A method, device, and medium for generating a path of a mobile body

Abstract

The application discloses a path generation method, device and equipment of a mobile body and a medium, relates to the field of path planning, and first segments a moving path according to discrete trajectory points on the moving path. For any moving sub-path, a corresponding curve base function is respectively constructed, and then a constraint condition of curvature continuity is introduced to inversely deduce control points of a parameter curve of each moving sub-path. The constraint condition of curvature continuity is added when the control points are inversely deduced, so that the continuity and smoothness of the parameter curves of the final moving sub-paths after combination are ensured. The calculation amount is reduced through segmented fitting, which is beneficial to realize real-time fitting. Then, the constraint condition is introduced to enable each moving sub-path to have curvature continuity at a splicing point, ensure the continuity and smoothness of the parameter curves generated by splicing of multiple segments, effectively realize a continuous and smooth moving path, and meet the demand of high-precision moving path planning.

Description

Technical Field

[0001] This invention relates to the field of path planning, and in particular to a method, apparatus, device, and medium for generating paths for moving objects. Background Technology

[0002] In many industrial applications, such as CNC (Computer Numerical Control) machining, robot path planning, autonomous driving systems, and medical equipment, path planning is a key technology for ensuring the precise and efficient operation of mobile bodies such as robots and vehicles. Traditional path planning methods typically rely on simple linear interpolation. Based on task requirements, several discrete intermediate points are set between the starting point and the target point, and then these discrete intermediate points are connected by straight line segments to generate the movement path of the mobile body. However, the movement path generated in this way is not smooth; the connection points between adjacent straight line segments are broken lines. The mobile body needs to change direction abruptly at turning points, leading to frequent acceleration and deceleration, resulting in machining vibration. Therefore, how to generate continuous and smooth movement paths has become a technical problem that needs optimization. Summary of the Invention

[0003] The purpose of this invention is to provide a method, apparatus, device, and medium for generating paths for moving objects, aiming to solve technical problems such as discontinuous interpolation trajectories, large computational load, and insufficient smoothness of trajectory curves in the path generation process.

[0004] To address the aforementioned technical problems, this invention provides a path generation method for a moving object, comprising:

[0005] Determine several discrete trajectory points on the initial movement path of the moving object;

[0006] The movement path of the moving body is divided into several sub-paths based on several discrete trajectory points;

[0007] For any moving sub-path, construct the curve basis function corresponding to the moving sub-path based on the discrete trajectory points corresponding to the moving sub-path;

[0008] With curvature continuity as a constraint, based on the basis functions corresponding to each of the moving sub-paths and the geometric coordinates of each of the discrete trajectory points, the control points of the parametric curves of each moving sub-path are determined in a preset order to obtain the final moving path of the moving body.

[0009] The preset order refers to the sequential order of the several moving sub-paths in the direction of movement.

[0010] Optionally, dividing the movement path of the moving body into several sub-paths based on several discrete trajectory points includes:

[0011] Determine the curvature of each of the discrete trajectory points;

[0012] The movement path of the moving body is divided into several sub-paths based on the curvature of each discrete trajectory point.

[0013] Optionally, dividing the movement path of the moving body into several sub-paths based on the curvature of each of the discrete trajectory points includes:

[0014] Determine all curvature maxima in the curvature of all the discrete trajectory points;

[0015] The discrete trajectory points corresponding to each curvature maxima, the starting point of the movement path, and the ending point of the movement path are determined as segmentation points;

[0016] The movement path of the moving body is divided into several sub-paths based on the segmentation points.

[0017] Optionally, before constructing the curve basis function corresponding to the moving sub-path based on the discrete trajectory points corresponding to the moving sub-path, the method further includes:

[0018] For any segment point on the movement path, construct a first virtual trajectory point and a second virtual trajectory point corresponding to the segment point;

[0019] The step of constructing the curve basis function corresponding to the moving sub-path based on the discrete trajectory points corresponding to the moving sub-path includes:

[0020] The discrete trajectory points on the moving sub-path, the first virtual trajectory points and / or the second virtual trajectory points corresponding to the segment points on the moving sub-path are determined as the discrete points of the moving sub-path;

[0021] The parameter values ​​for each discrete point are determined using chord length parameterization.

[0022] The node vector of the moving sub-path is constructed based on the parameter values ​​of the discrete points and the preset order;

[0023] The basis function for generating the moving sub-path is generated based on the node vector and the preset order.

[0024] Optionally, the moving sub-path includes a first moving sub-path and a second moving sub-path, and the segmentation point between the first moving sub-path and the second moving sub-path is the target splicing point; the construction process of the first virtual trajectory point and the second virtual trajectory point specifically includes:

[0025] Determine the previous discrete trajectory point of the target splicing point on the first moving sub-path and the next discrete trajectory point of the target splicing point on the second moving sub-path;

[0026] Connect the previous discrete trajectory point and the next discrete trajectory point to obtain a reference line;

[0027] Determine a reference straight line that is parallel to the reference line and passes through the target splicing point;

[0028] Along the trajectory of the first moving sub-path, a first virtual trajectory point is determined on the reference straight line; wherein, the distance between the first virtual trajectory point and the target splicing point is equal to the distance between the previous discrete trajectory point and the target splicing point;

[0029] Along the trajectory backward of the second moving sub-path, a second virtual trajectory point is determined on the reference straight line; wherein the distance between the second virtual trajectory point and the target splicing point is equal to the distance between the target splicing point and the next discrete trajectory point.

[0030] Optionally, the parametric curve of the first moving sub-path is a first curve, and the parametric curve of the second moving sub-path is a second curve; the process of establishing the constraint condition that the first moving sub-path and the second moving sub-path satisfy curvature continuity at the target splicing point specifically includes:

[0031] A first equation is constructed based on the equality of the first vector function and the second vector function; wherein, the first vector function is the vector function of the first curve at the target splicing point, and the second vector function is the vector function of the second curve at the target splicing point;

[0032] A second equation is constructed based on the equality of the third and fourth vector functions; wherein the third vector function is the vector function of the first derivative of the first curve at the target splicing point; and the fourth vector function is the vector function of the first derivative of the second curve at the target splicing point.

