Self-adaptive navigation yaw planning method and planning device

Abstract

The invention discloses a self-adaptive navigation yaw planning method and device. The planning method comprises the following steps: acquiring a deviation coordinate, an end point coordinate and an intersection point coordinate positioned on an initial navigation route; screening the intersection point coordinates according to a threshold range to obtain candidate intersection point coordinates; calculating an included angle between the candidate intersection point coordinate and the position vector from the end point coordinate to the deviation coordinate; selecting a corresponding candidate intersection point coordinate as an access point coordinate according to the size of the included angle; and planning a route from the deviation coordinate to the access point coordinate, and using a road section from the access point coordinate to the end point coordinate in the initial navigation route after passing through the access point coordinate. According to the method, the route between the current yaw position and the access coordinate point is planned and then spliced with the initial route, so that the route between the current yaw position and the terminal point can be indirectly calculated; the planning reliability is improved; the probability of planning irrationality is reduced, the time consumption of re-planning is greatly reduced, and the user experience is improved.

Description

Technical Field

[0001] The invention relates to the technical field of navigation, and in particular to a planning method and a planning device for adaptive navigation yaw. Background Art

[0002] In the scenario of navigation deviation, when the user deviates from the navigation route, the device needs to immediately re-plan the route between the current deviation position and the end point.

[0003] In embedded systems, the system itself calculates the route between two coordinate points. As the complexity of the route and the distance between the two coordinate points increase, the time consumed in the calculation will become longer and longer, and the user will have to wait longer. However, yaw planning is a function that requires a timely response, and the user experience will be greatly reduced.

[0004] In summary, it is now necessary to design a planning method and a planning device for adaptive navigation yaw to solve the above problems in the prior art. Summary of the invention

[0005] The present invention provides a planning method and a planning device for adaptive navigation yaw, which solve the problem of long yaw planning time in the prior art.

[0006] In order to achieve the above object, the present invention adopts the following technical scheme:

[0007] A method for planning an adaptive navigation yaw comprises the following steps:

[0008] Obtain the deviation coordinates, the end point coordinates and the intersection coordinates on the initial navigation route;

[0009] Filter the intersection point coordinates according to the threshold range to obtain candidate intersection point coordinates;

[0010] Calculate the angle between the candidate intersection point coordinates and the position vector from the end point coordinates to the deviation coordinates;

[0011] Selecting corresponding candidate intersection point coordinates as access point coordinates according to the angle;

[0012] A route from the deviation coordinates to the access point coordinates is planned, and after the access point coordinates, a section from the access point coordinates to the end point coordinates in the initial navigation route is used.

[0013] In some embodiments of the present invention, when the threshold range is a set range, the step of screening the intersection point coordinates according to the threshold range to obtain candidate intersection point coordinates includes:

[0014] The distance between the deviation coordinate and each intersection point coordinate is calculated, and the intersection point coordinates whose distance is within a set range are selected as candidate intersection point coordinates.

[0015] In some embodiments of the present invention, when the threshold range is an adaptive range, the step of screening the intersection point coordinates according to the threshold range to obtain candidate intersection point coordinates includes:

[0016] Calculating a lower limit value and an upper limit value of the adaptive range;

[0017] The distance between the deviation coordinate and each intersection point coordinate is calculated, and the intersection point coordinates whose distance is within the adaptive range are selected as candidate intersection point coordinates.

[0018] In some embodiments of the present invention, calculating the lower limit value of the adaptive range includes:

[0019] Calculate the distance between the deviation coordinates and the coordinates of each intersection point, and obtain the coordinates of the nearest intersection point and the nearest distance according to the distance;

[0020] The shortest distance is used as the lower limit of the adaptive range.

[0021] In some embodiments of the present invention, the calculating the upper limit value of the adaptive range includes:

[0022] The coordinates of the intersection point between the coordinates of the nearest intersection point and the coordinates of the end point are taken as the first candidate intersection point;

[0023] Calculate the screening threshold based on the closest distance;

[0024] Calculating the distance between the coordinates of the first candidate intersection point and the coordinates of the nearest intersection point;

[0025] Obtaining the coordinates of the farthest intersection point according to a comparison result between the distance and the screening threshold;

[0026] The distance from the coordinates of the farthest intersection point to the deviation coordinates is used as the upper limit value of the adaptive range.

