CN111750889B - Path navigation method and device, electronic equipment and readable storage medium - Google Patents
Path navigation method and device, electronic equipment and readable storage medium Download PDFInfo
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- CN111750889B CN111750889B CN202010589839.9A CN202010589839A CN111750889B CN 111750889 B CN111750889 B CN 111750889B CN 202010589839 A CN202010589839 A CN 202010589839A CN 111750889 B CN111750889 B CN 111750889B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
Abstract
The application discloses a method and a device for path navigation, electronic equipment and a readable storage medium, and relates to the technical field of automatic driving, intelligent transportation and internet of things in the technical field of computers. The specific implementation scheme is as follows: receiving a path navigation request, wherein the path navigation request comprises a preset starting position and a preset target position; generating an initial navigation path according to the starting position and the target position; responding to the fact that the initial navigation path comprises a lane change road section, and determining whether lane change is allowed or not according to the minimum interfusion distance of the lane change road section; responding to the condition that lane changing is not allowed, correcting the initial navigation path to obtain a target navigation path, wherein the target navigation path does not contain the lane changing road section; and navigating according to the target navigation path. The method can solve traffic jam or safety accident caused by lane change in navigation.
Description
Technical Field
The embodiment of the application relates to the technical fields of automatic driving, intelligent transportation and internet of things in the technical field of computers, in particular to a method and device for path navigation, electronic equipment and a readable storage medium.
Background
With the continuous development of the high-precision map and the positioning technology, the path navigation can be realized based on the high-precision map and the positioning technology, so that great convenience is brought to the travel of people. In the path navigation process, the navigation software obtains the current position of the user based on a Global Positioning System (GPS for short), and continuously refreshes an electronic map, so that the user can check the current position in real time, and simultaneously, the navigation software plans an optimal path from a starting place to a destination through path calculation and continuously guides the user to travel according to the path. And when the user is judged not to travel according to the planned path at a certain moment according to the position of the user, planning the optimal path from the user path to the destination again.
In the prior art, each time a path is planned, the path is planned based on the path length from a starting place to a destination, a defined speed per hour, congestion time consumption and traffic light time consumption.
However, with the prior art method, in a scene where a lane change is required, traffic congestion or a safety accident may be caused.
Disclosure of Invention
The application provides a method and a device for path navigation, electronic equipment and a readable storage medium.
According to an aspect of the present application, there is provided a method of path navigation, including:
receiving a path navigation request, wherein the path navigation request comprises a preset starting position and a preset target position.
And generating an initial navigation path according to the starting position and the target position.
And responding to the fact that the initial navigation path comprises a lane change road section, and determining whether lane change is allowed or not according to the minimum interfusion distance of the lane change road section, wherein the lane change road section is a road section on which a vehicle needs to perform lane change, and the minimum interfusion distance is the minimum distance on which the vehicle needs to travel to perform lane change.
And responding to the situation that lane changing is not allowed, correcting the initial navigation path to obtain a target navigation path, wherein the target navigation path does not contain the lane changing road section.
And navigating according to the target navigation path.
According to another aspect of the present application, there is provided an apparatus for path navigation, including:
the receiving module is used for receiving a path navigation request, wherein the path navigation request comprises a preset starting position and a preset target position.
And the generating module is used for generating an initial navigation path according to the starting position and the target position.
And the determining module is used for responding to the fact that the initial navigation path comprises a lane change road section, and determining whether lane change is allowed according to the minimum interfusion distance of the lane change road section, wherein the lane change road section is a road section on which a vehicle needs to perform lane change, and the minimum interfusion distance is the minimum distance for the vehicle to travel when the vehicle performs lane change.
And the correction module is used for correcting the initial navigation path in response to the condition that lane changing is not allowed to obtain a target navigation path, and the target navigation path does not contain the lane changing road section.
And the navigation module is used for navigating according to the target navigation path.
According to yet another aspect of the present application, there is provided an electronic device including:
at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect.
According to yet another aspect of the present application, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of the first aspect described above.
According to yet another aspect of the present application, there is provided a computer program product comprising: a computer program, stored in a readable storage medium, from which at least one processor of an electronic device can read the computer program, execution of the computer program by the at least one processor causing the electronic device to perform the method of the first aspect. The electronic device may be a server, for example.