[0033] A third equation is constructed based on the equality of the fifth and sixth vector functions; wherein the fifth vector function is the vector function of the second derivative of the first curve at the target splicing point, and the sixth vector function is the vector function of the second derivative of the second curve at the target splicing point;

[0034] The first, second, and third equations are combined and converted into matrix equations, which are then used as constraints for constructing the parameter curves.

[0035] Optionally, the step of determining the control points of the parametric curves of each of the moving sub-paths in a preset order based on the basis functions corresponding to each of the moving sub-paths and the geometric coordinates of each of the discrete trajectory points includes:

[0036] Obtain the first matrix, the second matrix, and the third matrix between the first moving sub-path and the second moving sub-path;

[0037] Wherein, the first matrix is ​​a block diagonal matrix composed of the basis function matrices of the first moving sub-path and the basis function matrices of the second moving sub-path; the second matrix is ​​a column vector matrix composed of the control points of the first moving sub-path and the control points of the second moving sub-path; the third matrix is ​​a column vector matrix composed of the geometric coordinates of the discrete trajectory points on the first moving sub-path and the geometric coordinates of the discrete trajectory points on the second moving sub-path.

[0038] Based on the fact that the dot product of the first matrix and the second matrix equals the third matrix, construct the target equation;

[0039] With curvature continuity as a constraint, the objective equation is solved using the least squares method to obtain the control points of the parametric curves of the first moving sub-path that satisfies curvature continuity and the control points of the parametric curves of the second moving sub-path that satisfies curvature continuity.

[0040] Using the control points of the parametric curve of the Z-1th moving sub-path as known values, the control points of the parametric curve of the Z-1th moving sub-path are solved based on the first, second, and third matrices between the Z-1th and Z-1th moving sub-paths; where Z is a positive integer greater than or equal to 3.

[0041] To address the aforementioned technical problems, the present invention also provides a path generation device for a moving body, comprising:

[0042] The trajectory point determination unit is used to determine several discrete trajectory points on the initial movement path of the moving body;

[0043] The segmentation unit is used to divide the movement path of the moving body into several movement sub-paths based on several discrete trajectory points;

[0044] A basis function construction unit is used to construct a curve basis function corresponding to any moving sub-path based on the discrete trajectory points corresponding to the moving sub-path;

[0045] The fitting unit is used to determine the control points of the parametric curves of each moving sub-path in a preset order, based on the basis functions corresponding to each moving sub-path and the geometric coordinates of each discrete trajectory point, with curvature continuity as a constraint, so as to obtain the final moving path of the moving body.

[0046] The preset order refers to the sequential order of the several moving sub-paths in the direction of movement.

[0047] To address the aforementioned technical problems, the present invention also provides an electronic device, comprising:

[0048] Memory, used to store computer programs;

[0049] A processor for implementing the steps of the path generation method for the moving body as described above.

[0050] To address the aforementioned technical problems, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the path generation method for the moving body as described above.

[0051] This invention provides a path generation method for a moving body. First, the moving path is segmented based on discrete trajectory points. For any given sub-path segment, a curve basis function is constructed. Then, a curvature continuity constraint is introduced to inversely deduce the control points of the parametric curves for each sub-path. Once the basis functions and control points are known, the parametric curves for each sub-path are generated. The curvature continuity constraint is added during the control point deduction to ensure the continuity and smoothness of the final combined parametric curves of each sub-path. Segmenting the moving path first reduces computation and facilitates real-time fitting. Then, by introducing constraints, curvature continuity is ensured at the splicing points of each sub-path segment, guaranteeing the continuity and smoothness of the parametric curves generated from multiple segments. This effectively solves technical problems such as discontinuous interpolation trajectories, high computational cost, and insufficient smoothness of trajectory curves, achieving a continuous and smooth moving path that meets the requirements of high-precision moving path planning.

[0052] The present invention also provides a path generation apparatus for a moving body, an electronic device, and a computer-readable storage medium, which have the same beneficial effects as the path generation method for a moving body described above. Attached Figure Description

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

[0054] Figure 1 A flowchart illustrating a path generation method for a moving object provided by the present invention;

[0055] Figure 2 A flowchart illustrating another method for generating the path of a moving object provided by the present invention;

[0056] Figure 3 A schematic diagram of the curvature of discrete trajectory points provided by the present invention;

[0057] Figure 4 This is a schematic diagram illustrating a method for constructing virtual trajectory points provided by the present invention;

[0058] Figure 5 This is a schematic diagram of the structure of a path generation device for a moving body provided by the present invention;

[0059] Figure 6 This is a schematic diagram of the structure of an electronic device provided by the present invention. Detailed Implementation

[0060] The core of this invention is to provide a method, apparatus, device, and medium for generating the path of a moving body. First, the moving path is segmented and fitted to reduce the amount of computation, which is beneficial for achieving real-time fitting. Then, by introducing constraints, each segment of the moving sub-path can have curvature continuity at the splicing point, thereby ensuring the continuity and smoothness of the parameter curve generated by splicing multiple segments.

[0061] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0062] See Figure 1 As shown, Figure 1 This is a flowchart illustrating a path generation method for a moving object provided by the present invention; see also Figure 2 As shown, Figure 2 The present invention provides a flowchart illustrating another method for generating a path for a moving object; to solve the above-mentioned technical problems, the present invention provides a method for generating a path for a moving object, comprising:

[0063] S11: Determine several discrete trajectory points on the initial movement path of the moving body;

[0064] It is understandable that path planning for a mobile object requires pre-planned discrete trajectory points. Operators first specify discrete trajectory points for the mobile object's movement based on application requirements, such as specific locations a drone must fly through during cruise. These discrete trajectory points initially define the mobile object's initial movement path, which is a general direction plan and movement framework to determine the approximate route and direction of the mobile object that meets the task requirements. This application needs to determine the final movement path of the mobile object based on this. The final movement path is a detailed motion command that the mobile object can execute; it is a complete and continuous movement trajectory, enabling the mobile object to move continuously based on the final movement path. This application does not impose specific limitations on the specific methods of obtaining and implementing discrete trajectory points. These points can be directly set by the operator according to task requirements, or implemented through algorithms, such as directly reading a series of discrete trajectory points provided by a CAM (Computer-Aided Manufacturing) system.

