of erroneous points traversed does not exceed n (n can be set by parameters), the erroneous points are removed. In this embodiment, there are four erroneous points traversed: C1, C2, C3, and X. After removing them, the final restored path will be R1-R2-R3.

[0101] The specific process of wrong path elimination is as follows: The current reference point (C1) is the downstream adjacent gantry of a certain point (R1 in this embodiment) in the minimum path, and the opposite gantry (X) of the current reference point (C1) is the upstream adjacent gantry of the next point (R2) of R1 in the minimum path (that is, it is possible to reach R2 directly from R1 from X according to the minimum path). There is a reference point Ci among the subsequent reference points. If this reference point Ci is the same as the opposite gantry (X) of the current reference point, it can be determined that Ci and the reference points before Ci are wrong path reference points. If this reference point Ci is the same as the next point (R2) in the minimum path, it can be determined that the reference points before Ci are wrong path reference points.

[0102] The beneficial effects of this application are as follows: This application utilizes a path fitting algorithm to generate a first minimum path between the current starting point and the target endpoint of the path to be restored, thereby obtaining a current temporary result path; a reference point is selected from the reference point queue of the path to be restored as the current reference point, and the current reference point is removed from the reference point queue; it is determined whether the current reference point meets a preset invalidity condition; if the current reference point does not meet the preset invalidity condition, it is determined whether the current temporary result path contains the current reference point; if the current temporary result path contains the current reference point, the upstream gates of the current reference point are determined from the current temporary result path based on a preset gantry information table. The system first establishes a path and obtains the current restoration result road segment based on each of the upstream gantries. If the current temporary result path does not contain the current reference point, the system uses the path fitting algorithm to generate a second minimum path between the current starting point and the current reference point to obtain the current restoration result road segment. Based on the current restoration result road segment, the system determines a new current starting point for the path to be restored. The system then splices the previous spliced ​​road segment and the current restoration result road segment to obtain a new spliced ​​road segment. The system then jumps back to the step of generating the first minimum path between the current starting point and the target endpoint of the path to be restored using the path fitting algorithm, until the reference point queue is empty, so that the output spliced ​​road segment is determined as the target restoration result. Therefore, this application utilizes a path fitting algorithm to quickly generate the minimum path between two gantries. In other words, the parameters relied upon for path reconstruction are not pre-generated, thus eliminating the need to save the pre-generated minimum path, reducing the required storage space. Even if the parameters change due to the opening of a new road, it will not affect the path reconstruction. Compared with the preset minimum path table of the prior art, the preset gantry information table of this application stores less data and relies on less parameter data, thereby achieving lightweight path reconstruction.

[0103] See Figure 8 As shown in the figure, this application discloses a path restoration device, including:

[0104] The path fitting module 11 is used to generate the first minimum path between the current starting point and the target endpoint of the path to be restored using a path fitting algorithm, so as to obtain the current temporary result path.

[0105] The invalidity judgment module 12 is used to select a reference point as the current reference point from the reference point queue of the path to be restored, remove the current reference point from the reference point queue, and determine whether the current reference point meets the preset invalidity condition. If the current reference point does not meet the preset invalidity condition, it is determined whether the current temporary result path contains the current reference point.

[0106] The first execution module 13 is used to determine each upstream gantry of the current reference point from the current temporary result path based on a preset gantry information table if the current reference point is included in the current temporary result path, and to obtain the current restoration result segment based on each upstream gantry.

[0107] The second execution module 14 is used to generate a second minimum path between the current starting point and the current reference point using the path fitting algorithm if the current temporary result path does not contain the current reference point, so as to obtain the current restored result road segment.

[0108] The path restoration module 15 is used to determine the new current starting point of the path to be restored based on the current restored result road segment, to combine the previous spliced ​​road segment and the current restored result road segment to obtain a new spliced ​​road segment, and to jump back to the step of generating the first minimum path between the current starting point and the target endpoint of the path to be restored using the path fitting algorithm, until the reference point queue is empty, so as to determine the output spliced ​​road segment as the target restoration result.

