Path processing method and device, equipment and storage medium

Abstract

The invention provides a path processing method and device, equipment and a storage medium, and the method comprises the steps: determining a farthest visual path point corresponding to a target path point on an initial planning path, the initial planning path comprises a plurality of ordered path points, the target path point is the first path point on the initial planning path, and the target path point is the second path point on the initial planning path; the farthest visual path point is located behind the target path point on the initial planning path, no obstacle exists on a direct connecting line between the farthest visual path point and the target path point, and the farthest visual path point is farthest from the target path point on the initial planning path; and determining the target path point and the farthest visible path point as necessary path points on the initial planning path. According to the technical scheme, the necessary path points on the planned path can be detected, the length of the planned path is shortened, and the planned path is more reasonable.

Description

Technical Field

[0001] The present application relates to the field of path planning, and in particular to path processing methods, devices, equipment and storage media. Background Art

[0002] With the rise of automation, map navigation has become a hot topic of research. In order to achieve map navigation, the external environment is generally collected to form an environmental map, and then a path planning algorithm based on graph search and / or a path planning method based on sampling is used to obtain multiple path points and connect multiple path points to form a planned path.

[0003] At present, there are some redundant points in the multiple path points obtained by the path planning algorithm based on graph search and / or the path planning method based on sampling, which makes some unnecessary bends in the planned path. The unnecessary bends make the length of the planned path longer and the planned path is not reasonable. In order to make the planned path more reasonable, it is urgent to determine the necessary path points on the planned path. Summary of the invention

[0004] The present application provides a path processing method, apparatus, device and storage medium to determine necessary path points on a planned path.

[0005] In a first aspect, a path processing method is provided, comprising:

[0006] Determine a farthest visible path point corresponding to a target path point on an initial planned path, the initial planned path includes a plurality of ordered path points, the target path point is initially the first path point on the initial planned path, the farthest visible path point is located after the target path point on the initial planned path, there is no obstacle on a direct line between the farthest visible path point and the target path point, and the farthest visible path point is farthest from the target path point on the initial planned path;

[0007] The target path point and the farthest visible path point are determined as necessary path points on the initial planned path.

[0008] In this technical solution, the detection of necessary path points on the planned path is achieved by determining the farthest visible path point corresponding to the target path point on the initial planned path, and then determining the target path point and the farthest visible path point as necessary path points on the initial planned path; since the target path point is initially the first path point on the initial planned path, the farthest visible path point is located after the target path point on the initial planned path, and there are no obstacles on the direct connection line between the farthest visible path point and the target path point, and the farthest distance from the target path point on the initial planned path, determining the target path point and the farthest visible path point as necessary path points can reduce unnecessary bends between the target path point and the farthest visible path point, so that the distance between two adjacent necessary path points is the shortest, thereby shortening the length of the planned path and making the planned path more reasonable.

[0009] In combination with the first aspect, in a possible implementation, after determining the target path point and the farthest visible path point as necessary path points on the initial planned path, the method further includes: taking the farthest visible path point as the target path point, and executing the step of determining the farthest visible path point corresponding to the target path point on the initial planned path, until the farthest visible path point is the last path point on the initial planned path. After determining the farthest visible path point, continuing to determine the farthest visible path point as the target path point and continuing to determine the farthest visible path point corresponding to the target path point can reduce unnecessary bends on the entire planned path, so that the length of the entire planned path is minimized.

[0010] In combination with the first aspect, in a possible implementation, determining the farthest visible path point corresponding to the target path point on the initial planned path includes: taking the next path point of the target path point as the first path point, and determining whether there is an obstacle on the direct line between the first path point and the target path point; if there is an obstacle on the direct line between the first path point and the target path point, taking the next path point of the first path point on the initial planned path as the first path point, and executing the step of determining whether there is an obstacle on the direct line between the first path point and the target path point until the first path point is the last path point on the initial planned path; if there is no obstacle on the direct line between the first path point and the target path point, adding the first path point to the visible path point set, taking the next path point of the first path point on the initial planned path as the first path point, and executing the step of determining whether there is an obstacle on the direct line between the first path point and the target path point until the first path point is the last path point on the initial planned path; determining the path point last added to the visible path point set as the farthest visible path point.

