CN106895842A - A kind of method of vehicle route amendment, car-mounted terminal and intelligent automobile - Google Patents
A kind of method of vehicle route amendment, car-mounted terminal and intelligent automobile Download PDFInfo
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- CN106895842A CN106895842A CN201510959130.2A CN201510959130A CN106895842A CN 106895842 A CN106895842 A CN 106895842A CN 201510959130 A CN201510959130 A CN 201510959130A CN 106895842 A CN106895842 A CN 106895842A
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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
- G01C21/3438—Rendez-vous, i.e. searching a destination where several users can meet, and the routes to this destination for these users; Ride sharing, i.e. searching a route such that at least two users can share a vehicle for at least part of the route
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Abstract
A kind of method of vehicle route amendment, car-mounted terminal and intelligent automobile are the embodiment of the invention provides, wherein methods described includes：Determine the meeting location of the first car-mounted terminal and one or more the second car-mounted terminals；Based on the meeting location, the first programme path of first car-mounted terminal is generated；Obtain the vehicle data of first car-mounted terminal；The meeting location, the meeting location being adjusted are adjusted according to the vehicle data；Correct first programme path in meeting location based on the adjustment.The embodiment of the present invention can be according to the actual conditions self-adaptative adjustment meeting location of vehicle, and then the programme path of adaptive correction first, meeting location has been discussed in advance without user, so that the determination of meeting location is more reasonable, route planning is more flexible, high degree of automation, improves the efficiency and validity of route planning.
Description
Technical field
The present invention relates to field of navigation technology, more particularly to a kind of method, one kind of vehicle route amendment
The car-mounted terminal of vehicle route amendment and a kind of intelligent automobile.
Background technology
With the development and the improvement of people's living standards of auto industry, car is gradually popularized, more next
More people's selection self-driving car trips.During trip, the scene run into more than comparing is two
Or many problems met in certain point from different location, the vehicle to different destinations.
In the prior art, it is common practice to which the two or many car owners of vehicle discuss congregation ground in advance
Point, then plans the route from starting point to meeting location first, then plans from meeting location to purpose
The route on ground.Due to artificial determination meeting location, the meeting location may not be optimal meeting location,
Time-consuming so as to causing route planning etc., and irrational phenomenon occurs, in addition, multiple route planning can increase
Adding system expense.
The content of the invention
In view of the above problems, it is proposed that the present invention overcomes above mentioned problem or at least part of to provide one kind
A kind of method of vehicle route amendment that solves the above problems and a kind of corresponding vehicle route amendment
Car-mounted terminal and a kind of intelligent automobile.
According to one aspect of the present invention, there is provided a kind of method of vehicle route amendment, methods described bag
Include：
Determine the meeting location of the first car-mounted terminal and one or more the second car-mounted terminals；
Based on the meeting location, the first programme path of first car-mounted terminal is generated；
Obtain the vehicle data of first car-mounted terminal；
The meeting location, the meeting location being adjusted are adjusted according to the vehicle data；
Correct first programme path in meeting location based on the adjustment.
Alternatively, the meeting location for determining the first car-mounted terminal and one or more the second car-mounted terminals
The step of include：
First car-mounted terminal determines first position planning information；
Receive the second place planning information of one or more second car-mounted terminals transmission；
According to the first position planning information and the second place planning information, described first is determined
The meeting location of car-mounted terminal and one or more of second car-mounted terminals.
It is alternatively, described according to the first position planning information and the second place planning information,
The step of determining the meeting location of first car-mounted terminal and one or more of second car-mounted terminals
Including：
Path inspection is carried out to the first position planning information and the second place planning information respectively
Rope；
If being examined with based on second place planning information based on the route that planning information retrieval in first position is obtained
When the route that rope is obtained has common accessing points, then the common accessing points are defined as meeting location.
Alternatively, the vehicle data includes first car-mounted terminal that first car-mounted terminal is obtained
The step of real-time first position information, vehicle data for obtaining first car-mounted terminal described it
Afterwards, also include：
Represent the first position information on the electronic map of the first car-mounted terminal；
Generation position sharing request, and the position sharing request is sent to one or more of second
Car-mounted terminal；
Receive one or more of second car-mounted terminals and be based on the described of position sharing request return
The real-time second place information of second car-mounted terminal；
Represent the second place information on the electronic map of first car-mounted terminal.
Alternatively, being shared based on the position in one or more of second car-mounted terminals of reception please
After the step of seeking the real-time second place information of second car-mounted terminal of return, also include：
Receive second car-mounted terminal that one or more of second car-mounted terminals send real-time the
Two speeds.
Alternatively, the vehicle data also includes the described first vehicle-mounted end that first car-mounted terminal is obtained
The first current speed of end；It is described to adjust the meeting location according to the vehicle data, it is adjusted
The step of meeting location, includes：
Based on the first position information and the meeting location, calculate first car-mounted terminal with it is described
First distance of meeting location, and according to first distance and the first speed, calculate the very first time；
Based on the second place information and the meeting location, calculate second car-mounted terminal with it is described
The second distance of meeting location, and according to the second distance and the second speed, calculated for the second time；
If the very first time is more than predetermined threshold value with the difference of second time, based on described first
Positional information and/or the second place information, adjust the first position planning information and/or described the
Two position planning informations, and it is described according to the first position planning information and described second to return to execution
Position planning information, determines the meeting of first car-mounted terminal and one or more of second car-mounted terminals
The step of closing position, obtains new meeting location；
If the new meeting location is before the meeting location, using the new meeting location as
The meeting location of adjustment.
Alternatively, the step of first programme path is corrected in the meeting location based on the adjustment is wrapped
Include：
Meeting location according to the adjustment obtains the first new programme path；
The first new programme path is replaced into first programme path.
Alternatively, methods described also includes：
The meeting location is sent into one or more of second car-mounted terminals, triggering described second
Car-mounted terminal is based on the meeting location and the second place planning information, generates described second vehicle-mounted
Second programme path of terminal；
And/or,
The meeting location of the adjustment is sent into one or more of second car-mounted terminals, institute is triggered
State the second car-mounted terminal and be based on the meeting location of the adjustment and the second place planning information, generation
Second programme path of the amendment of second car-mounted terminal.
Alternatively, methods described also includes：
Based on the meeting location and the second place planning information, second car-mounted terminal is generated
The second programme path；And send into corresponding second car-mounted terminal second programme path；
And/or,
Meeting location and the second place planning information based on the adjustment, generate second car
Second programme path of the amendment of mounted terminal；And send to corresponding second programme path of the amendment
In second car-mounted terminal.
Alternatively, methods described also includes：
Represent first programme path and/or amendment on the electronic map of first car-mounted terminal
First programme path.
Alternatively, methods described also includes：
Represent second programme path and/or amendment on the electronic map of first car-mounted terminal
Second programme path.
Alternatively, the first position planning information at least includes the first start position and First terminal point position
Put；The second place planning information at least includes the second start position and the second final position.
According to another aspect of the present invention, there is provided a kind of car-mounted terminal of vehicle route amendment, the car
Mounted terminal includes：
Meeting location determining module, is adapted to determine that the first car-mounted terminal and one or more second car-mounted terminals
Meeting location；
Route planning module, is suitable to, based on the meeting location, generate the first of first car-mounted terminal
Programme path；
Vehicle data acquisition module, is suitable to obtain the vehicle data of first car-mounted terminal；
Meeting location adjusting module, is suitable to adjust the meeting location according to the vehicle data, is adjusted
Whole meeting location；
Route correcting module, is suitable to the meeting location based on the adjustment and corrects first programme path.