[0065] S12: Divide the movement path of the moving body into several sub-paths based on several discrete trajectory points;

[0066] It is easy to understand that, in order to reduce the computational cost of fitting the final movement path, this application chooses a piecewise fitting method. Therefore, after determining the discrete trajectory points, the movement path of the moving body can be divided into several sub-paths based on the distribution of these discrete trajectory points. The initial movement path of the moving body is formed by combining these sub-paths in chronological order. Therefore, the division must be performed in chronological order. This application does not impose any special restrictions on the specific number of sub-paths or their implementation methods. At this point, the sub-paths are still in the initial path state, consisting only of discrete trajectory points.

[0067] S13: For any moving sub-path, construct the curve basis function corresponding to the moving sub-path based on the discrete trajectory points corresponding to the moving sub-path;

[0068] It is understandable that after the moving sub-paths are divided, the movement trajectory of each moving sub-path is determined using parametric curves. At this point, each moving sub-path has its own discrete trajectory points, and each discrete trajectory point has its own geometric coordinates. Therefore, based on these discrete trajectory points, the type of parametric curve used, and the defined parameters, the form of the curve basis function corresponding to the moving sub-path can be constructed. The defining parameters of the parametric curve mainly include the order of the parametric curve, the number of control points of the parametric curve, and the type of the node vector corresponding to the parametric curve. These parameters need to be preset according to requirements. For example, when using B-spline curves to implement parametric curves, p=3 (cubic) is commonly used as the order of the parametric curve. The number of control points can be the same as, less than, or more than, the number of discrete trajectory points. The type of node vector can be implemented using clamped node vectors, etc. These defined parameters, together with the discrete trajectory points, enable the construction of the curve basis function. This application does not make any special restrictions on the specific type and implementation method of the curve basis function and the corresponding parametric curve. The parametric curve can be implemented using spline curves, etc.

[0069] S14: With curvature continuity as a constraint, based on the basis functions corresponding to each moving sub-path and the geometric coordinates of each discrete trajectory point, the control points of the parametric curves of each moving sub-path are determined in a preset order to obtain the final moving path of the moving body; wherein, the preset order is the order of several moving sub-paths in the moving direction.

[0070] It's easy to understand that after determining the curve basis functions, further inverse calculation of the control points of the parametric curves allows us to determine the unique parametric curve corresponding to the moving sub-path. To ensure the continuity between the various moving sub-paths obtained in the final fitting, C is added when inversely calculating the control points. 2 The constraint of continuity (curvature continuity) ensures that the parameter curves corresponding to each moving sub-path maintain Ci. 2 Continuous, the moving sub-paths are defined sequentially according to the direction of movement: first moving sub-path, second moving sub-path, up to the Zth moving sub-path. First, the first and second moving sub-paths are treated as a whole for reverse calculation of control points, thereby ensuring that C is maintained during the splicing of the first and second moving sub-paths. 2The process continues, and then the control points corresponding to the third moving sub-path are deduced using the second moving sub-path, and so on, until the control points corresponding to all moving sub-paths are determined, resulting in the parameter curves corresponding to all moving sub-paths. At this point, the parameter curves corresponding to all moving sub-paths are pieced together according to the order in which they were originally divided, thus obtaining the final moving path of the moving body. The order of movement directions corresponding to the preset order is actually the order of movement time when the moving body moves. This application does not specifically limit the specific implementation method of deducing the control points.

[0071] As a specific embodiment, such as Figure 2 As shown, taking the division of moving sub-paths based on the curvature maxima of discrete trajectory points as an example, firstly, the discrete trajectory points are read, then the discrete curvature of each trajectory point is calculated, and the curvature maxima are identified. The initial moving path is then segmented between each curvature maxima, with the initial value of i defined as 0. Then, for any i-th moving sub-path, parametric curve fitting is performed between each segment of the moving sub-path until i is equal to or greater than Z. This completes the parametric curve fitting for all moving sub-paths, yielding the final moving path of the moving body. The specific process of parametric curve fitting includes, as follows: Figure 2 The diagram illustrates the construction of virtual trajectory points, the construction of node vectors, the establishment of constraints, the construction of basis function matrices, and least squares fitting.

[0072] The path generation method for moving bodies provided by this invention can be applied in fields such as CNC machining and motion control systems. It provides a high-precision, automated, and highly smooth path curve fitting and interpolation solution for practical applications such as CNC machining and robot path planning. The parameter curves corresponding to each moving sub-path can achieve C at the curve splicing points. 2 Continuity ensures that the final movement path generated by splicing multiple curves remains continuous in geometric position, first derivative, and second derivative, meeting the requirements of high-precision CNC machining path planning.

[0073] This invention provides a path generation method for a moving object. It can automatically fit and segment the initial moving path by analyzing discrete trajectory points, and utilizes construction strategies such as non-uniform node vector construction to build the basic forms of the basis functions for the curve parameters of each moving sub-path. After constructing the basic forms of the basis functions for the curve parameters of each moving sub-path, it further incorporates explicit C-squared values ​​between adjacent moving sub-paths. 2 Continuity constraints are applied to segment the final movement path according to a preset order to reduce computational load. Finally, the fitted parameter curves are stitched together to obtain the final movement path. Constraints are then used to ensure that the stitched final movement path reaches point C at the stitching point. 2It is continuous and effectively solves technical problems such as discontinuous interpolation trajectories, large computational load, and insufficient smoothness of trajectory curves.

[0074] See Figure 3 As shown, Figure 3 This invention provides a curvature diagram of discrete trajectory points; as an optional embodiment, the movement path of the moving body is divided into several sub-paths based on several discrete trajectory points, including:

[0075] Determine the curvature of each discrete trajectory point;

[0076] The movement path of the moving body is divided into several sub-paths based on the curvature of each discrete trajectory point.

[0077] It is easy to understand that, considering the physical limits of a moving object's mobility, these limits are most pronounced at curves. The turning of a moving object, i.e., the change in its direction of movement, is mainly reflected in the curvature of discrete trajectory points. The curvature of a discrete trajectory point characterizes the bending of the movement path at or near that point. Therefore, the movement path can be segmented according to the curvature of the discrete trajectory points. This application does not specifically limit the specific calculation method for the curvature of discrete trajectory points.