According to the technology of the application, whether lane change is allowed or not can be determined based on the minimum merging distance of the lane change section in the initial navigation path, so that the lane change section which is difficult to change can be avoided when a vehicle runs, and the traffic jam or the safety problem and the like caused by lane change are avoided.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present application, nor do they limit the scope of the present application. Other features of the present application will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:
FIG. 1 is an exemplary system architecture diagram of a method of path navigation provided by an embodiment of the present application;
fig. 2 is a schematic flowchart of a method for path navigation according to an embodiment of the present disclosure;
fig. 3 is a schematic flowchart of a method for path navigation according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram illustrating the relationship between the allowable vehicle speed and the distance traveled for a single lane change;
fig. 5 is a block diagram of a route guidance device according to an embodiment of the present disclosure;
fig. 6 is a block diagram of an electronic device of a method of path navigation according to an embodiment of the application.
Detailed Description
The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
In the prior art, each time a path is planned, the path is planned based on the path length from a starting place to a destination, a defined speed per hour, congestion time consumption and traffic light time consumption. In the path planning mode, the lane changing difficulty in the driving process of the vehicle is not considered. During a specific driving process, lane changing may be involved in a planned path, and some lane changing may be difficult to perform due to the great difficulty. For example, a planned path includes a section of path, namely, a road a- > an interchange B- > a road C, wherein the path from the road a to the interchange B needs to be changed 3 times within 20 meters continuously, and the right-most side road of the road a merges into the left-most turning lane to drive into the interchange a. In an actual road, unless the lane change is easily implemented under the condition of low road traffic, in most cases, the difficulty of the lane change is high, and serious traffic jam may be caused or safety accidents may also be caused when the lane change is forcibly performed according to a path planned by path navigation.
In consideration of the problem that traffic jam or safety accidents possibly caused by lane change difficulty are not considered in the prior art when a path is planned, the embodiment of the application provides a path navigation method which can be applied to the technical fields of automatic driving, intelligent traffic and internet of things in the technical field of computers.
The method can be applied to the fields of automatic driving, intelligent transportation and the like. Fig. 1 is an exemplary system architecture diagram of a method for path navigation according to an embodiment of the present application, which may relate to a terminal device and a server, as shown in fig. 1. When a user needs to navigate, starting location information and destination information can be input on terminal equipment, the terminal equipment sends the starting location information and the destination information input by the user to a server, the server plans a path for the user by using the method of the embodiment of the application, and after the path is planned, the server interacts with the terminal equipment in real time to navigate the user according to the planned path. The terminal equipment can be mobile terminals such as mobile phones, and when a user needs to navigate, the terminal equipment is placed in a vehicle to complete navigation. Alternatively, the terminal device may be an in-vehicle system mounted on a vehicle.
Fig. 2 is a flowchart illustrating a method for path navigation according to an embodiment of the present application, where an execution subject of the method may be the server. As shown in fig. 2, the method includes:
s201, receiving a path navigation request, wherein the path navigation request comprises a preset starting position and a preset target position.
Optionally, when the user needs to navigate, the user may input the starting position and the target position on the terminal device by text input or voice input, and instruct navigation by clicking a "start navigation" button. And after receiving the instruction of the user, the terminal equipment generates a navigation request and carries the initial position and the target position indicated by the user in the navigation request. And the terminal equipment further sends the navigation request to the server, and correspondingly, the server receives the navigation request and acquires the initial position and the target position indicated by the user.
Optionally, the starting position may be a current position of a vehicle where the user is located, and the terminal device may obtain the current position of the terminal device, that is, the current position of the vehicle, based on a Global Positioning System (GPS) module of the terminal device, and present the current position to the user. And if the user does not modify the position, directly taking the position as the preset starting position. And if the user modifies the position, taking the position modified by the user as the preset initial position.
And S202, generating an initial navigation path according to the initial position and the target position.
