CN-121366506-B - Method and device for constructing airway network, electronic equipment and readable storage medium

CN121366506BCN 121366506 BCN121366506 BCN 121366506BCN-121366506-B

Abstract

The application provides a construction method, a device, electronic equipment and a readable storage medium of a road network, wherein a space to be planned is divided into at least one grid, a grid risk value of each grid is determined, at least one starting point end point grid pair is determined based on starting point grid requirements, end point grid requirements and preset end point grid selection constraint conditions, at least one target candidate path is screened out based on risk cost sum corresponding to each candidate path of the starting point end point grid pair aiming at each starting point end point grid pair, a plurality of candidate road sections and maximum traffic capacity corresponding to each candidate road section are determined, at least one target road path is constructed based on the determined multiple target candidate paths, the maximum traffic capacity corresponding to each candidate road section and the road network planning constraint conditions, and the road network is constructed based on the constructed at least one target road path. Thus, the accuracy of the construction of the navigation path network can be improved.

Inventors

HUANG LE
CHEN ZHIHUI
LIU PENG
JIN YINJUN

Assignees

浙江浙蕨科技有限公司

Dates

Publication Date: 20260508
Application Date: 20251223

Claims (11)

1. The construction method of the navigation path network is characterized by comprising the following steps: Dividing a space domain to be planned into at least one grid, and determining available information of each grid and a grid risk value; determining at least one starting point grid and at least one end point grid based on the starting point grid demand, the end point grid demand and preset end point grid selection constraint conditions, and determining at least one starting point and end point grid pair; determining, for each starting point-destination grid pair, at least one grid through which the starting point grid passes from the starting point grid to the destination grid in the starting point-destination grid pair, and determining a target risk cost sum corresponding to each path corresponding to the starting point-destination grid based on a grid risk value corresponding to each grid; Screening at least one target candidate path corresponding to each starting point and end point grid pair based on the sum of risk costs corresponding to each candidate path corresponding to the starting point and end point grid pair; determining a plurality of candidate road segments positioned in a plurality of target candidate paths and the maximum traffic capacity corresponding to each candidate road segment; And constructing at least one target route path based on the determined multiple target candidate paths, the maximum traffic capacity corresponding to each candidate road section and route network planning constraint conditions, and constructing a route network based on the constructed at least one target route path.
2. The method of claim 1, wherein the determining at least one starting point grid and at least one ending point grid based on the starting point grid demand, the ending point grid demand, and the preset ending point grid selection constraint comprises: Determining the number of start grids and the number of end grids based on the start point requirement, the end point requirement and the maximum flow of each grid in a preset time period; Screening out at least one starting point grid of the number of the starting point grids based on the distance between each grid and the starting point and the adjacent information between the grids at the starting point position; and screening at least one end point grid of the number of the end point grids based on the distance between each grid and the end point and the adjacent information between the grids at the end point position.
3. The construction method according to claim 1, wherein determining a target risk cost sum corresponding to each path corresponding to the start point destination grid based on the grid risk value corresponding to each grid comprises: for each path, determining a first risk cost sum for the path based on a distance sum of each grid traversed by the path and a grid risk value of each grid; for each path, determining the Euclidean distance from the starting point to the end point of the path, and determining at least one Euclidean distance grid through which the Euclidean distance from the starting point to the end point passes; For each path, determining a second risk cost sum for the path based on the euclidean distance of the path and the grid risk value for each euclidean distance grid; and for each path, adding the first risk cost sum and the second risk cost sum corresponding to the path, and determining the target risk cost sum corresponding to the path.
4. The method according to claim 1, wherein for each starting point destination grid pair, screening at least one target candidate path corresponding to the starting point destination grid pair based on a risk cost sum corresponding to each candidate path corresponding to the starting point destination grid pair, includes: for each starting point and ending point grid pair, determining a first candidate path with the largest risk cost and among a plurality of paths corresponding to the starting point and ending point grid pair; For each starting point and ending point grid pair, calculating the path similarity between each candidate path corresponding to the starting point and ending point grid pair and the first candidate path, and determining at least one second candidate path with the path similarity smaller than a path similarity threshold value; for each starting point and ending point grid pair, determining the first candidate path and the at least one second candidate path as at least one target candidate path corresponding to the starting point and ending point grid pair.