[0078] As a specific implementation, a series of discrete trajectory points are first read. Where n represents the total number of discrete trajectory points, and j represents the index of the discrete trajectory point; then, the discrete curvature of each discrete trajectory point is calculated. The first discrete trajectory point (i.e., the starting point of the movement path) and the last discrete trajectory point (i.e., the ending point of the movement path) are automatically used as segmentation points. In this application, the discrete curvature of the first and last discrete trajectory points is set to 0 by default. The discrete curvature of other discrete trajectory points can be calculated according to the following formula:

[0079] ;

[0080] in, Let be the curvature of the j-th discrete trajectory point. This represents the j-th discrete trajectory point. This represents the (j+1)th discrete trajectory point. This represents the (j-1)th discrete trajectory point. For vectors The model, For vectors The model, For vectors with vector The angle between them.

[0081] Specifically, based on this embodiment, a segmented parameter curve fitting method based on curvature recognition can be implemented. By using curvature recognition to segment the initial movement path, it is beneficial to preserve the geometric features of the initial movement path corresponding to discrete trajectory points. Combined with the segmented fitting method, the computational amount of the entire path fitting is reduced.

[0082] As an optional embodiment, the movement path of the moving body is divided into several sub-paths based on the curvature of each discrete trajectory point, including:

[0083] Determine all curvature maxima in the curvature of all discrete trajectory points;

[0084] The discrete trajectory points corresponding to each curvature maxima, the starting point of the movement path, and the ending point of the movement path are determined as segmentation points;

[0085] The movement path of the moving object is divided into several sub-paths based on the segmentation points.

[0086] Understandably, curvature extrema can be identified based on the curvature of discrete trajectory points, and then the movement sub-paths can be divided based on these extrema. This embodiment uses maxima as an example. The curvature of each discrete trajectory point is compared, and each curvature maxima is read. The discrete trajectory point corresponding to the curvature maxima, the starting point of the movement path, and the ending point of the movement path are then determined as segmentation points. The initial movement path, which is a discrete trajectory, is divided into several movement sub-paths. This allows for subsequent parametric curve fitting of each movement sub-path. Finally, the parametric curves corresponding to adjacent movement sub-paths are spliced ​​together at the curvature maxima according to a preset order. For example... Figure 3 As shown, after determining the curvature of all discrete trajectory points, the following is generated: Figure 3 The curvature polygonal graph shown is then used to determine the curvature by analyzing the inflection points of the graph. Figure 3 The three curvature maxima are circled in the middle.

[0087] Specifically, based on this embodiment, the present invention implements a method based on curvature extremum identification and C 2 The parametric curve fitting method for continuous control identifies curvature extrema based on curvature, then fits the trajectory points between two extrema (maximums) into a parametric curve segment. Two continuous parametric curves are then spliced ​​together, and constraints are introduced at the splicing point to achieve C. 2 Continuity improves the smoothness of the interpolation trajectory; automatic identification of curvature maxima helps identify deceleration points of the moving body throughout the movement, which is beneficial for forward planning. Segmentation at curvature maxima helps preserve the geometric features of the original initial movement path; automatic planning is achieved by automatically detecting curvature maxima and dividing the movement into sub-paths.

[0088] See Figure 4As shown, Figure 4 This invention provides a schematic diagram of a method for constructing virtual trajectory points; as an optional embodiment, before constructing the curve basis function corresponding to the moving sub-path based on the discrete trajectory points corresponding to the moving sub-path, the method further includes:

[0089] For any segment point on the movement path, construct the first virtual trajectory point and the second virtual trajectory point corresponding to the segment point;

[0090] Construct the curve basis function corresponding to the moving sub-path based on the discrete trajectory points corresponding to the moving sub-path, including:

[0091] Discrete trajectory points on the moving sub-path, the first virtual trajectory points and / or the second virtual trajectory points corresponding to the segment points on the moving sub-path are determined as discrete points of the moving sub-path;

[0092] The parameter values ​​at each discrete point are determined by using chord length parameterization.

[0093] Construct the node vector of the moving sub-path based on the parameter values ​​of discrete points and the preset order;

[0094] A basis function for generating moving sub-paths is generated based on node vectors and a preset order.

[0095] It is easy to understand that, in order to directly issue motion commands to the moving body based on the generated final movement path, and to map the parameters in the movement path to physical time, providing an accurate motion reference for the movement of the moving body, this application uses a parametric curve—an abstract mathematical curve—to generate the movement path. To establish the correlation between the parametric curve and the actual physical motion of the moving body, it is necessary to parameterize the discrete trajectory points in the initial movement path and the constructed first and second virtual trajectory points. Parameterization determines the parameter values ​​of each discrete point, and based on this, combined with a pre-set preset order, constructs the node vector of the parametric curve corresponding to the movement sub-path. The node vector is the global parameterization framework defining the B-spline curve (parametric curve), ultimately realizing the construction of the basis function form of the parametric curve. By determining the parameter values ​​and constructing the node vector, combined with the preset order and the set number of control points, the form of the basis function can be constructed, thereby determining the equation form of the parametric curve. This application does not specifically limit the specific method of parameterization, and is not limited to the chord length parameterization method provided in this embodiment; uniform parameterization, centripetal parameterization, and other methods can also be used.

[0096] As a specific implementation, assuming that discrete trajectory points Qk and Qm (0≤k≤m≤n, and k, m, and n are all positive integers) in the initial movement path correspond to a curvature maxima, a first movement sub-path and a second movement sub-path are obtained based on the discrete trajectory point Qk. The first movement sub-path includes several discrete trajectory points Q0, Q1 up to Qk-1, Qk (shown in red in the diagram). The set of discrete trajectory points in the first movement sub-path is... The second moving sub-path includes several discrete trajectory points Qk, Qk+1, up to Qm (shown in blue in the diagram). The set of discrete trajectory points for the second moving sub-path is... Qk serves as both a segmentation point and a splicing point, and is located on both the first and second moving sub-paths.