[0011] In combination with the first aspect, in a possible implementation, the step of determining the farthest visible path point corresponding to the target path point on the initial planned path includes: taking the last path point on the initial planned path as the second path point, and determining whether there is an obstacle on the direct line between the second path point and the target path point; if there is an obstacle on the direct line between the second path point and the target path point, taking the previous path point of the second path point on the initial planned path as the second path point, and executing the step of determining whether there is an obstacle on the direct line between the second path point and the target path point until the second path point is the next path point of the target path point on the initial planned path; if there is no obstacle on the direct line between the second path point and the target path point, determining the second path point as the farthest visible path point. Starting from the last path point on the planned path, determining the farthest visible path point can quickly determine the farthest visible path point.

[0012] In combination with the first aspect, in a possible implementation method, the determining of the farthest visible path point corresponding to the target path point on the initial planned path also includes: if there are obstacles on the direct line between each path point after the target path point on the initial planned path and the target path point, the next path point of the target path point on the initial planned path is determined as the farthest visible path point corresponding to the target path point.

[0013] In combination with the first aspect, in a possible implementation, after determining the target path point and the farthest visible path point as necessary path points on the initial planned path, the method further includes: deleting redundant path points between the target path point and the farthest visible path point on the initial planned path; and smoothing the initial planned path after deleting the redundant path points to obtain the target planned path corresponding to the initial planned path. By deleting redundant path points on the planned path and smoothing the initial planned path after deleting the redundant points, the planned path can be made more reasonable.

[0014] In combination with the first aspect, in a possible implementation, after determining the target path point and the farthest visible path point as necessary path points on the initial planning path, the method further includes: sequentially connecting the necessary path points on the initial planning path to obtain a result path corresponding to the initial planning path; and smoothing the result path to obtain a target planning path corresponding to the initial planning path. By connecting the necessary path points on the initial planning path and performing smoothing, the planned path can be made more reasonable.

[0015] In a second aspect, a path processing device is provided, including:

[0016] A first determination module is used to determine the farthest visible path point corresponding to the target path point on the initial planning path, the initial planning path includes a plurality of ordered path points, the target path point is initially the first path point on the initial planning path, the farthest visible path point is located after the target path point on the initial planning path, there is no obstacle on the direct connection line between the farthest visible path point and the target path point, and the farthest visible path point is farthest from the target path point on the initial planning path;

[0017] The second determination module is used to determine the target path point and the farthest visible path point as necessary path points on the initial planned path.

[0018] In a third aspect, a computer device is provided, comprising a memory and one or more processors, wherein the memory is connected to the one or more processors, and the one or more processors are used to execute one or more computer programs stored in the memory, and when the one or more processors execute the one or more computer programs, the computer device implements the path processing method of the first aspect.

[0019] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor executes the path processing method of the first aspect.

[0020] The present application can achieve the following technical effects: it realizes the detection of necessary path points on the planned path; since the target path point is initially the first path point on the initial planned path, the farthest visible path point is located after the target path point on the initial planned path, and there are no obstacles on the direct connection line between the farthest visible path point and the target path point, and it is farthest from the target path point on the initial planned path, the target path point and the farthest visible path point are determined as necessary path points, which can reduce unnecessary bends between the target path point and the farthest visible path point, making the distance between two adjacent necessary path points the shortest, thereby shortening the length of the planned path and making the planned path more reasonable. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of visible and invisible waypoints provided for this application;

[0022] Figure 2 A schematic diagram of the positional relationship between the path points and obstacles provided in the embodiment of the present application;

[0023] Figure 3 A schematic diagram of a process flow of a path processing method provided in an embodiment of the present application;

[0024] Figure 4 A flowchart of a method for determining the farthest visible path point provided in an embodiment of the present application;

[0025] Figure 5 A flowchart of another method for determining the farthest visible path point provided in an embodiment of the present application;

[0026] Figure 6 is a structural schematic diagram of a path processing device provided in an embodiment of the present application;

[0027] Figure 7 It is a structural diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0029] The technical solution of the present application is applicable to the path planning scenario, wherein the technical solution of the present application is used to detect and judge whether the path points on the planned path are necessary path points for the planned path composed of multiple discrete path points in the path planning scenario, so as to remove unnecessary bends on the planned path and shorten the length of the planned path. The technical solution of the present application can be applied to computer devices, including but not limited to mobile phones, laptop computers, desktop computers, and the like.

