CN108562301A - A kind of method and device for planning of driving path - Google Patents
A kind of method and device for planning of driving path Download PDFInfo
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- CN108562301A CN108562301A CN201810489707.1A CN201810489707A CN108562301A CN 108562301 A CN108562301 A CN 108562301A CN 201810489707 A CN201810489707 A CN 201810489707A CN 108562301 A CN108562301 A CN 108562301A
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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
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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
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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Abstract
The present invention provides a kind of method and device for planning of driving path, and this method includes：Driving path using preset algorithm object of planning vehicle from initial position to destination locations, obtains planning path, wherein the planning path includes multiple sections；In the case where the target vehicle is travelled according to the planning path, the level of service grade of target vehicle target road section to be driven into is inquired；If the level of service grade of the target road section is predetermined level, decision tree pruning algorithms are used, the driving path pair between the initial position and final position of the target road section calculates, and obtains local optimum path；By target road section described in the local optimum path replacement, to update the planning path.In this way, target vehicle according to planning path when driving, can be according to the level of service grade Regeneration planning path of target road section to be driven into, so as to improve the accuracy of planning path.
Description
Technical field
The present invention relates to technical field of transportation more particularly to a kind of method and device for planning of driving path.
Background technology
Harmful influence, i.e. hazardous chemical refer to human body, being set with the properties such as murder by poisoning, burn into explosion, burning, combustion-supporting
It applies, environment has the severe poisonous chemicals endangered and other chemicals.As it can be seen that due to the nature of danger of harmful influence, for harmful influence
Various activities all must properly carry out.Such as the transport of harmful influence, recently as expanding economy, harmful influence transport
Become more and more frequently, therefore how suitable driving path is planned to the vehicle for transporting harmful influence, to improve the fortune of harmful influence
Defeated efficiency, at the most important thing of harmful influence transportation service.In general, industry mostly uses greatly searching algorithm to harmful influence transportation route
It is calculated, however, since road conditions in practice are all changing whenever and wherever possible, is easy to cause the row planned
Path is sailed to mismatch with practical road conditions；For example, wherein certain a road section not congestion when carrying out path planning, and in target vehicle
During actual travel, which but becomes congestion, to cause target vehicle to be difficult to pass through.Current row as a result,
It is relatively low to sail the path accuracy that the planing method in path is planned.
Invention content
The embodiment of the present invention provides a kind of method and device for planning of driving path, to solve the rule of existing driving path
The relatively low problem of accuracy for the method for drawing.
In order to solve the above technical problems, the invention is realized in this way：
In a first aspect, an embodiment of the present invention provides a kind of planing methods of driving path, including：
Driving path using preset algorithm object of planning vehicle from initial position to destination locations, obtains planning path,
Wherein, the planning path includes multiple sections；
In the case where the target vehicle is travelled according to the planning path, target vehicle mesh to be driven into is inquired
Mark the level of service grade in section；
If the level of service grade of the target road section be predetermined level, use decision tree pruning algorithms, pair with
Driving path between the initial position and final position of the target road section is calculated, and local optimum path is obtained；
By target road section described in the local optimum path replacement, to update the planning path.
Optionally, the preset algorithm is Dijkstra's algorithm.
Optionally, it in the case where the target vehicle is travelled according to the planning path, inquires the target vehicle and waits for
Before the level of service grade for the target road section driven into, the method further includes：
Obtain the traffic capacity and the volume of traffic of the target road section；
According to the traffic capacity and the volume of traffic, the road saturation degree of the target road section is calculated；
According to the correspondence of preset road saturation degree and level of service grade, the road of the target road section is determined
The corresponding level of service grade of road saturation degree.
Optionally, described to use decision tree pruning algorithms, pair with the initial position of the target road section and final position it
Between driving path the step of being calculated, including：
If the level of service grade of the target road section is the first predetermined level, increase the length of the target road section
The weighted value of degree, and the weighted value of the length based on the target road section after increase, using decision tree pruning algorithms, pair and institute
The most short transportation route stated between the start node of target road section and terminal node is calculated, and local optimum path is obtained；With/
Or
If the level of service grade of the target road section is the second predetermined level, decision tree pruning algorithms are used,
Most short transportation route pair between the start node and terminal node of the target road section calculates, and obtains local optimum road
Diameter, wherein do not include the target road section in calculating parameter when calculating driving path using the decision tree pruning algorithms
Length.
Optionally, the level of service grade is divided into level-one, two level, three-level and level Four, wherein 0≤road is saturated
Degree≤0.6 section be the level-one, 0.6<The section of road saturation degree≤0.8 be the two level, 0.8<Road saturation degree≤1
Section be the three-level, 1<The section of road saturation degree is the level Four.
