CN112633600B - Path generation method and device, unmanned equipment and storage medium - Google Patents

Abstract

The embodiment of the application relates to the field of path planning, and provides a path generation method, a device, unmanned equipment and a storage medium, when a specified point of an original path is changed, firstly, position information and auxiliary information of the current specified point are acquired, and an auxiliary line passing through the current specified point is generated; then, an intersection point where the auxiliary line and the original path intersect for the first time is determined, a first road section between the currently specified point and the intersection point is generated, and then the target path is generated based on the intersection point and the first road section, so that the target path can be generated without discarding the original path, and the path planning efficiency and the unmanned equipment operation efficiency are improved.

Description

Path generation method, device, unmanned equipment and storage medium

technical field

The embodiments of the present application relate to the field of path planning, and in particular, relate to a path generation method, device, unmanned equipment, and storage medium.

Background technique

In the existing path planning method, the starting point, the end point and the operation area need to be determined first, and then the path from the starting point to the end point is planned within the operation area. However, in practical applications, due to job requirements, it may be necessary to change the start point or end point. In this case, the original path needs to be discarded and the path should be re-planned according to the new start point or new end point. Therefore, once the starting point or end point is changed, the path needs to be re-planned, which takes a lot of time and affects the operating efficiency of the unmanned equipment.

Contents of the invention

The purpose of the embodiment of the present application is to provide a path generation method, device, unmanned equipment and storage medium to solve the problem that the existing path planning method needs to re-plan the path when changing the starting point or end point, which affects the operating efficiency of the unmanned equipment The problem.

In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

In the first aspect, the embodiment of the present application provides a path generation method, the method comprising: responding to a designated point change instruction, acquiring the position information and auxiliary information of the current designated point; according to the position information of the current designated point and the Auxiliary information, generating an auxiliary line, the current designated point is located on the auxiliary line; determining the intersection point where the auxiliary line intersects with the original path for the first time; generating the first section between the current designated point and the intersection point; based on The intersection point and the first road section generate a target path.

Optionally, the step of generating a target path based on the intersection point and the first road section includes: determining the road section to be processed from the original path based on the intersection point and the original designated point of the original path; Combining the first road segment and the road segment to be processed to obtain the target route.

Optionally, the step of determining the road segment to be processed from the original route based on the intersection point and the original designated point of the original route includes: determining whether the intersection point is the original designated point; if the If the intersection point is the original designated point, then it is determined that the section to be processed is the original path; if the intersection point is not the original designated point, then delete all the same types of the current designated point in the original path. The second road section between the original specified point and the intersection point is obtained to obtain the road section to be processed.

Optionally, the step of deleting the second road segment between the original designated point and the intersection point in the original route to obtain the road segment to be processed includes: if the current designated point is the current starting point, then The original designated point is the original starting point, and the second road section between the original starting point and the intersection point in the original path is deleted to obtain the road section to be processed; if the current designated point is the current end point, the The original designated point is the original end point, and the second road section between the original end point and the intersection point in the original path is deleted to obtain the road section to be processed.

Optionally, the auxiliary information is a set point; the step of generating an auxiliary line according to the position information of the current designated point and the auxiliary information includes: connecting the currently designated point and the set point , and use the line connecting the current designated point and the set point as the auxiliary line.

Optionally, the auxiliary information is a set line, and the set line passes through the current designated point; the step of generating an auxiliary line according to the position information of the currently designated point and the auxiliary information includes: The setting line is extended until it intersects with the original path, and the extended setting line is used as the auxiliary line.

Optionally, the auxiliary information is a set straight line slope; the step of generating an auxiliary line according to the position information of the current designated point and the auxiliary information includes: according to the current designated point and the set The slope of the line generates a straight line and uses the straight line as the auxiliary line.

Optionally, the step of generating the first road section between the current specified point and the intersection point includes: if there is an obstacle between the current specified point and the intersection point, obtaining the Location information: performing obstacle avoidance path planning according to the location information of the obstacle, so as to generate the first road section where the obstacle does not exist.

