Navigation route determination method and device and computer readable storage medium

Abstract

The invention discloses a navigation route determination method and device and a computer readable storage medium. Relates to the field of universe. The method comprises the steps that a navigation request is received, and the navigation request carries a navigation starting point and a navigation ending point; determining passing span constraints and foothold constraints respectively corresponding to the N passing modes in the target topographic map; determining an initial connecting line between the navigation starting point and the navigation ending point in the target topographic map, and determining an initial passing result of whether the initial connecting line can pass according to passing span constraints and foothold constraints corresponding to the initial connecting line, the M contour lines and the N passing modes until a target connecting line meeting a target condition is determined, the target condition comprises the condition that the corresponding passing result is passable; and determining a target navigation route according to the target connection line. According to the invention, the technical problems that the navigation route is time-consuming and the navigation place cannot be reached during navigation in the prior art are solved.

Description

Technical Field

[0001] The present invention relates to the field of metaverse, and in particular to a navigation route determination method, device, and computer-readable storage medium. Background Art

[0002] Automatic pathfinding and navigation systems play a crucial role in modern game development and virtual reality technology. However, existing automatic navigation technologies are often limited to two-dimensional surfaces or simple three-dimensional environments, resulting in low navigation efficiency. Furthermore, navigation route selection may be limited to static obstacle analysis and lack the ability to adapt to the dynamic changes in the game world. This can lead to technical issues such as time-consuming navigation and the possibility of not being able to reach the navigation destination.

[0003] To address the above-mentioned problems, no effective solutions have been proposed so far. Summary of the Invention

[0004] Embodiments of the present invention provide a navigation route determination method, apparatus, and computer-readable storage medium to at least resolve the technical problem in related arts that, during navigation, the navigation route is time-consuming and may not reach the navigation location.

[0005] According to one aspect of an embodiment of the present invention, a navigation route determination method is provided, comprising: receiving a navigation request, wherein the navigation request carries a navigation start point and a navigation end point; determining, in a target topographic map, travel span constraints and landing point constraints corresponding to N travel modes, respectively, wherein the target topographic map comprises M contour lines, N is a positive integer greater than 1, and M is a positive integer greater than 1; determining, in the target topographic map, an initial connecting line between the navigation start point and the navigation end point, and determining an initial passage result of whether the initial connecting line is passable based on the initial connecting line, the M contour lines, and the travel span constraints and landing point constraints corresponding to the N travel modes, respectively, until a target connecting line that meets a target condition is determined, wherein the target condition comprises a condition that the corresponding passage result is passable; and determining a target navigation route based on the target connecting line.

[0006] Optionally, based on the initial connecting line, the M contour lines, and the travel span constraints and landing point constraints corresponding to the N travel modes, an initial travel result of whether the initial connecting line is passable is determined, including: projecting the initial connecting line onto the target topographic map to obtain a first topographic route; determining the contour line change amplitudes of P sections in the first topographic route based on the M contour lines, and determining the types of restricted landing points corresponding to the P sections based on the section types corresponding to the P sections, where P is a positive integer greater than 1; determining a first constraint result based on the contour line change amplitudes of the P sections and the travel span constraints corresponding to the N travel modes, and determining a second constraint result based on the types of restricted landing points corresponding to the P sections and the landing point constraints corresponding to the N travel modes; determining the initial travel result based on the first constraint result and the second constraint result.

[0007] Optionally, determining an initial pass result of whether the initial link is passable until a target link that meets the target conditions is determined includes: when the initial pass result is that the link is impassable, determining an obstacle segment in the initial link; determining an updated link based on the target topographic map, and determining an updated pass result of whether the updated link is passable until a target link that meets the target conditions is determined, wherein the updated link does not include any point in the obstacle segment.

[0008] Optionally, when the target condition also includes the condition that the length of the initial connection is greater than a predetermined length, determining the initial pass result of whether the initial connection is passable, until the target connection that meets the target condition is determined, further includes: determining an alternative navigation route based on the path search algorithm, the navigation starting point and the navigation end point; and determining the predetermined length based on the alternative navigation route.

[0009] Optionally, after determining an initial connection line between the navigation start point and the navigation end point in the target topographic map, the method further includes: if the target topographic map includes Q target transmission points, determining a first distance from the navigation start point to a first transmission point, and a second distance from the navigation end point to a second transmission point, wherein the first transmission point is the transmission point closest to the navigation start point among the Q target transmission points, and the second transmission point is the transmission point closest to the navigation end point among the Q target transmission points, and Q is a positive integer greater than 1; determining a distance sum based on the first distance and the second distance; and if the distance corresponding to the initial connection line is greater than the distance sum, determining the target navigation route to be from the navigation start point to the first transmission point, and from the second transmission point to the navigation end point.

[0010] Optionally, based on the initial connection line, the M contour lines, and the passage span constraints and landing point constraints corresponding to the N passage modes, an initial passage result of whether the initial connection line can pass is determined, including: when there is a blocking object in the path corresponding to the initial connection line, determining the first object information corresponding to the target object and the second object information corresponding to the blocking object; determining the blocking result based on the first object information and the second object information; when the blocking result is that the blocking object cannot block the target object, determining the initial passage result of whether the initial connection line can pass based on the initial connection line, the M contour lines, and the passage span constraints and landing point constraints corresponding to the N passage modes.

[0011] Optionally, in the target topographic map, determining the initial connection line between the navigation starting point and the navigation end point includes: when the target topographic map includes a special area, avoiding the special area based on the navigation starting point and the navigation end point to obtain the initial connection line, wherein the special area includes an impassable area.

[0012] According to one aspect of an embodiment of the present invention, a navigation route determination device is provided, comprising: a receiving module for receiving a navigation request, wherein the navigation request carries a navigation start point and a navigation end point; a first determining module for determining, in a target topographic map, travel span constraints and landing point constraints corresponding to N travel modes, respectively, wherein the target topographic map comprises M contour lines, N is a positive integer greater than 1, and M is a positive integer greater than 1; a second determining module for determining, in the target topographic map, an initial connecting line between the navigation start point and the navigation end point, and determining an initial passage result of whether the initial connecting line is passable based on the initial connecting line, the M contour lines, and the travel span constraints and landing point constraints corresponding to the N travel modes, respectively, until a target connecting line that meets a target condition is determined, wherein the target condition comprises a condition that the corresponding passage result is passable; and a third determining module for determining a target navigation route based on the target connecting line.