Optionally, the server may plan a route based on information such as a route length between the start position and the target position, a limited speed per hour, a time consumed for congestion, and a time consumed for traffic lights. For example, the server may obtain multiple candidate routes between the start position and the target position based on the high-precision map, obtain information such as a route length, a limited speed per hour, congestion time consumption, traffic light time consumption and the like of each candidate route based on the high-precision map, select an optimal route from the multiple candidate routes according to the information by using a preset selection mode, and use the optimal route as the initial navigation route.
S203, responding to the fact that the initial navigation path comprises the lane change road section, determining whether lane change is allowed according to the minimum interfusion distance of the lane change road section, wherein the lane change road section is a road section where the vehicle needs to perform lane change, and the minimum interfusion distance is the minimum distance where the vehicle needs to travel to perform lane change.
Optionally, after determining the initial navigation path, the server may obtain the road-changing section in the initial navigation path based on the high-precision map. It should be understood that there may be one or more road-change sections in the initial navigation path. When a plurality of road-change segments are included in the initial navigation path, steps S203-S204 may be performed one by one for each road-change segment. In one example, for a certain road segment, the server may know, based on the high-precision map, a lane to which the vehicle is traveling and a lane in which the vehicle needs to be located when the road segment performs a turn or a u-turn, and if the two lanes are different, may determine that the road segment is a lane-change road segment. For example, the server knows that the vehicle is located on the rightmost side sub-road of the road segment a when entering the road segment a based on the high-precision map, and the vehicle is located on the leftmost turning lane of the road segment a when turning around from the road segment a and entering the overpass B, and the two lanes are not the same lane, so that the server can determine the road segment a as a lane-changing road segment.
After the server determines that the initial navigation path comprises a certain lane change road section, whether lane change is allowed or not can be determined according to the minimum interfusion distance of the lane change road section. The minimum interfusion distance of the road section is the minimum distance which is required by the vehicle to travel when lane changing is carried out, and the server can judge the lane changing difficulty of the road section and determine whether lane changing is allowed or not according to the minimum interfusion distance.
The process of the server obtaining the minimum entry distance and determining whether to allow lane change based on the minimum entry distance will be described in detail in the following embodiments.
If it is determined that lane change is allowed, the server does not modify the lane change segment in the initial navigation path, and performs navigation according to the lane change segment, or the server may further determine whether the lane change difficulty is large by combining road conditions of the lane change segment, such as congestion information, and determine whether to modify the lane change segment in the initial navigation path, which will be described in detail in the following embodiments.
If it is determined that lane change is not permitted, the following step S204 is performed.
And S204, responding to the situation that lane change is not allowed, correcting the initial navigation path to obtain a target navigation path, wherein the target navigation path does not contain the lane change road section.
And when determining that lane change is not allowed, the server corrects the initial navigation path, removes the lane change road section and the road sections connected with the lane change road section in front of and behind the initial navigation path, and replaces the road sections with other paths to obtain a target navigation path, wherein the target navigation path does not contain the lane change road section any more.
It should be noted that, when the initial navigation path includes a plurality of road-change sections, after the operation of this step is performed on a certain road-change section, the initial navigation path is corrected, and for a next road-change section of the road-change section, the correction is continued on the basis of the corrected initial navigation path, that is, the corrected initial navigation path is used as the initial navigation path on which the next road-change section is based each time.
And S205, navigating according to the target navigation path.
The server can interact with the terminal equipment in real time based on the target navigation path, acquire the real-time position of the terminal equipment, send navigation information to the terminal equipment in time, and the terminal equipment outputs the navigation information to a user in the forms of images, voice and the like.
It should be noted that, if the vehicle does not travel according to the target navigation path during the traveling process, that is, the vehicle deviates from the target navigation path, the server may use the position where the vehicle deviates as a new start position, and perform path planning and navigation again using the above steps S201 to S205 based on the new start position and the target position, so that the difficulty of changing the road is considered in the whole navigation process.
In this embodiment, after the server generates the initial navigation path according to the preset initial position and the target position, based on the minimum merging distance of the road segment in the initial navigation path, whether lane change is allowed or not may be determined, where the minimum merging distance may represent the lane change difficulty of the road segment, and when the lane change difficulty is high, the server may not allow lane change but navigate according to the corrected target navigation path that does not include the road segment, so that the road segment that is difficult to change may be avoided during vehicle driving, and traffic congestion or safety problems caused by lane change may be avoided.
