Information acquisition method and device, computer equipment and storage medium

Abstract

The invention relates to the technical field of computers, and discloses an information acquisition method and device, computer equipment and a storage medium, and the method comprises the steps: obtaining a grid map and topographic data of an area where a to-be-constructed road is located; searching operation is iteratively executed until a father node of the node corresponding to the end point is determined, and the searching operation comprises the steps that a first adjacent node of the current node targeted by the searching operation is traversed, and the first adjacent node is an adjacent node which is not traversed; determining a father node of the current node or one of all third adjacent nodes of the current node as a father node of the second adjacent node according to whether the second adjacent node of the current node meets a first constraint condition; and when the second adjacent node is not the node corresponding to the terminal point, taking the second adjacent node as the current node for the next search operation.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technologies, and particularly to an information acquisition method, apparatus, computer device, and storage medium. Background Art

[0002] Before constructing a road, it is necessary to determine the route of the road. The current way to determine the road route is as follows: traverse all nodes related to the area where the road is located, determine the nodes for determining the road route according to the path costs corresponding to the traversed nodes, and determine the road route according to the nodes for determining the road route. Traversing all nodes related to the area where the road is located results in a high cost for finding the nodes for determining the road route. How to save the cost of finding the nodes for determining the road route becomes a problem to be solved. Summary of the Invention

[0003] In view of this, embodiments of the present disclosure provide an information acquisition method, apparatus, computer device, and storage medium.

[0004] In a first aspect, embodiments of the present disclosure provide an information acquisition method, which includes:

[0005] Obtain a grid map and terrain data of the area where the road to be constructed is located. The grid map includes: a plurality of nodes, where the nodes correspond to points in the area, and the terrain data includes: the positions and elevations of the points corresponding to the nodes. The road to be constructed includes a starting point and an ending point;

[0006] Iteratively perform a search operation until the parent node of the node corresponding to the ending point is determined. The search operation includes:

[0007] Traverse the first adjacent nodes of the current node for the search operation. The first adjacent nodes are adjacent nodes that have not been traversed. The current node for the first search operation is selected from all adjacent nodes of the node corresponding to the starting point;

[0008] According to whether the second adjacent node of the current node satisfies a first constraint condition, determine the parent node of the current node or a third adjacent node of the second adjacent node as the parent node of the second adjacent node. Among them, the second adjacent node is the first adjacent node with the lowest corresponding path cost, the path cost is determined according to the terrain data, and the first constraint condition includes: the path between the second adjacent node and the parent node of the current node does not pass through an infeasible area;

[0009] When the second adjacent node is not the node corresponding to the ending point, use the second adjacent node as the current node for the next search operation.

[0010] The information acquisition method provided by the embodiments of the present disclosure only traverses the first adjacent nodes of the current node targeted by each search operation, significantly reducing the total number of nodes traversed and saving the cost of searching for nodes to determine the road to be constructed. In addition, when the path between the second adjacent node and the parent node of the current node does not pass through an infeasible area, the parent node of the current node is determined as the parent node of the second adjacent node. Thus, the route of the road to be constructed can be determined using the node with a relatively low corresponding path cost, i.e., the second adjacent node with the lowest corresponding path cost, and the situation where the route of the road to be constructed determined using the nodes for determining the route of the road to be constructed passes through an infeasible area can be avoided.

[0011] In a second aspect, an information acquisition device provided by the embodiments of the present disclosure includes:

[0012] An acquisition unit configured to acquire a grid map and terrain data of the area where the road to be constructed is located. The grid map includes a plurality of nodes corresponding to points in the area, and the terrain data includes the positions and elevations of the points corresponding to the nodes. The road to be constructed includes a starting point and an ending point.

[0013] A search unit configured to acquire a grid map and terrain data of the area where the road to be constructed is located. The grid map includes a plurality of nodes corresponding to points in the area, and the terrain data includes the positions and elevations of the points corresponding to the nodes. The road to be constructed includes a starting point and an ending point. Iteratively perform a search operation until the parent node of the node corresponding to the ending point is determined. The search operation includes: traversing the first adjacent nodes of the current node targeted by the search operation, where the first adjacent nodes are adjacent nodes that have not been traversed, and the current node targeted by the first search operation is selected from all the adjacent nodes of the node corresponding to the starting point; determining the parent node of the current node or a third adjacent node of the second adjacent node as the parent node of the second adjacent node according to whether the second adjacent node of the current node satisfies a first constraint condition, where the second adjacent node is the first adjacent node with the lowest corresponding path cost, the path cost is determined according to the terrain data, and the first constraint condition includes that the path between the second adjacent node and the parent node of the current node does not pass through an infeasible area; when the second adjacent node is not the node corresponding to the ending point, taking the second adjacent node as the current node targeted by the next search operation.