Alternatively, the meeting location determining module includes：
First planning information determination sub-module, is suitable to the first car-mounted terminal and determines first position planning information；
Second planning information determination sub-module, is suitable to receive one or more second car-mounted terminals send the
Two position planning informations；
Determination sub-module, is suitable to according to the first position planning information and second place planning letter
Breath, determines the meeting location of first car-mounted terminal and one or more of second car-mounted terminals.
Alternatively, the determination sub-module is further adapted for：
Path inspection is carried out to the first position planning information and the second place planning information respectively
Rope；
If being examined with based on second place planning information based on the route that planning information retrieval in first position is obtained
When the route that rope is obtained has common accessing points, then the common accessing points are defined as meeting location.
Alternatively, the vehicle data includes first car-mounted terminal that first car-mounted terminal is obtained
Real-time first position information, the car-mounted terminal also includes：
First position information display module, is suitable to represent described on the electronic map of the first car-mounted terminal
One positional information；
Sharing request generation module, is suitable to generate position sharing request, and the position sharing request is sent out
Deliver to one or more of second car-mounted terminals；
Second place data obtaining module, is suitable to receive one or more of second car-mounted terminals based on institute
Rheme puts the real-time second place information of second car-mounted terminal of sharing request return；
Second place information display module, is suitable to represent institute on the electronic map of first car-mounted terminal
State second place information.
Alternatively, the car-mounted terminal also includes：
Speed information receiver module, is suitable to receive the described of one or more of second car-mounted terminals transmissions
Real-time second speed of second car-mounted terminal.
Alternatively, the vehicle data also includes the described first vehicle-mounted end that first car-mounted terminal is obtained
The first current speed of end；The meeting location adjusting module is further adapted for：
Based on the first position information and the meeting location, calculate first car-mounted terminal with it is described
First distance of meeting location, and according to first distance and the first speed, calculate the very first time；
Based on the second place information and the meeting location, calculate second car-mounted terminal with it is described
The second distance of meeting location, and according to the second distance and the second speed, calculated for the second time；
If the very first time is more than predetermined threshold value with the difference of second time, based on described first
Positional information and/or the second place information, adjust the first position planning information and/or described the
Two position planning informations, and meeting location determining module is re-called, obtain new meeting location；
If the new meeting location is before the meeting location, using the new meeting location as
The meeting location of adjustment.
Alternatively, the route correcting module is further adapted for：
Meeting location according to the adjustment obtains the first new programme path；
The first new programme path is replaced into first programme path.
Alternatively, the car-mounted terminal also includes：
Second programme path acquisition module, is suitable to send the meeting location to one or more of
In two car-mounted terminals, trigger second car-mounted terminal and be based on the meeting location and the second place
Planning information, generates the second programme path of second car-mounted terminal；
Second programme path correcting module, be suitable to send the meeting location of the adjustment to one or
In multiple second car-mounted terminals, trigger second car-mounted terminal be based on the adjustment meeting location and
The second place planning information, generates the second programme path of the amendment of second car-mounted terminal.
Alternatively, the car-mounted terminal also includes：
Second programme path acquisition module, is suitable to be planned based on the meeting location and the second place
Information, generates the second programme path of second car-mounted terminal；And send second programme path
Into corresponding second car-mounted terminal；
Second programme path correcting module, is suitable to the meeting location based on the adjustment and the second
Planning information is put, the second programme path of the amendment of second car-mounted terminal is generated；And by the amendment
The second programme path send into corresponding second car-mounted terminal.
Alternatively, the car-mounted terminal also includes：
First programme path display module, is suitable to represent institute on the electronic map of first car-mounted terminal
State the first programme path of the first programme path and/or amendment.
Alternatively, the car-mounted terminal also includes：
Second programme path display module, is suitable to represent institute on the electronic map of first car-mounted terminal
State the second programme path of the second programme path and/or amendment.
Alternatively, the first position planning information at least includes the first start position and First terminal point position
Put；The second place planning information at least includes the second start position and the second final position.
According to another aspect of the present invention, there is provided a kind of intelligent automobile, the above-mentioned car of the intelligent automobile
Mounted terminal.
A kind of method of vehicle route amendment of the invention, car-mounted terminal and intelligent automobile, in basis
First car-mounted terminal generates the first car-mounted terminal with the meeting location of one or more the second car-mounted terminals
After first programme path, congregation position can be adjusted according to the current vehicle data of the first car-mounted terminal
Put, and the first programme path is corrected according to the meeting location of adjustment, can be according to the actual conditions of vehicle certainly
Adjustment meeting location, and then the programme path of adaptive correction first are adapted to, being discussed in advance without user can
Close position so that the determination of meeting location is more reasonable, and route planning is more flexible, high degree of automation,
Improve the efficiency and validity of route planning.
Described above is only the general introduction of technical solution of the present invention, in order to better understand skill of the invention
Art means, and can be practiced according to the content of specification, and it is of the invention above and other in order to allow
Objects, features and advantages can become apparent, below especially exemplified by specific embodiment of the invention.
Brief description of the drawings
By reading the detailed description of hereafter preferred embodiment, various other advantages and benefit are for this
Field those of ordinary skill will be clear understanding.Accompanying drawing is only used for showing the purpose of preferred embodiment,
And it is not considered as limitation of the present invention.And in whole accompanying drawing, be denoted by the same reference numerals
Identical part.In the accompanying drawings：
Fig. 1 shows a kind of embodiment of the method one of vehicle route amendment according to an embodiment of the invention
The step of flow chart；
Fig. 2 shows a kind of embodiment of the method two of vehicle route amendment according to an embodiment of the invention
The step of flow chart；
Fig. 3 shows a kind of embodiment of the method two of vehicle route amendment according to an embodiment of the invention
In the shared flow chart of steps in position；And
Fig. 4 shows that a kind of car-mounted terminal of vehicle route amendment according to an embodiment of the invention is implemented
The structured flowchart of example.
Specific embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although being shown in accompanying drawing
The exemplary embodiment of the disclosure, it being understood, however, that may be realized in various forms the disclosure without
Should be limited by embodiments set forth here.Conversely, there is provided these embodiments are able to more thoroughly
Understand the disclosure, and can by the scope of the present disclosure it is complete convey to those skilled in the art.
Reference picture 1, shows a kind of method reality of vehicle route amendment according to an embodiment of the invention
The step of applying example one flow chart, specifically may include steps of：
Step 101, determines the meeting location of the first car-mounted terminal and one or more the second car-mounted terminals；
Step 102, based on the meeting location, generates the first programme path of first car-mounted terminal；
Step 103, obtains the vehicle data of first car-mounted terminal；
Step 104, the meeting location, the meeting location being adjusted are adjusted according to the vehicle data；
Correct first programme path in step 105, the meeting location based on the adjustment.
In embodiments of the present invention, according to the first car-mounted terminal and one or more the second car-mounted terminals
Meeting location is generated after the first programme path of the first car-mounted terminal, can be worked as according to the first car-mounted terminal
Preceding vehicle data adjusts meeting location, and according to the meeting location of adjustment corrects the first programme path,
Can be according to the actual conditions self-adaptative adjustment meeting location of vehicle, and then the planning of adaptive correction first road
Line, meeting location has been discussed without user in advance so that the determination of meeting location is more reasonable, route rule
Draw more flexibly, high degree of automation improves the efficiency and validity of route planning.