In the second aspect, the embodiment of the present application also provides a route generating device, the device comprising: an acquisition module, configured to respond to a designated point change instruction, and obtain the location information and auxiliary information of the current designated point; a processing module, configured to: Generate an auxiliary line according to the position information of the current designated point and the auxiliary information, and the current designated point is located on the auxiliary line; determine the intersection point where the auxiliary line intersects with the original path for the first time; generate the current designated point and a first road section between the intersection point; based on the intersection point and the first road section, a target path is generated.

In the third aspect, the embodiment of the present application also provides an unmanned device, which includes: one or more processors; memory, used to store one or more programs, when the one or more programs When executed by the one or more processors, the one or more processors are made to implement the above path generation method.

In a fourth aspect, the embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above path generation method is implemented.

Compared with the prior art, a route generation method, device, unmanned equipment and storage medium provided by the embodiments of the present application, when the designated point of the original route is changed, first obtain the position information and auxiliary information of the current designated point, and generate The auxiliary line passing through the current specified point; then, determine the intersection point where the auxiliary line intersects with the original path for the first time, and generate the first road segment between the current designated point and the intersection point, and then generate the target path based on the intersection point and the first road segment, so that there is no need to discard The target path can be generated from the original path, which improves the efficiency of path planning and the operation efficiency of unmanned equipment.

Description of drawings

FIG. 1 shows a schematic flowchart of a path generation method provided by an embodiment of the present application.

FIG. 2 shows an exemplary diagram of a target path provided by the embodiment of the present application.

FIG. 3 shows another example diagram of the target path provided by the embodiment of the present application.

FIG. 4 shows an exemplary diagram of an auxiliary line provided by an embodiment of the present application.

FIG. 5 shows another example diagram of the auxiliary line provided by the embodiment of the present application.

FIG. 6 shows another exemplary diagram of the auxiliary line provided by the embodiment of the present application.

FIG. 7 is a schematic flowchart of step S104 in the route generation method shown in FIG. 1 .

FIG. 8 is a schematic flowchart of step S105 in the path generation method shown in FIG. 1 .

FIG. 9 shows another exemplary diagram of the target path provided by the embodiment of the present application.

FIG. 10 shows another exemplary diagram of the target path provided by the embodiment of the present application.

FIG. 11 shows a schematic block diagram of a path generation device provided by an embodiment of the present application.

Fig. 12 shows a schematic block diagram of an unmanned device provided by an embodiment of the present application.

Icons: 100-path generation device; 101-acquisition module; 102-processing module; 10-unmanned equipment; 11-processor; 12-memory; 13-bus.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application.

Please refer to FIG. 1 . FIG. 1 shows a schematic flowchart of a path generation method provided by an embodiment of the present application. The path generation method is applied to unmanned equipment, and the path generation method includes the following steps:

S101. Acquiring position information and auxiliary information of a current designated point in response to a designated point change instruction.

In one embodiment, the command to change the designated point is input by the user through a control device that communicates with the unmanned device. The command to change the designated point includes position information and auxiliary information of the current designated point. The auxiliary information can represent the distance from the current designated point to the original The direction of the path.

Optionally, the control device may be a controller equipped with RTK (Real-time kinematic, carrier phase difference technology), for example, single-handed control.

The user can carry the one-hand control to a specific location, and then use the one-hand control to mark the location, thereby triggering the change of the designated point, and then the user inputs auxiliary information through the one-hand control.

The user can also hold the single-hand control to reach the starting point or end point of the original path, and then at the starting point or end point of the original path, use the single-hand control to perform a dot operation or press the command sending button of the single-hand control, thereby triggering the change of the specified point; after that The user travels along a certain road section, and at the same time continuously performs dot operations through one-hand control, or keeps pressing the command sending button of one-hand control; until the destination point is reached, the dot operation is stopped or the command sending button is released, so as to change the original path. Change the start or end point of the . At this time, the destination point is the currently designated point, and the user's traveling track is the auxiliary information.

Optionally, the control device may also be a terminal, for example, any one of a smart phone, a tablet computer, a portable notebook computer, a desktop computer, a server, and the like. The terminal is installed with an APP (Application, application program) related to the control of the unmanned equipment. The original route and the operation map are displayed in the APP interface, and the user can change the designated point through the APP interface.