[0013] According to one aspect of an embodiment of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute any one of the above methods.

[0014] According to one aspect of an embodiment of the present invention, an electronic device is provided, comprising: a memory storing an executable program; and a processor configured to run the program, wherein the program executes any one of the above methods when running.

[0015] According to one aspect of an embodiment of the present invention, a computer program product is provided, comprising computer instructions, which implement the steps of the method described above when executed by a processor.

[0016] In an embodiment of the present invention, a navigation request is received, wherein the navigation request includes a navigation start point and a navigation end point. Span constraints and landing point constraints corresponding to N travel modes are determined in a target topographic map, wherein the target topographic map includes M contour lines, where N is a positive integer greater than 1 and M is a positive integer greater than 1. An initial connection line is determined between the navigation start point and the navigation end point in the target topographic map. Based on the initial connection line, the M contour lines, and the span constraints and landing point constraints corresponding to the N travel modes, an initial navigation result is determined to determine whether the initial connection line is navigable, until a target connection line that meets target conditions is determined, wherein the target conditions include a condition that the corresponding navigation result is navigable. A target navigation route is determined based on the target connection line. By receiving a navigation request containing a start point and a destination, the N travel modes and their constraints are analyzed, and combined with the terrain information of the M contour lines, the feasibility of the initial connection path is preliminarily assessed. The feasibility of the initial connection path is gradually adjusted until a target connection line that both meets the navigation conditions and is effectively reached is planned. This process overcomes the limitations of traditional navigation that ignores complex terrain and character capabilities, significantly improves the efficiency and success rate of path planning, ensures that the character can reach the destination, and thus solves the technical problem in related technologies that the navigation route is time-consuming and may not reach the navigation location. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 is a flowchart of a method for determining a navigation route according to an embodiment of the present invention;

[0019] Figure 2 4 is a structural block diagram of a navigation route determination device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described 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 making creative efforts should fall within the scope of protection of the present invention.

[0021] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0022] It should be noted that the collected information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for display, data for analysis, etc.) involved in this application are information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of the relevant data comply with relevant laws, regulations and standards, take necessary confidentiality measures, do not violate public order and good morals, and provide corresponding operation portals for users to choose to authorize or refuse. For example, an interface is set up between this system and relevant users or institutions to provide users with corresponding operation portals for users to choose to agree or refuse the automated decision-making results; if the user chooses to refuse, the expert decision-making process will be entered.

[0023] Example 1

[0024] According to an embodiment of the present invention, an embodiment of a method for determining a navigation route is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0025] Figure 1 is a flowchart of a method for determining a navigation route according to an embodiment of the present invention. Figure 1 As shown, the method includes the following steps:

[0026] Step S102: receiving a navigation request, wherein the navigation request carries a navigation start point and a navigation end point;

[0027] In step S102 provided in this application, a navigation request is received.

[0028] This involves receiving navigation requests. In games or virtual environments, this refers to the process of the system receiving a command from a player or game character to move from the current location (the navigation starting point) to a specified location (the navigation end point). Navigation requests can be generated through user interface clicks, voice commands, or in-game task triggers.

[0029] The navigation starting point is the current location of the player or game character, usually expressed in coordinates. In the game world, it can be any point where one can stand and move.

[0030] The navigation destination is the desired location for the player or character. It is also represented by coordinates, which can be manually set by the player or automatically calculated.

[0031] A navigation request is received so that a navigation route is planned according to the received navigation request.

[0032] Step S104: determining the travel span constraints and foothold constraints corresponding to the N travel modes in the target topographic map, wherein the target topographic map includes M contour lines, N is a positive integer greater than 1, and M is a positive integer greater than 1;

[0033] In step S104 provided in the present application, specific rules and restrictions are set for various characters or objects to move in the terrain map.

[0034] Among them, the target terrain map is involved. The target terrain map refers to the map corresponding to the user's location in the game or simulation environment, and the map has specific geographical features (such as mountains, rivers, and towns).

[0035] Among them, M contour lines are involved. The target topographic map includes M contour lines, which represent the height changes of the terrain. M is a positive integer greater than 1. The contour line is a line on the topographic map used to represent points with the same altitude. Here, M contour lines represent the contour lines of different height levels on the topographic map, which are used to describe the undulation and flatness of the terrain.

[0036] Among them, N kinds of passage methods are involved, which represent the various ways of moving in the game, such as walking, jumping, flying, swimming, etc. Each passage method has its own specific conditions and restrictions, such as range of motion, energy consumption and special requirements.

[0037] Among them, the travel span constraint is involved. The travel span constraint refers to the maximum distance or maximum height difference that a character can cross in a single action when using a certain mode of travel, such as the maximum distance of a jump, the maximum height of a flight, etc. Among them, flying may not be affected by the terrain and have an infinite span, but flying consumes energy and has a limited time, so it can also be understood that a single span has a maximum distance, and walking is generally the distance covered by one step. The specific distance may be limited by the continuity and slope of the terrain, such as the span is larger when it is flat and smaller when it is steep. For example, when the height difference is large, it is impossible to pass by walking.

[0038] Among them, foothold constraints are involved. Foothold constraints represent the nature of acceptable landing or stopping points when a character uses a certain mode of transportation. This may involve the stability of the terrain, the accessibility of special areas (such as areas that require specific props to enter), or the limitations of the character's abilities (such as being unable to stand in water or too high places). For example, the flying method cannot stay above obstacles, and the walking method requires solid ground support.

[0039] By distinguishing the constraints of different modes of travel, we can make more reasonable considerations when planning the route and avoid the problem of the planned route being inaccessible.

[0040] Step S106: Determine an initial connection line between the navigation start point and the navigation end point in the target topographic map. Based on the initial connection line, the M contour lines, and the travel span constraints and landing point constraints corresponding to the N travel modes, determine an initial pass result indicating whether the initial connection line is passable, until a target connection line that meets target conditions is determined, wherein the target conditions include a condition that the corresponding pass result is passable.

[0041] In step S106 provided in this application, the steps of determining the connection line until a target connection line that meets the target condition is determined are described.