The following describes alternative ways of determining whether to allow lane change based on the minimum entry distance and obtaining the minimum entry distance, which are referred to in the above-described step S202.
The alternative of determining whether to allow lane change based on the minimum ingress distance is first described.
In an alternative, the minimum merging distance may be compared with a preset empirical value, and if a certain preset relationship is satisfied between the minimum merging distance and the empirical value, lane change is determined to be allowed, otherwise, lane change is not allowed.
Alternatively, for a particular road change segment, the minimum ingress distance may be compared to the segment allowed distance for that road change segment to determine whether lane change is allowed.
The link allowable distance may refer to a distance that the vehicle can travel on the changed link, which is associated with a road identification line of the changed link. For example, a white dotted line is formed between two lanes of the road section, and the length of the white dotted line may be used as one of the lengths of the allowable distance of the road section.
Alternatively, the server may acquire the section allowable distance of the road section that changes from the road section based on the high-precision map. The high-precision map comprises lane line information of each road, such as lane line types, lengths and the like, and the server can calculate the section allowable distance of the road section changing road sections based on the lane line information.
When the minimum merging distance is compared with the section allowable distance of the road section to be changed, whether the minimum merging distance is smaller than or equal to the section allowable distance of the road section to be changed or not can be judged, and if yes, the lane change is determined to be allowed.
If the minimum entering distance is smaller than or equal to the allowed distance of the road section, it indicates that sufficient distance for the vehicle can be used for lane changing, and conversely, it indicates that insufficient distance for the vehicle can be used for lane changing, so that lane changing difficulty is high, and the server can determine that lane changing is not allowed.
In this embodiment, the server determines the minimum merging distance and the road section allowable distance of the lane change road section, and only when the minimum merging distance is less than or equal to the road section allowable distance, the vehicle has a sufficient distance to change the lane, and the lane change is allowed at this time, otherwise, the lane change is determined not to be allowed, so that the lane change road section with high difficulty in changing the lane can be avoided in the navigation path.
The following describes a process in which the server obtains the minimum posting distance.
Fig. 3 is a schematic flowchart of a method for path navigation according to an embodiment of the present application, and as shown in fig. 3, an alternative way for a server to obtain a minimum inbound distance includes:
s301, acquiring the times of lane changing and the allowable vehicle speed of the lane changing road section.
As described above, the server may know, based on the high-precision map, a starting lane where the vehicle travels to a road segment and an exit lane where the vehicle needs to be located when the road segment performs a turn or a u-turn, and thus know that the road segment is a road-change road segment. In this process, the server may calculate the number of lanes spaced between the start lane and the departure lane, thereby obtaining the lane change number. Illustratively, if the starting lane and the leaving lane are adjacent, the lane change time is 1; if the starting lane and the departure lane are separated by one lane, the lane change times are 2 times, and so on.
In addition, the server learns the allowable vehicle speed of the road-changing section based on the high-precision map. When the vehicle runs on the road-changing section, the running speed can not exceed the allowable vehicle speed.
And S302, determining the minimum merging distance of the road changing section according to the required road changing times of the road changing section and the allowable vehicle speed.
The lane changing times indicate the number of lanes which the vehicle needs to pass through for changing the lane, the allowed vehicle speed indicates the vehicle speed limit when the vehicle runs on the lane changing road section, and based on the two pieces of information, the server can calculate the minimum distance which the vehicle needs to run from the initial lane changing to the lane leaving, namely the minimum merging distance.
In this embodiment, the lane change required times indicate the number of lanes that the vehicle needs to pass through for lane change, the allowable vehicle speed indicates the vehicle speed limit when the vehicle runs on the lane change road section, and the server can calculate and obtain the accurate minimum ingress distance based on the two pieces of information.
When the minimum merging-in distance of the road-changing section is determined according to the number of times of changing the road required by the road-changing section and the allowable vehicle speed in step S302, as an optional embodiment, the distance required to be traveled for a single lane change on the road-changing section may be determined according to the allowable vehicle speed of the road-changing section, and then the distance required to be traveled for a single lane change on the road-changing section may be multiplied by the number of times of changing the road required by the road-changing section, and the multiplied result may be used as the minimum merging-in distance of the road-changing section.