[0109] The beneficial effects of this application are as follows: This application utilizes a path fitting algorithm to generate a first minimum path between the current starting point and the target endpoint of the path to be restored, thereby obtaining a current temporary result path; a reference point is selected from the reference point queue of the path to be restored as the current reference point, and the current reference point is removed from the reference point queue; it is determined whether the current reference point meets a preset invalidity condition; if the current reference point does not meet the preset invalidity condition, it is determined whether the current temporary result path contains the current reference point; if the current temporary result path contains the current reference point, the upstream gates of the current reference point are determined from the current temporary result path based on a preset gantry information table. The system first establishes a path and obtains the current restoration result road segment based on each of the upstream gantries. If the current temporary result path does not contain the current reference point, the system uses the path fitting algorithm to generate a second minimum path between the current starting point and the current reference point to obtain the current restoration result road segment. Based on the current restoration result road segment, the system determines a new current starting point for the path to be restored. The system then splices the previous spliced ​​road segment and the current restoration result road segment to obtain a new spliced ​​road segment. The system then jumps back to the step of generating the first minimum path between the current starting point and the target endpoint of the path to be restored using the path fitting algorithm, until the reference point queue is empty, so that the output spliced ​​road segment is determined as the target restoration result. Therefore, this application utilizes a path fitting algorithm to quickly generate the minimum path between two gantries. In other words, the parameters relied upon for path reconstruction are not pre-generated, thus eliminating the need to save the pre-generated minimum path, reducing the required storage space. Even if the parameters change due to the opening of a new road, it will not affect the path reconstruction. Compared with the preset minimum path table of the prior art, the preset gantry information table of this application stores less data and relies on less parameter data, thereby achieving lightweight path reconstruction.

[0110] Furthermore, embodiments of this application also provide an electronic device. Figure 9 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content of the diagram should not be construed as limiting the scope of this application.

[0111] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Specifically, it may include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 stores a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the path restoration method executed by the electronic device disclosed in any of the foregoing embodiments.

[0112] In this embodiment, the power supply 23 is used to provide operating voltage for various hardware devices on the electronic device; the communication interface 24 can create a data transmission channel between the electronic device and external devices, and the communication protocol it follows can be any communication protocol applicable to the technical solution of this application, and is not specifically limited here; the input / output interface 25 is used to acquire external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs, and is not specifically limited here.

[0113] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 21 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 21 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 21 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0114] In addition, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk or optical disk, etc. The resources stored on it include operating system 221, computer program 222 and data 223, etc., and the storage method can be temporary storage or permanent storage.

[0115] The operating system 221 manages and controls the various hardware devices and computer programs 222 on the electronic device to enable the processor 21 to perform calculations and processing on the massive amounts of data 223 in the memory 22. The operating system can be Windows, Unix, Linux, etc. The computer program 222, in addition to including a computer program capable of performing the path restoration method executed by the electronic device as disclosed in any of the foregoing embodiments, may further include computer programs capable of performing other specific tasks. The data 223 may include data received by the electronic device from external devices, as well as data collected by its own input / output interface 25.

[0116] Furthermore, this application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the aforementioned path restoration method. Specific steps of this method can be found in the corresponding content disclosed in the foregoing embodiments, and will not be repeated here.

[0117] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0118] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application. The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly in hardware, software modules executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), memory, read-only memory (ROM), electrically programmable EPROM (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, removable disks, CD-ROMs (CoMP23026632act Disc Read-Only Memory), or any other form of storage medium known in the art.