Second aspect, the embodiment of the present invention also provide a kind of device for planning of driving path, including：
Planning module, for using driving path of the preset algorithm object of planning vehicle from initial position to destination locations,
Obtain planning path, wherein the planning path includes multiple sections；
Enquiry module, in the case where the target vehicle is travelled according to the planning path, inquiring the target
The level of service grade of vehicle target road section to be driven into；
Computing module uses decision tree if the level of service grade for the target road section is predetermined level
Pruning algorithms, the driving path pair between the initial position and final position of the target road section calculate, and obtain part
Path optimizing；
Update module is used for by target road section described in the local optimum path replacement, to update the planning path.
The third aspect, the embodiment of the present invention also provide a kind of device for planning of driving path, including processor, memory and
It is stored in the computer program that can be run on the memory and on the processor, the computer program is by the processing
The step of device realizes the planing method of above-mentioned driving path when executing.
Fourth aspect, the embodiment of the present invention also provide a kind of computer readable storage medium, the computer-readable storage
Computer program is stored on medium, the computer program realizes the planing method of above-mentioned driving path when being executed by processor
The step of.
In embodiments of the present invention, the traveling road using preset algorithm object of planning vehicle from initial position to destination locations
Diameter obtains planning path, wherein the planning path includes multiple sections；In the target vehicle according to the planning path
In the case of traveling, the level of service grade of target vehicle target road section to be driven into is inquired；If the target road
The level of service grade of section is predetermined level, then uses decision tree pruning algorithms, the start bit pair with the target road section
The driving path set between final position is calculated, and local optimum path is obtained；Pass through the local optimum path replacement
The target road section, to update the planning path.In this way, target vehicle according to planning path when driving, can be according to waiting for
The level of service grade Regeneration planning path for the target road section driven into, so as to improve the accuracy of planning path.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, needed in being described below to the embodiment of the present invention
Attached drawing to be used is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention,
For those of ordinary skill in the art, without having to pay creative labor, it can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of flow chart of the planing method of driving path provided in an embodiment of the present invention；
Fig. 2 is a kind of path planning schematic diagram provided in an embodiment of the present invention；
Fig. 3 is a kind of schematic diagram of example provided in an embodiment of the present invention
Fig. 4 is another path planning schematic diagram provided in an embodiment of the present invention；
Fig. 5 is another path planning schematic diagram that inventive embodiments provide；
Fig. 6 is another path planning schematic diagram that inventive embodiments provide；
Fig. 7 is a kind of structure chart of the device for planning of driving path provided in an embodiment of the present invention；
Fig. 8 is the structure chart of the device for planning of another driving path provided in an embodiment of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, the every other implementation that those of ordinary skill in the art are obtained without creative efforts
Example, shall fall within the protection scope of the present invention.
It is a kind of flow chart of the planing method of driving path provided in an embodiment of the present invention referring to Fig. 1, Fig. 1, such as Fig. 1 institutes
Show, includes the following steps：
Step 101, the driving path using preset algorithm object of planning vehicle from initial position to destination locations, are advised
Draw path, wherein the planning path includes multiple sections.
Wherein, the preset algorithm can be various searching algorithms, which includes but not limited to that breadth-first is searched
Rope algorithm, depth-priority-searching method, Dijkstra's algorithm, Freud's algorithm and the graceful Ford algorithm of Bell.And it is preferred, it is described
Target vehicle can be the vehicle for transporting hazardous chemical；It is of course also possible to be other vehicles, this is not limited.
In addition, the initial position and the destination locations, may each be and refer to any one position location, for example, the initial position
Can be certain Oil Co., Ltd, and the destination locations can be certain gas station.
The planning path includes multiple sections, can refer to the planning path by multiple nodes of locations and section group
At the multiple nodes of locations includes the initial position and destination locations；Wherein, between each two nodes of locations there are one connections
Section.For example, initial position is A nodes, destination locations are B node, and planning path is specially A, B, C, D, wherein each two section
All there are one sections for connection between point.
Optionally, the preset algorithm is Dijkstra's algorithm.