[0014] In a third aspect, a computer device provided by the embodiments of the present disclosure includes a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to perform the method according to the first aspect or any corresponding embodiment thereof.

[0015] Fourthly, embodiments of the present disclosure provide a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to cause a computer to execute the method according to the first aspect or any corresponding embodiment thereof above. Description of the Drawings

[0016] In order to more clearly illustrate the specific embodiments of the present disclosure or the technical solutions in the prior art, the following will briefly introduce the drawings required to be used in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present disclosure. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Figure 1 is a schematic flowchart of an information acquisition method provided by an embodiment of the present disclosure;

[0018] Figure 2 is a schematic diagram of an example of a grid map of the area where the road to be built is located;

[0019] Figure 3 is a schematic diagram of the effect of performing a search operation once;

[0020] Figure 4 is a schematic flowchart of another information acquisition method provided by an embodiment of the present disclosure;

[0021] Figure 5 is a structural block diagram of an information acquisition device provided by an embodiment of the present disclosure;

[0022] Figure 6 is a schematic hardware structure diagram of a computer device provided by an embodiment of the present disclosure. Detailed Embodiments

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present disclosure with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are some, but not all, of the embodiments of the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present disclosure.

[0024] Referring to Figure 1 , which shows an example flowchart of an information acquisition method provided by an embodiment of the present disclosure. This method can be executed by an electronic device such as a server.

[0025] Step S101, obtain a grid map of the area where the road to be built is located and terrain data of the area where the road to be built is located.

[0026] Among them, the grid map of the area where the road to be constructed is located includes: multiple nodes. The grid map of the area where the road to be constructed is located includes multiple grids.

[0027] The multiple grids can be obtained by dividing the area where the road to be constructed is located. Each grid can correspond to a different sub-area in the area where the road to be constructed is located.

[0028] As an example, each grid can be square and each grid has the same size.

[0029] Each node in the grid map serves as the corner point of the grid in the grid map.

[0030] Each node in the grid map corresponds to a different point in the area where the road to be constructed is located.

[0031] For node i in the grid map of the area where the road to be constructed is located, the terrain data of the area where the road to be constructed is located includes: the position of the point corresponding to node i and the elevation of the point corresponding to node i.

[0032] Among them, node i is any node in the grid map of the area where the road to be constructed is located.

[0033] The position of the point corresponding to node i can include: the longitude and latitude of the point corresponding to node i.

[0034] For node i, the adjacent nodes of node i can refer to the nodes that belong to the same grid as node i. In other words, the adjacent nodes of node i are the first-hop nodes of node i.

[0035] Reference Figure 2 , which shows a schematic diagram of an example of the grid map of the area where the road to be constructed is located.

[0036] Figure 2 Shows multiple square grids. The dots represent nodes. Each node serves as the corner point of the grid. The number of nodes that belong to the same grid as the node corresponding to the starting point of the road to be constructed is 8, and the node corresponding to the starting point has 8 adjacent nodes. The adjacent nodes of the node corresponding to the starting point are the nodes pointed to by the arrows.

[0037] Step S102, iteratively perform a search operation until the parent node of the node corresponding to the end point of the road to be constructed is determined.

[0038] The i-th search operation includes: step S1021 - step S1023. Among them, the i-th search operation can be any search operation.

[0039] In step S1021, traverse the first adjacent nodes of the current node i for the i-th search operation, where the first adjacent nodes of the current node i for the i-th search operation are the adjacent nodes of the current node i for the i-th search operation that have not been traversed among all the adjacent nodes of the current node i for the i-th search operation. The current node for the first search operation is selected from all the adjacent nodes of the node corresponding to the starting point of the road to be built. The adjacent nodes of the node corresponding to the starting point of the road to be built are pre-traversed, that is, before step S102, traverse the adjacent nodes of the node corresponding to the starting point of the road to be built.

[0040] It should be noted that in the embodiments of the present disclosure, the nodes accessed through traversal are called traversed nodes. Before step S102, traverse the adjacent nodes of the node corresponding to the starting point of the road to be built, that is, access all the adjacent nodes of the node corresponding to the starting point of the road to be built. After traversing the adjacent nodes of the node corresponding to the starting point of the road to be built, each adjacent node of the node corresponding to the starting point of the road to be built becomes a traversed node. Traverse the first adjacent nodes of the current node i for the i-th search operation, access all the first adjacent nodes of the current node i for the i-th search operation. After traversing the first adjacent nodes of the current node i for the i-th search operation, each first adjacent node of the current node i for the i-th search operation becomes a traversed node.