[0030] In order to remove unnecessary bends on the planned path, it is necessary to determine the necessary path points on the planned path, and then remove the redundant path points between two adjacent necessary path points to shorten the length of the planned path.

[0031] A feasible technical solution is as follows:

[0032] For a path P (P0, P1, P2, ..., Pn), start from the first path point P0 on the path P and traverse the path points on the path P in sequence: For the first path point P0 on the path P, start from the next path point P1 of the first path point P0 and determine whether the next path point P1 of the first path point P0 is visible to the first path point P0. If the direct line between the path point P1 and the path point P0 is as follows Figure 1 As shown in l1 in , there is an obstacle (the black square is an obstacle), then the path point P1 and the path point P0 are not visible, and the path point P1 is called the invisible path point corresponding to the path point P0; if the direct line between the path point P1 and the path point P0 is as follows Figure 1As shown in l2 in , there is no obstacle, then the path point P1 is visible to the path point P0, and the path point P1 is called the visible path point corresponding to the path point P0. If the path point P1 is visible to the path point P0, then determine whether the path point P2, the next path point of the path point P1, is visible to the path point P0; if the path point P2 is visible to the path point P0, then determine whether the path point P3, the next path point of the path point P2, is visible, and so on, until a path point Pk that is not visible to the path point P0 is found. The path point Pk is the invisible path point corresponding to the path point P0, and the previous path point Pk-1 of the path point Pk is the visible path point corresponding to the path point P0. The path point Pk-1 and the path point P0 determine the two adjacent necessary path points on the path P, and all the path points between the two adjacent necessary path points Pk-1 and P0 are deleted. Then the necessary path point Pk-1 is taken as the path point to be processed, and the next necessary path point of the necessary path point Pk-1 is determined in the same way as the next necessary path point of the necessary path point P0, until the necessary path point Pk-1 is Pn, completing the determination of all necessary path points on the path P and deleting the redundant path points between two adjacent necessary path points.

[0033] The technical solution is to shorten the length of the planned path by finding the first path point that is invisible to the current necessary path point (hereinafter referred to as the target invisible path point), determining the previous path point of the target invisible path point as the next necessary path point of the current necessary path point, and deleting the path points between the current necessary path point and the next necessary path point.

[0034] When there is a path point visible to the current necessary path point after the target invisible path point (hereinafter referred to as the target visible path point), there is no obstacle on the direct line between the current necessary path point and the target visible path point, the path points between the current necessary path point and the target visible path point can be directly connected, and the path points between the current necessary path point and the target visible path point can be deleted. Figure 2 As shown, there are gray obstacles on the direct connection line between P0 and Pk, while there are no gray obstacles on the direct connection line between P0 and Pj. P0 and Pj can be directly connected, and the path points between P0 and Pj can be deleted. Pk-1 is actually a redundant path point, that is, the necessary path points determined by this technical solution may be unnecessary path points. This technical solution can only shorten the length of the planned path to a limited extent.

[0035] Therefore, the present application proposes a new technical solution, which can avoid determining unnecessary path points as necessary path points, thereby further shortening the length of the planned path and making the length of the planned path the shortest.

[0036] The technical solution of this application is described in detail below.

[0037] See also Figure 3 , Figure 3 A schematic diagram of a process flow of a path processing method provided in an embodiment of the present application is shown as follows: Figure 3 As shown, the method comprises the following steps:

[0038] S101, taking the first path point on the initial planned path as the target path point.

[0039] Among them, the initial planned path refers to the path obtained through path planning. The initial planned path can be obtained based on any path planning algorithm. The path planning algorithm includes but is not limited to a graph search-based path planning algorithm, a sampling-based path planning method, etc. This application does not limit the algorithm for obtaining the initial planned path.

[0040] The initial planning path includes multiple ordered path points. The initial planning path can be expressed as p{p0, p1, p2, ..., p m}, (m+1) is the total number of path points on the target planning path, and m is a positive integer. The target path point can be expressed as p i , the initial value of i is 0, that is, the target path point is initially p0, and p0 is the first path point on the initial planned path.

[0041] In a specific implementation, the path currently planned based on the path planning algorithm can be obtained as the initial planned path, and then the first path point of the initial planned path can be obtained as the target path point.