[0097] Taking the first moving sub-path as an example, the node vector U1 of the first moving sub-path is calculated according to the chord length parameterization formula. The first moving sub-path includes k+1 discrete trajectory points and a constructed first virtual trajectory point Qx, for a total of k+2 discrete points. The parameter values ​​t corresponding to each discrete point are:

[0098] ;

[0099] Where t0 is the parameter value corresponding to the discrete point Q0, t k+1 t represents the parameter value corresponding to the first virtual trajectory point. j Here are the parameter values ​​corresponding to the discrete point Qj. This represents the distance between discrete point Qi and discrete point Q(i-1). If the fitted parametric curve is a p-th degree B-spline curve, then the corresponding node vector is:

[0100] ;

[0101] Where p represents the order of the B-spline curve; the final result is the node vector sequence of the B-spline curve. .

[0102] Specifically, the non-uniform node vector construction strategy provided in this embodiment can be used to construct node vectors, so that the change of parameter u is roughly proportional to the change of curve arc length, so that the generated parameter curve can more realistically reflect the geometric map of discrete trajectory points and provide a linear reference for generating a smooth final movement path; through parameterization, a time-varying trajectory that can be executed by a physical moving body is obtained using the parameter curve as the final movement path, ensuring that the moving body can achieve accurate movement based on motion commands and the final movement path.

[0103] As an optional embodiment, the moving sub-path includes a first moving sub-path and a second moving sub-path, and the segmentation point between the first moving sub-path and the second moving sub-path is the target splicing point; the construction process of the first virtual trajectory point and the second virtual trajectory point specifically includes:

[0104] Determine the previous discrete trajectory point of the target splicing point on the first moving sub-path and the next discrete trajectory point of the target splicing point on the second moving sub-path;

[0105] Connect the previous discrete trajectory point with the next discrete trajectory point to obtain the reference line;

[0106] Determine a reference straight line that is parallel to the reference line and passes through the target splicing point;

[0107] Along the trajectory of the first moving sub-path, a first virtual trajectory point is determined on the reference straight line; wherein, the distance between the first virtual trajectory point and the target splicing point is equal to the distance between the previous discrete trajectory point and the target splicing point;

[0108] Along the trajectory backward of the second moving sub-path, determine the second virtual trajectory point on the reference straight line; wherein, the distance between the second virtual trajectory point and the target splicing point is equal to the distance between the target splicing point and the next discrete trajectory point.

[0109] Understandably, this application primarily uses a Clamped curve with p=3 as the parametric curve. To achieve the Clamping effect, the starting point of the B-spline curve is forced to coincide with the first control point, and the ending point with the last control point. When constructing the node vector, for a segment of the moving sub-path, the last p+1 node values ​​of its node vector will be set to the same number (usually 1). This results in the fact that if only the segmentation points are used for the beginning and end splicing, the two segments of the moving sub-path can only achieve C at the splicing point. 1 Continuous, cannot be implemented in C 2 Continuous. Therefore, to make the final movement path obtained by fitting smoother, a virtual trajectory point is constructed on both sides of the segment point (i.e., the splicing point) before parameterization, such as... Figure 4 The values ​​Qx and Qy are shown. Specifically, the first and second virtual trajectory points are constructed using reference lines and a baseline straight line. The constructed first virtual trajectory point serves as the endpoint of the first moving sub-path, and the second virtual trajectory point serves as the starting point of the second moving sub-path.

[0110] As a specific embodiment, with Figure 4Taking the first and second moving sub-paths as examples, the construction process of two virtual trajectory points is further explained. Qk is the target splicing point. Connecting Qk-1 and Qk+1 yields a reference line. Then, a line parallel to the reference line is drawn through Qk to obtain a baseline straight line. On this baseline straight line, Qx is taken as the first virtual trajectory point, and Qy is taken as the second virtual trajectory point. This yields the set of discrete points for the first moving sub-path: The set of discrete points for the second moving sub-path: .

[0111] Specifically, by constructing virtual trajectory points, the target splicing point is no longer the start or end point of two mobile sub-paths, but rather the midpoint. This transforms the two adjacent mobile sub-paths from being connected end-to-end to being spliced ​​in the middle of the sub-paths, so that a path satisfying C can be constructed at the target splicing point later. 2 Continuous constraints are used to facilitate subsequent fitting.

[0112] As an optional embodiment, the parametric curve of the first moving sub-path is a first curve, and the parametric curve of the second moving sub-path is a second curve; the process of establishing the constraint condition that the first and second moving sub-paths satisfy curvature continuity at the target splicing point specifically includes:

[0113] A first equation is constructed based on the equality of the first vector function and the second vector function; wherein, the first vector function is the vector function of the first curve at the target splicing point, and the second vector function is the vector function of the second curve at the target splicing point;

[0114] The second equation is constructed based on the equality of the third and fourth vector functions; where the third vector function is the vector function of the first derivative of the first curve at the target splicing point; and the fourth vector function is the vector function of the first derivative of the second curve at the target splicing point.

[0115] The third equation is constructed based on the equality of the fifth and sixth vector functions; where the fifth vector function is the vector function of the second derivative of the first curve at the target splicing point, and the sixth vector function is the vector function of the second derivative of the second curve at the target splicing point.

[0116] The first, second, and third equations are combined and transformed into matrix equations, which are then used as constraints for constructing the parametric curves.

[0117] It's easy to understand that after constructing virtual trajectory points and parameterizing them along with discrete trajectory points to obtain the basis functions for the moving sub-path, these basis functions can be used to establish constraints. To satisfy C... 2For continuity to be considered, the vector functions corresponding to the basis functions, their first derivatives, and their second derivatives must all be equal. To facilitate the direct application of constraints when solving for control points, the constraints are ultimately achieved through a simultaneous matrix equation. The matrix equation is that the dot product of the coefficient matrix and the continuity control point matrix equals 0. The coefficient matrix is ​​composed of the coefficients of the terms in the first, second, and third equations, and the continuity control point matrix is ​​the control point matrix composed of the last four control points of the first moving sub-path and the first four control points of the second moving sub-path.