[0119] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0120] The path restoration method, apparatus, device, and medium provided by the present invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A path reconstruction method, characterized in that, include: The path fitting algorithm is used to generate the first minimum path between the current starting point and the target endpoint of the path to be restored, so as to obtain the current temporary result path; Select a reference point from the reference point queue of the path to be restored as the current reference point, and remove the current reference point from the reference point queue. Determine whether the current reference point meets the preset invalid condition. If the current reference point does not meet the preset invalid condition, determine whether the current temporary result path contains the current reference point. If the current temporary result path contains the current reference point, then each upstream gantry of the current reference point is determined from the current temporary result path based on the preset gantry information table, and the current restoration result segment is obtained based on each upstream gantry; If the current temporary result path does not contain the current reference point, then the path fitting algorithm is used to generate a second minimum path between the current starting point and the current reference point to obtain the current restored result road segment; Based on the current restored road segment, determine the new current starting point of the path to be restored, and then splice the previous spliced ​​road segment and the current restored road segment to obtain a new spliced ​​road segment. Then, jump back to the step of generating the first minimum path between the current starting point and the target endpoint of the path to be restored using the path fitting algorithm, until the reference point queue is empty, so that the output spliced ​​road segment is determined as the target restored result.

2. The path restoration method according to claim 1, characterized in that, The step of selecting a reference point from the queue of reference points for the path to be restored as the current reference point includes: Determine whether the reference point queue of the path to be restored is empty; If the reference point queue of the path to be restored is not empty, then the step of selecting a reference point from the reference point queue of the path to be restored as the current reference point is executed. If the reference point queue of the path to be restored is empty, then the current temporary result path is determined as the target restoration result of the path to be restored.

3. The path restoration method according to claim 1, characterized in that, The step of determining whether the current reference point meets a preset invalid condition, and if the current reference point does not meet the preset invalid condition, then determining whether the current temporary result path contains the current reference point, includes: The next reference point is selected from the reference point queue, and it is determined whether the current reference point is the same as the next reference point. If the current reference point is not the same as the next reference point, it is determined that the current reference point does not meet the first preset invalid condition. Determine whether the current reference point meets the second preset invalid condition. If the current reference point does not meet the second preset invalid condition, then use the path fitting algorithm to determine whether the current reference point is reachable from the current starting point. If the current reference point is reachable from the current starting point, then the current reference point is determined not to meet the third preset invalid condition, and then it is determined whether the current temporary result path contains the current reference point.

4. The path restoration method according to claim 3, characterized in that, The step of determining whether the current reference point meets the second preset invalid condition, and if the current reference point does not meet the second preset invalid condition, then using the path fitting algorithm to determine whether the path from the current starting point to the current reference point is reachable, includes: Determine whether the next reference point exists in the target gantry of the current temporary result path; wherein, the target gantry is the first preset number of gantry in the current temporary result path; If the next reference point does not exist in the target gantry, then determine whether there is an upstream adjacent gantry of the next reference point in the target gantry; If there is no upstream adjacent gantry in the target gantry, it is determined that the current reference point does not meet the second preset invalid condition, and the path fitting algorithm is used to determine whether the current reference point is reachable from the current starting point.

5. The path restoration method according to any one of claims 1 to 4, characterized in that, Before the step of re-jumping to the first minimum path between the current starting point and the target endpoint generated by the path fitting algorithm, the method further includes: Determine whether the current endpoint of the spliced ​​road segment and the target endpoint meet the preset reachability conditions; If the current endpoint of the spliced ​​road segment and the target endpoint satisfy the preset splicing conditions, then jump back to the step of generating the first minimum path between the current starting point and the target endpoint of the path to be restored using the path fitting algorithm; If the current endpoint of the spliced ​​road segment does not meet the preset splicing conditions with the target endpoint, then all reference points of the current spliced ​​road segment are determined to be invalid reference points, and the process jumps back to the step of selecting a reference point from the reference point queue of the path to be restored as the current reference point.