[0041] When selecting the current node for the first search operation from all the adjacent nodes of the node corresponding to the starting point of the road to be built before step S102, the adjacent node with the lowest corresponding path cost can be selected from all the adjacent nodes of the node corresponding to the starting point of the road to be built according to the path cost corresponding to each adjacent node of the node corresponding to the starting point of the road to be built, as the current node for the first search operation.

[0042] The path cost corresponding to the adjacent node i of the node corresponding to the starting point of the road to be built may refer to: the cost of the path between the adjacent node i of the node corresponding to the starting point of the road to be built and the node corresponding to the starting point of the road to be built.

[0043] It should be noted that the parent node of each adjacent node of the node corresponding to the starting point of the road to be built is the node corresponding to the starting point of the road to be built. The parent node of the current node for the first search operation is the node corresponding to the starting point of the road to be built.

[0044] In step S1022, according to whether the second adjacent node of the current node i targeted by the i-th search operation satisfies the first constraint condition, one of the parent node of the current node i targeted by the i-th search operation or a third adjacent node of the second adjacent node of the current node i targeted by the i-th search operation is determined as the parent node of the second adjacent node; wherein, the second adjacent node of the current node i targeted by the i-th search operation is the first adjacent node with the lowest corresponding path cost among all the first adjacent nodes of the current node i targeted by the i-th search operation, and this cost is determined according to the terrain data of the area where the road to be built is located. The first constraint condition includes: the path between the second adjacent node of the current node i targeted by the i-th search operation and the parent node of the current node i targeted by the i-th search operation does not pass through an infeasible area.

[0045] In the embodiment of the present disclosure, the infeasible area is an area where roads cannot be built. The infeasible area can be determined in advance.

[0046] In the embodiment of the present disclosure, the adjacent node of the second adjacent node of the current node i targeted by the i-th search operation is called the third adjacent node of the second adjacent node.

[0047] In step S1023, when the second adjacent node of the current node i targeted by the i-th search operation is not the node corresponding to the end point of the road to be built, the second adjacent node of the current node i targeted by the i-th search operation is used as the current node for the (i + 1)-th search operation.

[0048] In step S1022, when the second adjacent node of the current node i targeted by the i-th search operation satisfies the first constraint condition, the parent node of the current node i targeted by the i-th search operation is determined as the parent node of the second adjacent node.

[0049] In step S1022, when the second adjacent node of the current node i targeted by the i-th search operation does not satisfy the first constraint condition, the third adjacent node with the lowest corresponding winding path cost among all the third adjacent nodes of the second adjacent node of the current node i targeted by the i-th search operation can be determined as the parent node of the second adjacent node of the current node i targeted by the i-th search operation.

[0050] It should be noted that when in the i-th search operation, the third adjacent node j of the second adjacent node of the current node i targeted by the i-th search operation is used as the parent node of the second adjacent node of the current node i, in the i-th search operation, the parent node of the current node i can be determined as the parent node of the third adjacent node j.

[0051] In the embodiments of the present disclosure, the cost of the path between two nodes involves the designed elevation of the nodes. The following describes an example of determining the designed elevation of node n and the cost of the path between node m and node n according to the designed elevation of node m.

[0052] Node m can be any node that already has a designed elevation. Node n can be any node for which the designed elevation is to be determined.

[0053] It should be noted that if node m is the node corresponding to the starting point, the designed elevation of node m is the elevation of the starting point.

[0054] The designed elevation of node n can be determined by selecting from all the candidate designed elevations of node n. All the candidate designed elevations of node n can be determined according to the preset longitudinal slope range, the elevation of the point corresponding to node n, and the designed elevation of node m.

[0055] The preset longitudinal slope range is defined by a preset minimum longitudinal slope and a preset maximum longitudinal slope. First, determine the first candidate designed elevation corresponding to node n and the second candidate designed elevation corresponding to node n.

[0056] The longitudinal slope between the first candidate designed elevation of node n and node m is: the preset minimum longitudinal slope.

[0057] Among them, the longitudinal slope between the first candidate designed elevation of node n and node m specifically refers to: the elevation difference between the first candidate designed elevation of node n and the designed elevation of node m / the distance between the point with the first candidate designed elevation of node n and the position of the point corresponding to node n and the point with the designed elevation of node m corresponding to node m and the position of the point corresponding to node m.

[0058] The longitudinal slope between the second candidate designed elevation of node n and node m is: the preset maximum longitudinal slope.