[0027] In some embodiments of the present invention, the calculation formula of the screening threshold is:

[0028]

[0029] Among them, D e is the screening threshold, d min is the closest distance.

[0030] In some embodiments of the present invention, the calculation process of the angle is:

[0031] Calculate a first position vector from the deviation coordinates to the end point coordinates, and calculate a second position vector from the candidate intersection point coordinates to the end point coordinates;

[0032] The angle between the first position vector and the second position vector is obtained by using a dot product formula and an arc cosine function.

[0033] In some embodiments of the present invention, a planning device for adaptive navigation yaw is provided, comprising:

[0034] An acquisition module, used to acquire deviation coordinates, starting point coordinates, end point coordinates and intersection coordinates located on the initial navigation route;

[0035] A storage module, used for storing deviation coordinates, starting point coordinates, end point coordinates and intersection coordinates on the initial navigation route;

[0036] A calculation and screening module is used to set or calculate a threshold range, calculate and screen candidate intersection point coordinates to obtain access point coordinates, and calculate a new planned route;

[0037] The communication module is used to communicate with external devices.

[0038] In some embodiments of the present invention, there is provided an electronic device, comprising:

[0039] A processor, and a memory and a transceiver communicatively connected to the processor;

[0040] The memory stores computer-executable instructions; the transceiver is used to send and receive data;

[0041] The processor executes the computer-executable instructions stored in the memory to implement the above-mentioned planning method.

[0042] In some embodiments of the present invention, a computer-readable storage medium is provided, characterized in that:

[0043] The computer-readable storage medium stores computer-executable instructions, which are used to implement the above-mentioned planning method when executed by a processor.

[0044] The technical solution of the present invention has the following technical effects compared with the prior art:

[0045] The present invention finds the access point after the deviation by designing an adaptive threshold range, plans the route between the current deviation position and the access coordinate point, and then splices it with the initial route, so as to indirectly realize the calculation of the route between the current deviation position and the end point; improves the planning reliability; reduces the probability of unreasonable planning, and greatly reduces the time consumption of re-planning, thereby improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0047] Figure 1 This is a schematic diagram of a planned route shown in Example 1 of the present invention.

[0048] Figure 2 This is a schematic diagram of a planned route shown in Example 2 of the present invention.

[0049] Figure 3 This is a schematic diagram of the planning method flow chart of Example 1 of the present invention.

[0050] Figure 4 This is a schematic diagram of the planning method flow chart of Embodiment 2 of the present invention.

[0051] Figure 5 It is a schematic diagram of the structure of the planning device for adaptive navigation yaw.

[0052] Figure 6 It is a structural schematic diagram of the electronic device.

[0053] Figure numerals: 100, planning device; 110, acquisition module; 120, storage module; 130, calculation and screening module; 140, communication module; 200, electronic device; 210, processor; 220, memory; 230, transceiver. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0056] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0057] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0058] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0059] The disclosure below provides many different embodiments or examples to realize different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0060] In the prior art, when a deviation from the route occurs, the deviation coordinates are usually directly used as the new starting point coordinates for re-navigation. As the distance between the two coordinate points increases, re-navigation will increase the time consumed by the calculation, that is, increase the waiting time of the user. The deviation planning is a function that requires a timely response. Therefore, in the present invention, with the help of the initial route, a reasonable access point is determined, and the route between the current deviation position and the access point is planned, and then it is spliced ​​with the initial route, so that the route between the current deviation position and the end point can be indirectly calculated.

[0061] The following will describe how to select the access point to implement the planned route after deviation through a specific embodiment.

[0062] Example 1: Reference Figure 3 As shown, a planning method for adaptive navigation yaw includes the following steps:

[0063] Step S1, obtaining the deviation coordinates, the end point coordinates and the intersection coordinates located on the initial navigation route;

[0064] Specifically, the deviation coordinate is defined as P c =(x c ,y c ); the end point coordinate is P e =(x e ,y e ); The number of intersection points on the initial navigation route is multiple, and the intersection point coordinate set is: S = {P 1 , P 2 , ..., P n}, where the coordinates of each intersection point are P i =(x i ,y i ).