[0042] Among them, the initial connection is involved. The initial connection is the initially selected connection between the navigation start point and the navigation end point. It refers to a line that directly connects the navigation start point and the navigation end point without considering obstacles or limiting conditions for the time being, and is used for subsequent analysis and optimization. It should be noted that the initial connection can be a straight line between the navigation start point and the navigation end point, or it can be a connection that makes the path between the navigation start point and the navigation end point the shortest. The length of the path can be determined by the contour line corresponding to the connection. Then, the path distance corresponding to the connection line determined subsequently is all greater than the distance corresponding to the first connection line, so the shortest distance and passable connection line can be gradually determined. By first determining the straight line path and then gradually verifying it, a large number of calculations starting from scratch are avoided, which significantly speeds up the execution speed of the path-finding algorithm. It also ensures that the planned path not only takes into account the distance between the two points, but also fully considers the terrain characteristics and character capabilities, thereby improving the practicality and safety of the path.

[0043] Among them, the target conditions are involved, which include the conditions that all points on the walking path are passable. This is the key criterion for successful path planning, which means that the planned path is feasible under the game rules and physical conditions.

[0044] This involves target connections, which are paths from the navigation start point to the navigation end point within a game or virtual environment. This path is optimized and adjusted by algorithms, taking into account factors such as terrain characteristics, contour distribution, and travel constraints to ensure it is the optimal and feasible path for the character to actually navigate. The target connection is not only physically achievable but also meets various rules set in the game, such as the character's movement ability and available special tools or actions.

[0045] Initial lines are determined within the target terrain map. The feasibility of these lines is then evaluated based on the terrain (M contour lines) and the character's mobility (N different travel options with different spans and landing point constraints), until a feasible path is planned that fully meets all requirements. This approach involves gradual refinement, starting with a macro, unconstrained straight line, and then gradually verifying and adjusting it to ensure the character can safely and efficiently reach the destination.

[0046] Step S108: determining the target navigation route according to the target connection.

[0047] In step S108 provided in this application, the target navigation route is determined through the target connection.

[0048] This involves the target navigation route, which is the actual route further refined and specified based on the target connection line. It's not just a line; it encompasses every specific point the character will pass through and the order in which they will pass through. It may even include special actions or tools required along the way. The target navigation route is the actual navigation instructions the character will follow to ensure they reach their destination accurately from their starting point.

[0049] Determining the target navigation route based on the target line means calculating a theoretically feasible path and then converting it into specific navigation instructions that the character can actually follow. This includes converting points on the target line into executable movement steps, such as "walk forward 10 steps, then turn left," or "use the jump skill to cross the cliff, then use a flying mount to fly over the river." Furthermore, it may involve optimizing points on the path to ensure that the character's movement is both safe and efficient.

[0050] Target navigation routes ensure accurate character movement instructions, avoiding deviations or lags caused by discrepancies between perceived paths and actual execution. By planning the most efficient target navigation routes, energy consumption, time costs, and other resource losses during the character's movement can be minimized.

[0051] Through steps S102-S108 described above, a navigation request is received, wherein the navigation request includes a navigation start point and a navigation end point. The target topographic map is then used to determine the span constraints and landing point constraints corresponding to each of the N travel modes. The target topographic map includes M contour lines, where N is a positive integer greater than 1 and M is a positive integer greater than 1. An initial connection line is determined between the navigation start point and the navigation end point within the target topographic map. Based on the initial connection line, the M contour lines, and the span constraints and landing point constraints corresponding to each of the N travel modes, an initial navigation result is determined to determine whether the initial connection line is navigable, until a target connection line that meets target conditions is determined, wherein the target conditions include a condition that the corresponding navigation result is navigable. Based on the target connection line, a target navigation route is determined. By receiving a navigation request containing a start point and a destination, the N travel modes and their constraints are analyzed, and combined with the terrain information of the M contour lines, the feasibility of the initial connection path is preliminarily assessed. The feasibility of the initial connection path is then gradually adjusted until a target connection line that both meets the navigation conditions and is effectively reached is planned. This process overcomes the limitations of traditional navigation that ignores complex terrain and character capabilities, significantly improves the efficiency and success rate of path planning, ensures that the character can reach the destination, and thus solves the technical problem in related technologies that the navigation route is time-consuming and may not reach the navigation location.

[0052] As an optional embodiment, based on the initial connection line, M contour lines, and the travel span constraints and landing point constraints corresponding to N travel modes, an initial travel result of whether the initial connection line is passable is determined, including: projecting the initial connection line onto the target terrain map to obtain a first terrain route; based on the M contour lines, determining the contour line change amplitudes of P sections in the first terrain route, and based on the section types corresponding to the P sections, determining the types of restricted landing points corresponding to the P sections, where P is a positive integer greater than 1; based on the contour line change amplitudes of the P sections and the travel span constraints corresponding to the N travel modes, determining the first constraint result, and based on the restricted landing point types corresponding to the P sections and the landing point constraints corresponding to the N travel modes, determining the second constraint result; based on the first constraint result and the second constraint result, determining the initial travel result.

[0053] In this embodiment, the specific process of determining the initial pass result is described.

[0054] Among them, the amplitude of the contour line changes of P road sections is involved, which means the degree to which each section intersects with the contour line after the initial connection line is decomposed into P segments. It is used to quantify how the undulation of the terrain affects the feasibility of the path.

[0055] The road segment type refers to the geographical or physical characteristics of each road segment, such as plain, mountainous, water, or aerial. Different road segment types have different requirements for travel methods and landing points. The P road segments can be divided according to different road segment types.

[0056] Among them, it involves restricting the types of landing points. Depending on the characteristics of the road type, certain modes of travel may be restricted. For example, on a water type road, walking or jumping are not feasible landing points.

[0057] Among them, the first constraint result is involved. The first constraint result is to evaluate whether the initial connection section is physically feasible based on the terrain change amplitude and the travel span constraint, such as whether there are gullies that cannot be jumped or mountains that are too high.

[0058] Among them, the second constraint result is involved. The second constraint result is a landing point constraint that limits the type of landing point and the mode of passage based on the road section type, and evaluates whether the initial connection is feasible within the scope of game rules and character capabilities.