Fig. 4 is a schematic diagram of a corresponding relationship between an allowable vehicle speed and a distance required to be traveled for a single lane change in the present application, where as shown in fig. 4, when the allowable vehicle speed of the lane change section is less than the preset vehicle speed by 20.6km/h, the distance required to be traveled for the single lane change may be a fixed value of 20 meters, and when the allowable vehicle speed of the lane change section is greater than or equal to the preset vehicle speed, the distance required to be traveled for the single lane change may be a product of the allowable vehicle speed and a preset value of 3.5.
By using the correspondence illustrated in fig. 4, after obtaining the allowable vehicle speed of the lane change road section, the server determines whether the allowable vehicle speed is less than 20.6km/h, if so, determines that the distance required to be traveled for single lane change is 20 meters, otherwise, the server calculates the product of the allowable vehicle speed and the preset value of 3.5, and takes the product as the distance required to be traveled for single lane change. And then, the distance required to be driven for changing the lane once is multiplied by the number of times of changing the lane, so that the minimum merging distance of the road section of the changed lane can be obtained.
In this embodiment, the server can determine the distance that needs to travel for single lane change of the lane change road section based on the allowable vehicle speed of the lane change road section, and then can calculate the minimum joining distance according to the lane change times, and this kind of mode can accurately calculate the distance of single lane change, and then makes the accuracy of the minimum joining distance based on single lane change distance obtain greatly promote.
As described in step S203, if the server determines that lane change is allowed according to the minimum entry distance, it may further determine whether the lane change difficulty is large by combining the road conditions of the lane change section, such as the congestion information, and determine whether to modify the lane change section in the initial navigation path. The following describes a process of determining whether to correct the initial navigation path based further on congestion information of the road-change section.
It should be noted that, the following process of determining whether to modify the initial navigation path based on the congestion information may be executed after step S203, or may be dynamically executed when the distance between the vehicle and the road-changing segment is less than a certain distance, or may be dynamically executed according to a certain period, which is not specifically limited in this embodiment of the present invention.
Alternatively, if it is determined through the step S203 that lane change is allowed, the server may determine whether to correct the initial navigation path according to whether the lane change road is congested. If it is determined that the initial navigation route is corrected, the initial navigation route may be corrected according to the process of the foregoing step S204 to obtain a target navigation route, so as to avoid the road-change section in the target navigation route.
Among them, the process of determining whether a road-change section is congested will be described in detail in the following embodiments.
In this embodiment, based on the information about whether the road segment is congested, the server may determine whether to correct the initial navigation path. When the congestion of the road section of the road change is serious, the difficulty of the road change is higher, so that the navigation path is corrected based on the information of whether the road section of the road change is congested, and the road section with the higher difficulty of the road change caused by the congestion can be avoided when the vehicle runs.
In one approach, when congestion is determined for the road segment change, the server may directly modify the initial navigation path to avoid the road segment change. In another mode, the server may determine whether to correct the initial navigation path according to the lane change times of the lane change required for the lane change road section.
The difficulty of changing the lane represented by different times of changing the lane is different, for example, the difficulty of changing the lane once is obviously less than the difficulty of changing the lane three times, therefore, the server can more accurately determine whether the initial navigation path needs to be corrected according to the times of changing the lane of the road section.
The server may perform the following two ways when determining whether to correct the initial navigation path according to the lane change required times.
In the first mode, if the lane change times of the lane change section are less than or equal to the preset times, lane change reminding information can be output, and the lane change reminding information is used for reminding a user of the difficulty of lane change. For example, the lane change reminding message may be "section a is congested at present, and it needs to perform lane change 1 time, and whether you choose to avoid section a? ". After the server outputs the lane change reminding information, the user may input a correction response to the lane change reminding information, for example, the user inputs "avoid this road segment" by voice, and the server determines to correct the initial navigation path if the server knows that the user wants to avoid the lane change road segment based on the correction response. Or, the user may not input a correction response, for example, if the user inputs a response of "continue to walk according to the current navigation", the server determines that the user may accept the lane change, and the server continues to navigate according to the initial navigation path without correcting the initial navigation path.