Reference picture 2, shows a kind of method reality of vehicle route amendment according to an embodiment of the invention
The step of applying example two flow chart, in can apply to car-mounted terminal, wherein car-mounted terminal can with integrated positioning,
The multiple functions such as communication, automobile travel recorder, with powerful traffic scheduling function and data processing energy
Power.
The car-mounted terminal of the embodiment of the present invention has instant communication function, can be chosen from contact person
Summed data is asked in friend, transmission.
The car-mounted terminal of the embodiment of the present invention can include the first car-mounted terminal and one or more second
Car-mounted terminal, the first car-mounted terminal can be by car-mounted terminal with one or more second car-mounted terminals
Instant communication function carries out position and shares, that is, the first car-mounted terminal and one or more second vehicle-mounted ends
End can be the member in the shared session of same position, wherein, session in the present embodiment is a kind of face
To the communication mode of connection simultaneously, it is allowed to which many people participate in being communicated.
In a kind of preferred embodiment of the embodiment of the present invention, flow chart of steps is shared with reference to the position of Fig. 3,
First car-mounted terminal can carry out position with one or more second car-mounted terminals and share in the following way：
Step S1, obtains the real-time first position information of the first car-mounted terminal；
Specifically, the first car-mounted terminal can use alignment system, for example, GPS (Global
Positioning System, global positioning system), GNSS (Global Navigation Satellite
System, GPS), BDS (BeiDou Navigation Satellite System, in
State's Beidou satellite navigation system), GLONASS (GLONASS satellite navigation system) etc. obtain real-time
First position information.
Used as a kind of example of the embodiment of the present invention, the first position information can include but is not limited to following
At least one：Important building, the first car-mounted terminal near the longitude and latitude of current location, current location
The moving direction of change in location.
Step S2, represents the first position information on the electronic map of the first car-mounted terminal；
Car-mounted terminal can also include electronic map, for carrying out route guidance and position display etc..When
One car-mounted terminal is obtained after the information of first position, can show the first position in electronic map in real time
Information.
Step S3, generates position sharing request, and the position sharing request is sent to one
Or multiple second car-mounted terminals；
In implementing, the user of the first car-mounted terminal can be by the function dish in the first car-mounted terminal
Single-shot plays geographical position and shares, and now, the first car-mounted terminal can detect geographical location information and share,
And position sharing request is generated, and the position sharing request was sent to one or more the second vehicle-mounted ends
In end, its geographical position of the users to share of the second car-mounted terminal that the position sharing request is used in invitation session
Put.
Step S4, is received one or more of second car-mounted terminals and is returned based on the position sharing request
The real-time second place information of second car-mounted terminal returned；
After one or more second car-mounted terminals receive position sharing request, the position sharing request is carried
Show to the user of the second car-mounted terminal, the user of the second car-mounted terminal can select to ignore invitation, refuse to invite
Please or accept the invitation.
If the user of the second car-mounted terminal wishes that the user of the first car-mounted terminal checks the positional information of oneself,
Position sharing request can then be received, its geography is shared to the first car-mounted terminal based on the position sharing request
Position, i.e. second place information.
Step S5, represents the second place information on the electronic map of first car-mounted terminal.
Because the position sharing request of the user of the user based on the first car-mounted terminal of the second car-mounted terminal is entered
Row geographical position is shared, then the user of the second car-mounted terminal can participate in user's hair of the first car-mounted terminal
During the geographical position risen is shared, i.e., the user of the first car-mounted terminal can on the electronic map check the second car
The second place information of the user of mounted terminal, the user of the second car-mounted terminal can also be on its electronic map
Check the first position information of the user of the first car-mounted terminal.
Geographical position sharing functionality based on car-mounted terminal, the embodiment of the present invention can specifically include following step
Suddenly：
Step 201, determines the meeting location of the first car-mounted terminal and one or more the second car-mounted terminals；
In embodiments of the present invention, the first car-mounted terminal can be automatically determined second vehicle-mounted with one or more
The meeting location of terminal, the meeting location is the user of the first car-mounted terminal and the use of the second car-mounted terminal
The position that family is met.
In a kind of preferred embodiment of the embodiment of the present invention, step 201 can include following sub-step：
Sub-step S11, the first car-mounted terminal determines first position planning information；
Used as a kind of preferred exemplary of the embodiment of the present invention, first position planning information can at least include the
One start position and First terminal point position.
In implementing, the first start position can be the user of the first car-mounted terminal at the first vehicle-mounted end
The positional information, or the first car-mounted terminal for being input into end or being marked are obtained automatically by positioning function
Positional information, the embodiment of the present invention is not restricted to this.
First terminal point position then can be the first car-mounted terminal user be input into the first car-mounted terminal or
The positional information of mark.
Sub-step S12, receives the second place planning information of one or more second car-mounted terminals transmission；
First car-mounted terminal and the second car-mounted terminal carry out position it is shared after, the first car-mounted terminal can be obtained
The shared second place planning information of the second car-mounted terminal is obtained, the one kind as the embodiment of the present invention is preferably shown
Example, second place planning information can at least include the second start position and the second final position.
In implementing, the second start position can be the user of the second car-mounted terminal at the second vehicle-mounted end
The positional information, or the second car-mounted terminal for being input into end or being marked are obtained automatically by positioning function
Positional information, the embodiment of the present invention is not restricted to this.
Second final position then can be the second car-mounted terminal user be input into the second car-mounted terminal or
The positional information of mark.
Sub-step S13, according to the first position planning information and the second place planning information,
Determine the meeting location of first car-mounted terminal and one or more of second car-mounted terminals.
First car-mounted terminal determined after first position planning information and second place planning information, can be with
Automatically the meeting location of first car-mounted terminal and one or more the second car-mounted terminals is calculated.
In a kind of preferred embodiment of the embodiment of the present invention, sub-step S13 can further include as follows
Sub-step：
Sub-step S131, respectively to the first position planning information and second place planning letter
Breath carries out route search；
In one embodiment, can be using the thorough searching algorithm of enlightening Coase (Dijkstra) come to first
Putting planning information and second place planning information carries out route search.The thorough searching algorithm of enlightening Coase is to calculate
One starting point s to each vertex v on map minimal path, wherein, the vertex representation on map
Physical location, the route between summit and summit represents the route of physics.
The thorough searching algorithm of enlightening Coase may comprise steps of：(1) when initial, S only includes starting point,
That is S={ v }, and the distance of v to v is 0.U includes the summit on other maps in addition to v, in U
U distances in summit are in upper weighted value (if v and u has), (if u is not v goes out side abutment points).(2)
One is chosen from U apart from v minimum summit k, (the selected distance is exactly v in k additions S
To the shortest path length of k).(3) it is the new intermediate point for considering with k, the distance on each summit in modification U
Weighted value；If distance (the warp of (u is a summit in U set) from starting point v to summit u
(short without summit k), then modification starting point v is to summit u's than original distance to cross summit k)
Path is the path by summit k and changes corresponding distance weighting value.(4) repeat step (2) and (3)
In all summits are included in S.