5. The construction method according to claim 4, further comprising: for each starting point and end point grid pair, detecting whether the number of paths of the target candidate paths corresponding to the starting point and end point grid pair is larger than a preset path number threshold; If the wind direction cost is not greater than the first wind direction cost, continuously determining candidate paths in each starting point-end point grid pair according to each starting point-end point grid pair, and calculating a third wind direction cost sum of each revised candidate path based on revision parameters; And screening the candidate paths based on the third wind direction cost sum and the corresponding first risk cost sum of each candidate path aiming at each starting point and ending point grid pair, and determining at least one target candidate path.
6. The construction method according to claim 1, wherein the determining a plurality of candidate segments located in a plurality of the target candidate paths includes: for each target candidate path, determining at least one jump point positioned on the target candidate path, and determining a connecting line between two adjacent jump points as an initial road section; and deleting or merging the plurality of initial road segments based on the intersection information, the overlapping information, the road segment passing direction information and the passing capacity of each initial road segment on the target candidate path for each target candidate path, and determining a plurality of candidate road segments corresponding to the target candidate path.
7. The construction method according to claim 1, wherein the maximum traffic capacity corresponding to each candidate road segment is determined by: for each candidate road section, determining whether a road section which is the same as the road section passing direction of the candidate road section and has a road section distance between the candidate road section and the road section of which is greater than a preset road section distance threshold value exists or not; For each unpaired candidate road section, searching outwards towards the vertical direction of the candidate road section, determining at least one first grid passing before encountering an obstacle or prohibiting a flight area, and determining the product of the grid number of the first grids and the grid traffic capacity corresponding to each first grid as the maximum traffic capacity corresponding to the candidate road section; For each candidate road segment paired with the candidate road segment, searching outwards towards a direction far away from the candidate road segment paired with the candidate road segment, determining at least one second grid passing before encountering an obstacle or prohibiting a flight area, and determining the sum of the product of the grid number of the second grids and the grid traffic capacity corresponding to each second grid and the traffic capacity distributed to the middle of the candidate road segment as the maximum traffic capacity corresponding to the candidate road segment.
8. The method according to claim 1, wherein the constructing at least one target route path based on the determined multiple target candidate paths, the maximum traffic capacity corresponding to each candidate segment, and the route network planning constraint includes: For each target candidate path, determining a target candidate path starting point and a path ending point, and determining at least one candidate road section taking the path starting point as a starting point and/or at least one first candidate road section taking the path ending point as an ending point; removing at least one candidate road section which is not adjacent to other first candidate road sections from the plurality of first candidate road sections based on the plurality of first candidate road sections corresponding to the determined multi-item target candidate paths, and determining at least one second candidate road section; Determining at least one candidate path to be established, which is formed by at least one second candidate road section, based on the at least one second candidate road section; And determining the candidate paths to be built, of which the traffic capacity is larger than the corresponding traffic capacity of each starting point and end point grid pair, in at least one candidate path to be built as the target route path to be built.
9. A construction device for a road network, the construction device comprising: the grid dividing module is used for dividing the space domain to be planned into at least one grid and determining available information of each grid and a grid risk value; The starting point and end point grid pair determining module is used for determining at least one starting point grid and at least one end point grid based on the starting point grid requirement, the end point grid requirement and a preset starting point grid selection constraint condition, and determining at least one starting point and end point grid pair; the system comprises a target risk cost and determination module, a target risk cost sum determination module and a target risk cost sum determination module, wherein the target risk cost sum determination module is used for determining at least one grid from a starting point grid to an end point grid in each starting point and end point grid pair; The candidate path determining module is used for screening at least one target candidate path corresponding to each starting point and end point grid pair based on the sum of risk costs corresponding to each candidate path corresponding to the starting point and end point grid pair; The candidate road section determining module is used for determining a plurality of candidate road sections positioned in a plurality of target candidate paths and the maximum traffic capacity corresponding to each candidate road section; The navigation path network construction module is used for constructing at least one item of target navigation path based on the determined multiple item of target candidate paths, the maximum traffic capacity corresponding to each candidate road section and the navigation path network planning constraint condition, and constructing the navigation path network based on the constructed at least one item of target navigation path.
10. An electronic device comprising a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating over the bus when the electronic device is in operation, the processor executing the machine-readable instructions to perform the steps of the method of constructing an airway network as claimed in any one of claims 1 to 8.
11. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, performs the steps of the method of constructing an airliner as claimed in any one of claims 1 to 8.