[0059] This step evaluates the feasibility of a direct line from the starting point to the end point through a series of detailed terrain analyses and character ability considerations. This straight line (the initial line) is first projected onto the actual terrain map of the game, forming a virtual first terrain route. The algorithm then analyzes this route in depth, breaking it down into P segments, where P is a positive integer representing key sections of the route. For each segment, the algorithm examines the magnitude of the contour changes to determine the steepness or elevation difference of the terrain. Based on these changes, the algorithm determines the segment type (e.g., flat ground, slope, cliff). Next, based on the segment type and contour changes, the algorithm identifies which landing points are permitted. For example, certain segments with large elevation differences may not allow landing on flat ground, requiring the character to be able to jump or fly. The algorithm also considers the span constraints for each of the N possible modes of transportation (e.g., walking, jumping, flying, swimming), defining how far or how high the character can move at a time using each mode. This consideration, combined with the analysis of contour changes and segment type, forms the first constraint. The second constraint, on the other hand, focuses on the character's landing point constraints. Specifically, it determines whether the landing type (e.g., flat ground, water, or aerial platform) on each route segment is consistent with the character's current travel method, ensuring a secure landing at every step. Finally, combining the first and second constraint results yields an initial navigation result, clarifying whether a direct route from the navigation start point to the destination is feasible given the character's current capabilities and terrain conditions.

[0060] Through detailed terrain analysis and ability matching, we ensure that the planned paths are not only theoretically connected, but also feasible in actual gameplay, preventing characters from being stuck in situations where they cannot move forward. The initial navigation results help identify those paths that are obviously infeasible due to terrain or character capabilities at an early stage, avoiding unnecessary waste of computing resources later. By determining which sections of the road are feasible and which parts need adjustment, the initial connections can be optimized to generate more reasonable path options. In this way, it is also ensured that automatic pathfinding not only takes into account the length of the route, but also the actual conditions of the terrain and the actual abilities of the characters, thereby increasing players' trust in and frequency of use of the automatic pathfinding function.

[0061] It's important to note that the character's real-time status, such as equipment, skills, and stamina, can be factored into the selection and constraints of travel methods. For example, after equipping a flying item, the character's travel distance constraints will be expanded, allowing them to leap over higher obstacles. Furthermore, path planning can be context-sensitive, allowing for stealthier or faster travel in combat-intensive areas, while more leisurely routes can be considered to enjoy the scenery in exploration zones.

[0062] As an optional embodiment, determining an initial pass result of whether the initial link is passable until a target link that meets the target conditions is determined, includes: when the initial pass result is that it is impassable, determining an obstacle segment in the initial link; determining an updated link based on a target topographic map, and determining an updated pass result of whether the updated link is passable, until a target link that meets the target conditions is determined, wherein the updated link does not include any point in the obstacle segment.

[0063] In this embodiment, it is described how to determine the updated link to obtain the target link that meets the target condition.

[0064] Among them, obstacle segments are involved. Obstacle segments are parts of the initial line that are determined to be impassable, such as crossing a cliff, passing through a body of water, or encountering physical obstacles that are insurmountable by any means of passage.

[0065] This involves updating the connection line. After determining that there is an obstacle segment on the initial connection line, adjustments are made to avoid the obstacle and form a new connection line. This new connection line is called an updated connection line, which will not include any points on the obstacle segment.

[0066] Among them, it involves updating the passage results. The updated passage results are the results obtained by re-analyzing the updated connections to determine whether they meet the passage conditions, including considering terrain characteristics, character capabilities, passage methods, etc., and finally forming a result that can actually be passed.

[0067] After determining that the initial path is impassable due to the presence of obstacles, the algorithm identifies and marks the segments that constitute these obstacles. Next, the algorithm attempts to bypass these obstacles, adjusting the initial path and generating new path attempts, which are then known as updated paths. This process is repeated, with each updated path generated excluding any points from the obstacle segments, until a path is found that is completely traversable (i.e., meets the target conditions). This path is called the target path and is the final output of the pathfinding algorithm, the path that the character can actually follow.

[0068] By continuously adjusting and optimizing initial connections, the system generates a completely navigable path, preventing characters from encountering insurmountable obstacles during movement and improving the efficiency and accuracy of path planning. Goal conditions can also include resource considerations, such as minimizing stamina consumption and minimizing flight time, to reduce unnecessary resource waste.

[0069] As an optional embodiment, when the target condition also includes the condition that the length of the initial connection is greater than a predetermined length, the initial pass result of determining whether the initial connection is passable, until the target connection that meets the target condition is determined, also includes: determining an alternative navigation route based on the path search algorithm, the navigation starting point and the navigation end point; and determining the predetermined length based on the alternative navigation route.

[0070] In this embodiment, other target conditions are described.

[0071] Among them, the target condition is involved. In this embodiment, the condition that the initial connection length is greater than the predetermined length is set, which means that path planning must not only consider the feasibility and efficiency of the route, but also ensure that the final path does not exceed a preset maximum length.

[0072] Among them, a path search algorithm is involved. The path search algorithm here can be an algorithm in the relevant technology for finding a feasible path from the starting point to the end point. They calculate one or more paths that meet specific criteria based on the map and traffic conditions.

[0073] Among them, alternative navigation routes are involved. Alternative navigation routes are potential feasible routes from the starting point to the end point generated by the path search algorithm. These routes can be alternative options.

[0074] This involves a predetermined length, which is the maximum allowable length set in path planning. It aims to prevent planning routes that are too long, affecting efficiency or consuming too many resources.

[0075] During the path planning process, if the target condition includes the situation where "the length of the initial connection line is greater than the predetermined length", it means that the connection line determined by the algorithm provided by this application is not expected to be farther than the distance determined by the conventional algorithm, because the connection line may be too long due to the need to cross an inaccessible area or due to complex terrain, which does not meet the efficiency or resource limitation requirements within the game. Therefore, the system uses the path search algorithm to generate a route of a predetermined length to ensure that the algorithm does not make the calculated distance farther. That is, when it is determined that the path length corresponding to the connection line is longer than the predetermined length, the planned path corresponding to the predetermined length is used. Through this process, the system not only checks the feasibility of the path, but also ensures that the length of the path is controlled within a reasonable range, avoiding planning a path that is too long and consumes too many resources. This path planning method that combines accessibility and efficiency considerations is beneficial to improving the gaming experience and ensuring that the character can reach the destination in a safe and efficient manner.

[0076] As an optional embodiment, after determining an initial connection line between a navigation start point and a navigation end point in a target topographic map, the method further includes: when the target topographic map includes Q target transmission points, determining a first distance from the navigation start point to a first transmission point, and a second distance from the navigation end point to a second transmission point, wherein the first transmission point is the transmission point closest to the navigation start point among the Q target transmission points, and the second transmission point is the transmission point closest to the navigation end point among the Q target transmission points, and Q is a positive integer greater than 1; determining a sum of the distances based on the first and second distances; and when the distance corresponding to the initial connection line is greater than the sum of the distances, determining the target navigation route as from the navigation start point to the first transmission point, and from the second transmission point to the navigation end point.