[0065] Reference Figure 1 As shown, C0 is the deviation position, and its coordinates are P c =(x c ,y c );P 1 As the starting point, P 11 As the end point, P 2 -P 10 are the intersections on the initial navigation route, and their coordinates are: 2 =(x 2 ,y 2 ), P 3 =(x 3 ,y 3 ), ..., P 10 =(x 10 ,y 10 ).

[0066] Step S2, filtering the intersection point coordinates according to a threshold range to obtain candidate intersection point coordinates;

[0067] The specific steps include:

[0068] S21. In this embodiment, the threshold range is a setting range Ds=(0, d);

[0069] Continue to refer to Figure 1As shown, H1 is a concentric circle with C0 as the center, and its radius is the upper limit value d of the setting range Ds.

[0070] S22, calculating the deviation coordinate P c With the coordinates of each intersection point P i The distance between i , distance d i The calculation formula is:

[0071]

[0072] S23, screening the distance d i The intersection point coordinates P located within the set range Ds i As the coordinates of candidate intersection points.

[0073] Specifically, when d i ≤d, then the distance d i The corresponding intersection point coordinates P i The coordinates of the candidate intersection points are screened.

[0074] Continue to refer to Figure 1 In this embodiment, P2-P7 are all candidate intersection point coordinates.

[0075] Step S3, calculating the angle between the candidate intersection point coordinates and the position vector from the end point coordinates to the deviation coordinates;

[0076] S31, calculate the candidate intersection point coordinates and the candidate position vector of the deviation coordinates:

[0077]

[0078] Calculate the reference position vector of the end point coordinates and deviation coordinates:

[0079]

[0080] S32, calculating the angle θ between each candidate position vector and the reference position vector i :

[0081] Using the dot product formula to calculate cos(θ i ):

[0082]

[0083] Use the arccosine function to find the angle θ (in radians): θ i =arccos(cos(θ i ))Convert the result to angle (degrees):

[0084] Step S4: according to the angle θi The coordinates of the candidate intersection points corresponding to the size selection are the access point coordinates;

[0085] Specifically, the sizes of various angles are compared to obtain the minimum angle, and the coordinates of the candidate intersection point corresponding to the minimum angle are used as the coordinates of the access point, which is the intersection point closest to the end point within the threshold.

[0086] Continue to refer to Figure 1 As shown, in this embodiment, the candidate points P are calculated respectively. 2 -P 7 The angle between the candidate point position vector formed by the deviation point C0 and the reference position vector formed by the end point and the deviation point C0 is obtained as θ 2 -θ 7 ; After comparison, the angle θ 7 Minimum, so choose P 7 As an access point.

[0087] Step S5: planning a route from the deviation coordinates to the access point coordinates, and using the section from the access point coordinates to the end point coordinates in the initial navigation route after the access point coordinates.

[0088] Continue to refer to Figure 1 As shown, in this embodiment, the planning deviation point C0 to the intersection point P 7 The route between the two passes through the intersection point P 7 Then access the intersection point P in the initial navigation route 7 To the end section.

[0089] The technical solution of this embodiment has the following technical effects compared with the prior art:

[0090] This embodiment plans a route between the current yaw position and the access coordinate point, and then splices it with the initial route, so as to indirectly calculate the route between the current yaw position and the end point; thus, the time consumption of re-planning is greatly reduced, and the user experience is improved.

[0091] Example 2, reference Figure 4 As shown, a planning method for adaptive navigation yaw includes the following steps:

[0092] Step S1, obtaining the deviation coordinates, the end point coordinates and the intersection coordinates located on the initial navigation route;

[0093] Specifically, the deviation coordinate is defined as P c =(x c ,y c ); the end point coordinate is P e =(x e ,y e); The number of intersection points on the initial navigation route is multiple, and the intersection point coordinate set is: S = {P 1 , P 2 , ..., P n}, where the coordinates of each intersection point are P i =(x i ,y i ).

[0094] Reference Figure 1 As shown, C0 is the deviation position, and its coordinates are P c =(x c ,y c );P 1 As the starting point, P 11 As the end point, P 2 -P 10 are the intersections on the initial navigation route, and their coordinates are: 2 =(x 2 ,y 2 ), P 3 =(x 3 ,y 3 ), ..., P 10 =(x 10 ,y 10 ).