Illustratively, the preset number of times may be, for example, 1 time.
In the method, if the lane changing times are less than or equal to the preset times, the lane changing is difficult to a certain degree, and whether the initial navigation path is corrected can be further determined by combining with the selection of the user, so that the navigation path can better meet the requirements or preferences of the user, and the user experience is greatly improved.
In the second mode, if the times of lane change needed in the lane change road section is greater than the preset times, the initial navigation path is determined to be corrected.
Under the condition that the road changing section is determined to be congested, if the number of times of changing the road needed by the road changing section is larger than the preset number, the difficulty of changing the road is large, the number of times of changing the road needed is 3, and under the condition that the road changing section is congested, the difficulty of changing the road is very large, so that in the condition, a server does not need to interact with a user, the initial navigation path can be directly corrected, and the road changing section which is difficult to change the road can be avoided.
The following describes a process in which the server determines whether a road-change section is congested.
Optionally, the server may collect information of the road section of the lane change by using the internet of things device. For example, cameras arranged on two sides of a road and vehicles running on the road are used as internet of things equipment, information such as vehicle density and vehicle speed on the road can be collected and reported, and a server can further acquire the information.
Based on the information, the server can calculate the average following distance of the road section changing, and the average following distance can refer to the average distance between two adjacent vehicles on the road section changing.
Further, the server may determine whether the road-change section is congested according to the average following distance of the road-change section and the allowable vehicle speed of the road-change section.
Alternatively, if the average following distance of the road-change section is less than or equal to the distance allowing the vehicle to travel for 2 seconds, it may be determined that the road-change section is congested, otherwise, it may be determined that the road-change section is not congested.
For example, assuming that the allowable vehicle speed of the road-changing section is 30km/h, the distance of 2 seconds of travel at the allowable vehicle speed is 16.7 meters. If the average distance between the vehicles of the road changing section is less than or equal to the distance of 16.7 meters, the fact that the distance between the vehicles is short is indicated, and the road changing section is congested.
Fig. 5 is a block diagram of a route guidance device according to an embodiment of the present application, and as shown in fig. 5, the route guidance device includes:
a receiving module 501, configured to receive a path navigation request, where the path navigation request includes a preset starting location and a preset target location.
A generating module 502, configured to generate an initial navigation path according to the starting position and the target position.
The determining module 503 is configured to determine, in response to that the initial navigation path includes a lane change road segment, whether to allow lane change according to a minimum entry distance of the lane change road segment, where the lane change road segment is a road segment on which a vehicle needs to perform lane change, and the minimum entry distance is a minimum distance required for the vehicle to travel to perform lane change.
And a correcting module 504, configured to correct the initial navigation path in response to that lane change is not allowed, so as to obtain a target navigation path, where the target navigation path does not include the lane change road segment.
And a navigation module 505, configured to perform navigation according to the target navigation path.
As an optional implementation manner, the determining module 503 is specifically configured to:
and determining the allowable lane change in response to the minimum interfusion distance of the lane change section being less than or equal to the section allowable distance of the lane change section.
As an optional implementation, the determining module 503 is further configured to:
acquiring the times of lane change and the allowable speed of the lane change required by the lane change road section; and determining the minimum merging distance of the road changing section according to the required road changing times of the road changing section and the allowable vehicle speed.
As an optional implementation manner, the determining module 503 is specifically configured to:
determining the distance required to be driven by single lane change on the lane change road section according to the allowable vehicle speed of the lane change road section; and multiplying the distance required to be driven during single lane change on the lane change road section by the lane change times required on the lane change road section, and taking the multiplied result as the minimum merging distance of the lane change road section.
As an optional implementation, the determining module 503 is further configured to:
responding to the permission of lane change, and determining whether to correct the initial navigation path according to whether the lane change road section is congested or not; and responding to the determination of correcting the initial navigation path, and correcting the initial navigation path to obtain the target navigation path.
As an optional implementation manner, the determining module 503 is specifically configured to:
and responding to the congestion of the road section changing, and determining whether to correct the initial navigation path or not according to the times of changing the road of the road section changing.