[0077] In this embodiment, path planning is described when transmission points are considered.

[0078] Among them, there are Q target transmission points. Q target transmission points are Q special points set on the map. They have transmission functions and can instantly move the character from one transmission point to another related transmission point. Q is a positive integer greater than 1, which represents the number of transmission points.

[0079] The first and second transmission points are the transmission points closest to the navigation start and end points, respectively, among the Q target transmission points. These two points are often used as auxiliary points in path planning to optimize the overall route length or resource consumption.

[0080] The first distance and the second distance are involved, and the first distance and the second distance respectively refer to the straight-line distance from the navigation starting point to the first transmission point, and from the navigation end point to the second transmission point.

[0081] In the initial stages of path planning, the algorithm first determines the connection between the navigation start and end points, and then evaluates the potential for route optimization that can be achieved by using the transfer points in the map. Specifically, the algorithm searches for the closest transfer points to the start and end points (the first and second transfer points), calculates their distances to the start and end points (the first and second distances), and adds these two distances together to obtain the sum of the distances. If the path distance of the initial connection exceeds this sum, the system automatically chooses to plan a path through the transfer points. In other words, the target navigation route will consist of two parts: from the navigation start point to the first transfer point, and from the second transfer point to the navigation end point.

[0082] This approach takes into account teleportation points, allowing characters to instantly travel long distances, effectively shortening the total path length from their starting point to their destination. This advantage is particularly pronounced on large maps or complex terrain. Compared to traveling long distances or taking detours, instant movement via teleportation points significantly reduces the character's resource consumption, such as stamina, magicka, and time, allowing them to complete tasks or reach their destination more efficiently.

[0083] As an optional embodiment, an initial passage result of whether the initial connection line can pass is determined based on the initial connection line, M contour lines, and the passage span constraints and landing point constraints corresponding to N passage modes, including: when there is a blocking object in the path corresponding to the initial connection line, determining the first object information corresponding to the target object and the second object information corresponding to the blocking object; determining the blocking result based on the first object information and the second object information; when the blocking result is that the blocking object cannot block the target object, determining the initial passage result of whether the initial connection line can pass based on the initial connection line, M contour lines, and the passage span constraints and landing point constraints corresponding to N passage modes.

[0084] In this embodiment, the steps of determining the initial passage result in consideration of the blocking object are described.

[0085] Among them, blocking objects are involved. Blocking objects are obstacles or limiting factors on the path, which may include physical obstacles, hostile NPCs, trap points, etc., which may block the character's passage.

[0086] The first object information and the second object information are respectively the detailed information of the target object and the blocked object, including the capability, status, environment, etc., which are used to evaluate the impact of the blocked object on the target object.

[0087] Among them, the blocking result is involved. The blocking result is the result of evaluating whether the blocking object can effectively prevent the target object from traveling to the end point. It determines whether it is necessary to bypass the blocking object or adjust the passage method.

[0088] In the early stages of path planning, that is, when evaluating based on the initial lines, if a blocking object is found in the path, the system will further collect detailed information about the target object and the blocking object, including the character's abilities, status, and characteristics of the obstacle. Based on this information, the system will determine whether the blocking object can actually block the target object, that is, whether the character can overcome the obstacle by adjusting the way of passage, using special skills or tools. If the evaluation shows that the blocking object will not actually hinder the target object (the blocking result is that the blocking object cannot block the target object), the system will continue to evaluate whether the initial line is completely feasible based on the constraints of the initial lines, contour lines, and the way of passage, and finally form the initial passage result. This process ensures that path planning not only takes into account terrain obstacles, but also takes into account the abilities and status of the characters, thereby improving the intelligence and personalization of path planning.

[0089] The system can identify and assess the specific impact of various obstacles on the character, avoiding unnecessary detours or adjustments and improving pathfinding efficiency. Path planning takes into account the character's unique skills and travel methods, maximizing the character's abilities while ensuring safety and enhancing the gaming experience.

[0090] As an optional embodiment, in the target topographic map, determining the initial connection line between the navigation starting point and the navigation end point includes: when the target topographic map includes a special area, avoiding the special area based on the navigation starting point and the navigation end point to obtain the initial connection line, wherein the special area includes an impassable area.

[0091] In this embodiment, the step of determining the initial connection line is described.

[0092] Among them, special areas are involved. Special areas refer to areas with specific attributes or restrictions in the target terrain map. Here, they specifically refer to "impassable areas", that is, terrain or areas that characters or objects cannot directly pass through under the game rules, such as water areas, mountains, inside buildings, or prohibited areas.

[0093] When planning a navigation path, the first step is to determine the initial line connecting the start and end points. During actual planning, the system takes into account special areas on the target terrain map, particularly those marked as "no-go areas." To ensure the planned path is legal and feasible, the algorithm actively avoids these special areas, ensuring that the initial line does not cross these areas and instead follows a passable path, resulting in a path that theoretically connects the start and end points.

[0094] This setting prevents characters or objects from entering impassable areas according to the game's rules, ensuring compliance and safety in path planning, improving the user experience, and preventing game crashes and lags. By avoiding impassable areas, unnecessary path adjustments and resource consumption are reduced, allowing characters to reach their destinations more efficiently. By adhering to the physical rules and settings of the game world, path planning is more intuitive for players, enhancing the game's immersion and realism.

[0095] Based on the above embodiment and optional embodiment, an optional implementation manner is provided, which is described in detail below.

[0096] An optional embodiment of the present invention provides a path planning method. The following is a detailed description of the method:

[0097] S1, determine the navigation starting point and navigation end point in the game;

[0098] S2, determine the span constraints and landing point constraints corresponding to N types of traffic modes in the target terrain map.

[0099] S3, in the target topographic map, determining an initial connection line between the navigation start point and the navigation end point, and determining an initial passage result of whether the initial connection line is passable based on the initial connection line, M contour lines, and the passage span constraints and landing point constraints corresponding to the N passage modes;

[0100] Optionally, the initial connecting line is projected onto the target topographic map to obtain a first topographic route; based on the M contour lines, the contour line change amplitudes of the P sections in the first topographic route are determined, and based on the section types corresponding to the P sections, the types of restricted landing points corresponding to the P sections are determined, where P is a positive integer greater than 1; based on the contour line change amplitudes of the P sections and the travel span constraints corresponding to the N modes of travel, a first constraint result is determined, and based on the restricted landing point types corresponding to the P sections and the landing point constraints corresponding to the N modes of travel, a second constraint result is determined; based on the first constraint result and the second constraint result, an initial travel result is determined.