Description

Method and device for constructing airway network, electronic equipment and readable storage medium Technical Field The present application relates to the field of air traffic technologies, and in particular, to a method and an apparatus for constructing an air route network, an electronic device, and a readable storage medium. Background The air route network is a collective name of air routes and air route points in the airspace, and all air route devices flying in the airspace need to fly along the air route, so that the air route network construction is an important link for guaranteeing the normal flight of flights or unmanned aerial vehicles, and meanwhile, in order to install corresponding monitoring equipment to monitor the air route, the air route can be positioned more accurately on the basis of the air route network. In the related art, the establishment of the navigation network generally depends on experience of professionals, the establishment efficiency of the navigation network is lower, and meanwhile, the establishment of the navigation network is optimal, and the problem of how to accurately establish the accurate navigation network is to be solved. Disclosure of Invention In view of the above, an object of the present application is to provide a method, an apparatus, an electronic device, and a readable storage medium for constructing a road network, wherein the method includes dividing a space to be planned into grids, determining a target risk cost sum corresponding to each path corresponding to a start grid and an end grid according to a grid risk value of each grid in the start grid and the end grid, screening out at least one target candidate path corresponding to the start grid and the end grid, determining at least one candidate road segment and a maximum traffic capacity corresponding to each candidate road segment based on each target candidate path, determining at least one target road path conforming to a road network planning constraint condition by combining the determined maximum traffic capacities of candidate road segments, and constructing the road network to obtain the road network. In a first aspect, an embodiment of the present application provides a method for constructing an airway network, where the method includes: Dividing a space domain to be planned into at least one grid, and determining available information of each grid and a grid risk value; determining at least one starting point grid and at least one end point grid based on the starting point grid demand, the end point grid demand and preset end point grid selection constraint conditions, and determining at least one starting point and end point grid pair; determining, for each starting point-destination grid pair, at least one grid through which the starting point grid passes from the starting point grid to the destination grid in the starting point-destination grid pair, and determining a target risk cost sum corresponding to each path corresponding to the starting point-destination grid based on a grid risk value corresponding to each grid; Screening at least one target candidate path corresponding to each starting point and end point grid pair based on the sum of risk costs corresponding to each candidate path corresponding to the starting point and end point grid pair; determining a plurality of candidate road segments positioned in a plurality of target candidate paths and the maximum traffic capacity corresponding to each candidate road segment; And constructing at least one target route path based on the determined multiple target candidate paths, the maximum traffic capacity corresponding to each candidate road section and route network planning constraint conditions, and constructing a route network based on the constructed at least one target route path. In one possible embodiment, the determining at least one starting point grid and at least one ending point grid based on the starting point grid requirement, the ending point grid requirement, and the preset ending point grid selection constraint includes: Determining the number of start grids and the number of end grids based on the start point requirement, the end point requirement and the maximum flow of each grid in a preset time period; Screening out at least one starting point grid of the number of the starting point grids based on the distance between each grid and the starting point and the adjacent information between the grids at the starting point position; and screening at least one end point grid of the number of the end point grids based on the distance between each grid and the end point and the adjacent information between the grids at the end point position. In one possible implementation manner, the determining, based on the grid risk value corresponding to each grid, the target risk cost sum corresponding to each path corresponding to the start point and end point grid includes: for each path, determining a first risk cost sum