[0042] S102, determining the farthest visible path point corresponding to the target path point on the initial planned path.

[0043] Here, the visible path point corresponding to the target path point refers to the path point on the initial planning path that is located after the target path point and has no obstacles on the direct line between the target path point and the target path point. For the meaning of visible and invisible, please refer to the above Figure 1 The corresponding description.

[0044] The farthest visible path point corresponding to the target path point refers to the visible path point farthest from the target path point on the initial planning path among the visible path points corresponding to the target path point, that is, the visible path point closest to the last path point on the initial planning path. For example, there are two visible path points corresponding to the target path point, namely path point A and path point B. Path point A is located after path point B on the initial planning path, then path point A is the farthest visible path point corresponding to the target path point.

[0045] Among them, the farthest visible path point corresponding to the target path point can be determined on the initial planned path by any method. For the method of determining the farthest visible path point corresponding to the target path point, please refer to the subsequent Figure 4 and Figure 5 No further description will be given here.

[0046] S103, determining the necessary path points on the initial planned path by using the target path point and the farthest visible path point corresponding to the target path point.

[0047] Here, necessary path points refer to path points that must be passed, that is, path points that need to be retained on the initial planned path. Necessary path points are used to determine the target planned path corresponding to the initial planned path, and the target planned path is the final planned path. Path points other than necessary path points on the initial planned path are redundant path points. Redundant path points are unnecessary path points, that is, path points that are not necessary to pass. Redundant path points need to be deleted on the initial planned path. The target path point and the farthest visible path point corresponding to the target path point are two adjacent necessary path points on the initial planned path.

[0048] S104, determining whether the farthest visible path point corresponding to the target path point is the last path point on the initial planned path.

[0049] If the farthest visible path point corresponding to the target path point is the last path point on the initial planned path, it means that the detection of necessary path points on the entire initial planned path has been completed, and the process ends; if the farthest visible path point corresponding to the target path point is not the last path point on the initial planned path, it means that the detection of necessary path points on the entire initial planned path has not been completed, and step S105 is executed.

[0050] S105, taking the farthest visible path point corresponding to the target path point as the target path point, and returning to execute step S102.

[0051] In the above Figure 3In the corresponding technical solution, the detection of necessary path points on the planned path is achieved by determining the farthest visible path point corresponding to the target path point on the initial planned path, and then determining the target path point and the farthest visible path point as necessary path points on the initial planned path; since the target path point is initially the first path point on the initial planned path, the farthest visible path point is located after the target path point on the initial planned path, and there are no obstacles on the direct connection line between the farthest visible path point and the target path point, and it is farthest from the target path point on the initial planned path, determining the target path point and the farthest visible path point as necessary path points can reduce unnecessary bends between the target path point and the farthest visible path point, so that the distance between two adjacent necessary path points is the shortest, thereby shortening the length of the planned path and making the planned path more reasonable; after the farthest visible path point is determined, continuing to determine the farthest visible path point as the target path point and continuing to determine the farthest visible path point corresponding to the target path point can reduce unnecessary bends on the entire planned path, so that the distance between any two adjacent necessary path points is the shortest, thereby making the length of the entire planned path the shortest.

[0052] In a feasible implementation, the path points located after the target path point on the initial planned path can be traversed from front to back to determine whether the path points located after the target path point are visible path points corresponding to the target path point, thereby determining the farthest visible path point corresponding to the target path point.

[0053] See also Figure 4 , Figure 4 A flowchart of a method for determining the farthest visible path point provided in an embodiment of the present application is shown as follows: Figure 4 As shown, the following steps are included:

[0054] S201, taking the next path point of the target path point on the initial planned path as the first path point.

[0055] S202, determining whether there is an obstacle on the direct line between the first path point and the target path point.

[0056] Here, the direct line between the first path point and the target path point refers to a line segment obtained by connecting the first path point and the target path point with a straight line. Figure 1 As shown in l1 and l2.