In present embodiment, the Dijkstra's algorithm, that is, dijkstra's algorithm is a kind of signal source shortest path algorithm；
It is mainly used for one node of calculating to the shortest path of other all nodes.It is mainly characterized by the outer layers centered on starting point
Layer extension, until expanding to terminal.For example, a Weighted Directed Graph G=(V, E) can be given, using Di Jiesitela
Algorithm search destination locations VnTo initial position V0Between shortest path, the queue of shortest path at this time is Path, and is stored
There is the Dijkstra's algorithm in destination locations VnTo initial position V0Between shortest path search process in, purpose position
Set shortest path queue and the queue length (l of intermediate nodei, Pathi), liIndicate the slave node V obtained when planning pathi
To the length of the shortest path of terminal Vn, PathiIndicate the slave node V obtained when planning pathiTo the shortest path team of terminal Vn
Row, the collection for participating in all nodes of path planning are combined into Ud, the UdIncluding initial position V0。
In this way, searching for shortest path by Dijkstra's algorithm, there is higher success rate.
Step 102, in the case where the target vehicle is travelled according to the planning path, inquire the target vehicle and wait for
The level of service grade for the target road section driven into.
Wherein, the level of service grade is primarily referred to as the service level class of highway, is mainly used to indicate vehicle
Or traffic status of the pedestrian on road.For example, level of service grade is divided into six grades of A, B, C, D, E and F by the U.S.,
It is specific as follows：
A grades：Traffic flow is free flow, and driver can keep oneself desired speed；
B grades：Traffic flow is stationary flow, and driver is affected, but still is able to freely select drive speed and vehicle
Road；
C grades：Traffic flow is stationary flow, but since the volume of traffic is larger, and driver can not compare autonomous selection and drive speed
Degree and change lane；
D grades：Traffic flow is to be similar to stationary flow, and vehicle is run by strong influence, and driver is essentially for oneself
The right of the not unrestricted choice of drive speed；
E grades：Traffic flow is unsteady flow, and Vehicle Speed is low on road at this time, and parking phenomenon, road can occur
Traffic capacity close to even equal to road can feel very ill for driver；
F grades：Traffic flow is constraint stream, will appear parking or clogging for a long time at this time.
Currently, level of service can be usually divided into one, two, three and four ranks of level Four by we, and with the U.S.
Six grades of grade scales are corresponding, and wherein A grades is equivalent to level-one, and B grades are equivalent to two level, and C, D grades are equivalent to three-level, and E, F grades quite
In level Four.
And the target road section that the target vehicle is to be driven into, can refer to adjacent with the section that the target carriage is currently at
Next section.For example, target vehicle is currently in AB according to being travelled from the planning path of A, B, C, D
Section between section, i.e. A and B, then it is exactly the sections BC, i.e. section between B and C that target road section to be driven into, which is,.In addition,
The level of service grade of target vehicle target road section to be driven into can pass through the data in internet or server
It is inquired in library；For example, server can be counted by the quantity to traffic participant, and then converts and obtain the section
The volume of traffic, then corresponding level of service grade is converted by the saturation degree that the volume of traffic obtains.
Optionally, described in the case where the target vehicle is travelled according to the planning path, inquire the target carriage
Before the step of level of service grade of target road section to be driven into, the method further includes：
Obtain the traffic capacity and the volume of traffic of the target road section；
According to the traffic capacity and the volume of traffic, the road saturation degree of the target road section is calculated；
According to the correspondence of preset road saturation degree and level of service grade, the road of the target road section is determined
The corresponding level of service grade of road saturation degree.
It is described according to the traffic capacity and the volume of traffic in present embodiment, calculate the road of the target road section
Saturation degree, can be by being calculated according to formula V/C, wherein V is used to indicate that the volume of traffic, C are used for indicating current energy
Power.And the traffic capacity can refer under certain road and transportation condition, certain a road section or certain intersection are single on road
Pass through the maximum vehicle number of a certain section in the time of position；It is of course also possible to be calculated according to V/C+K, V is used to indicate that traffic
Amount, C are used for indicating that the traffic capacity, K can indicate a weights；To according to the traffic capacity and the volume of traffic, described in calculating
The method of the road saturation degree of target road section is simultaneously not construed as limiting.The usual traffic capacity is usually fixed constant.And the passage
Amount can refer to the transport amount passed through on observed road or the friendship by a certain section on road in the unit interval
The quantity of logical participant's (such as motor vehicles, pedestrian, bicycle) mainly uses the unit interval for the monitoring mode of vehicle
The quantity of the interior traffic participant by a certain cross section.
Wherein, for the volume of traffic measure be in the unit interval by the traffic participant of a certain cross section of road
Quantity, traffic participant are divided into two kinds of existing motor vehicles and non power driven vehicle for vehicle, have small vapour again inside motor vehicles
Vehicle, car, bus, truck etc., non-motor vehicle have bicycle, pedicab etc. again, due to the difference of vehicle class, though it sees
Detecting number is identical, but the situation that road vehicles driving condition confusion degree is entirely different.