In embodiments of the present invention, the first start position, First terminal point position, the second start position and
Second final position carries out route retrieval, that is, First terminal point position and the second final position is temporary
When be also set to a starting point, as the first start position and the second start position.Then appoint therefrom
The route retrieval of one starting point of meaning starts to perform once.If the starting point of current route retrieval is this
The terminal of route planning, the impassable section of backhaul is given up in route retrieval, and backhaul is unidirectional
Section is set to two-way section of passing through, and then runs the thorough searching algorithm of enlightening Coase.Because after
, it is necessary to the route since terminal to be retrieved the route reversion of engagement point in advance when calculating final route,
So do so is to prevent from the route retrieval since terminal that the obstructed section of backhaul is put into this to incite somebody to action
The route to be inverted, being also prevented from the retrieval of the route since terminal cannot be put into this by the unidirectional section of backhaul
The individual route that will be inverted.If the starting point of current route retrieval is the starting point of this route planning,
Then run the thorough searching algorithm of enlightening Coase.
Sub-step S132, if retrieving the route for obtaining based on first position planning information and based on second
When putting the planning information route that obtains of retrieval there are common accessing points, then the common accessing points are defined as
Meeting location.
After route search is carried out, determine whether that a point is retrieved by all routes and access, if
Fruit has, then this point is exactly common accessing points, i.e. meeting location, and under these conditions, search stops.
It should be noted that one kind that the mode of above-mentioned calculating meeting location is only the embodiment of the present invention is shown
Example, those skilled in the art calculate meeting location and are possible using other modes, the embodiment of the present invention
This need not be any limitation as.
Step 202, based on the meeting location, generates the first programme path of first car-mounted terminal；
After meeting location is obtained, each personnel of session can be cooked up from starting point by congregation position
Put, the route finally reached home.
In implementing, can plan the start position of approach first, merge with pass course planning algorithm
Position and the first programme path of First terminal point position.
It is applied to the embodiment of the present invention, the embodiment of the present invention can also be sent to described the meeting location
In one or more second car-mounted terminals, trigger second car-mounted terminal be based on the meeting location and
The second place planning information, generates the second programme path of second car-mounted terminal.Specifically,
After obtaining meeting location, the meeting location can also be shared into one or more the second car-mounted terminals,
Second car-mounted terminal is obtained after meeting location, can plan approach second with pass course planning algorithm
Second programme path in start position, meeting location and the second final position.
Certainly, the second programme path can also be completed in the first car-mounted terminal side, that is, obtaining meeting location
After, the first car-mounted terminal can plan the start position of approach second, meeting with pass course planning algorithm
Close second programme path in position and the second final position, and the second programme path is sent to corresponding
In second car-mounted terminal.
Step 203, represents first programme path on the electronic map of first car-mounted terminal；
First car-mounted terminal is obtained after the first programme path, can on the electronic map show first rule
Route is drawn, and first programme path is shared into one or more the second car-mounted terminals.
Correspondingly, after the first car-mounted terminal obtains the second programme path, can show on the electronic map
Second programme path, and second programme path is shared into corresponding second car-mounted terminal.Or,
Second car-mounted terminal obtain the second programme path after, it is also possible to shown in the second car-mounted terminal this second
Programme path, and second programme path is shared into the first car-mounted terminal, i.e., in the first car-mounted terminal
Electronic map in show second programme path, then the user of the first car-mounted terminal can be vehicle-mounted first
The second programme path is checked in terminal.
Step 204, obtains the vehicle data of first car-mounted terminal；
As the driving vehicle data of vehicle constantly change, can be by the various biographies of installation in vehicle
Sensor obtains the vehicle data of the first car-mounted terminal, or, can be by CAN (Controller Area
Network, controller local area network) bus from vehicle OBD (On-Board Diagnostic, it is vehicle-mounted
Diagnostic system) interface obtain the first car-mounted terminal vehicle data.
Used as a kind of preferred exemplary of the embodiment of the present invention, vehicle data can include for the described first vehicle-mounted end
It is described that the real-time first position information of first car-mounted terminal of end acquisition, the first car-mounted terminal are obtained
The information such as the first current speed of the first car-mounted terminal.
It is applied to the embodiment of the present invention, the first car-mounted terminal is except that can obtain the vehicle of the first car-mounted terminal
Beyond data, the vehicle number that the second car-mounted terminal is based on the second car-mounted terminal that position is shared can also be received
According to.With the first car-mounted terminal similarly, the second car-mounted terminal can also be by the various sensings of installation in vehicle
Device obtains the vehicle data of the second car-mounted terminal, or, can be by CAN (Controller Area
Network, controller local area network) bus from vehicle OBD (On-Board Diagnostic, it is vehicle-mounted
Diagnostic system) interface obtain the second car-mounted terminal vehicle data.
Used as a kind of preferred exemplary of the embodiment of the present invention, the vehicle data of second terminal can be including described
The real-time second place information of second car-mounted terminal, the second car-mounted terminal that second car-mounted terminal is obtained
The information such as current the second speed of second car-mounted terminal for obtaining.
Step 205, the meeting location, the meeting location being adjusted are adjusted according to the vehicle data；
First car-mounted terminal obtain the first car-mounted terminal vehicle data, and the second car-mounted terminal vehicle
After data, can be according to the vehicle data self-adaptative adjustment meeting location for obtaining.
In a kind of preferred embodiment of the embodiment of the present invention, step 205 can include following sub-step：
Sub-step S21, based on the first position information and the meeting location, calculates first car
First distance of mounted terminal and the meeting location, and according to first distance and the first speed, calculate
The very first time；
First car-mounted terminal is obtained after the information of first position, can calculate the first position letter being presently in
The first distance between breath and meeting location, and according to real-time first speed, calculate according to current first
Speed, reaches the very first time that meeting location needs, for example, can be by calculating the first distance and first
The quotient of speed, obtains the very first time.
Sub-step S22, based on the second place information and the meeting location, calculates second car
The second distance of mounted terminal and the meeting location, and according to the second distance and the second speed, calculate
Second time；
Further, after the first car-mounted terminal obtains second place information, can calculate for the second vehicle-mounted end
The second distance between the second place information and meeting location being presently in is held, and according to the second vehicle-mounted end
Real-time second speed is held, the second car-mounted terminal is calculated according to current second speed, reaching meeting location needs
The second time wanted, for example, second can be obtained by calculating the quotient of second distance and the second speed
Time.
It should be noted that the calculating of the second time can also be completed in the second car-mounted terminal side, that is, pass through
Second car-mounted terminal come calculate second place information that the second car-mounted terminal is presently in and meeting location it
Between second distance, and according to real-time second speed of the second car-mounted terminal, calculate the second car-mounted terminal and press
According to current second speed, the second time that meeting location needs is reached, the second car-mounted terminal is calculated the
After two times, the second time was shared to the first car-mounted terminal.
Sub-step S23, if the difference of the very first time and second time is more than predetermined threshold value,
Based on the first position information and/or the second place information, the first position planning information is adjusted
And/or the second place planning information, and return to execution step 201.
First car-mounted terminal was calculated after the very first time and the second time, analysis the very first time and
The difference of the second time, if difference between the two is more than predetermined threshold value, illustrates that a side waits the opposing party
Time it is more long, in order to reduce the stand-by period, can be by adjusting first position planning information and/or second
Position planning information adjusts meeting location so that meeting location is optimal assembly area.
