Method and device for generating trajectory diagram

A trajectory generation apparatus, comprising:

• at least one memory storing a computer program and at least one processor coupled to the at least one memory, the at least one processor is configured to execute the computer program and perform:
• obtaining distance information which a ranging apparatus has traveled;
• obtaining, from a sensor system, first angle information and second angle information corresponding to the ranging apparatus when the ranging apparatus is traveling in a space;
• determining a plurality of target sample points for a trajectory diagram of the space, comprising:
• using a candidate sample point as one of the plurality of target sample points, the candidate sampling point being defined by a distance value obtained from the distance information and an angle value obtained from the first angle information;
• determining whether a trajectory adjustment condition is satisfied, wherein the trajectory adjustment condition includes at least one of a first trajectory adjustment condition or a second trajectory adjustment condition, the first trajectory adjustment condition is based on a first change rate of the first angle information and a second change rate of the second angle information, and the second trajectory adjustment condition is based on a plurality of angle values in the second angle information;
• in response to the trajectory adjustment condition not being satisfied, determining coordinates of the candidate sample point based on the distance information and the first angle information;
• and
• in response to the trajectory adjustment condition being satisfied, adjusting the candidate sample point based on the distance information, the first angle information, and the second angle information;
• and
• generating the trajectory diagram by connecting the plurality of target sampling points.