[0101] For example, if the navigation destination can be reached through auxiliary actions, the auxiliary actions are used to reach the navigation destination. Auxiliary actions such as jumping and flying can be customized according to the actual application and scenario. Another example is determining whether the section between the navigation start point and the navigation end point in the initial navigation route is a gently rising road surface, that is, determining whether there is a cliff-like rising section. If not, perform normal navigation operations. If there is a cliff-like rising section, determine whether the section can be passed through through the auxiliary actions. If so, use the initial navigation route. If not, avoid the cliff-like rising section and replan the route.

[0102] Throughout the above steps, before planning your route, you'll first highlight navigational tools on the map to aid in route planning. These include boats, cable cars, and other vehicles, but we're not limiting here; any vehicle that can navigate specific sections of the road will be included. You can also consider your mount when determining your route; for example, a flying mount can pass through water.

[0103] It should be noted that if all modes of transportation are not possible at this time, the route can be directly replanned, or a route can be planned to only avoid cliff-like sections. The specific method to be used can be determined based on the calculation amount of the replanned route and other factors.

[0104] Optionally, when the target topographic map includes Q target transmission points, a first distance from the navigation start point to a first transmission point and a second distance from the navigation end point to a second transmission point are determined, wherein the first transmission point is the transmission point closest to the navigation start point among the Q target transmission points, and the second transmission point is the transmission point closest to the navigation end point among the Q target transmission points, and Q is a positive integer greater than 1; a sum of the distances is determined based on the first and second distances; and when the distance corresponding to the initial connection line is greater than the sum of the distances, the target navigation route is determined to be from the navigation start point to the first transmission point, and from the second transmission point to the navigation end point.

[0105] That is, special teleportation points on the map can be marked to assist in route planning. Special teleportation points include post stations, upwelling entrances, tunnel entrances, etc. There is no limit here. Any point that can quickly change the path or movement method can be identified and considered accordingly.

[0106] S4, until a target connection line that meets the target conditions is determined, so as to solve the technical problem in the related art that the navigation route is relatively time-consuming and may not reach the navigation location.

[0107] It should be noted that for the aforementioned method embodiments, for simplicity of description, they are all expressed as a series of action combinations. However, those skilled in the art should be aware that the present invention is not limited by the order of the actions described, because according to the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0108] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus the necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of various embodiments of the present invention.

[0109] Example 2

[0110] According to an embodiment of the present invention, a device for implementing the above navigation route determination method is also provided. Figure 2 is a structural block diagram of a navigation route determination device according to an embodiment of the present invention. Figure 2As shown, the device includes: a receiving module 202, a first determining module 204, a second determining module 206 and a third determining module 208. The device will be described in detail below.

[0111] A receiving module 202 is configured to receive a navigation request, wherein the navigation request carries a navigation start point and a navigation end point. A first determining module 204 is connected to the receiving module 202 and configured to determine, in a target topographic map, travel span constraints and landing point constraints corresponding to N travel modes, respectively. The target topographic map includes M contour lines, where N is a positive integer greater than 1 and M is a positive integer greater than 1. A second determining module 206 is connected to the first determining module 204 and configured to determine, in the target topographic map, an initial connecting line between the navigation start point and the navigation end point. Based on the initial connecting line, the M contour lines, and the travel span constraints and landing point constraints corresponding to the N travel modes, an initial travel result is determined as to whether the initial connecting line is passable, until a target connecting line that meets the target condition is determined, wherein the target condition includes a condition that the corresponding travel result is passable. A third determining module 208 is connected to the second determining module 206 and configured to determine a target navigation route based on the target connecting line.

[0112] Optionally, the second determination module 206 is used to project the initial connecting line onto the target topographic map to obtain the first topographic route; determine the contour line change amplitudes of P sections in the first topographic route based on the M contour lines, and determine the types of restricted landing points corresponding to the P sections based on the road section types corresponding to the P sections, where P is a positive integer greater than 1; determine the first constraint result based on the contour line change amplitudes of the P sections and the travel span constraints corresponding to the N modes of travel, and determine the second constraint result based on the types of restricted landing points corresponding to the P sections and the landing point constraints corresponding to the N modes of travel; determine the initial travel result based on the first constraint result and the second constraint result.

[0113] Optionally, the second determination module 206 is used to determine the obstacle line segment in the initial connection line when the initial passage result is impassable; determine the updated connection line based on the target terrain map, and determine the updated passage result of whether the updated connection line is passable, until the target connection line that meets the target conditions is determined, wherein the updated connection line does not include any point in the obstacle line segment.

[0114] Optionally, the second determination module 206 is configured to determine an alternative navigation route based on a path search algorithm, a navigation start point and a navigation end point when the target condition further includes a condition that the initial connection length is greater than a predetermined length; and determine the predetermined length based on the alternative navigation route.

[0115] Optionally, the second determining module 206 is configured to, when the target topographic map includes Q target transmission points, determine a first distance from the navigation start point to a first transmission point, and a second distance from the navigation end point to a second transmission point, where the first transmission point is the transmission point closest to the navigation start point among the Q target transmission points, and the second transmission point is the transmission point closest to the navigation end point among the Q target transmission points, and Q is a positive integer greater than 1; determine a sum of the distances based on the first and second distances; and determine, when the distance corresponding to the initial connecting line is greater than the sum of the distances, that the target navigation route is from the navigation start point to the first transmission point, and from the second transmission point to the navigation end point.

[0116] Optionally, the second determination module 206 is used to determine the first object information corresponding to the target object and the second object information corresponding to the blocking object when there is a blocking object in the path corresponding to the initial connection; determine the blocking result based on the first object information and the second object information; when the blocking result is that the blocking object cannot block the target object, determine the initial passage result of whether the initial connection can be passed based on the initial connection, M contour lines, and the passage span constraints and landing point constraints corresponding to the N types of passage modes.

[0117] Optionally, the second determining module 206 is configured to obtain an initial connection line by avoiding the special area according to the navigation starting point and the navigation end point when the target topographic map includes a special area, wherein the special area includes an impassable area.

[0118] It should be noted here that the above-mentioned receiving module 202, the first determination module 204, the second determination module 206 and the third determination module 208 correspond to steps S102 to S108 in implementing the navigation route determination method, and the instances and application scenarios implemented by the multiple modules and the corresponding steps are the same, but are not limited to the contents disclosed in the above-mentioned embodiment 1.