[0118] As a specific embodiment, it is still based on Figure 4 Taking the splicing of the first and second moving sub-paths at the target splicing point Qk as an example, with the order of the parameter curve p=3, the process of establishing the constraint conditions at Qk is explained. The target splicing point Qk is the penultimate discrete point of the first moving sub-path and the second discrete point of the second moving sub-path. The first moving sub-path includes k+2 discrete points, and the second moving sub-path includes m-k+2 discrete points. For ease of description, we define M=k+2; N=m-k+2. Then, the set of discrete points corresponding to the first moving sub-path is... The set of discrete points corresponding to the second moving sub-path is: Define the parameter value of the target splicing point Qk on the first moving sub-path as follows: 1 t, the corresponding node interval is [ 1 um,1); the parameter value on the second moving sub-path is 2 t, the corresponding node interval is [0, 2 u4).

[0119] Based on this, the first and second moving sub-paths are established to satisfy C at the target splicing point. 0 The first consecutive equation:

[0120] ;

[0121] in, The parametric curve representing the first moving sub-path, i.e., the first curve, The parametric curve representing the second moving sub-path, i.e., the second curve, Let be the vector function of the first curve at the target splicing point. Let be the vector function of the second curve at the target splicing point. , , , This represents the last four control points on the first moving sub-path. , , , This represents the first four control points on the second moving sub-path; and Corresponding to the first virtual trajectory point, This corresponds to the second virtual trajectory point.

[0122] and:

[0123] ;

[0124] in, Let the node vector of the first curve be... is the node vector of the second curve.

[0125] Then, establish the first and second moving sub-paths at the target splicing point, satisfying C. 1 The second consecutive equation: ;

[0126] Continuing to differentiate, we establish the first and second moving sub-paths, satisfying C at the target splicing point. 2 The third consecutive equation: .

[0127] Then rearrange these three equations into matrix form: Where A is the coefficient matrix, which is the matrix representation of the coefficients preceding the control points in the three equations. For the control point matrix, that is... , , , , , , , These control points are organized into a matrix.

[0128] Specifically, constraints can be constructed by establishing equations. If the vector functions of two different moving sub-paths are consistent at the same target splicing point, it indicates that the first curve and the second curve can remain continuous at that target splicing point. Based on this, the derivatives of the parametric curves and the equations can be established to ultimately achieve C. 2 Establishment of continuous constraints.

[0129] As an optional embodiment, based on the basis functions corresponding to each moving sub-path and the geometric coordinates of each discrete trajectory point, the control points of the parametric curves of each moving sub-path are determined sequentially according to a preset order, including:

[0130] Obtain the first matrix, the second matrix, and the third matrix between the first moving sub-path and the second moving sub-path;

[0131] Wherein, the first matrix is ​​a block diagonal matrix composed of the basis function matrices of the first moving sub-path and the basis function matrices of the second moving sub-path; the second matrix is ​​a column vector matrix composed of the control points of the first moving sub-path and the control points of the second moving sub-path; the third matrix is ​​a column vector matrix composed of the geometric coordinates of the discrete trajectory points on the first moving sub-path and the geometric coordinates of the discrete trajectory points on the second moving sub-path.

[0132] Based on the fact that the dot product of the first and second matrices equals the third matrix, construct the objective equation;

[0133] With curvature continuity as a constraint, the objective equation is solved using the least squares method to obtain the control points of the parametric curves of the first moving sub-path that satisfies curvature continuity and the control points of the parametric curves of the second moving sub-path that satisfies curvature continuity.

[0134] Using the control points of the parametric curve of the Z-1th moving sub-path as known values, the control points of the parametric curve of the Z-1th moving sub-path are solved based on the first, second, and third matrices between the Z-1th and Z-1th moving sub-paths; where Z is a positive integer greater than or equal to 3.

[0135] Understandably, the constraints serve as control point constraints when solving for control points, ensuring that the obtained control points achieve continuity between two adjacent moving sub-paths at the splicing point. Simultaneously, combined with the least squares method, it achieves least squares fitting with linear constraints, transforming the control point derivation of the parametric curves into a problem solved using the least squares method. This requires the parametric curves to be as close as possible to all discrete trajectory points, thus fitting the parametric curves of each moving sub-path. When determining the final moving sub-path, the parametric curves of each moving sub-path need to be determined sequentially according to a preset order. Initially, the control points of the parametric curves of the first and second moving sub-paths are deduced. Then, using the control points of the second moving sub-path as known values, the control points of the parametric curves of the third moving sub-path are deduced, and this process is repeated until the control points corresponding to all Z moving sub-paths are determined, resulting in Z parametric curves corresponding to the Z moving sub-paths. These curves are then directly spliced ​​to obtain the final moving path.

[0136] As a specific embodiment, it is still based on Figure 4 Taking the first and second moving sub-paths as examples of being stitched together at the target stitching point Qk, the parameter values ​​t and node vectors of the parameter curves corresponding to each discrete trajectory point have already been determined through parameterization. Therefore, for both the first and second moving sub-paths, the target equation corresponding to a single moving sub-path can be obtained:

[0137] ;

[0138] Where B is the basis function matrix of the moving sub-path. , , , These are the basis functions of the parametric curves corresponding to the moving sub-paths. to For the M control points of the parametric curve corresponding to the moving sub-path, to Let B be the geometric coordinates of M discrete points on the moving sub-path. Let B be the basis function matrix of the first moving sub-path. A The basis function matrix of the second moving sub-path is B. B Then integrate them into the first matrix:

[0139] ;

[0140] The control points corresponding to the first and second moving sub-paths are integrated into a single column vector matrix, resulting in the second matrix P. The geometric coordinates of the discrete points corresponding to the first and second moving sub-paths are then integrated into a single column vector matrix, resulting in the third matrix Q. Finally, the target equation that must be satisfied when merging the first and second moving sub-paths is established: The least squares method is then constructed as follows: And the constraint condition is The solution is obtained. The least-squares solution of this objective equation, satisfying the constraints, finds an optimal parametric curve that approximates the given discrete trajectory points as closely as possible. This allows us to inversely deduce the control points that achieve the best fit for the parametric curve. At this point, the control points corresponding to each moving sub-path can be fitted. Then, based on the curvature values ​​of the endpoints of the parametric curve corresponding to each moving sub-path, the maximum permissible speed is calculated, and interpolation is performed. Figure 2 As shown, after least squares fitting, interpolation is further performed to generate more refined and continuous control points.