The user can realize the change of the specified point by clicking. For example, the user can click a certain point in the operation map displayed on the APP interface as the changed specified point, thereby triggering the change of the specified point. Subsequently, the APP interface may display prompt information to prompt the user to input auxiliary information.

Users can also change the specified point and input auxiliary information at the same time by dragging. For example, the user can select the original specified point of the original path displayed on the APP interface, that is, the starting point or end point of the original path; then, drag the selected original specified point to change the position of the original specified point, drag The point where the moving operation ends is the current designated point, and the dragging track of the dragging operation is the auxiliary information.

It can be known from the foregoing method of changing the designated point that the user needs to travel to a specific location or perform an operation on the APP interface every time the designated point is changed. Therefore, for scenarios that require multiple changes to specified points, such as fruit loading, the user needs to perform multiple operations separately, which makes the operation too cumbersome, which is not conducive to user experience, and also affects the efficiency of path planning and the operation of unmanned equipment. efficiency.

Therefore, in another embodiment, the user can store in the unmanned device in advance the multiple designated points that need to be operated sequentially and the trigger conditions of each designated point through the control device that is communicatively connected with the unmanned device. In this way, when the unmanned equipment reaches the trigger condition of a specified point during the operation process, the processor of the unmanned equipment will generate a specified point change command, and the specified point after the specified point will be used as the current specified point, thereby realizing Changes to specified points.

For example, when the trigger condition of the first specified point is reached, the processor of the unmanned device will generate a specified point change command to change the current specified point to the second specified point, and plan using the path generation method provided in the embodiment of the present application The corresponding path, and carry out the operation according to the corresponding path; from this reciprocating execution, until the operation of the corresponding path of all specified points is completed.

Optionally, the trigger condition may be the working duration corresponding to each specified point, for example, after reaching the working duration corresponding to a certain specified point, the specified point after the specified point is used as the current specified point. The trigger condition can also be a switching command sent remotely by the user through the control device. For example, the user sees that the unmanned device completes the operation of a specified path corresponding to a certain point through remote or on-site monitoring, and sends a switching command remotely through the control device. After receiving the switching instruction, the unmanned device takes the designated point after the designated point as the current designated point.

S102. Generate an auxiliary line according to the position information and auxiliary information of the currently designated point, where the currently designated point is located on the auxiliary line.

Since the auxiliary information can represent the direction from the current specified point to the original path, an auxiliary line can be generated according to the position information of the target point and the auxiliary information. The auxiliary line passes through the current specified point and intersects with the original path.

Optionally, the auxiliary information may be a point, or a slope of a straight line, or a line passing through the currently specified point, for example, a curve or a straight line.

S103. Determine an intersection point where the auxiliary line intersects with the original path for the first time.

S104. Generate a first road segment between the current designated point and the intersection point.

In this embodiment, an existing interpolation algorithm or other techniques for generating a path based on two points may be used to generate the first road segment between the current designated point and the intersection point, which will not be repeated here.

S105. Generate a target path based on the intersection point and the first road section.

In this embodiment, after obtaining the intersection point where the auxiliary line intersects with the original path for the first time, and the first section between the current designated point and the intersection point, it is possible to determine whether the intersection point is the original designated point of the original path, that is, the original path start or end point to generate the target path.

If the intersection point is not the original designated point of the original path, then the first step is to generate the road segment between the current designated point and the intersection point; the second step is to delete the original designated point of the same type as the current designated point in the original route and the intersection point The same type means: the current specified point is the starting point, then the original specified point is also the starting point, that is, the section between the starting point and the intersection point in the original path is deleted; the current specified point is the end point, the original The specified point is also the end point, that is, delete the road segment between the end point and the intersection point in the original path; the third step is to combine the road segment between the current designated point and the intersection point obtained in the first step and the remaining road segment obtained in the second step Links are merged to generate the target path.

For example, please refer to Figure 2, A→B is the original path, A is the starting point, and B is the end point; For the starting point or end point of the path, the section between the changed starting point a and the intersection point M is generated, such as a→M; then, the section between the original starting point A and the intersection point M in the original path is deleted, that is, A→M, to obtain The remaining road section M→B; finally, merge the road section a→M between the changed starting point a and the intersection point M and the remaining road section M→B to obtain the target path a→M→B.