For this purpose, we using car as the standard for calculating the volume of traffic, other vehicles are all converted into the traffic volume of car
It is calculated, it is specific such as table 1.
Conversion coefficient of 1 China of table on the basis of car
For the traffic capacity of road, it is divided into two kinds of basic capacity and actual capacity.It is logical for theory
It for row ability, realizes under ideal conditions, the formula for calculating the traffic capacity is:
The C representation theories traffic capacity in formula, the time headway under T representation theory situations.
For the calculating of actual capacity, primarily with respect to the amendment of basic capacity, road type is different,
Using different modifying factors.By taking China's modification method as an example, the computational methods of the actual capacity of different road types are not
Together.
(1) express highway section actual capacity
For express highway section, by formula：
CIt is real=C × fHV×fp×fN
C in formulaIt is realIndicate the track actual capacity of express highway section；
C indicates the track ideal traffic capacity of express highway section；
fpIndicate driver population's coefficient；
fNIndicate the highway track correction factor in 6 tracks or more；
fHVIndicate that traffic forms correction factor；
PiIndicate that large car, in-between car, towed vehicle (i) volume of traffic account for the percentage of total wheel traffic；
EiIndicate large car, in-between car, towed vehicle (i) Passenger car equivalent.
(2) actual capacity in Class I highway section
For Class I highway section, by formula：
CIt is real=C × fHV×fp×fN×ff
C in formulaIt is realIndicate the track actual capacity in Class I highway section；
C indicates the track ideal traffic capacity in Class I highway section；
fpIndicate driver population's coefficient；
fNIndicate track correction factor；
fHVIndicate that traffic forms correction factor；
ffIndicate trackside interferential loads coefficient.
(3) actual capacity in Class II highway section
For Class II highway section, by formula：
CIt is real=C × fHV+fw×fd×ff
C in formulaIt is realIndicate the track actual capacity in Class I highway section；
C indicates the track ideal traffic capacity in Class I highway section；
fHVIndicate that traffic forms correction factor；
ffIndicate trackside interferential loads coefficient；
fdIndicate adjustment in direction coefficient；
fwIndicate lane width, dew shoulder breadth degree correction factor.
Pass through the monitoring above for the volume of traffic and the calculating for road actual capacity, so that it may to be easier
The road saturation degree for calculating road where vehicle.We can be according to road saturation degree and level of service as a result,
The correspondence of grade determines the level of service grade that target road section is belonged to.
In this way, by the correspondence according to preset road saturation degree and level of service grade, the mesh is determined
The corresponding level of service grade of road saturation degree in section is marked, calculating is fairly simple, can relatively quickly determine target
The level of service grade of section ownership.
Optionally, the level of service grade is divided into level-one, two level, three-level and level Four, wherein 0≤road is saturated
Degree≤0.6 section be the level-one, 0.6<The section of road saturation degree≤0.8 be the two level, 0.8<Road saturation degree≤1
Section be the three-level, 1<The section of road saturation degree is the level Four.
In present embodiment, the dividing mode of above-mentioned level of service grade is the one kind obtained after largely testting
Preferably dividing mode, it is, of course, also possible to be divided by other means to level of service grade.For example, can incite somebody to action
Level of service grade is divided into A, B and C three grades, the saturation degree between wherein A grades of correspondence 0 to 0.3, B grades of correspondences 0.3 to
Saturation degree between 0.6, C grades are saturation degree to should be greater than 0.6；This is not restricted.
In this way, by the way that the level of service grade is divided into level-one, two level, three-level and level Four, traffic can be made to take
The practical passage situation of business hierarchical level and road is more in line with, to be conducive to carry out path planning.
If step 103, the level of service grade of the target road section are predetermined level, calculated using decision tree beta pruning
Method, the driving path pair between the initial position and final position of the target road section calculate, and obtain local optimum road
Diameter.
Wherein, the predetermined level can be any one grade, for example, being divided into one in level of service grade
In the case of grade, two level and three-level, the predetermined level can be level-one, can also be two level or three-level, not limit this
System, with setting according to user.In addition, the local optimum path may include a plurality of section, it can also
It is a section, is specifically subject to through the obtained result of algorithm.