[0141] Specifically, this embodiment provides a multi-segment B-spline curve fitting method based on the least squares method. It automatically analyzes the geometric features of discrete trajectory points, automatically detects and divides fitting sub-paths, and combines this with explicit C-segment fitting between the sub-paths. 2 By applying continuity constraints and utilizing a non-uniform node vector construction strategy, this approach effectively addresses technical issues such as discontinuous interpolation trajectories, high computational complexity, and insufficient smoothness of trajectory curves.

[0142] See Figure 5 As shown, Figure 5This is a schematic diagram of a path generation device for a moving body provided by the present invention; to solve the above-mentioned technical problems, the present invention also provides a path generation device for a moving body, comprising:

[0143] The trajectory point determination unit 11 is used to determine several discrete trajectory points on the initial movement path of the moving body;

[0144] Segmentation unit 12 is used to divide the movement path of a moving body into several movement sub-paths based on several discrete trajectory points;

[0145] The basis function construction unit 13 is used to construct the curve basis function corresponding to the moving sub-path based on the discrete trajectory points corresponding to the moving sub-path for any moving sub-path.

[0146] Fitting unit 14 is used to determine the control points of the parametric curves of each moving sub-path in a preset order, based on the basis functions corresponding to each moving sub-path and the geometric coordinates of each discrete trajectory point, with curvature continuity as the constraint, so as to obtain the final moving path of the moving body; wherein, the preset order is the order of several moving sub-paths in the moving direction.

[0147] For a description of the path generation device for a moving body provided by the present invention, please refer to the embodiments of the path generation method for a moving body described above. The present invention will not be described again here.

[0148] See Figure 6 As shown, Figure 6 This is a schematic diagram of the structure of an electronic device provided by the present invention. To solve the above-mentioned technical problems, the present invention also provides an electronic device, comprising:

[0149] Memory 21 is used to store computer programs;

[0150] Processor 22 is used to implement the steps of the path generation method for the moving body as described above.

[0151] The processor 22 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 22 may be implemented using at least one hardware form selected from DSP (Digital Signal Processor), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor may also include a main processor and a coprocessor. The main processor, also known as the central processing unit, is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 22 may integrate a GPU (graphics processing unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 22 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0152] The memory 21 may include one or more computer-readable storage media, which may be non-transitory. The memory 21 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 21 is used to store at least the following computer program 222, which, after being loaded and executed by the processor 22, is capable of implementing the relevant steps of the path generation method for the mobile body disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 21 may also include an operating system 221 and data, and the storage method may be temporary or permanent storage. The operating system 221 may include Windows, Unix, Linux, etc. The data may include, but is not limited to, data related to the path generation method for the mobile body.

[0153] In some embodiments, the electronic device may further include a display screen, an input / output interface 25, a communication interface 24, a power supply 23, and a communication bus 26. Those skilled in the art will understand that... Figure 6 The illustration does not constitute a limitation on the electronic device and may include more or fewer components than shown.

[0154] For an introduction to the electronic device provided by the present invention, please refer to the embodiments of the above-described path generation method for moving bodies; the present invention will not be described in detail here.

[0155] To address the aforementioned technical problems, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the aforementioned path generation method for a moving body.

[0156] It is understood that if the methods in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, 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. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in the various embodiments of this application. Specifically, the computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, and portable hard drives, or any type of media or device suitable for storing instructions or data, etc., and this application does not make any special limitations here.

[0157] For an introduction to the computer-readable storage medium provided by the present invention, please refer to the embodiments of the path generation method for the moving body described above; the present invention will not be repeated here.

[0158] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatuses disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section. It should also be noted that in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0159] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for generating the path of a moving object, characterized in that, include: Determine several discrete trajectory points on the initial movement path of the moving object; The movement path of the moving body is divided into several sub-paths based on several discrete trajectory points; For any segment point on the movement path, construct a first virtual trajectory point and a second virtual trajectory point corresponding to the segment point; For any moving sub-path, construct the curve basis function corresponding to the moving sub-path based on the discrete trajectory points corresponding to the moving sub-path and the first virtual trajectory points and / or the second virtual trajectory points corresponding to the segment points located on the moving sub-path; With curvature continuity as a constraint, based on the basis functions corresponding to each of the moving sub-paths and the geometric coordinates of each of the discrete trajectory points, the control points of the parametric curves of each moving sub-path are determined in a preset order to obtain the final moving path of the moving body. The preset order is the sequential order of the several moving sub-paths in the direction of movement; The mobile sub-path includes a first mobile sub-path and a second mobile sub-path, and the segmentation point between the first mobile sub-path and the second mobile sub-path is the target splicing point; the construction process of the first virtual trajectory point and the second virtual trajectory point specifically includes: Determine the previous discrete trajectory point of the target splicing point on the first moving sub-path and the next discrete trajectory point of the target splicing point on the second moving sub-path; Connect the previous discrete trajectory point and the next discrete trajectory point to obtain a reference line; Determine a reference straight line that is parallel to the reference line and passes through the target splicing point; Along the trajectory of the first moving sub-path, a first virtual trajectory point is determined on the reference straight line; wherein, the distance between the first virtual trajectory point and the target splicing point is equal to the distance between the previous discrete trajectory point and the target splicing point; Along the trajectory backward of the second moving sub-path, a second virtual trajectory point is determined on the reference straight line; wherein the distance between the second virtual trajectory point and the target splicing point is equal to the distance between the target splicing point and the next discrete trajectory point.

2. The path generation method for a moving body according to claim 1, characterized in that, The process of dividing the movement path of the moving body into several sub-paths based on several discrete trajectory points includes: Determine the curvature of each of the discrete trajectory points; The movement path of the moving body is divided into several sub-paths based on the curvature of each discrete trajectory point.