[0059] Among them, the longitudinal slope between the second candidate designed elevation of node n and node m specifically refers to: the elevation difference between the second candidate designed elevation of node n and the designed elevation of node m / the distance between the point with the second candidate designed elevation of node n and the position of the point corresponding to node n and the point with the designed elevation of node m corresponding to node m and the position of the point corresponding to node m.

[0060] If the designed elevation of node m is greater than the elevation of the point corresponding to node n, the interval with the elevation of the point corresponding to node n as the left endpoint and the first candidate designed elevation of node n as the right endpoint can be equally divided to obtain multiple sub - intervals, and each endpoint in the endpoint set formed by the endpoints of each sub - interval, except for the elevation of the point corresponding to node n, is used as the candidate designed elevation of node n.

[0061] If the designed elevation of node m is less than the elevation of the point corresponding to node n, the interval with the elevation of the point corresponding to node n as the left endpoint and the second candidate designed elevation of node n as the right endpoint can be equally divided to obtain multiple sub-intervals, and each endpoint in the set of endpoints formed by the endpoints of each sub-interval, except for the elevation of the point corresponding to node n, is used as the candidate designed elevation of node n.

[0062] After determining all the candidate designed elevations of node n, the candidate designed elevation with the minimum corresponding path cost among all the candidate designed elevations of node n is determined as the designed elevation of node n.

[0063] When calculating the path cost corresponding to candidate designed elevation i among all the candidate designed elevations of node n, calculate the distance between the point with candidate designed elevation i and the position of the point corresponding to node n and the point with the designed elevation of node m and the position of the point corresponding to node m, and multiply this distance by the preset cost per unit length of the road to obtain the path cost corresponding to this candidate elevation i. Here, the preset cost per unit length of the road indicates the cost of building a road with a unit length.

[0064] The path between node m and node n specifically refers to: the path with the point having the designed elevation of node m and the position of the point corresponding to node m and the point having the designed elevation of node n and the position of the point corresponding to node n as endpoints respectively.

[0065] The cost of the path between node m and node n can be: the distance between the point with the designed elevation of node m and the position of the point corresponding to node m and the point with the designed elevation of node n and the position of the point corresponding to node n multiplied by the preset cost per unit length of the road.

[0066] The following illustrates an example of determining the path cost corresponding to the first adjacent node i of the current node i for the i-th search operation in the i-th search operation. Here, the first adjacent node i is any first adjacent node of the current node i for the i-th search operation.

[0067] In the i-th search operation, for the first adjacent node i of the current node i for the i-th search operation, the path cost corresponding to this first adjacent node i can be the sum of the following costs: the cost of the path between the current node i for the i-th search operation and this first adjacent node i, and the cost between this first adjacent node i and the node corresponding to the end point of the road to be built.

[0068] The calculation process of the cost of the path between the current node i for the i-th search operation and this first adjacent node i participates in the calculation process of the cost of the path between node m and node n described above.

[0069] The cost between the first adjacent node i and the node corresponding to the end point of the to-be-built road can be: the length of the projection of the straight line with the design elevation of the first adjacent node i and the position of the point corresponding to the first adjacent node i, and the end point of the to-be-built road as the end points on the plane, multiplied by the preset cost per unit length of the road.

[0070] The following illustrates an example of determining the curved road path cost corresponding to the third adjacent node of the second adjacent node of the current node i targeted by the i-th search operation in the i-th search operation. The third adjacent node i can be any third adjacent node of the second adjacent node.

[0071] In the i-th search operation, the curved road path cost corresponding to the third adjacent node i can be the sum of the following costs: the cost of the path between the parent node of the current node i targeted by the i-th search operation and the third adjacent node i, the cost of the path between the third adjacent node i and the second adjacent node of the current node i targeted by the i-th search operation, and the cost between the second adjacent node and the node corresponding to the end point of the to-be-built road.

[0072] Reference Figure 3 , which shows a schematic diagram of the effect of performing a search operation once.

[0073] This search operation is the first search operation. Node 0 is the current node targeted by the first search operation. Before the first search operation, all adjacent nodes of the node corresponding to the starting point of the to-be-built road have been traversed, and node 0 is selected as the current node targeted by the first search operation from all adjacent nodes of the node corresponding to the starting point of the to-be-built road. The node corresponding to the starting point of the to-be-built road is the parent node of node 0. The first adjacent nodes of node 0 are the adjacent nodes that have not been traversed among all adjacent nodes of node 0. Nodes such as node 1, node 2, node 3, node 4, node 5 are all first adjacent nodes of node 0. Figure 3 Shows the serial numbers of nodes such as node 0, node 1, node 2, node 3, node 4, node 5. Assume that the second adjacent node of the current node targeted by the first search operation is node 2. If node 2 meets the first constraint condition, then node 0 is determined as the parent node of node 2. Nodes such as node 0, node 1 are all third adjacent nodes of node 2. If node 2 does not meet the first constraint condition, a third adjacent node of node 2 is determined as the parent node of node 2. For example, node 0 is determined as the parent node of node 2.