[0057] In a feasible implementation, the position coordinates of the first path point, the position coordinates of the target path point and the position coordinates of the obstacle can be obtained, and the straight line equation corresponding to the direct line between the first path point and the target path point can be determined based on the position coordinates of the first path point and the target path point, and it is determined whether the position coordinates of the obstacle satisfy the straight line equation. If the position coordinates of any obstacle satisfy the straight line equation, it is determined that there is an obstacle on the direct line between the first path point and the target path point; if the position coordinates of all obstacles do not satisfy the straight line equation, it is determined that there is no obstacle on the direct line between the first path point and the target path point.

[0058] Optionally, it is also possible to determine whether there is an obstacle on the direct line between the first path point and the target path point based on other methods, which is not limited in this application.

[0059] If there is an obstacle on the direct line between the first path point and the target path point, it means that the first path point is an invisible path point corresponding to the target path point, and step S204 is executed; if there is no obstacle on the direct line between the first path point and the target path point, it means that the first path point is a visible path point corresponding to the target path point, and step S203 is executed.

[0060] S203, adding the first path point to the visible path point set.

[0061] S204: Determine whether the first path point is the last path point on the initial planned path.

[0062] If the first path point is the last path point on the initial planned path, it means that the traversal of all path points after the target path point on the initial planned path has been completed, and step S206 is executed; if the first path point is not the last path point on the initial planned path, it means that the traversal of all path points after the target path point on the initial planned path has not been completed, and step S205 is executed.

[0063] S205, taking the next path point of the first path point on the initial planned path as the first path point, and returning to execute step S202.

[0064] S206, determining whether the visible path point set is an empty set.

[0065] If the set of visible path points is an empty set, it means that there are obstacles on the direct line between each path point after the target path point on the initial planned path and the target path point, that is, there is no visible path point corresponding to the target path point after the target path point, and step S208 is executed; if the set of visible path points is not an empty set, it means that there is a visible path point corresponding to the target path point among the path points after the target path point on the initial planned path, and step S207 is executed.

[0066] S207: Determine the path point that is last added to the visible path point set as the farthest visible path point corresponding to the target path point.

[0067] S208, determining the next path point of the target path point on the initial planned path as the farthest visible path point corresponding to the target path point.

[0068] In the above Figure 4 In the corresponding technical solution, starting from the next path point of the target path point, the next path point of the target path point is taken as the first path point, and it is determined whether there is an obstacle between the direct connection line between the first path point and the target path point, until the first path point is the last path point on the initial planned path, and the visual judgment of all path points after the target path point on the initial planned path is completed, the visual path point corresponding to the target path point is added to the visual path point set, and the last visual path point added to the visual path point set is determined as the farthest visible path point corresponding to the target path point, thereby completing the detection of the farthest visible path point corresponding to the target path point.

[0069] In another feasible implementation, the path points on the initial planned path that are located after the target path point may also be traversed from back to front to determine the farthest visible path point corresponding to the target path point.

[0070] See also Figure 5 , Figure 5 A flowchart of another method for determining the farthest visible path point provided in an embodiment of the present application is shown as follows: Figure 5 As shown, the following steps are included:

[0071] S301, taking the last path point on the initial planned path as the second path point.

[0072] S302, determining whether there is an obstacle on the direct line between the second path point and the target path point.

[0073] Here, the principle of determining whether there is an obstacle on the direct line between the second path point and the target path point is the same as that of determining whether there is an obstacle on the direct line between the first path point and the target path point in the aforementioned step S202. The method of determining whether there is an obstacle on the direct line between the first path point and the target path point may be referred to, and will not be repeated here.

[0074] If there is an obstacle on the direct line between the second path point and the target path point, it means that the second path point is an invisible path point corresponding to the target path point, and step S304 is executed; if there is no obstacle on the direct line between the second path point and the target path point, it means that the second path point is a visible path point corresponding to the target path point, and step S303 is executed.

[0075] S303: Determine the second path point as the farthest visible path point corresponding to the target path point.

[0076] S304, determining whether the second path point is the next path point of the target path point on the initial planned path.

[0077] If the second path point is the next path point of the target path point on the initial planned path, it means that the traversal of all path points after the target path point on the initial planned path has been completed, and there are obstacles on the direct connection line between each path point after the target path point on the initial planned path and the target path point, that is, there is no visible path point corresponding to the target path point after the target path point, and step S306 is executed; if the second path point is not the next path point of the target path point on the initial planned path, it means that the traversal of the path points after the target path point on the initial planned path has not been completed, and step S305 is executed.