3. The path generation method for a moving body according to claim 2, characterized in that, The movement path of the moving body is divided into several sub-paths based on the curvature of each discrete trajectory point, including: Determine all curvature maxima in the curvature of all the discrete trajectory points; The discrete trajectory points corresponding to each curvature maxima, the starting point of the movement path, and the ending point of the movement path are determined as segmentation points; The movement path of the moving body is divided into several sub-paths based on the segmentation points.

4. The path generation method for a moving body according to any one of claims 1 to 3, characterized in that, The step of constructing the curve basis function corresponding to the moving sub-path based on the discrete trajectory points corresponding to the moving sub-path and the first virtual trajectory points and / or the second virtual trajectory points corresponding to the segment points located on the moving sub-path includes: The discrete trajectory points on the moving sub-path, the first virtual trajectory points and / or the second virtual trajectory points corresponding to the segment points on the moving sub-path are determined as the discrete points of the moving sub-path; The parameter values ​​for each discrete point are determined using chord length parameterization. The node vector of the moving sub-path is constructed based on the parameter values ​​of the discrete points and the preset order; The basis function for generating the moving sub-path is generated based on the node vector and the preset order.

5. The path generation method for a moving body according to claim 4, characterized in that, The parametric curve of the first moving sub-path is the first curve, and the parametric curve of the second moving sub-path is the second curve; the process of establishing the constraint condition that the first moving sub-path and the second moving sub-path satisfy curvature continuity at the target splicing point specifically includes: A first equation is constructed based on the equality of the first vector function and the second vector function; wherein, the first vector function is the vector function of the first curve at the target splicing point, and the second vector function is the vector function of the second curve at the target splicing point; A second equation is constructed based on the equality of the third and fourth vector functions; wherein the third vector function is the vector function of the first derivative of the first curve at the target splicing point; and the fourth vector function is the vector function of the first derivative of the second curve at the target splicing point. A third equation is constructed based on the equality of the fifth and sixth vector functions; wherein the fifth vector function is the vector function of the second derivative of the first curve at the target splicing point, and the sixth vector function is the vector function of the second derivative of the second curve at the target splicing point; The first, second, and third equations are combined and converted into matrix equations, which are then used as constraints for constructing the parameter curves.

6. The path generation method for a moving body according to claim 4, characterized in that, The step of determining the control points of the parametric curves of each of the moving sub-paths in a predetermined order, based on the basis functions corresponding to each of the moving sub-paths and the geometric coordinates of each of the discrete trajectory points, includes: Obtain the first matrix, the second matrix, and the third matrix between the first moving sub-path and the second moving sub-path; Wherein, the first matrix is ​​a block diagonal matrix composed of the basis function matrices of the first moving sub-path and the basis function matrices of the second moving sub-path; the second matrix is ​​a column vector matrix composed of the control points of the first moving sub-path and the control points of the second moving sub-path; the third matrix is ​​a column vector matrix composed of the geometric coordinates of the discrete trajectory points on the first moving sub-path and the geometric coordinates of the discrete trajectory points on the second moving sub-path. Based on the fact that the dot product of the first matrix and the second matrix equals the third matrix, construct the target equation; With curvature continuity as a constraint, the objective equation is solved using the least squares method to obtain the control points of the parametric curves of the first moving sub-path that satisfies curvature continuity and the control points of the parametric curves of the second moving sub-path that satisfies curvature continuity. Using the control points of the parametric curve of the Z-1th moving sub-path as known values, the control points of the parametric curve of the Z-1th moving sub-path are solved based on the first, second, and third matrices between the Z-1th and Z-1th moving sub-paths; where Z is a positive integer greater than or equal to 3.

7. A path generation device for a moving body, characterized in that, include: The trajectory point determination unit is used to determine several discrete trajectory points on the initial movement path of the moving body; The segmentation unit is used to divide the movement path of the moving body into several movement sub-paths based on several discrete trajectory points; A basis function construction unit is used to construct, for any moving sub-path, a curve basis function corresponding to the moving sub-path based on the discrete trajectory points corresponding to the moving sub-path and the first virtual trajectory points and / or the second virtual trajectory points corresponding to the segment points located on the moving sub-path; The fitting unit is used to determine the control points of the parametric curves of each moving sub-path in a preset order, based on the basis functions corresponding to each moving sub-path and the geometric coordinates of each discrete trajectory point, with curvature continuity as a constraint, so as to obtain the final moving path of the moving body. The preset order is the sequential order of the several moving sub-paths in the direction of movement; The path generation device for the moving body is further configured to, before constructing the curve basis function corresponding to the moving sub-path based on the discrete trajectory points corresponding to the moving sub-path, construct a first virtual trajectory point and a second virtual trajectory point corresponding to any segment point on the moving path; The mobile sub-path includes a first mobile sub-path and a second mobile sub-path, and the segmentation point between the first mobile sub-path and the second mobile sub-path is the target splicing point; the construction process of the first virtual trajectory point and the second virtual trajectory point specifically includes: Determine the previous discrete trajectory point of the target splicing point on the first moving sub-path and the next discrete trajectory point of the target splicing point on the second moving sub-path; Connect the previous discrete trajectory point and the next discrete trajectory point to obtain a reference line; Determine a reference straight line that is parallel to the reference line and passes through the target splicing point; Along the trajectory of the first moving sub-path, a first virtual trajectory point is determined on the reference straight line; wherein, the distance between the first virtual trajectory point and the target splicing point is equal to the distance between the previous discrete trajectory point and the target splicing point; Along the trajectory backward of the second moving sub-path, a second virtual trajectory point is determined on the reference straight line; wherein the distance between the second virtual trajectory point and the target splicing point is equal to the distance between the target splicing point and the next discrete trajectory point.

8. The path generation device for a moving body according to claim 7, characterized in that, The basis function construction unit is specifically used for: The discrete trajectory points on the moving sub-path, the first virtual trajectory points and / or the second virtual trajectory points corresponding to the segment points on the moving sub-path are determined as the discrete points of the moving sub-path; The parameter values ​​for each discrete point are determined using chord length parameterization. The node vector of the moving sub-path is constructed based on the parameter values ​​of the discrete points and the preset order; The basis function for generating the moving sub-path is generated based on the node vector and the preset order.

9. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for implementing the steps of the path generation method for a moving body as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the path generation method for a moving body as described in any one of claims 1 to 6.

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