If the intersection point is the original designated point of the original path, then the first step is to generate the road segment between the current designated point and the intersection point; the second step is to generate the road segment between the current designated point and the intersection point obtained in the first step, Merge with the original path to generate the target path.

For example, please refer to Figure 3, A→B is the original path, A is the starting point, and B is the end point; a is the changed starting point, l is the auxiliary line, and the intersection point where the auxiliary line intersects the original path for the first time is A, because the intersection point A is For the starting point of the original path, a road section between the changed starting point a and the intersection point A is generated, such as a→A; then, the road section a→A between the changed starting point a and the intersection point A is merged with the original path A→B, Get the target path a→A→B.

Step S102 will be described in detail below.

In one embodiment, the auxiliary information is a set point, eg a point entered by the user via the control device. In this case, step S102 may include sub-step S1021.

S1021, connect the current designated point and the set point, and use the connecting line between the current designated point and the set point as an auxiliary line.

For example, please refer to Figure 4, A → B is the original path, A is the starting point, and B is the end point; a is the changed starting point, b is the set point, then connect a and b to obtain the connection line l of the two, l is for the auxiliary line.

In another embodiment, the auxiliary information is a set line and the set line passes through the current specified point, for example, a line passed through the current specified point input by the user through the control device, the set line can be a straight line or a curve, and This is not limited. In this case, step S102 may include sub-step S1022.

S1022. Extend the setting line until it intersects with the original path, and use the extended setting line as an auxiliary line.

For example, please refer to Figure 5, A → B is the original path, A is the starting point, and B is the end point; a is the changed starting point, l is the setting line passing through a, then extend l until it intersects with the original path, and the extended l is the auxiliary line.

In yet another embodiment, the auxiliary information is a set straight line slope, for example, a straight line slope input by a user through a control device. In this case, step S102 may include sub-step S1023.

S1023. Generate a straight line according to the current designated point and the set slope of the straight line, and use the straight line as an auxiliary line.

For example, please refer to Figure 6, A → B is the original path, A is the starting point, and B is the end point; a is the changed starting point, and k is the set straight line slope, then a straight line l is generated according to the changed starting point a and slope k , l is the auxiliary line.

In a possible situation, since the first road segment is generated by the unmanned device based on the current designated point and the intersection point where the auxiliary line intersects the original route for the first time, there may be obstacles in the generated first road segment. In order to solve this problem, before generating the first road segment, the position of the obstacle can be obtained in advance and the path planning for obstacle avoidance can be performed, so as to generate the first road segment without obstacles.

Therefore, on the basis of FIG. 1, please refer to FIG. 7, step S104 may include the following sub-steps:

S1041, if there is an obstacle between the currently designated point and the intersection point, obtain the position information of the obstacle.

If there is an obstacle in the area between the currently designated point and the intersection point, the user can input the location information of the obstacle into the unmanned device for storage in advance through the control device, so that the unmanned device can directly obtain the corresponding information when planning the path. obstacle information.

S1042. Perform obstacle avoidance path planning according to the position information of the obstacle, so as to generate a first road section without any obstacle.

The existing obstacle avoidance path generation algorithm can be used to complete the obstacle avoidance path planning between the current designated point and the intersection point, which will not be repeated here.

In addition, in practical applications, the first road section can also be generated directly based on the current designated point and the intersection point where the auxiliary line intersects the original path for the first time. During the subsequent operation of the unmanned equipment along the first road section, the obstacle detection device can be used to achieve avoidance. barrier.

Step S105 will be described in detail below. On the basis of Figure 1, please refer to Figure 8, step S105 may include the following sub-steps:

S1051. Based on the intersection point and the original designated point of the original route, determine the road section to be processed from the original route.

S1052. Merge the first road segment and the road segment to be processed to obtain the target path.

In this embodiment, the original route includes a road segment to be processed, that is, the road segment to be processed may be the original route or a segment of the original route.

Based on the intersection point and the original specified point of the original path, the process of determining the road section to be processed from the original path may include: first, determining whether the intersection point is the original specified point, that is, determining whether the intersection point is the starting point or the end point of the original path; then, if If the intersection point is the original designated point, it is determined that the road segment to be processed is the original path; if the intersection point is not the original designated point, then delete the second road segment between the original designated point and the intersection point that is the same type as the current designated point in the original path, and obtain the pending road section.