[0078] S305: Take the previous path point of the second path point on the initial planned path as the second path point, and return to execute step S302.

[0079] S306, determining the next path point of the target path point on the initial planned path as the farthest visible path point corresponding to the target path point.

[0080] In the above Figure 5 In the corresponding technical solution, starting from the last path point on the initial planned path, the last path point on the initial planned path is taken as the second path point, and it is determined whether there is an obstacle between the first path point and the direct line connecting the target path point, until the second path point is the previous path point of the target path point on the initial planned path or there is no obstacle between the direct line connecting the second path point and the target path point, and the second path point is determined as the farthest visible path point corresponding to the target path point, so that the farthest visible path point corresponding to the target path point can be quickly determined.

[0081] It should be noted that determining the farthest visible path point corresponding to the target path point is not limited to the above two implementations, and there may be more implementations. For example, the farthest visible path point corresponding to the target path point may also be determined based on the idea of ​​dichotomy. Among them, the path points located after the target path point on the initial planning path may be formed into a target path point set, and the intermediate path point is determined in the target path point set, and it is judged whether there is an obstacle on the direct connection line between the intermediate path point and the target path point. If there is no obstacle on the direct connection line between the intermediate path point and the target path point, it means that the intermediate path point is a visible path point corresponding to the target path point, and the farthest visible path point is located between the intermediate path point and the last path node of the target path point set; after eliminating the path point located before the intermediate path point in the target path set, continue to determine the intermediate path point in the target path point set, and judge whether there is an obstacle on the direct connection line between the intermediate path point and the target path point, and so on, until there is an obstacle on the direct connection line between the intermediate path point and the target path point or there is only one path point left in the target path point set. If there is an obstacle on the direct connection line between the intermediate node and the target path point, the intermediate node is used as the dividing point, and the path points before the intermediate node are divided into one path point set, and the path points after the intermediate node are divided into another path point set, so as to obtain two path point sets; the two divided path point sets are respectively used as the target path point sets, and the intermediate path points are determined in the target path point set, and it is determined whether there is an obstacle on the direct connection line between the intermediate path point and the target path point, and so on, until only one path point is left in the target path point set or there is no obstacle on the direct connection line between the intermediate path point and the target path point. In the case that only one path point is left in the target path point set, it is determined whether there is an obstacle on the direct connection line between the path point in the target path point set and the target path point. If there is an obstacle, the path point in the target path point set is discarded; if there is no obstacle, the path point in the target path point set is added to the visible path point set; in the visible path point set, the path point closest to the last path point on the initial planning path is determined as the farthest visible path point corresponding to the target path point.

[0082] After the necessary path points on the initial planning path are determined, the initial planning path can be simplified to obtain the final planning path.

[0083] In a feasible implementation, redundant path points between the target path point and the farthest visible path point corresponding to the target path point can be deleted on the initial planned path; the initial planned path after deleting the redundant path points is smoothed to obtain the target planned path corresponding to the initial planned path.

[0084] By deleting redundant path points on the planned path and smoothing the initial planned path after deleting the redundancy, the planned path can be made more reasonable.

[0085] In another feasible implementation, necessary path points on the initial planned path may be connected in sequence to obtain a result path corresponding to the initial planned path; the result path corresponding to the initial planned path may be smoothed to obtain a target planned path corresponding to the initial planned path.

[0086] By connecting the necessary path points on the initial planned path and performing smoothing, the planned path can be made more reasonable.

[0087] The method of the present application is introduced above, and the device of the present application is introduced below.

[0088] See also Figure 6 , Figure 6 Schematic diagram of a path processing device provided in an embodiment of the present application. Figure 6 As shown, the path processing device 40 includes:

[0089] A first determination module 401 is used to determine the farthest visible path point corresponding to the target path point on the initial planned path, the initial planned path includes a plurality of ordered path points, the target path point is initially the first path point on the initial planned path, the farthest visible path point is located after the target path point on the initial planned path, there is no obstacle on the direct connection line between the farthest visible path point and the target path point, and the farthest visible path point is farthest from the target path point on the initial planned path;

[0090] The second determination module 402 is used to determine the target path point and the farthest visible path point as necessary path points on the initial planned path.