6. The path restoration method according to claim 1, characterized in that, The step of re-jumping to the first minimum path between the current starting point and the target endpoint generated by the path fitting algorithm includes: Determine the current endpoint of the spliced ​​road segment, and then use the path fitting algorithm to generate the third minimum path between the target starting point and the current endpoint of the path to be restored; If there is a difference between the currently spliced ​​road segment and the third minimum path, then the first difference road segment in the currently spliced ​​road segment and the second difference road segment in the third minimum path are determined; Determine whether the first length of the first differing road segment is not greater than a first preset multiple of the second length of the second differing road segment; If the first length is not greater than a first preset multiple of the second length, then jump back to the step of generating the first minimum path between the current starting point and the target endpoint of the path to be restored using the path fitting algorithm; if the first length is greater than a first preset multiple of the second length, then determine whether the number of gantry segments of the first difference segment is not greater than a first preset gantry number threshold. If the number of gantry points in the first differential road segment is not greater than the first preset gantry number threshold, then jump back to the step of generating the first minimum path between the current starting point and the target endpoint of the path to be restored using the path fitting algorithm; if the number of gantry points in the first differential road segment is greater than the first preset gantry number threshold, then determine the number of first reference points in the first differential road segment and the number of second reference points in the reference point queue, and determine the reference point ratio based on the number of first reference points and the number of second reference points, and determine whether the reference point ratio is not less than a preset ratio threshold; If the proportion of reference points is not less than the preset proportion threshold, then jump back to the step of generating the first minimum path between the current starting point and the target endpoint of the path to be restored using the path fitting algorithm; if the proportion of reference points is less than the preset proportion threshold, then determine whether the number of the first reference points is not less than the preset reference point number threshold. If the number of the first reference points is not less than the preset reference point threshold, then jump back to the step of generating the first minimum path between the current starting point and the target endpoint of the path to be restored using the path fitting algorithm; if the number of the first reference points is less than the preset reference point threshold, then obtain the third length of the current spliced ​​road segment and the fourth length of the third minimum path, and determine whether the third length is not greater than the second preset multiple of the fourth length. If the third length is not greater than a second preset multiple of the fourth length, then jump back to the step of generating the first minimum path between the current starting point and the target endpoint of the path to be restored using the path fitting algorithm; if the third length is greater than a second preset multiple of the fourth length, then determine that the current reference point is an invalid reference point, and jump back to the step of selecting a reference point from the reference point queue of the path to be restored as the current reference point.

7. The path restoration method according to claim 1, characterized in that, After generating the second minimum path between the current starting point and the current reference point using the path fitting algorithm to obtain the current restored road segment, the method further includes: A first target downstream reference point and a second target downstream reference point are determined from the reference point queue; wherein, the first target downstream reference point is the first reference point belonging to the current temporary result path after the current reference point, and the second target downstream reference point is the upstream adjacent reference point of the first target downstream reference point; If the number of gantry points in the current restored road segment is greater than the second preset gantry point threshold, then all reference points from the current reference point to the downstream reference point of the second target are determined to be invalid reference points. Remove all reference points from the current reference point to the downstream reference point of the second target from the reference point list, and then jump back to the step of selecting a reference point from the reference point queue of the path to be restored as the current reference point.

8. A path restoration device, characterized in that, include: The path fitting module is used to generate the first minimum path between the current starting point and the target endpoint of the path to be restored using a path fitting algorithm, so as to obtain the current temporary result path; The invalidity judgment module is used to select a reference point as the current reference point from the reference point queue of the path to be restored, remove the current reference point from the reference point queue, and determine whether the current reference point meets the preset invalidity condition. If the current reference point does not meet the preset invalidity condition, it is then determined whether the current temporary result path contains the current reference point. The first execution module is used to determine each upstream gantry of the current reference point from the current temporary result path based on a preset gantry information table if the current reference point is included in the current temporary result path, and to obtain the current restoration result segment based on each upstream gantry. The second execution module is used to generate a second minimum path between the current starting point and the current reference point using the path fitting algorithm if the current temporary result path does not contain the current reference point, so as to obtain the current restored result road segment. The path restoration module is used to determine the new current starting point of the path to be restored based on the current restored result road segment, and to combine the previous spliced ​​road segment with the current restored result road segment to obtain a new spliced ​​road segment. Then, it jumps back to the step of generating the first minimum path between the current starting point and the target endpoint of the path to be restored using the path fitting algorithm, until the reference point queue is empty, so as to determine the output spliced ​​road segment as the target restoration result.

9. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the steps of the path restoration method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, Used to store a computer program; wherein, when the computer program is executed by a processor, it implements the steps of the path restoration method as described in any one of claims 1 to 7.

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