In one embodiment, first position planning information and/or second place planning information are adjusted, is come
Adjustment meeting location, can be in the following way：By the first start position in the planning information of first position
The first position information is replaced with, new first position planning information is obtained, and, by the second place
The second start position in planning information replaces with the second place information, obtains new second place planning
Information.Hereafter, new first position planning information and new second place planning information can be based on,
Step 201 is performed, to recalculate meeting location, new meeting location is obtained.
After obtaining new meeting location, by the new meeting location and the meeting location ratio for formerly obtaining
Compared with, if the new meeting location adjusted before the meeting location for formerly obtaining to meeting location,
Using new meeting location as adjustment meeting location；If the new meeting location is in the meeting for formerly obtaining
Close after position, then meeting location is not adjusted.
Correct first programme path in step 206, the meeting location based on the adjustment；
After the meeting location being adjusted, road can be planned according to the meeting location of adjustment amendment first
Line.
In a kind of preferred embodiment of the embodiment of the present invention, step 205 can include following sub-step：
Sub-step S31, the meeting location according to the adjustment obtains the first new programme path；
After the conjunction position that can be adjusted is obtained, approach first can be cooked up with pass course planning algorithm
The first new programme path of positional information, the meeting location of adjustment and First terminal point position.
Sub-step S32, first programme path is replaced by the first new programme path.
Obtain after the first new programme path, the first new programme path can be replaced original first
Programme path, to complete the amendment of route.
It should be noted that the mode of the first programme path is corrected only in the above-mentioned meeting location based on adjustment
It is a kind of example of the embodiment of the present invention, those skilled in the art are based on the congregation of adjustment using other modes
The programme path of position correction first is possible, and the embodiment of the present invention is not restricted to this.
The embodiment of the present invention is applied to, the embodiment of the present invention can also send the meeting location of the adjustment
Into one or more of second car-mounted terminals, trigger second car-mounted terminal and be based on the adjustment
Meeting location and the second place planning information, generate the second of the amendment of second car-mounted terminal
Programme path.Specifically, behind the meeting location being adjusted, the meeting location of the adjustment can also be total to
Enjoy into one or more the second car-mounted terminals, second car-mounted terminal obtain adjustment meeting location with
Afterwards, can with pass course planning algorithm, plan approach second place information, the meeting location of adjustment and
Second programme path of the amendment in the second final position.
Certainly, the amendment of the second programme path can also be completed in the first car-mounted terminal side, that is, adjusted
After whole meeting location, the first car-mounted terminal can plan approach second with pass course planning algorithm
Second programme path of the amendment of positional information, the meeting location of adjustment and the second final position, and will
Second programme path of the amendment is sent into corresponding second car-mounted terminal, will in the second car-mounted terminal
Second programme path of amendment replaces original second programme path.
Step 207, represents the first planning of the amendment on the electronic map of first car-mounted terminal
Route.
After the first programme path that first car-mounted terminal is corrected, this can be on the electronic map shown
First programme path of amendment, and the first programme path of the amendment is shared to one or more the second cars
In mounted terminal.
Correspondingly, after the second programme path that the first car-mounted terminal is corrected, can be in electronic map
Upper the second programme path for showing the amendment, and the second programme path of the amendment is shared to corresponding the
In two car-mounted terminals.Or, the second car-mounted terminal is obtained after the second programme path of amendment, it is also possible to
Show the second programme path of the amendment in the second car-mounted terminal, and by the second programme path of the amendment
Share into the first car-mounted terminal, i.e., the second of the amendment is shown in the electronic map of the first car-mounted terminal
Programme path, then the user of the first car-mounted terminal can be checked in the first car-mounted terminal amendment second rule
Draw route.
In embodiments of the present invention, the first car-mounted terminal can be according to the first start position, First terminal point position
Put, the second start position and the second final position calculate meeting location automatically, and according to the traveling of vehicle
Situation carries out the self-adaptative adjustment of meeting location, so that adaptive correction programme path, without artificial prior
Agreement meeting location, high degree of automation so that route planning is more rationally and efficient.
For embodiment of the method, in order to be briefly described, therefore it is all expressed as a series of combination of actions,
But those skilled in the art should know, the embodiment of the present invention is not limited by described sequence of movement
System, because according to the embodiment of the present invention, some steps can sequentially or simultaneously be carried out using other.Its
Secondary, those skilled in the art should also know, embodiment described in this description belongs to be preferable to carry out
Example, necessary to the involved action not necessarily embodiment of the present invention.
Reference picture 4, shows a kind of vehicle-mounted end of vehicle route amendment according to an embodiment of the invention
The structured flowchart of embodiment is held, can specifically include such as lower module：
Meeting location determining module 401, is adapted to determine that the first car-mounted terminal is second vehicle-mounted with one or more
The meeting location of terminal；
Route planning module 402, is suitable to, based on the meeting location, generate first car-mounted terminal
First programme path；
Vehicle data acquisition module 403, is suitable to obtain the vehicle data of first car-mounted terminal；
Meeting location adjusting module 404, is suitable to adjust the meeting location according to the vehicle data, obtains
To the meeting location of adjustment；
Route correcting module 405, is suitable to meeting location amendment the first planning road based on the adjustment
Line.
In a kind of preferred embodiment of the embodiment of the present invention, the meeting location determining module 401 can be with
Including following submodule：
First planning information determination sub-module, is suitable to the first car-mounted terminal and determines first position planning information；
Second planning information determination sub-module, is suitable to receive one or more second car-mounted terminals send the
Two position planning informations；
Determination sub-module, is suitable to according to the first position planning information and second place planning letter
Breath, determines the meeting location of first car-mounted terminal and one or more of second car-mounted terminals.
In a kind of preferred embodiment of the embodiment of the present invention, the determination sub-module is further adapted for：
Path inspection is carried out to the first position planning information and the second place planning information respectively
Rope；
If being examined with based on second place planning information based on the route that planning information retrieval in first position is obtained
When the route that rope is obtained has common accessing points, then the common accessing points are defined as meeting location.
In a kind of preferred embodiment of the embodiment of the present invention, the vehicle data includes that described first is vehicle-mounted
The real-time first position information of first car-mounted terminal that terminal is obtained, the car-mounted terminal also includes：
First position information display module, is suitable to represent described on the electronic map of the first car-mounted terminal
One positional information；
Sharing request generation module, is suitable to generate position sharing request, and the position sharing request is sent out
Deliver to one or more of second car-mounted terminals；
Second place data obtaining module, is suitable to receive one or more of second car-mounted terminals based on institute
Rheme puts the real-time second place information of second car-mounted terminal of sharing request return；
Second place information display module, is suitable to represent institute on the electronic map of first car-mounted terminal
State second place information.
In a kind of preferred embodiment of the embodiment of the present invention, the car-mounted terminal also includes：
Speed information receiver module, is suitable to receive the described of one or more of second car-mounted terminals transmissions
Real-time second speed of second car-mounted terminal.
In a kind of preferred embodiment of the embodiment of the present invention, the vehicle data also includes first car
Current the first speed of first car-mounted terminal that mounted terminal is obtained；The meeting location adjusting module
404 are further adapted for：
Based on the first position information and the meeting location, calculate first car-mounted terminal with it is described
First distance of meeting location, and according to first distance and the first speed, calculate the very first time；
Based on the second place information and the meeting location, calculate second car-mounted terminal with it is described
The second distance of meeting location, and according to the second distance and the second speed, calculated for the second time；
If the very first time is more than predetermined threshold value with the difference of second time, based on described first
Positional information and/or the second place information, adjust the first position planning information and/or described the
Two position planning informations, and meeting location determining module 401 is re-called, obtain new meeting location；
If the new meeting location is before the meeting location, using the new meeting location as
The meeting location of adjustment.