[0091] In one possible design, the first determination module 401 is also used to: take the farthest visible path point as the target path point, and execute the step of determining the farthest visible path point corresponding to the target path point on the initial planned path, until the farthest visible path point is the last path point on the initial planned path.

[0092] In one possible design, the first determination module 401 is specifically used to: take the next path point of the target path point as the first path point, and determine whether there is an obstacle on the direct line between the first path point and the target path point; if there is an obstacle on the direct line between the first path point and the target path point, take the next path point of the first path point on the initial planned path as the first path point, and execute the step of determining whether there is an obstacle on the direct line between the first path point and the target path point until the first path point is the last path point on the initial planned path; if there is no obstacle on the direct line between the first path point and the target path point, add the first path point to the visible path point set, take the next path point of the first path point on the initial planned path as the first path point, and execute the step of determining whether there is an obstacle on the direct line between the first path point and the target path point until the first path point is the last path point on the initial planned path; determine the path point last added to the visible path point set as the farthest visible path point.

[0093] In one possible design, the above-mentioned first determination module 401 is specifically used to: take the last path point on the initial planned path as the second path point, and determine whether there is an obstacle on the direct line between the second path point and the target path point; if there is an obstacle on the direct line between the second path point and the target path point, take the previous path point of the second path point on the initial planned path as the second path point, and execute the step of determining whether there is an obstacle on the direct line between the second path point and the target path point until the second path point is the next path point of the target path point on the initial planned path; if there is no obstacle on the direct line between the second path point and the target path point, determine the second path point as the farthest visible path point.

[0094] In one possible design, the first determination module 401 is specifically used for: if there are obstacles on the direct line between each path point after the target path point on the initial planned path and the target path point, the next path point of the target path point on the initial planned path is determined as the farthest visible path point corresponding to the target path point.

[0095] In a possible design, the second determination module 402 is also used to: delete redundant path points between the target path point and the farthest visible path point on the initial planned path; and smooth the initial planned path after deleting the redundant path points to obtain the target planned path corresponding to the initial planned path.

[0096] In a possible design, the second determination module 402 is further used to: sequentially connect necessary path points on the initial planned path to obtain a result path corresponding to the initial planned path; and smooth the result path to obtain a target planned path corresponding to the initial planned path.

[0097] It should be noted that Figure 6 For the contents not mentioned in the corresponding embodiments, please refer to the description of the aforementioned method embodiments, which will not be repeated here.

[0098] The above-mentioned device realizes the detection of necessary path points on the planned path by determining the farthest visible path point corresponding to the target path point on the initial planned path, and then determining the target path point and the farthest visible path point as necessary path points on the initial planned path; since the target path point is initially the first path point on the initial planned path, the farthest visible path point is located after the target path point on the initial planned path, and there are no obstacles on the direct connection line between the farthest visible path point and the target path point, and it is farthest from the target path point on the initial planned path, determining the target path point and the farthest visible path point as necessary path points can reduce unnecessary bends between the target path point and the farthest visible path point, so that the distance between two adjacent necessary path points is the shortest, thereby shortening the length of the planned path and making the planned path more reasonable.

[0099] See also Figure 7 , Figure 7 1 is a schematic diagram of the structure of a computer device provided in an embodiment of the present application, wherein the computer device 50 includes a processor 501 and a memory 502. The memory 502 is connected to the processor 501, for example, via a bus.

[0100] The processor 501 is configured to support the computer device 50 to perform the corresponding functions in the method in the above method embodiment. The processor 501 can be a central processing unit (CPU), a network processor (NP), a hardware chip or any combination thereof. The above hardware chip can be an application specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The above PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL) or any combination thereof.

[0101] The memory 502 is used to store program codes, etc. The memory 502 may include a volatile memory (VM), such as a random access memory (RAM); the memory 502 may also include a non-volatile memory (NVM), such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD); the memory 502 may also include a combination of the above-mentioned types of memories.

[0102] The processor 501 may call the program code to perform the following operations:

[0103] Determine a farthest visible path point corresponding to a target path point on an initial planned path, the initial planned path includes a plurality of ordered path points, the target path point is initially the first path point on the initial planned path, the farthest visible path point is located after the target path point on the initial planned path, there is no obstacle on a direct line between the farthest visible path point and the target path point, and the farthest visible path point is farthest from the target path point on the initial planned path;

[0104] The target path point and the farthest visible path point are determined as necessary path points on the initial planned path.