As an optional implementation manner, the determining module 503 is specifically configured to:
responding to the situation that the times of lane changing required on the lane changing road section are less than or equal to the preset times, and outputting lane changing reminding information, wherein the lane changing reminding information is used for reminding a user of the difficulty of lane changing; and determining to correct the initial navigation path in response to the correction response of the user to the lane change reminding information.
As an optional implementation manner, the determining module 503 is specifically configured to:
and determining to correct the initial navigation path in response to the fact that the times of lane change needed by the lane change road section is greater than the preset times.
As an optional implementation, the determining module 503 is further configured to:
and determining whether the road-changing section is congested or not according to the average following distance of the road-changing section and the allowable speed of the road-changing section.
According to an embodiment of the present application, an electronic device and a readable storage medium are also provided.
There is also provided, in accordance with an embodiment of the present application, a computer program product, including: a computer program, stored in a readable storage medium, from which at least one processor of the electronic device can read the computer program, the at least one processor executing the computer program causing the electronic device to perform the solution provided by any of the embodiments described above. The electronic device may be a server, for example.
Fig. 6 is a block diagram of an electronic device according to an embodiment of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.
As shown in fig. 6, the electronic apparatus includes: one or more processors 601, memory 602, and interfaces for connecting the various components, including a high-speed interface and a low-speed interface. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). In fig. 6, one processor 601 is taken as an example.
The memory 602 is a non-transitory computer readable storage medium as provided herein. Wherein the memory stores instructions executable by at least one processor to cause the at least one processor to perform the method of path navigation provided herein. The non-transitory computer readable storage medium of the present application stores computer instructions for causing a computer to perform the method of path navigation provided by the present application.
The memory 602, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the method of path navigation in the embodiments of the present application (e.g., the receiving module 601, the generating module 602, the determining module 603, the modifying module 604, and the navigation module 605 shown in fig. 6). The processor 601 executes various functional applications of the server and data processing, i.e., a method of implementing path navigation in the above-described method embodiments, by executing non-transitory software programs, instructions, and modules stored in the memory 602.
The memory 602 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the electronic device for path navigation, and the like. Further, the memory 602 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 602 may optionally include memory located remotely from the processor 601, and these remote memories may be connected to the path-navigating electronics over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The electronic device of the method of path navigation may further include: an input device 603 and an output device 604. The processor 601, the memory 602, the input device 603 and the output device 604 may be connected by a bus or other means, and fig. 6 illustrates the connection by a bus as an example.
The input device 603 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the electronic apparatus for path navigation, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, a pointing stick, one or more mouse buttons, a track ball, a joystick, or other input device. The output device Y04 may include a display device, an auxiliary lighting device (e.g., LED), a tactile feedback device (e.g., vibration motor), and the like. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.
Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, and the present invention is not limited thereto as long as the desired results of the technical solutions disclosed in the present application can be achieved.
The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (7)
1. A method of path navigation, comprising:
receiving a path navigation request, wherein the path navigation request comprises a preset starting position and a preset target position;
generating an initial navigation path according to the starting position and the target position;
responding to the fact that the initial navigation path comprises a lane change road section, and determining whether lane change is allowed or not according to the minimum interfusion distance of the lane change road section, wherein the lane change road section is a road section on which a vehicle needs to perform lane change, the minimum interfusion distance is the minimum distance on which the vehicle needs to travel to perform lane change, and the minimum interfusion distance is used for representing the lane change difficulty of the lane change road section;
responding to the condition that lane changing is not allowed, correcting the initial navigation path to obtain a target navigation path, wherein the target navigation path does not contain the lane changing road section;
navigating according to the target navigation path;
the method further comprises the following steps:
acquiring the times of lane change and the allowable speed of the lane change required by the lane change road section;
determining the distance required to be driven by single lane change on the lane change road section according to the allowable vehicle speed of the lane change road section and the corresponding relation between the allowable vehicle speed and the distance required to be driven by single lane change;
determining the minimum merging distance of the road changing section according to the times of changing the road required by the road changing section and the distance required to be driven during single road changing on the road changing section;
further comprising:
responding to the permission of lane change, and determining whether to correct the initial navigation path according to whether the lane change road section is congested or not;
responding to the determination of correcting the initial navigation path, and correcting the initial navigation path to obtain the target navigation path;
the determining whether to correct the initial navigation path according to whether the road section changing road is congested or not includes:
responding to the congestion of the road section changing, and determining whether to correct the initial navigation path or not according to the times of changing the road of the road section changing;
the determining whether to correct the initial navigation path according to the times of changing the road needed by the road section comprises:
responding to the situation that the times of lane changing is required to be less than or equal to the preset times of the lane changing road section, and outputting lane changing reminding information, wherein the lane changing reminding information is used for reminding a user of the difficulty of lane changing; responding to a correction response of the user to the lane change reminding information, and determining to correct the initial navigation path;
and determining to correct the initial navigation path in response to the fact that the times of lane change needed by the lane change road section is greater than the preset times.