That is, if the current designated point is the current starting point, the original designated point is the original starting point, and the second road segment between the original starting point and the intersection point in the original path is deleted to obtain the road segment to be processed; the current designated point is the current end point, and the original designated point is the original end point, delete the second road section between the original end point and the intersection point in the original path, and obtain the road section to be processed.

For example, please refer to Figure 9, A → B in the figure is the original path, A is the starting point, and B is the end point; in the left figure, a is the current starting point, and M is the intersection point, then delete the original starting point A and the intersection point M Road section A→M, to get the road section to be processed M→B, assuming that the first road section is a→M, then merge the first road section a→M and the road section to be processed M→B to obtain the target path a→M→B; the right figure , b is the current end point, N is the intersection point, delete the road section between the original end point B and the intersection point N, and get the road section A→N to be processed, assuming that the first road section is b→N, then merge the first road section b→N and the pending road section Process the road section A→N to obtain the target path A→N→b.

It should be pointed out that the above is described by changing the starting point or the changing end point as an example, and it should be understood that the path generation method provided in the embodiment of the present application can also be applied to the scene where the starting point and the ending point are changed at the same time.

For example, please refer to Figure 10, where A → B is the original path, A is the starting point, B is the end point, a is the changed starting point, b is the changed end point, M and N are the intersection points, then delete the original starting point A and The road section between the intersection point M, and the road section between the original end point and the intersection point N, get the road section M→N to be processed; assuming that the first road section is a→M and b→N, merge the first road section a→M, b→ N and the road segment to be processed M→N, the target path a→M→N→b is obtained.

The path generation method provided in the embodiment of the present application can be applied in a scenario where the original work area needs to be reduced or expanded due to work requirements. The reason for the reduction of the original work area may be that a certain sub-area in the original work area has completed the work or no work is required due to other factors. The reason for the expansion of the original operation area may be that other areas outside the original operation area need to be operated. Therefore, for the above application scenarios, the path generation method provided by the embodiment of the present application can be used to retain the original path and generate the target path on the basis of the original path, thereby simplifying the path planning process and improving the operating efficiency of the unmanned equipment.

Compared with the prior art, the embodiment of the present application has the following beneficial effects:

First, when the designated point of the original path changes, the auxiliary line passing through the current designated point is generated by obtaining the position information and auxiliary information of the current designated point, and then the intersection point where the auxiliary line and the original path intersect for the first time is determined to generate the current designated point. The first section between the point and the intersection point; after that, by judging whether the intersection point is the starting point or the end point of the original path, the target path is generated on the basis of the original path, so that the target path can be generated without discarding the original path, and the accuracy of path planning is improved. Efficiency and operating efficiency of unmanned equipment;

Secondly, before generating the first road section between the current designated point and the intersection point, the position of the obstacle can be obtained in advance and the obstacle avoidance path planning can be performed to generate the first road section without obstacles, which further improves the operation of the unmanned equipment. efficiency.

In order to execute the corresponding steps in the foregoing method embodiments and various possible implementation manners, an implementation manner of a path generation device is given below. Please refer to FIG. 11 . FIG. 11 shows a schematic block diagram of a path generating device 100 provided by an embodiment of the present application. The path generation device 100 is applied to unmanned equipment, and the path generation device 100 includes: an acquisition module 101 and a processing module 102 .

The acquisition module 101 is configured to acquire the position information and auxiliary information of the current designated point in response to the designated point change instruction.

The processing module 102 is used to generate an auxiliary line according to the position information and auxiliary information of the current designated point, and the current designated point is located on the auxiliary line; determine the intersection point where the auxiliary line intersects with the original path for the first time; generate the first intersection point between the current designated point and the intersection point A road segment; based on the intersection point and the first road segment, a target path is generated.

Optionally, the processing module 102 executes the method of generating the target path based on the intersection point and the first road section, including: determining the road section to be processed from the original path based on the intersection point and the original designated point of the original path; merging the first road section and the road section to be processed , to get the target path.