[0074] In Figure 3Among them, the path between the current node targeted by the first search operation, i.e., node 0, and the second adjacent node of the current node targeted by the first search operation, i.e., node 2, the path between the parent node of node 0, i.e., the node corresponding to the starting point, and node 1, and the path between node 1 and node 2 are exemplarily shown. The path is represented by a connecting line with an arrow.

[0075] In the embodiments of the present disclosure, for each search operation, the parent node of a current node can be determined.

[0076] After determining the parent node of the node corresponding to the end point of the route of the road to be built, the route of the road to be built can be determined.

[0077] The following describes how to determine the route of the road to be built.

[0078] After determining the parent node of the node corresponding to the end point of the route of the road to be built, all target nodes are determined by visiting the nodes multiple times. The target nodes are the nodes used to determine the route of the road to be built. First, visit the node corresponding to the end point of the route of the road to be built. Each time a node is visited, continue to visit the parent node of the node visited this time until the node corresponding to the starting point of the route of the road to be built is visited. Each visited node is used as a target node respectively. Thus, all visited nodes form all target nodes. That is to say, the node corresponding to the starting point of the road to be built and the node corresponding to the end point of the road to be built are used as target nodes respectively. The nodes visited between the node corresponding to the starting point of the road to be built and the node corresponding to the end point of the road to be built are used as target nodes.

[0079] After determining all target nodes, the target points corresponding to each target node are determined. The target points are the points used to determine the route of the road to be built.

[0080] For the target point i corresponding to the target node i, the target point i has the designed elevation of the target node, and the position of the target point i is the position of the point corresponding to the target node i.

[0081] For a visited node and the parent node of this node, the target point corresponding to this node and the target point corresponding to the parent node of this node are two adjacent target points.

[0082] When determining the route of the road to be built, for each two adjacent target points, a route with these two adjacent target points as endpoints is constructed. The routes between each two adjacent target points are used as a sub-route of the route of the road to be built respectively. Thus, the route of the road to be built is determined.

[0083] Refer to Figure 4 , which shows a schematic flowchart of another information acquisition method provided by the embodiments of the present disclosure. This method can be executed by an electronic device such as a server.

[0084] Step S401: Obtain the raster map of the area where the road to be built is located and the terrain data of the area where the road to be built is located.

[0085] The process of step S401 refers to step S101.

[0086] Step S402: Iteratively perform a search operation according to the first constraint condition and the second constraint condition until the parent node of the node corresponding to the end point of the road to be built is determined.

[0087] The i-th search operation includes: step S4021 - step S4024. Among them, the i-th search operation can be any search operation.

[0088] In step S4021, traverse the first adjacent nodes of the current node i targeted by the i-th search operation. Among them, the first adjacent nodes of the current node i targeted by the i-th search operation are the adjacent nodes that have not been traversed among all the adjacent nodes of the current node i targeted by the i-th search operation. The current node targeted by the first search operation is selected from all the adjacent nodes of the node corresponding to the starting point of the road to be built, and the adjacent nodes of the node corresponding to the starting point of the road to be built are pre-traversed, that is, before step S402, traverse the adjacent nodes of the node corresponding to the starting point of the road to be built.

[0089] In step S4022, when the second adjacent node of the current node i targeted by the i-th search operation satisfies the first constraint condition, determine the parent node of the current node i targeted by the i-th search operation as the parent node of this second adjacent node.

[0090] The second adjacent node of the current node i targeted by the i-th search operation is the first adjacent node with the lowest corresponding path cost among all the first adjacent nodes of the current node i targeted by the i-th search operation.

[0091] The first constraint condition includes: the path between the second adjacent node of the current node i targeted by the i-th search operation and the parent node of the current node i targeted by the i-th search operation does not pass through an infeasible area, the length of the path between the second adjacent node of the current node i targeted by the i-th search operation and the parent node of this current node i is less than the preset maximum straight-line length, and the longitudinal slope between the second adjacent node of this current node i and the parent node of this current node i is less than the longitudinal slope threshold.