2. The method of claim 1, wherein the determining whether to allow lane change according to the minimum ingress distance of the lane-change segment comprises:
and determining the allowable lane change in response to the minimum interfusion distance of the lane change section being less than or equal to the section allowable distance of the lane change section.
3. The method of claim 1, wherein the determining the minimum merging distance of the road-changing section according to the number of times of changing the road of the road-changing section and the distance required to be traveled for single lane changing on the road-changing section comprises:
and multiplying the distance required to be driven during single lane change on the lane change road section by the lane change times required on the lane change road section, and taking the multiplied result as the minimum merging distance of the lane change road section.
4. The method of claim 1, further comprising:
and determining whether the road-changing section is congested or not according to the average following distance of the road-changing section and the allowable speed of the road-changing section.
5. An apparatus for path navigation, comprising:
the system comprises a receiving module, a processing module and a processing module, wherein the receiving module is used for receiving a path navigation request which comprises a preset starting position and a preset target position;
the generating module is used for generating an initial navigation path according to the starting position and the target position;
the determining module is used for responding to the fact that the initial navigation path comprises a lane change road section, and determining whether lane change is allowed or not according to the minimum interfusion distance of the lane change road section, wherein the lane change road section is a road section of which a vehicle needs to perform lane change, the minimum interfusion distance is the minimum distance of driving of the vehicle which needs to perform lane change, and the minimum interfusion distance is used for representing the lane change difficulty of the lane change road section;
the correction module is used for responding to the situation that lane changing is not allowed and correcting the initial navigation path to obtain a target navigation path, and the target navigation path does not contain the lane changing road section;
the navigation module is used for navigating according to the target navigation path;
the determining module is further configured to obtain the times of lane changing required and the allowable vehicle speed of the lane changing road section, determine the distance required to be traveled for a single lane changing on the lane changing road section according to the allowable vehicle speed of the lane changing road section and the corresponding relationship between the allowable vehicle speed and the distance required to be traveled for a single lane changing, and determine the minimum entry distance of the lane changing road section according to the times of lane changing required on the lane changing road section and the distance required to be traveled for a single lane changing on the lane changing road section;
the correction module is further configured to determine whether to correct the initial navigation path according to whether the lane change section is congested or not in response to permission of lane change, and correct the initial navigation path in response to determination of correction of the initial navigation path to obtain the target navigation path;
the correction module is specifically used for responding to the congestion of the road section changing, and determining whether to correct the initial navigation path or not according to the times of changing the road required by the road section changing;
the correction module is specifically used for responding to the situation that the lane changing times of the lane changing road section are smaller than or equal to the preset times, and outputting lane changing reminding information, wherein the lane changing reminding information is used for reminding a user of the difficulty of lane changing; responding to a correction response of the user to the lane change reminding information, and determining to correct the initial navigation path; and determining to correct the initial navigation path in response to the fact that the times of lane change needed by the lane change road section is greater than the preset times.
6. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-4.
7. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-4.
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| CN106767914B (en) * | 2016-12-02 | 2020-03-10 | 百度在线网络技术（北京）有限公司 | Method and device for testing path planned based on high-precision map |
| JP7042153B2 (en) * | 2018-04-20 | 2022-03-25 | フォルシアクラリオン・エレクトロニクス株式会社 | Lane change support device |
| CN109903576A (en) * | 2019-04-22 | 2019-06-18 | 爱驰汽车有限公司 | Vehicle lane change based reminding method, system, equipment and storage medium based on navigation |
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