In a kind of preferred embodiment of the embodiment of the present invention, the route correcting module 405 is further adapted for：
Meeting location according to the adjustment obtains the first new programme path；
The first new programme path is replaced into first programme path.
In a kind of preferred embodiment of the embodiment of the present invention, the car-mounted terminal also includes：
Second programme path acquisition module, is suitable to send the meeting location to one or more of
In two car-mounted terminals, trigger second car-mounted terminal and be based on the meeting location and the second place
Planning information, generates the second programme path of second car-mounted terminal；
Second programme path correcting module, be suitable to send the meeting location of the adjustment to one or
In multiple second car-mounted terminals, trigger second car-mounted terminal be based on the adjustment meeting location and
The second place planning information, generates the second programme path of the amendment of second car-mounted terminal.
In a kind of preferred embodiment of the embodiment of the present invention, the car-mounted terminal also includes：
Second programme path acquisition module, is suitable to be planned based on the meeting location and the second place
Information, generates the second programme path of second car-mounted terminal；And send second programme path
Into corresponding second car-mounted terminal；
Second programme path correcting module, is suitable to the meeting location based on the adjustment and the second
Planning information is put, the second programme path of the amendment of second car-mounted terminal is generated；And by the amendment
The second programme path send into corresponding second car-mounted terminal.
In a kind of preferred embodiment of the embodiment of the present invention, the car-mounted terminal also includes：
First programme path display module, is suitable to represent institute on the electronic map of first car-mounted terminal
State the first programme path of the first programme path and/or amendment.
In a kind of preferred embodiment of the embodiment of the present invention, the car-mounted terminal also includes：
Second programme path display module, is suitable to represent institute on the electronic map of first car-mounted terminal
State the second programme path of the second programme path and/or amendment.
In a kind of preferred embodiment of the embodiment of the present invention, the first position planning information at least includes
First start position and First terminal point position；The second place planning information at least includes the second starting point
Position and the second final position.
For car-mounted terminal embodiment, because it is substantially similar to embodiment of the method, so description
Fairly simple, the relevent part can refer to the partial explaination of embodiments of method.
The embodiment of the invention also discloses a kind of intelligent automobile, the intelligent automobile includes Fig. 3 embodiments institute
The car-mounted terminal stated.
Algorithm and display be not solid with any certain computer, virtual system or miscellaneous equipment provided herein
There is correlation.Various general-purpose systems can also be used together with based on teaching in this.As described above,
It is obvious to construct the structure required by this kind of system.Additionally, the present invention is not also for any specific
Programming language.It is understood that, it is possible to use various programming languages realize the content of invention described herein,
And the description done to language-specific above is to disclose preferred forms of the invention.
In specification mentioned herein, numerous specific details are set forth.It is to be appreciated, however, that this
Inventive embodiment can be put into practice in the case of without these details.In some instances, not
Known method, structure and technology are shown specifically, so as not to obscure the understanding of this description.
Similarly, it will be appreciated that in order to simplify the disclosure and help understand in each inventive aspect
Or it is multiple, in above to the description of exemplary embodiment of the invention, each feature of the invention is sometimes
It is grouped together into single embodiment, figure or descriptions thereof.However, should not be by the disclosure
Method be construed to reflect following intention：I.e. the present invention for required protection requirement ratio is in each claim
The middle more features of feature be expressly recited.More precisely, as the following claims reflect
As, inventive aspect is all features less than single embodiment disclosed above.Therefore, it then follows
Thus claims of specific embodiment are expressly incorporated in the specific embodiment, wherein each right
It is required that in itself all as separate embodiments of the invention.
Those skilled in the art are appreciated that can be carried out certainly to the module in the equipment in embodiment
Adaptively change and they are arranged in one or more equipment different from the embodiment.Can be with
Module or unit or component in embodiment is combined into a module or unit or component, and in addition may be used
To be divided into multiple submodule or subelement or sub-component.Except such feature and/or process or
Outside at least some in unit exclude each other, can be using any combinations to this specification (including companion
With claim, summary and accompanying drawing) disclosed in all features and so disclosed any method or
All processes or unit of person's equipment are combined.Unless expressly stated otherwise, this specification (including companion
With claim, summary and accompanying drawing) disclosed in each feature can it is identical by offers, equally or phase
Replace like the alternative features of purpose.
Although additionally, it will be appreciated by those of skill in the art that some embodiments described herein include it
Some included features are rather than further feature, but the group of the feature of different embodiments in its embodiment
Conjunction means to be within the scope of the present invention and formed different embodiments.For example, in following power
In sharp claim, the one of any of embodiment required for protection mode can make in any combination
With.
All parts embodiment of the invention can be realized with hardware, or be processed with one or more
The software module run on device is realized, or is realized with combinations thereof.Those skilled in the art should
Understand, basis can be realized using microprocessor or digital signal processor (DSP) in practice
Some or all parts in the equipment of the vehicle route amendment of the embodiment of the present invention some or it is complete
Portion's function.The present invention is also implemented as performing some or all of method as described herein
Equipment or program of device (for example, computer program and computer program product).Such realization
Program of the invention can be stored on a computer-readable medium, or can be with one or more letter
Number form.Such signal can be downloaded from internet website and obtained, or above be carried in carrier signal
For, or provided in any other form.
It should be noted that above-described embodiment the present invention will be described rather than limiting the invention,
And those skilled in the art can design replacement without departing from the scope of the appended claims
Embodiment.In the claims, any reference symbol being located between bracket should not be configured to right
It is required that limitation.Word "comprising" does not exclude the presence of element or step not listed in the claims.Position
Word "a" or "an" before element does not exclude the presence of element as multiple.The present invention can
To be realized by means of the hardware for including some different elements and by means of properly programmed computer.
If in the unit claim for listing equipment for drying, several in these devices can be by same
Individual hardware branch is embodied.The use of word first, second, and third does not indicate that any order.
These words can be construed to title.
The invention discloses A1, a kind of method of vehicle route amendment, methods described includes：
Determine the meeting location of the first car-mounted terminal and one or more the second car-mounted terminals；
Based on the meeting location, the first programme path of first car-mounted terminal is generated；
Obtain the vehicle data of first car-mounted terminal；
The meeting location, the meeting location being adjusted are adjusted according to the vehicle data；
Correct first programme path in meeting location based on the adjustment.
A2, the method as described in A1, the car-mounted terminal of the determination first are second vehicle-mounted with one or more
The step of meeting location of terminal, includes：
First car-mounted terminal determines first position planning information；
Receive the second place planning information of one or more second car-mounted terminals transmission；
According to the first position planning information and the second place planning information, described first is determined
The meeting location of car-mounted terminal and one or more of second car-mounted terminals.
A3, the method as described in A2, it is described according to the first position planning information and described second
Position planning information, determines the meeting of first car-mounted terminal and one or more of second car-mounted terminals
The step of closing position includes：
Path inspection is carried out to the first position planning information and the second place planning information respectively
Rope；
If being examined with based on second place planning information based on the route that planning information retrieval in first position is obtained
When the route that rope is obtained has common accessing points, then the common accessing points are defined as meeting location.