[0119] Example 3

[0120] An embodiment of the present application may provide an electronic device, which may include: one or more processors, memories, storage controllers, and peripheral interfaces, wherein the memory stores an executable program, the peripheral interface is connected to a radio frequency module, an audio module, and a display, and the processor is used to run the program, wherein any one of the above methods is executed when the program is running.

[0121] Among them, the memory can be used to store software programs and modules, such as program instructions / modules corresponding to the methods and devices in the embodiments of the present application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, that is, implementing the above-mentioned method. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the terminal via 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 a combination thereof.

[0122] The processor can also call the information and application stored in the memory through the transmission device to perform the following steps: receiving a navigation request, wherein the navigation request carries a navigation start point and a navigation end point; determining the travel span constraints and landing point constraints corresponding to N types of travel modes in the target topographic map, wherein the target topographic map includes M contour lines, N is a positive integer greater than 1, and M is a positive integer greater than 1; in the target topographic map, determining the initial connection line between the navigation start point and the navigation end point, and based on the initial connection line, the M contour lines, and the travel span constraints and landing point constraints corresponding to the N types of travel modes, determining the initial travel result of whether the initial connection line is passable, until determining the target connection line that meets the target conditions, wherein the target conditions include the condition that the corresponding travel result is passable; and determining the target navigation route based on the target connection line.

[0123] The processor can also call the information and application stored in the memory through the transmission device to perform the following steps: determine the initial passage result of whether the initial connection line is passable based on the initial connection line, M contour lines, and the passage span constraints and landing point constraints corresponding to the N passage modes, including: projecting the initial connection line onto the target terrain map to obtain a first terrain route; determining the contour line change amplitude of P sections in the first terrain route based on the M contour lines, and determining the restricted landing point types corresponding to the P sections based on the section types corresponding to the P sections, where P is a positive integer greater than 1; determining the first constraint result based on the contour line change amplitude of the P sections and the passage span constraints corresponding to the N passage modes, and determining the second constraint result based on the restricted landing point types corresponding to the P sections and the landing point constraints corresponding to the N passage modes; determining the initial passage result based on the first constraint result and the second constraint result.

[0124] The processor can also call the information and application stored in the memory through the transmission device to perform the following steps: determine the initial pass result of whether the initial connection is passable, until the target connection that meets the target conditions is determined, including: when the initial pass result is that it is not passable, determine the obstacle line segment in the initial connection; determine the updated connection based on the target terrain map, and determine the updated pass result of whether the updated connection is passable, until the target connection that meets the target conditions is determined, wherein the updated connection does not include any point in the obstacle line segment.

[0125] The processor can also call the information and application stored in the memory through the transmission device to perform the following steps: when the target condition also includes the condition that the length of the initial connection is greater than the predetermined length, determine the initial pass result of whether the initial connection is passable, until the target connection that meets the target condition is determined, it also includes: based on the path search algorithm, the navigation starting point and the navigation end point, determine the alternative navigation route; determine the predetermined length based on the alternative navigation route.

[0126] The processor may also call information and applications stored in the memory through the transmission device to perform the following steps: after determining an initial connection line between the navigation start point and the navigation end point in the target topographic map, the method further includes: when the target topographic map includes Q target transmission points, determining a first distance from the navigation start point to a first transmission point, and a second distance from the navigation end point to a second transmission point, wherein the first transmission point is the transmission point closest to the navigation start point among the Q target transmission points, and the second transmission point is the transmission point closest to the navigation end point among the Q target transmission points, and Q is a positive integer greater than 1; determining a sum of the distances based on the first distance and the second distance; and determining, when the distance corresponding to the initial connection line is greater than the sum of the distances, that the target navigation route is from the navigation start point to the first transmission point, and from the second transmission point to the navigation end point.

[0127] The processor can also call the information and application stored in the memory through the transmission device to perform the following steps: determine the initial passage result of whether the initial connection line can pass based on the passage span constraints and landing point constraints corresponding to the initial connection line, M contour lines, and N passage modes, including: when there is a blocking object in the path corresponding to the initial connection line, determine the first object information corresponding to the target object and the second object information corresponding to the blocking object; determine the blocking result based on the first object information and the second object information; when the blocking result is that the blocking object cannot block the target object, determine the initial passage result of whether the initial connection line can pass based on the passage span constraints and landing point constraints corresponding to the initial connection line, M contour lines, and N passage modes.

[0128] The processor can also call the information and application stored in the memory through the transmission device to perform the following steps: determining the initial connection line between the navigation starting point and the navigation end point in the target topographic map, including: when the target topographic map includes special areas, avoiding the special areas based on the navigation starting point and the navigation end point to obtain the initial connection line, wherein the special areas include impassable areas.

[0129] The method provided in this embodiment receives a navigation request containing a navigation start point and a navigation end point. The target topographic map contains M contour lines, where N is a positive integer greater than 1 and M is a positive integer greater than 1, and the target topographic map contains M contour lines, where N is a positive integer greater than 1. An initial connection line is determined between the navigation start point and the navigation end point. Based on the initial connection line, the M contour lines, and the span and end point constraints corresponding to the N navigation modes, an initial navigation result is determined to determine whether the initial connection line is navigable, until a target connection line that meets target conditions is determined, where the target conditions include a condition that the corresponding navigation result is navigable. Based on the target connection line, a target navigation route is determined. By receiving a navigation request containing a start point and an end point, the N navigation modes and their constraints are analyzed, and combined with the terrain information of the M contour lines, the feasibility of the initial connection path is preliminarily assessed. The feasibility of the initial connection path is gradually adjusted until a target connection line that both meets the navigation conditions and is effectively reached is planned. This process overcomes the limitations of traditional navigation that ignores complex terrain and character capabilities, significantly improves the efficiency and success rate of path planning, ensures that the character can reach the destination, and thus solves the technical problem in related technologies that the navigation route is time-consuming and may not reach the navigation location.

[0130] Those skilled in the art will appreciate that the electronic device may also be a smartphone (such as an Android phone, an iOS phone, etc.), a tablet computer, a PDA, a mobile internet device (MID), a PAD, or other terminal device. The above does not limit the structure of the electronic device. For example, the electronic device may include more or fewer components than those described above (such as a network interface, a display device, etc.), or have a configuration different from that described above.