[0092] The path between the second adjacent node of the current node i targeted by the i-th search operation and the parent node of the current node i targeted by the i-th search operation can specifically refer to: a path with the design elevation of the second adjacent node and the position of the point corresponding to the second adjacent node, and the design elevation of the parent node of the current node i and the position of the point corresponding to the parent node of the current node i as endpoints respectively.

[0093] The longitudinal slope between the second adjacent node of the current node i and the parent node of the current node i can be: the elevation difference between the design elevation of the second adjacent node of the current node i and the design elevation of the parent node of the current node i / the distance between the point with the design elevation of the second adjacent node of the current node i and the position of the point corresponding to the second adjacent node of the current node i and the point with the design elevation of the parent node of the current node i and the position of the point corresponding to the parent node of the current node i.

[0094] In step S4023, when the second adjacent node of the current node i targeted by the i-th search operation does not meet the first constraint condition, at least one fourth adjacent node is determined from all the third adjacent nodes of the second adjacent node of the current node i targeted by the i-th search operation. Among them, the fourth adjacent node i meets the second constraint condition. The fourth adjacent node i can be any one of the fourth adjacent nodes. The second constraint condition includes: a circular curve that meets the curved road construction condition can be constructed between the fourth adjacent node i and the second adjacent node of the current node i targeted by the i-th search operation. The parent node of the second adjacent node of the current node i targeted by the i-th search operation is selected from the at least one fourth adjacent node.

[0095] The target points corresponding to one of the fourth adjacent node i and the second adjacent node, and the target points corresponding to the other of the fourth adjacent node i and the second adjacent node are both on the circular curve between the fourth adjacent node i and the second adjacent node of the current node i targeted by the i-th search operation. Among them, the target point corresponding to a node is the point with the design elevation of the node and the position of the point corresponding to the node.

[0096] The curved road construction condition can include: the curved road construction condition includes: the radius of the circular curve is greater than the preset minimum circular curve radius, the length of the circular curve is greater than the preset minimum circular curve length, the length of the circular curve is greater than the preset shortest straight line length, and the longitudinal slope of the circular curve is within the preset longitudinal slope range.

[0097] In step S4023, when selecting the parent node of the second adjacent node from the at least one fourth adjacent node, the fourth adjacent node with the lowest curved road path cost among the at least one fourth adjacent node can be determined as the parent node of the second adjacent node.

[0098] In the i-th search operation, the detour path cost corresponding to the fourth adjacent node i can be the sum of the following costs: the cost of the path between the parent node of the current node i targeted by the i-th search operation and the fourth adjacent node i, the cost of the path between the fourth adjacent node i and the second adjacent node of the current node i targeted by the i-th search operation, and the cost between the second adjacent node and the node corresponding to the end point of the to-be-built road.

[0099] When the fourth adjacent node i has a grandparent node, the second constraint condition further includes: a circular curve that satisfies the detour construction condition can be constructed between the parent node of the fourth adjacent node i and the grandparent node of the fourth adjacent node i.

[0100] In step S4024, when the second adjacent node of the current node i targeted by the i-th search operation is not the node corresponding to the end point of the to-be-built road, the second adjacent node of the current node i targeted by the i-th search operation is used as the current node for the (i + 1)-th search operation.

[0101] Reference Figure 5 , which shows a structural block diagram of an information acquisition device provided by an embodiment of the present disclosure. The device is used to implement the above embodiments, and those that have been described will not be repeated. As used hereinafter, the term "unit" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementations in hardware, or a combination of software and hardware are also possible and contemplated.

[0102] The information acquisition device provided by the embodiment of the present disclosure includes:

[0103] An acquisition unit 501, configured to acquire a grid map and terrain data of the area where the to-be-built road is located. The grid map includes: a plurality of nodes, and the nodes correspond to points in the area. The terrain data includes: the positions and elevations of the points corresponding to the nodes. The to-be-built road includes a starting point and an end point;

[0104] A search unit 502 is configured to obtain a raster map and terrain data of the area where the road to be constructed is located. The raster map includes a plurality of nodes corresponding to points in the area, and the terrain data includes the positions and elevations of the points corresponding to the nodes. The road to be constructed includes a starting point and an ending point. The search operation is iteratively executed until the parent node of the node corresponding to the ending point is determined. The search operation includes: traversing the first adjacent nodes of the current node targeted by the search operation, where the first adjacent nodes are non-traversed adjacent nodes, and the current node targeted by the first search operation is selected from all adjacent nodes of the node corresponding to the starting point; determining the parent node of the second adjacent node as either the parent node of the current node or a third adjacent node of the second adjacent node according to whether the second adjacent node of the current node satisfies a first constraint condition, where the second adjacent node is the first adjacent node with the lowest corresponding path cost, the path cost is determined according to the terrain data, and the first constraint condition includes that the path between the second adjacent node and the parent node of the current node does not pass through an infeasible area; when the second adjacent node is not the node corresponding to the ending point, using the second adjacent node as the current node for the next search operation.