Optionally, the processing module 102 executes the method of determining the road segment to be processed from the original route based on the intersection point and the original designated point of the original route, including: determining whether the intersection point is the original designated point; The road segment is the original path; if the intersection point is not the original designated point, delete the second road segment between the original designated point and the intersection point in the original path, which is the same type as the current designated point, to obtain the road segment to be processed.

Optionally, the processing module 102 executes the method of deleting the second road segment between the original designated point and the intersection point of the same type as the current designated point in the original route to obtain the road segment to be processed, including: if the current designated point is the current starting point, then The original designated point is the original starting point, delete the second road section between the original starting point and the intersection point in the original path, and obtain the road section to be processed; The second road segment between is obtained to obtain the road segment to be processed.

Optionally, the auxiliary information is a set point;

The processing module 102 performs a method of generating an auxiliary line based on the position information and auxiliary information of the currently designated point, including: connecting the currently designated point and the set point, and using the connecting line between the currently designated point and the set point as the auxiliary line.

Optionally, the auxiliary information is a set line, and the set line passes through the current designated point;

The processing module 102 performs a method of generating an auxiliary line based on the position information and auxiliary information of the currently designated point, including: extending the set line until it intersects with the original path, and using the extended set line as the auxiliary line.

Optionally, the auxiliary information is setting the slope of the straight line;

The processing module 102 executes the method of generating an auxiliary line based on the position information and auxiliary information of the currently designated point, including: generating a straight line according to the currently designated point and the set slope of the straight line, and using the straight line as the auxiliary line.

Optionally, the processing module 102 executes the method of generating the first road segment between the current designated point and the intersection point, including: if there is an obstacle between the current designated point and the intersection point, obtaining the position information of the obstacle; Information for obstacle avoidance path planning to generate the first road segment without obstacles.

Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the path generation device 100 described above can refer to the corresponding process in the foregoing method embodiments, and details are not repeated here.

Please refer to FIG. 12 , which shows a schematic block diagram of an unmanned device 10 provided by an embodiment of the present application. The unmanned device in this embodiment can be an aircraft, or an unmanned vehicle, an unmanned ship, a robot, etc. The user can choose different devices according to the application scenario, which is not limited here. The unmanned device 10 includes a processor 11 , a memory 12 and a bus 13 , and the processor 11 is connected to the memory 12 through the bus 13 .

The memory 12 is used to store programs, such as the path generating device 100 shown in FIG. After the instruction is executed, the program is executed to implement the path generation method disclosed in the above embodiments.

The memory 12 may include a high-speed random access memory (Random Access Memory, RAM), and may also include a non-volatile memory (non-volatile memory, NVM).

The processor 11 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor 11 or instructions in the form of software. The above-mentioned processor 11 can be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a micro control unit (Microcontroller Unit, MCU), a complex programmable logic device (Complex Programmable LogicDevice, CPLD), a field programmable gate Array (Field Programmable Gate Array, FPGA), embedded ARM and other chips.

The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by the processor 11, the path generation method disclosed in the above-mentioned embodiment is implemented.

To sum up, in the route generation method, device, unmanned equipment and storage medium provided by the embodiments of the present application, when the designated point of the original route is changed, the location information and auxiliary information of the current designated point are first obtained, and generated The auxiliary line passing through the current specified point; then, determine the intersection point where the auxiliary line intersects with the original path for the first time, and generate the first road segment between the current designated point and the intersection point, and then generate the target path based on the intersection point and the first road segment, so that there is no need to discard The target path can be generated from the original path, which improves the efficiency of path planning and the operation efficiency of unmanned equipment.