[0131] A person skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and the program can be stored in a computer-readable storage medium, which may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0132] Example 4

[0133] Embodiments of the present application also provide a computer-readable storage medium. The computer-readable storage medium includes a stored executable program, wherein, when the executable program is executed, the device containing the computer-readable storage medium is controlled to perform any of the aforementioned methods. Optionally, in this embodiment, the storage medium may be used to store program code executed by the method provided in the first embodiment.

[0134] Optionally, in this embodiment, the storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.

[0135] The present application also provides a computer program product, including computer instructions, which implement the steps of any of the above methods when executed by a processor. When executed on a data processing device, the program is suitable for executing the following method steps: receiving a navigation request, wherein the navigation request carries a navigation start point and a navigation end point; determining the travel span constraints and landing point constraints corresponding to N types of travel modes in a target topographic map, wherein the target topographic map includes M contour lines, N is a positive integer greater than 1, and M is a positive integer greater than 1; in the target topographic map, determining an initial connection line between the navigation start point and the navigation end point, and determining an initial passage result of whether the initial connection line is passable based on the initial connection line, the M contour lines, and the travel span constraints and landing point constraints corresponding to the N types of travel modes, until a target connection line that meets the target condition is determined, wherein the target condition includes a condition that the corresponding passage result is passable; and determining a target navigation route based on the target connection line.

[0136] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0137] In the above embodiments of the present application, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0138] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods, 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 units or modules, which can be electrical or other forms.

[0139] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0140] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0141] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0142] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for determining a navigation route, characterized in that: include: receiving a navigation request, wherein the navigation request carries a navigation start point and a navigation end point; Determine the travel span constraints and landing point constraints corresponding to N travel modes in the target topographic map, wherein the target topographic map includes M contour lines, N is a positive integer greater than 1, and M is a positive integer greater than 1; In the target topographic map, an initial connection line between the navigation start point and the navigation end point is determined, and an initial passage result is determined as to whether the initial connection line is passable based on the initial connection line, the M contour lines, and the passage span constraints and landing point constraints corresponding to the N passage modes, until a target connection line that meets a target condition is determined, wherein the target condition includes a condition that the corresponding passage result is passable; A target navigation route is determined based on the target connection.

2. The method according to claim 1, characterized in that An initial passage result of determining whether the initial connection line is passable is determined based on the initial connection line, the M contour lines, and the passage span constraints and landing point constraints corresponding to the N passage modes, including: Projecting the initial connecting line onto the target topographic map to obtain a first topographic route; Determining, based on the M contour lines, contour line change amplitudes of P sections of the first terrain route, and determining, based on the section types corresponding to the P sections, the types of restricted footholds corresponding to the P sections, where P is a positive integer greater than 1; Determining a first constraint result based on the contour line change amplitudes of the P road sections and the travel span constraints corresponding to the N travel modes, and determining a second constraint result based on the restricted landing point types corresponding to the P road sections and the landing point constraints corresponding to the N travel modes; The initial passage result is determined according to the first constraint result and the second constraint result.

3. The method according to claim 1, characterized in that Determining an initial pass result of whether the initial link is passable, until a target link that meets the target condition is determined, includes: When the initial passage result is impassable, determining an obstacle segment in the initial connection line; Based on the target topographic map, an updated link is determined, and an updated pass result of whether the updated link is passable is determined until a target link that meets the target conditions is determined, wherein the updated link does not include any point in the obstacle segment.

4. The method according to claim 1, wherein If the target condition further includes a condition that the length of the initial link is greater than a predetermined length, determining an initial pass result of whether the initial link is passable, until a target link that meets the target condition is determined, further comprising: Determine an alternative navigation route based on the navigation starting point and the navigation end point according to a path search algorithm; The predetermined length is determined according to the alternative navigation route.

5. The method according to claim 1, wherein After determining an initial connection line between the navigation start point and the navigation end point in the target topographic map, the method further includes: When the target topographic map includes Q target transmission points, determining a first distance from the navigation start point to a first transmission point and a second distance from the navigation end point to a second transmission point, wherein the first transmission point is the transmission point closest to the navigation start point among the Q target transmission points, and the second transmission point is the transmission point closest to the navigation end point among the Q target transmission points, and Q is a positive integer greater than 1; determining a distance sum based on the first distance and the second distance; When the distance corresponding to the initial connection line is greater than the sum of the distances, the target navigation route is determined to be from the navigation starting point to the first transmission point, and from the second transmission point to the navigation end point.

6. The method according to claim 1, characterized in that An initial passage result of determining whether the initial connection line is passable is determined based on the initial connection line, the M contour lines, and the passage span constraints and landing point constraints corresponding to the N passage modes, including: In the case where a blocking object exists in the path corresponding to the initial connection, determining first object information corresponding to the target object and second object information corresponding to the blocking object; determining a blocking result according to the first object information and the second object information; When the blocking result is that the blocking object cannot block the target object, the initial passage result of whether the initial connection line can pass is determined based on the passage span constraints and landing point constraints corresponding to the initial connection line, the M contour lines, and the N passage modes.

7. The method according to any one of claims 1 to 6, characterized in that Determining an initial connection line between the navigation start point and the navigation end point in the target topographic map includes: In the case that the target topographic map includes a special area, the initial connection line is obtained by avoiding the special area according to the navigation starting point and the navigation end point, wherein the special area includes an impassable area.

8. A navigation route determination device, characterized in that: include: A receiving module, configured to receive a navigation request, wherein the navigation request carries a navigation start point and a navigation end point; A first determination module is configured to determine travel span constraints and foothold constraints corresponding to N travel modes in a target topographic map, wherein the target topographic map includes M contour lines, N is a positive integer greater than 1, and M is a positive integer greater than 1; a second determining module configured to determine, in the target topographic map, an initial connection line between the navigation start point and the navigation end point, and determine an initial passage result of whether the initial connection line is passable based on the initial connection line, the M contour lines, and the passage span constraints and landing point constraints corresponding to the N passage modes, until a target connection line that meets a target condition is determined, wherein the target condition includes a condition that the corresponding passage result is passable; The third determining module is used to determine a target navigation route according to the target connection.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored executable program, wherein when the executable program is run, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 7.

10. An electronic device, characterized in that: include: a memory storing an executable program; A processor, configured to run the program, wherein the program executes the method according to any one of claims 1 to 7 when running.

11. A computer program product comprising computer instructions, characterized in that When the computer instructions are executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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