[0105] In a possible implementation, the first constraint condition further includes:

[0106] the length of the path between the second adjacent node and the parent node of the current node is less than a preset maximum straight-line length, and the longitudinal slope between the second adjacent node and the parent node of the current node is less than a longitudinal slope threshold.

[0107] In a possible implementation, the search unit 502 is further configured to, when the second adjacent node of the current node satisfies the first constraint condition, determine the parent node of the current node as the parent node of the second adjacent node; when the second adjacent node of the current node does not satisfy the first constraint condition, determining at least one fourth adjacent node from all third adjacent nodes of the second adjacent node, where the fourth adjacent node satisfies a second constraint condition, and the second constraint condition includes that a circular curve satisfying the curved road construction condition can be constructed between the fourth adjacent node and the second adjacent node; and selecting the parent node of the second adjacent node from the at least one fourth adjacent node.

[0108] In a possible implementation, the search unit 502 is further configured to determine the fourth adjacent node with the lowest corresponding curved road path cost among the at least one fourth adjacent node as the parent node of the second adjacent node.

[0109] In a possible implementation, the conditions for building a curved road include: the radius of the circular curve is greater than a preset minimum circular curve radius, the length of the circular curve is greater than a preset minimum circular curve length, the length of the circular curve is greater than a preset shortest straight-line length, and the longitudinal slope of the circular curve is within a preset longitudinal slope range.

[0110] In a possible implementation, the fourth adjacent node has a grandparent node; the second constraint condition further includes: a circular curve that satisfies the conditions for building a curved road can be constructed between the parent node of the fourth adjacent node and the grandparent node of the fourth adjacent node.

[0111] In this embodiment, the device is presented in the form of functional units. Here, the unit refers to an ASIC circuit, a processor and a memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0112] The further functional descriptions of the above-mentioned respective units are the same as those in the corresponding embodiments above, and will not be repeated here.

[0113] Reference Figure 6 , which shows a schematic structural diagram of a computer device provided by an embodiment of the present disclosure. The computer device may have the above-mentioned device. The computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including a high-speed interface and a low-speed interface. Each component communicates with each other using different buses and can be installed on a common main board or installed in other ways as needed. The processor can process instructions executed within the computer device, including instructions stored in the memory or on the memory to display graphic information of the GUI on an external input / output device (such as a display device coupled to the interface). In some alternative embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a set of blade servers, or a multi-processor system).

[0114] The processor 10 can be a central processing unit, a network processor, or a combination thereof. Among them, the processor 10 can further include a hardware chip. The above-mentioned hardware chip can be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The above-mentioned programmable logic device can be a complex programmable logic device, a field-programmable gate array, a general array logic, or any combination thereof.

[0115] Among them, the memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0116] The memory 20 may include a program storage area and a data storage area. The program storage area may store an operating system and application programs required for at least one function. The data storage area may store data created according to the use of the computer device and the like. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some alternative embodiments, the memory 20 may optionally include a memory remotely provided with respect to the processor 10, and these remote memories may be connected to the computer device through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0117] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk, or a solid-state drive; the memory 20 may further include a combination of the above types of memories.

[0118] The computer device further includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30, and the output device 40 may be connected through a bus or other means.

[0119] The input device 30 may receive input numerical or character information, and generate key signal inputs related to user settings and function controls of the computer device, such as a touch screen, a keypad, a mouse, a trackpad, a touchpad, a pointing stick, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (e.g., an LED), and a tactile feedback device (e.g., a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light-emitting diode, a display, and a plasma display. In some alternative embodiments, the display device may be a touch screen.

[0120] Embodiments of the present disclosure also provide a computer-readable storage medium. The methods according to the embodiments of the present disclosure can be implemented in hardware, firmware, or be implemented as computer code that can be recorded on a storage medium, or be implemented as computer code that is originally stored in a remote storage medium or a non-transitory machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the methods described herein can be stored as such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid-state drive, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code, and when the software or computer code is accessed and executed by the computer, the processor, or the hardware, the methods shown in the above embodiments are implemented.