A4, the method as described in A3, the vehicle data include the institute that first car-mounted terminal is obtained
The real-time first position information of the first car-mounted terminal is stated, in the vehicle for obtaining first car-mounted terminal
After the step of data, also include：
Represent the first position information on the electronic map of the first car-mounted terminal；
Generation position sharing request, and the position sharing request is sent to one or more of second
Car-mounted terminal；
Receive one or more of second car-mounted terminals and be based on the described of position sharing request return
The real-time second place information of second car-mounted terminal；
Represent the second place information on the electronic map of first car-mounted terminal.
A5, the method as described in A4, are based in one or more of second car-mounted terminals of reception
The step of second car-mounted terminal that the position sharing request is returned real-time second place information it
Afterwards, also include：
Receive second car-mounted terminal that one or more of second car-mounted terminals send real-time the
Two speeds.
A6, the method as described in A5, the vehicle data also include what first car-mounted terminal was obtained
The first current speed of first car-mounted terminal；It is described to adjust the congregation position according to the vehicle data
Put, include the step of the meeting location being adjusted：
Based on the first position information and the meeting location, calculate first car-mounted terminal with it is described
First distance of meeting location, and according to first distance and the first speed, calculate the very first time；
Based on the second place information and the meeting location, calculate second car-mounted terminal with it is described
The second distance of meeting location, and according to the second distance and the second speed, calculated for the second time；
If the very first time is more than predetermined threshold value with the difference of second time, based on described first
Positional information and/or the second place information, adjust the first position planning information and/or described the
Two position planning informations, and it is described according to the first position planning information and described second to return to execution
Position planning information, determines the meeting of first car-mounted terminal and one or more of second car-mounted terminals
The step of closing position, obtains new meeting location；
If the new meeting location is before the meeting location, using the new meeting location as
The meeting location of adjustment.
A7, the method as described in A1, the meeting location amendment based on the adjustment first rule
The step of drawing route includes：
Meeting location according to the adjustment obtains the first new programme path；
The first new programme path is replaced into first programme path.
A8, the method as described in any one of A1-A7, also include：
The meeting location is sent into one or more of second car-mounted terminals, triggering described second
Car-mounted terminal is based on the meeting location and the second place planning information, generates described second vehicle-mounted
Second programme path of terminal；
And/or,
The meeting location of the adjustment is sent into one or more of second car-mounted terminals, institute is triggered
State the second car-mounted terminal and be based on the meeting location of the adjustment and the second place planning information, generation
Second programme path of the amendment of second car-mounted terminal.
A9, the method as described in any one of A1-A7, also include：
Based on the meeting location and the second place planning information, second car-mounted terminal is generated
The second programme path；And send into corresponding second car-mounted terminal second programme path；
And/or,
Meeting location and the second place planning information based on the adjustment, generate second car
Second programme path of the amendment of mounted terminal；And send to corresponding second programme path of the amendment
In second car-mounted terminal.
A10, the method as described in A1, also include：
Represent first programme path and/or amendment on the electronic map of first car-mounted terminal
First programme path.
A11, the method as described in A10, also include：
Represent second programme path and/or amendment on the electronic map of first car-mounted terminal
Second programme path.
A12, the method as described in any one of A1-A7, the first position planning information at least include the
One start position and First terminal point position；The second place planning information at least includes the second starting point position
Put and the second final position.
The invention also discloses B13, a kind of car-mounted terminal of vehicle route amendment, the car-mounted terminal bag
Include：
Meeting location determining module, is adapted to determine that the first car-mounted terminal and one or more second car-mounted terminals
Meeting location；
Route planning module, is suitable to, based on the meeting location, generate the first of first car-mounted terminal
Programme path；
Vehicle data acquisition module, is suitable to obtain the vehicle data of first car-mounted terminal；
Meeting location adjusting module, is suitable to adjust the meeting location according to the vehicle data, is adjusted
Whole meeting location；
Route correcting module, is suitable to the meeting location based on the adjustment and corrects first programme path.
B14, the car-mounted terminal as described in B13, the meeting location determining module include：
First planning information determination sub-module, is suitable to the first car-mounted terminal and determines first position planning information；
Second planning information determination sub-module, is suitable to receive one or more second car-mounted terminals send the
Two position planning informations；
Determination sub-module, is suitable to according to the first position planning information and second place planning letter
Breath, determines the meeting location of first car-mounted terminal and one or more of second car-mounted terminals.
B15, the car-mounted terminal as described in B14, the determination sub-module are further adapted for：
Path inspection is carried out to the first position planning information and the second place planning information respectively
Rope；
If being examined with based on second place planning information based on the route that planning information retrieval in first position is obtained
When the route that rope is obtained has common accessing points, then the common accessing points are defined as meeting location.
B16, the car-mounted terminal as described in B15, the vehicle data are obtained including first car-mounted terminal
The real-time first position information of first car-mounted terminal for obtaining, the car-mounted terminal also includes：
First position information display module, is suitable to represent described on the electronic map of the first car-mounted terminal
One positional information；
Sharing request generation module, is suitable to generate position sharing request, and the position sharing request is sent out
Deliver to one or more of second car-mounted terminals；
Second place data obtaining module, is suitable to receive one or more of second car-mounted terminals based on institute
Rheme puts the real-time second place information of second car-mounted terminal of sharing request return；
Second place information display module, is suitable to represent institute on the electronic map of first car-mounted terminal
State second place information.
B17, the car-mounted terminal as described in B16, also include：
Speed information receiver module, is suitable to receive the described of one or more of second car-mounted terminals transmissions
Real-time second speed of second car-mounted terminal.
B18, the car-mounted terminal as described in B17, the vehicle data also include first car-mounted terminal
Current the first speed of first car-mounted terminal for obtaining；The meeting location adjusting module is further adapted for：
Based on the first position information and the meeting location, calculate first car-mounted terminal with it is described
First distance of meeting location, and according to first distance and the first speed, calculate the very first time；
Based on the second place information and the meeting location, calculate second car-mounted terminal with it is described
The second distance of meeting location, and according to the second distance and the second speed, calculated for the second time；
If the very first time is more than predetermined threshold value with the difference of second time, based on described first
Positional information and/or the second place information, adjust the first position planning information and/or described the
Two position planning informations, and meeting location determining module is re-called, obtain new meeting location；
If the new meeting location is before the meeting location, using the new meeting location as
The meeting location of adjustment.
B19, the car-mounted terminal as described in B13, the route correcting module are further adapted for：
Meeting location according to the adjustment obtains the first new programme path；
The first new programme path is replaced into first programme path.
B20, the car-mounted terminal as described in any one of B13-B19, also include：
Second programme path acquisition module, is suitable to send the meeting location to one or more of
In two car-mounted terminals, trigger second car-mounted terminal and be based on the meeting location and the second place
Planning information, generates the second programme path of second car-mounted terminal；
Second programme path correcting module, be suitable to send the meeting location of the adjustment to one or
In multiple second car-mounted terminals, trigger second car-mounted terminal be based on the adjustment meeting location and
The second place planning information, generates the second programme path of the amendment of second car-mounted terminal.