The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, various modifications and changes may be made to the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims (11)

1. A method for path generation, the method comprising:

responding to a designated point change instruction, and acquiring position information and auxiliary information of a current designated point, wherein the auxiliary information represents a direction from the current designated point to an original path, and the current designated point comprises a current starting point and/or a current end point;

generating an auxiliary line according to the position information of the current designated point and the auxiliary information, wherein the current designated point is positioned on the auxiliary line;

determining an intersection point of the auxiliary line and the original path, wherein the intersection point comprises an intersection point corresponding to the current starting point and/or an intersection point corresponding to the current end point;

generating a first road segment between the current designated point and the intersection point, wherein the first road segment comprises a first road segment between the current starting point and the intersection point corresponding to the current starting point and/or a first road segment between the current terminal point and the intersection point corresponding to the current terminal point;

generating a target path based on the intersection point and the first segment;

if the intersection point is not the original starting point and/or the original end point of the original path, the target path is the sum of the first road section, the road section between the intersection point corresponding to the current starting point and the original end point in the original path, and/or the road section between the intersection point corresponding to the current end point and the original starting point in the original path; and if the intersection point is the original starting point and/or the original end point of the original path, the target path is the sum of the first road section and the original path.

2. The method of claim 1, wherein the step of generating a target path based on the intersection point and the first segment comprises:

determining a road section to be processed from the original path based on the intersection point and the original designated point of the original path;

and combining the first road section and the road section to be processed to obtain the target path.

3. The method of claim 2, wherein the step of determining a road segment to be processed from the original route based on the intersection point and an originally specified point of the original route comprises:

determining whether the intersection point is the originally designated point;

if the intersection point is the original designated point, determining the road section to be processed as the original path;

and if the intersection point is not the original designated point, deleting a second road section between the original designated point and the intersection point, which are in the same type as the current designated point, in the original path to obtain the road section to be processed.

4. The method according to claim 3, wherein the step of deleting the second segment between the original designated point and the intersection point in the original path to obtain the segment to be processed comprises:

if the current designated point is the current starting point, the original designated point is the original starting point, and a second road section between the original starting point and the intersection point in the original path is deleted to obtain the road section to be processed;

and if the current designated point is the current end point, the original designated point is the original end point, and a second road section between the original end point and the intersection point in the original path is deleted to obtain the road section to be processed.

5. The method of claim 1, wherein the auxiliary information is a set point;

the step of generating an auxiliary line based on the position information of the currently specified point and the auxiliary information includes:

and connecting the current designated point and the set point, and using a connecting line of the current designated point and the set point as the auxiliary line.

6. The method of claim 1, wherein the auxiliary information is a set line passing through the currently specified point;

the step of generating an auxiliary line based on the position information of the currently specified point and the auxiliary information includes:

and extending the setting line until the setting line is intersected with the original path, and taking the extended setting line as the auxiliary line.

7. The method of claim 1, wherein the auxiliary information is a set straight line slope;

the step of generating an auxiliary line based on the position information of the currently specified point and the auxiliary information includes:

and generating a straight line according to the current specified point and the set straight line slope, and taking the straight line as the auxiliary line.

8. The method of claim 1, wherein the step of generating the first road segment between the currently specified point and the intersection point comprises:

if an obstacle exists between the current designated point and the intersection point, acquiring position information of the obstacle;

and planning an obstacle avoidance path according to the position information of the obstacle so as to generate the first road section without the obstacle.

9. A path generation apparatus, characterized in that the apparatus comprises:

the acquisition module is used for responding to a change instruction of the appointed point, and acquiring the position information and the auxiliary information of the current appointed point, wherein the auxiliary information represents the direction from the current appointed point to an original path, and the current appointed point comprises a current starting point and/or a current end point;

a processing module to:

generating an auxiliary line according to the position information of the current designated point and the auxiliary information, wherein the current designated point is positioned on the auxiliary line;

determining an intersection point of the auxiliary line and the original path, wherein the intersection point comprises an intersection point corresponding to the current starting point and/or an intersection point corresponding to the current end point;

generating a first road segment between the current designated point and the intersection point, wherein the first road segment comprises a first road segment between the current starting point and the intersection point corresponding to the current starting point and/or a first road segment between the current terminal point and the intersection point corresponding to the current terminal point;

generating a target path based on the intersection point and the first segment;

if the intersection point is not the original starting point and/or the original end point of the original path, the target path is the sum of the first road section, the road section between the intersection point corresponding to the current starting point and the original end point in the original path, and/or the road section between the intersection point corresponding to the current end point and the original starting point in the original path; and if the intersection point is the original starting point and/or the original end point of the original path, the target path is the sum of the first road section and the original path.

10. An unmanned device, comprising:

one or more processors;

memory storing one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-8.

11. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-8.

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