[0121] Although the embodiments of the present disclosure have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present disclosure, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. An information acquisition method, characterized in that, The method comprises: Obtaining a raster map and terrain data of the area where the road to be constructed is located, the raster map including: a plurality of nodes, the nodes corresponding to points in the area, the terrain data including: the position and elevation of the points corresponding to the nodes, and the road to be constructed including a starting point and an end point; Iteratively performing a search operation until the parent node of the node corresponding to the end point is determined, the search operation comprising: Traversing the first adjacent node of the current node targeted by the search operation, the first adjacent node being an adjacent node that has not been traversed, and the current node targeted by the first search operation is selected from all adjacent nodes of the node corresponding to the starting point; According to whether the second adjacent node of the current node satisfies the first constraint condition, the parent node of the current node or a third adjacent node of the second adjacent node is determined as the parent node of the second adjacent node, wherein the second adjacent node is the first adjacent node with the lowest corresponding path cost, and the path cost is determined according to the terrain data, and the first constraint condition includes: the path between the second adjacent node and the parent node of the current node does not pass through an infeasible area; When the second adjacent node is not a node corresponding to the end point, the second adjacent node is used as the current node for the next search operation.

2. The method according to claim 1, wherein The first constraint condition also includes: The length of the path between the second adjacent node and the parent node of the current node is less than a preset maximum straight line length, and the longitudinal slope between the second adjacent node and the parent node of the current node is less than a longitudinal slope threshold.

3. The method according to claim 1 or 2, characterized in that, According to whether the second adjacent node of the current node satisfies the first constraint condition, determining the parent node of the current node or a third adjacent node of the second adjacent node as the parent node of the second adjacent node includes: When the second adjacent node of the current node satisfies the first constraint condition, determining the parent node of the current node as the parent node of the second adjacent node; When the second adjacent node of the current node does not satisfy the first constraint condition, determining at least one fourth adjacent node from all third adjacent nodes of the second adjacent node, the fourth adjacent node satisfying the second constraint condition, the second constraint condition including: a circular curve satisfying a detour construction condition can be constructed between the fourth adjacent node and the second adjacent node; A parent node of the second adjacent node is selected from the at least one fourth adjacent node.

4. The method according to claim 3, wherein The selecting the parent node of the second adjacent node from the at least one fourth adjacent node comprises: A fourth adjacent node whose corresponding detour path cost is the lowest among the at least one fourth adjacent node is determined as a parent node of the second adjacent node.

5. The method according to claim 3, wherein The conditions for building a curved road include: the radius of the circular curve is greater than the preset minimum circular curve radius, the length of the circular curve is greater than the preset minimum circular curve length, the length of the circular curve is greater than the preset shortest straight line length, and the longitudinal slope of the circular curve is within the preset longitudinal slope range.

6. The method according to claim 3, characterized in that, The fourth adjacent node has a grandparent node; the second constraint condition further includes: a circular curve that satisfies the curved road construction condition can be constructed between the parent node of the fourth adjacent node and the grandparent node of the fourth adjacent node.

7. An information acquisition device, characterized in that, The device includes: An acquisition unit configured to acquire a grid map and terrain data of an area where a road to be constructed is located. The grid map includes a plurality of nodes corresponding to points in the area, and the terrain data includes the positions and elevations of the points corresponding to the nodes. The road to be constructed includes a starting point and an ending point. A search unit configured to acquire a grid map and terrain data of an area where a road to be constructed is located. The grid map includes a plurality of nodes corresponding to points in the area, and the terrain data includes the positions and elevations of the points corresponding to the nodes. The road to be constructed includes a starting point and an ending point. The search operation is iteratively executed until the parent node of the node corresponding to the ending point is determined. The search operation includes: traversing the first adjacent nodes of the current node targeted by the search operation, where the first adjacent nodes are adjacent nodes that have not been traversed, and the current node targeted by the first search operation is selected from all the adjacent nodes of the node corresponding to the starting point; determining the parent node of the current node or a third adjacent node of the second adjacent node as the parent node of the second adjacent node according to whether the second adjacent node of the current node satisfies a first constraint condition, where the second adjacent node is the first adjacent node with the lowest corresponding path cost, and the path cost is determined according to the terrain data. The first constraint condition includes: the path between the second adjacent node and the parent node of the current node does not pass through an infeasible area; when the second adjacent node is not the node corresponding to the ending point, the second adjacent node is used as the current node targeted by the next search operation.

8. The device according to claim 7, characterized in that, The first constraint condition further includes: the length of the path between the second adjacent node and the parent node of the current node is less than a preset maximum straight-line length, and the longitudinal slope between the second adjacent node and the parent node of the current node is less than a longitudinal slope threshold.

9. A computer device, characterized in that, Includes: A memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to execute the method according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, Computer instructions are stored on the computer-readable storage medium, and the computer instructions are used to cause a computer to execute the method according to any one of claims 1 to 6.

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