B21, the car-mounted terminal as described in any one of B13-B19, also include：
Second programme path acquisition module, is suitable to be planned based on the meeting location and the second place
Information, generates the second programme path of second car-mounted terminal；And send second programme path
Into corresponding second car-mounted terminal；
Second programme path correcting module, is suitable to the meeting location based on the adjustment and the second
Planning information is put, the second programme path of the amendment of second car-mounted terminal is generated；And by the amendment
The second programme path send into corresponding second car-mounted terminal.
B22, the car-mounted terminal as described in B13, also include：
First programme path display module, is suitable to represent institute on the electronic map of first car-mounted terminal
State the first programme path of the first programme path and/or amendment.
B23, the car-mounted terminal as described in B22, also include：
Second programme path display module, is suitable to represent institute on the electronic map of first car-mounted terminal
State the second programme path of the second programme path and/or amendment.
B24, the car-mounted terminal as described in any one of B13-B19, the first position planning information is at least
Including the first start position and First terminal point position；The second place planning information at least includes second
Start position and the second final position.
The invention also discloses C25, a kind of intelligent automobile, the intelligent automobile includes that B13-B24 is any
Car-mounted terminal described in.
Claims (10)
1. a kind of method of vehicle route amendment, methods described includes：
Determine the meeting location of the first car-mounted terminal and one or more the second car-mounted terminals；
Based on the meeting location, the first programme path of first car-mounted terminal is generated；
Obtain the vehicle data of first car-mounted terminal；
The meeting location, the meeting location being adjusted are adjusted according to the vehicle data；
Correct first programme path in meeting location based on the adjustment.
2. the method for claim 1, it is characterised in that the car-mounted terminal of the determination first with
The step of meeting location of one or more the second car-mounted terminals, includes：
First car-mounted terminal determines first position planning information；
Receive the second place planning information of one or more second car-mounted terminals transmission；
According to the first position planning information and the second place planning information, described first is determined
The meeting location of car-mounted terminal and one or more of second car-mounted terminals.
3. method as claimed in claim 2, it is characterised in that described to be advised according to the first position
Draw information and the second place planning information, determine first car-mounted terminal with it is one or many
The step of meeting location of individual second car-mounted terminal, includes：
Path inspection is carried out to the first position planning information and the second place planning information respectively
Rope；
If being examined with based on second place planning information based on the route that planning information retrieval in first position is obtained
When the route that rope is obtained has common accessing points, then the common accessing points are defined as meeting location.
4. method as claimed in claim 3, it is characterised in that the vehicle data includes described the
The real-time first position information of first car-mounted terminal that one car-mounted terminal is obtained, described in the acquisition
After the step of vehicle data of the first car-mounted terminal, also include：
Represent the first position information on the electronic map of the first car-mounted terminal；
Generation position sharing request, and the position sharing request is sent to one or more of second
Car-mounted terminal；
Receive one or more of second car-mounted terminals and be based on the described of position sharing request return
The real-time second place information of second car-mounted terminal；
Represent the second place information on the electronic map of first car-mounted terminal.
5. method as claimed in claim 4, it is characterised in that receive one or many described
Individual second car-mounted terminal is based on second car-mounted terminal real-time that the position sharing request is returned
After the step of two positional informations, also include：
Receive second car-mounted terminal that one or more of second car-mounted terminals send real-time the
Two speeds.
6. method as claimed in claim 5, it is characterised in that the vehicle data also includes described
Current the first speed of first car-mounted terminal that first car-mounted terminal is obtained；It is described according to the vehicle
The step of meeting location described in data point reuse, meeting location being adjusted, includes：
Based on the first position information and the meeting location, calculate first car-mounted terminal with it is described
First distance of meeting location, and according to first distance and the first speed, calculate the very first time；
Based on the second place information and the meeting location, calculate second car-mounted terminal with it is described
The second distance of meeting location, and according to the second distance and the second speed, calculated for the second time；
If the very first time is more than predetermined threshold value with the difference of second time, based on described first
Positional information and/or the second place information, adjust the first position planning information and/or described the
Two position planning informations, and it is described according to the first position planning information and described second to return to execution
Position planning information, determines the meeting of first car-mounted terminal and one or more of second car-mounted terminals
The step of closing position, obtains new meeting location；
If the new meeting location is before the meeting location, using the new meeting location as
The meeting location of adjustment.
7. the method for claim 1, it is characterised in that the congregation based on the adjustment
Include the step of the first programme path described in position correction：
Meeting location according to the adjustment obtains the first new programme path；
The first new programme path is replaced into first programme path.
8. the method for claim 1, it is characterised in that also include：
Represent first programme path and/or amendment on the electronic map of first car-mounted terminal
First programme path.
9. a kind of car-mounted terminal of vehicle route amendment, the car-mounted terminal includes：
Meeting location determining module, is adapted to determine that the first car-mounted terminal and one or more second car-mounted terminals
Meeting location；
Route planning module, is suitable to, based on the meeting location, generate the first of first car-mounted terminal
Programme path；
Vehicle data acquisition module, is suitable to obtain the vehicle data of first car-mounted terminal；
Meeting location adjusting module, is suitable to adjust the meeting location according to the vehicle data, is adjusted
Whole meeting location；
Route correcting module, is suitable to the meeting location based on the adjustment and corrects first programme path.
10. a kind of intelligent automobile, the intelligent automobile includes the car-mounted terminal described in claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510959130.2A CN106895842A (en) | 2015-12-18 | 2015-12-18 | A kind of method of vehicle route amendment, car-mounted terminal and intelligent automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510959130.2A CN106895842A (en) | 2015-12-18 | 2015-12-18 | A kind of method of vehicle route amendment, car-mounted terminal and intelligent automobile |
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| Publication Number | Publication Date |
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| CN106895842A true CN106895842A (en) | 2017-06-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510959130.2A Pending CN106895842A (en) | 2015-12-18 | 2015-12-18 | A kind of method of vehicle route amendment, car-mounted terminal and intelligent automobile |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107798420A (en) * | 2017-09-28 | 2018-03-13 | 北京三快在线科技有限公司 | The method and device of presentation of information, electronic equipment |
| CN111784038A (en) * | 2020-06-24 | 2020-10-16 | 北京百度网讯科技有限公司 | Multi-type intermodal route planning method, device, equipment and storage medium |
| CN111845430A (en) * | 2019-04-22 | 2020-10-30 | 上海汽车集团股份有限公司 | Method and system for replacing unmanned aerial vehicle battery |
-
2015
- 2015-12-18 CN CN201510959130.2A patent/CN106895842A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107798420A (en) * | 2017-09-28 | 2018-03-13 | 北京三快在线科技有限公司 | The method and device of presentation of information, electronic equipment |
| CN111845430A (en) * | 2019-04-22 | 2020-10-30 | 上海汽车集团股份有限公司 | Method and system for replacing unmanned aerial vehicle battery |
| CN111845430B (en) * | 2019-04-22 | 2021-11-16 | 上海汽车集团股份有限公司 | Method and system for replacing unmanned aerial vehicle battery |
| CN111784038A (en) * | 2020-06-24 | 2020-10-16 | 北京百度网讯科技有限公司 | Multi-type intermodal route planning method, device, equipment and storage medium |
| CN111784038B (en) * | 2020-06-24 | 2024-04-02 | 北京百度网讯科技有限公司 | Route planning method, device and equipment for multi-mode intermodal transportation and storage medium |
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