[0095] Step S2, filtering the intersection point coordinates according to a threshold range to obtain candidate intersection point coordinates;

[0096] The specific steps include:

[0097] S21. In this embodiment, the threshold range is the adaptive range Dz=(d min , d max ), where d min is the lower limit of the adaptive range Dz, d max is the upper limit of the adaptive range Dz.

[0098] S22, calculating the lower limit value d of the adaptive range Dz min include:

[0099] S22-1, calculating the deviation coordinate P c With the coordinates of each intersection point P i The distance between i , distance d i The calculation formula is:

[0100]

[0101] S22-2, according to the distance d i The size gets the coordinates of the nearest intersection point Pmin and the closest distance d min ; The closest distance d min As the lower limit value of the adaptive range.

[0102] Reference Figure 2 As shown, calculate the intersection point P 2 -P 7 The distance d from the deviation point C0 2 -d 7 , compare d 2 -d 7 The size of d 5 is the minimum value, then the lower limit of the adaptive range is d 5 ; intersection point P 5 The nearest intersection point.

[0103] S23, calculating the upper limit value of the adaptive range, specifically including:

[0104] S23-1, taking the intersection point coordinates between the nearest intersection point coordinates and the end point coordinates as the first candidate intersection point coordinates; the first candidate intersection point coordinate set is: Sh = {P i , ..., P n},

[0105] Reference Figure 2 As shown, the nearest intersection point P 5 Instead of going to the end point P 11 The intersection point in the direction is recorded as the first candidate intersection point, that is, P 6 -P 10 as the first candidate intersection point.

[0106] S23-2. Calculate the screening threshold according to the shortest distance; the calculation formula of the screening threshold is:

[0107]

[0108] Among them, D e is the screening threshold, d min is the closest distance.

[0109] S23-3 Calculate the coordinates of the first candidate intersection point and the coordinates of the nearest intersection point P min The distance d i-min :

[0110]

[0111] S23-3, according to the distance d i-min With the screening threshold D e The comparison result is the coordinates of the farthest intersection point P max ;

[0112] Specifically, the first time it is greater than the screening threshold D e The distance d i-min The corresponding first candidate intersection point coordinates are taken as the farthest intersection point coordinates P max .

[0113] Continue to refer to Figure 1 As shown, in this embodiment, the candidate points P are calculated respectively. 6 -P 10 and the nearest intersection point P 5 The distance is P 6-5 -θ 10-5 ; By comparison, the distance d 7-5 The first time it is greater than the screening threshold D e , so choose P 7 As the coordinates of the farthest intersection point.

[0114] S23-4, the coordinates of the farthest intersection point P max The distance d to the offset coordinate max As the upper limit of the adaptive range.

[0115]

[0116] Continue to refer to Figure 1 As shown, in this embodiment, the distance d between P7 and the deviation coordinate is 7 As the upper limit of the adaptive range.

[0117] In summary, the adaptive range Dz=(d 5 , d 7 ).

[0118] S24, screening the distance d between each first candidate intersection point coordinate and the deviation coordinate in the first candidate intersection point coordinate set i , distance d i The calculation formula is:

[0119]

[0120] S25, screening the distance d i Located in the setting range Dz=(d min , d max ) in the intersection point coordinates P i As the coordinates of candidate intersection points.

[0121] Specifically, when d min ≤d i ≤d max When i The corresponding intersection point coordinates P iThe coordinates of the candidate intersection points are screened.

[0122] Continue to refer to Figure 1 In this embodiment, P 5 -P 7 These are the coordinates of candidate intersection points.

[0123] Step S3, calculating the angle between the candidate intersection point coordinates and the position vector from the end point coordinates to the deviation coordinates;

[0124] S31, calculate the candidate intersection point coordinates and the candidate position vector of the deviation coordinates:

[0125]

[0126] Calculate the reference position vector of the end point coordinates and deviation coordinates:

[0127]

[0128] S32, calculating the angle θ between each candidate position vector and the reference position vector i :

[0129] Using the dot product formula to calculate cos(θ i ):

[0130]

[0131] Use the arccosine function to find the angle θ (in radians): θ i =arccos(cos(θ i ))Convert the result to angle (degrees):

[0132] Step S4: according to the angle θ i The coordinates of the candidate intersection points corresponding to the size selection are the access point coordinates;

[0133] Specifically, the sizes of various angles are compared to obtain the minimum angle, and the coordinates of the candidate intersection point corresponding to the minimum angle are used as the coordinates of the access point, which is the intersection point closest to the end point within the threshold.