[0105] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a computer, the computer executes the method described in the above embodiment.

[0106] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0107] The above disclosure is only the preferred embodiment of the present application, which certainly cannot be used to limit the scope of rights of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A path processing method, characterized in that: include: Determine a farthest visible path point corresponding to a target path point on an initial planned path, the initial planned path includes a plurality of ordered path points, the target path point is initially the first path point on the initial planned path, the farthest visible path point is located after the target path point on the initial planned path, there is no obstacle on a direct line between the farthest visible path point and the target path point, and the farthest visible path point is farthest from the target path point on the initial planned path; The target path point and the farthest visible path point are determined as necessary path points on the initial planned path.

2. The method according to claim 1, characterized in that After determining the target path point and the farthest visible path point as necessary path points on the initial planned path, the method further includes: The farthest visible path point is used as the target path point, and the step of determining the farthest visible path point corresponding to the target path point on the initial planned path is performed until the farthest visible path point is the last path point on the initial planned path.

3. The method according to claim 1, characterized in that: Determining the farthest visible path point corresponding to the target path point on the initial planned path includes: Taking the next path point of the target path point as the first path point, and determining whether there is an obstacle on the direct line between the first path point and the target path point; If there is an obstacle on the direct line between the first path point and the target path point, taking the next path point of the first path point on the initial planned path as the first path point, and performing the step of determining whether there is an obstacle on the direct line between the first path point and the target path point until the first path point is the last path point on the initial planned path; If there is no obstacle on the direct line between the first path point and the target path point, add the first path point to the visible path point set, take the next path point of the first path point on the initial planned path as the first path point, and perform the step of determining whether there is an obstacle on the direct line between the first path point and the target path point until the first path point is the last path point on the initial planned path; The path point that is last added to the visible path point set is determined as the farthest visible path point.

4. The method according to claim 1, characterized in that Determining the farthest visible path point corresponding to the target path point on the initial planned path includes: Taking the last path point on the initial planned path as a second path point, and determining whether there is an obstacle on the direct line between the second path point and the target path point; If there is an obstacle on the direct line between the second path point and the target path point, taking the previous path point of the second path point on the initial planned path as the second path point, and performing the step of determining whether there is an obstacle on the direct line between the second path point and the target path point until the second path point is the next path point of the target path point on the initial planned path; If there is no obstacle on the direct line between the second path point and the target path point, the second path point is determined as the farthest visible path point.

5. The method according to claim 3 or 4, characterized in that: The step of determining the farthest visible path point corresponding to the target path point on the initial planned path also includes: If there are obstacles on the direct line between each path point after the target path point on the initial planned path and the target path point, the next path point of the target path point on the initial planned path is determined as the farthest visible path point corresponding to the target path point.

6. The method according to claim 1, characterized in that After determining the target path point and the farthest visible path point as necessary path points on the initial planned path, the method further includes: Deleting redundant path points between the target path point and the farthest visible path point on the initial planned path; The initial planned path after deleting redundant path points is smoothed to obtain a target planned path corresponding to the initial planned path.

7. The method according to claim 1, characterized in that After determining the target path point and the farthest visible path point as necessary path points on the initial planned path, the method further includes: Connecting the necessary path points on the initial planned path in sequence to obtain a result path corresponding to the initial planned path; The result path is smoothed to obtain a target planned path corresponding to the initial planned path.

8. A path processing device, characterized in that: include: A first determination module is used to determine the farthest visible path point corresponding to the target path point on the initial planning path, the initial planning path includes a plurality of ordered path points, the target path point is initially the first path point on the initial planning path, the farthest visible path point is located after the target path point on the initial planning path, there is no obstacle on the direct connection line between the farthest visible path point and the target path point, and the farthest visible path point is farthest from the target path point on the initial planning path; The second determination module is used to determine the target path point and the farthest visible path point as necessary path points on the initial planned path.

9. A computer device, characterized in that: The method comprises a memory and a processor, wherein the memory is connected to the processor, and the processor is used to execute one or more computer programs stored in the memory. When the processor executes the one or more computer programs, the computer device implements the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor is caused to perform the method according to any one of claims 1 to 7.

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