[0134] Continue to refer to Figure 1 As shown, in this embodiment, the candidate points P are calculated respectively. 5 -P 7 The angle between the candidate point position vector formed by the deviation point C0 and the reference position vector formed by the end point and the deviation point C0 is obtained as θ 5 -θ 7 ; After comparison, the angle θ 7 The smallest, that is, the intersection point closest to the end point within the adaptive threshold, so P is selected 7As an access point.

[0135] Step S5: planning a route from the deviation coordinates to the access point coordinates, and using the section from the access point coordinates to the end point coordinates in the initial navigation route after the access point coordinates.

[0136] Continue to refer to Figure 1 As shown, in this embodiment, the planning deviation point C0 to the intersection point P 7 The route between the two passes through the intersection point P 7 Then access the intersection point P in the initial navigation route 7 To the end section.

[0137] The technical solution of this embodiment has the following technical effects compared with the prior art:

[0138] This embodiment designs an adaptive threshold range to find the access point after the deviation, plans the route between the current deviation position and the access coordinate point, and then splices it with the initial route, so as to indirectly realize the calculation of the route between the current deviation position and the end point; when the deviation distance is short, a closer access point can be selected to further reduce the planning time, and there is no need to conduct a large number of experiments on the threshold setting range, and at the same time avoids the situation where planning cannot be performed when the deviation exceeds the set range, which has universality, improves the planning reliability, reduces the probability of unreasonable planning, and greatly reduces the time consumption of re-planning, thereby improving the user experience.

[0139] Embodiment 3: This embodiment will be based on Figure 5 and Figure 6 A planning device 100 and an electronic device 200 for adaptive navigation yaw are described.

[0140] For the planning device 100, refer to Figure 5 As shown, including:

[0141] An acquisition module 110 is used to acquire deviation coordinates, starting point coordinates, end point coordinates, and intersection coordinates on the initial navigation route;

[0142] The storage module 120 is used to store the deviation coordinates, the starting point coordinates, the end point coordinates and the intersection coordinates on the initial navigation route;

[0143] A calculation and screening module 130, used to set or calculate a threshold range, and also used to calculate and screen candidate intersection point coordinates to obtain access point coordinates, and also used to calculate a new planned route;

[0144] The communication module 140 is used to communicate with external devices.

[0145] It should be understood that the planning device 100 here is embodied in the form of a functional module. The term "module" here may refer to an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor or a group processor, etc.) and a memory for executing one or more software or firmware programs, a merged logic circuit and / or other suitable components that support the described functions. In an optional example, those skilled in the art may understand that the planning device 100 may be specifically the electronic device 200 in the above embodiment, or the functions of the electronic device 200 in the above embodiment may be integrated in the planning device 100, and the planning device 100 may be used to execute the various processes and / or steps corresponding to the electronic device 200 in the above method embodiment. To avoid repetition, they will not be described here.

[0146] The above-mentioned planning device 100 has the function of implementing the corresponding steps performed by the electronic device 200 of the planning method in Example 1; the above-mentioned functions can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-mentioned functions. For example, the above-mentioned acquisition module can be a communication interface, such as a transceiver interface.

[0147] In the embodiments of the present application, Figure 5 The planning device 100 may also be a chip or a chip system, such as a system on chip (SoC).

[0148] Reference Figure 6 As shown, in this embodiment, an electronic device 200 is provided, including:

[0149] A processor 210, and a memory 220 and a transceiver 230 communicatively connected to the processor;

[0150] The memory 220 stores computer-executable instructions; the transceiver 230 is used to send and receive data;

[0151] The processor 210 executes the computer-executable instructions stored in the memory 220 to implement the planning method in Example 1.

[0152] It should be understood that the electronic device 200 can be used to execute the corresponding steps and / or processes in the above method embodiments. Optionally, the memory 220 may include a read-only memory and a random access memory, and provide instructions and data to the processor. A portion of the memory 220 may also include a non-volatile random access memory. For example, the memory 220 may also store information about the device type. The processor 210 may be used to execute the instructions stored in the memory 220, and when the processor 210 executes the instructions, the processor 210 may execute the corresponding steps and / or processes in the above method embodiments.

[0153] It should be understood that in the embodiment of the present application, the processor 210 may be a central processing unit (CPU), and the processor 210 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0154] In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor 210 or an instruction in the form of software. The steps of the method disclosed in conjunction with the embodiment of the present application can be directly embodied as a hardware processor for execution, or a combination of hardware and software modules in the processor 210 for execution. The software module can be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor executes the instructions in the memory, and completes the steps of the above method in conjunction with its hardware. To avoid repetition, it is not described in detail here.

[0155] Embodiment 4: In this embodiment, a computer-readable storage medium is provided, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the planning method in Embodiment 1.

[0156] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0157] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0158] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0159] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0160] In the description of the above embodiments, specific features, structures, materials or characteristics may be combined in a suitable manner in any one or more embodiments or examples.

[0161] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for planning adaptive navigation yaw, characterized in that: The following steps are involved: Obtain the deviation coordinates, the end point coordinates and the intersection coordinates on the initial navigation route; Filter the intersection point coordinates according to the threshold range to obtain candidate intersection point coordinates; Calculate the angle between the candidate intersection point coordinates and the position vector from the end point coordinates to the deviation coordinates; Selecting corresponding candidate intersection point coordinates as access point coordinates according to the angle; A route from the deviation coordinates to the access point coordinates is planned, and after the access point coordinates, a section from the access point coordinates to the end point coordinates in the initial navigation route is used.

2. The planning method according to claim 1, characterized in that: When the threshold range is a set range, screening the intersection point coordinates according to the threshold range to obtain candidate intersection point coordinates includes: The distance between the deviation coordinate and each intersection point coordinate is calculated, and the intersection point coordinates whose distance is within a set range are selected as candidate intersection point coordinates.

3. The planning method according to claim 1, characterized in that: When the threshold range is an adaptive range, the step of filtering the intersection point coordinates according to the threshold range to obtain candidate intersection point coordinates includes: Calculating a lower limit value and an upper limit value of the adaptive range; The distance between the deviation coordinate and each intersection point coordinate is calculated, and the intersection point coordinates whose distance is within the adaptive range are selected as candidate intersection point coordinates.

4. The planning method according to claim 3, characterized in that: The calculating the lower limit value of the adaptive range includes: Calculate the distance between the deviation coordinates and the coordinates of each intersection point, and obtain the coordinates of the nearest intersection point and the nearest distance according to the distance; The shortest distance is used as the lower limit of the adaptive range.

5. The planning method according to claim 3, characterized in that: The upper limit value of the calculation adaptive range includes: The coordinates of the intersection point between the coordinates of the nearest intersection point and the coordinates of the end point are taken as the first candidate intersection point; Calculate the screening threshold based on the closest distance; Calculating the distance between the coordinates of the first candidate intersection point and the coordinates of the nearest intersection point; Obtaining the coordinates of the farthest intersection point according to a comparison result between the distance and the screening threshold; The distance from the coordinates of the farthest intersection point to the deviation coordinates is used as the upper limit value of the adaptive range.

6. The planning method according to claim 5, characterized in that: The calculation formula of the screening threshold is: ； Among them, D e is the screening threshold, d min is the closest distance.

7. The planning method according to claim 1, characterized in that: The calculation process of the angle is: Calculate a first position vector from the deviation coordinates to the end point coordinates, and calculate a second position vector from the candidate intersection point coordinates to the end point coordinates; The angle between the first position vector and the second position vector is obtained by using a dot product formula and an arc cosine function.

8. A planning device for adaptive navigation yaw, characterized in that: include: An acquisition module, used to acquire deviation coordinates, starting point coordinates, end point coordinates and intersection coordinates located on the initial navigation route; A storage module, used for storing deviation coordinates, starting point coordinates, end point coordinates and intersection coordinates on the initial navigation route; A calculation and screening module is used to set or calculate a threshold range, calculate and screen candidate intersection point coordinates to obtain access point coordinates, and calculate a new planned route; The communication module is used to communicate with external devices.

9. An electronic device, characterized in that: include: A processor, and a memory and a transceiver communicatively connected to the processor; The memory stores computer-executable instructions; the transceiver is used to send and receive data; The processor executes the computer-executable instructions stored in the memory to implement the planning 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 computer-executable instructions, which, when executed by a processor, are used to implement the planning method according to any one of claims 1 to 7.

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