And decision tree (Decision Tree) pruning algorithms be it is known it is various happen probability on the basis of,
The probability that the desired value of net present value (NPV) is more than or equal to zero is sought by constituting decision tree, assessment item risk judges its feasibility
Method of decision analysis, be a kind of intuitive graphical method for using probability analysis.Since this decision branch is drawn as figure like one
Tree limb, therefore claim decision tree.Decision tree is a kind of tree of handstand, from one group of out of order, random example
Infer the classifying rules of tree form expression.It uses top-down recursive fashion, chooses attribute according to certain standard and makees
For the internal node of decision tree, and different branches is constructed according to the different values of the attribute, tree leaf node it is concluded that,
So each paths from root node to leaf node just correspond to a rule.Decision tree, which is that one kind is top-down, concluded
Journey is a kind of greedy algorithm.
The initial position of the target road section can refer to the start position in the target road section in travel direction,
And the destination locations of the target road section, then can refer to the final position in the target road section in travel direction.For example,
A points and B points as shown in Figure 2, A are the initial position of target road section, and B is the final position of target road section.
It is described to use decision tree pruning algorithms, the traveling pair between the initial position and final position of the target road section
Path is calculated, and local optimum path is obtained, and can refer to determining using the initial position of the target road section as decision tree
Plan point, by the final position of the target road section, node carries out pruning algorithms using road section length as expected revenus as a result
Operation, using obtained shortest path as local optimum path.
In this way, only needing the initial position pair with the target road section and final position by the decision tree pruning algorithms
Between driving path calculated, to obtain local optimum path, be greatly saved calculate the time.
Optionally, described to use decision tree pruning algorithms, pair with the initial position of the target road section and final position it
Between driving path the step of being calculated, including：
If the level of service grade of the target road section is the first predetermined level, increase the length of the target road section
The weighted value of degree, and the weighted value of the length based on the target road section after increase, using decision tree pruning algorithms, pair and institute
The most short transportation route stated between the start node of target road section and terminal node is calculated, and local optimum path is obtained；With/
Or
If the level of service grade of the target road section is the second predetermined level, decision tree pruning algorithms are used,
Most short transportation route pair between the start node and terminal node of the target road section calculates, and obtains local optimum road
Diameter, wherein do not include the target road section in calculating parameter when calculating driving path using the decision tree pruning algorithms
Length.
In present embodiment, first predetermined level and second predetermined level are different level of service
Grade.It should be noted that being in the section of first predetermined level, driver can not compare autonomous selection and drive speed
Degree and change lane, i.e. traffic flow are in a kind of state between approximate stationary flow and stationary flow, it can be understood as first
The unobstructed degree in the section of predetermined level is relatively low.And it is in the section of second predetermined level, Vehicle Speed is low, Er Qiehui
Parking phenomenon occurs；The traffic capacity of road close to even equal to road can feel very ill, very for driver
To will appear parking or clogging for a long time, i.e. traffic flow is unsteady flow or constraint stream, it can be understood as described second
The section of predetermined level can not travel completely.
In addition, using the decision tree pruning algorithms calculate driving path when calculating parameter in include the target road
The length of section can refer to not including that the node of the length of the target road section seeks shortest path.
In order to better illustrate present embodiment, will be illustrated below with an application example：
If G=(V, E) is Weighted Directed Graph, pass through dijkstra's algorithm, search terminal v firstnTo initial point v0Between
Shortest path, using the shortest path as planning path.Wherein, the queue of shortest path is Path, and stores Dijkstra calculations
Method is by terminal vnTo initial point v0Shortest path queue and queue length (l of the terminal to intermediate node in search processi,
Pathi) (wherein liIndicate the slave node v obtained when initial path planningiTo terminal vnShortest path length, PathiIt indicates
The slave node v that initial path obtains when planningiTo terminal vnShortest path queue), and all nodes of participation initial plan
Set be set as Ud(UdIncluding initial point v0With terminal vn).Assuming that i.e. by point of arrival vmWhen judge point vmTo point vm+1(it is denoted as this
Section is vmvm+1) road conditions change, local optimum is triggered, steps are as follows for specific update；
Step A：Update the real-time route information of relevant road segments.
Step B：If vmTo UdThe known shortest distance array DT of middle all the points is (if vmWith certain vertex viThere is a side, DT [i]=
length(v,vi)；If viIt is not vmGo out side abutment points, DT [i]=∞, DT [0]=0)；Judged according to route conditions, if
It is three-level service level, then jumps to Step3；If it is level Four service level, then step D is jumped to.
Step C：Pair and vmThe connected node of node seeks min (lj+ DT [j]), it is assumed that shortest path node v at this timej, obtain
To minimum node planning queue Pathj, go to step G.
Step D：Whether the most short queue of the child node of decision node M all contains section vmvm+1, it is all to contain then to go to step
Rapid E；Otherwise step F is gone to；
Step E：The child node of node M is pressed DT [i]=length (v, vi) size is used as node M successively, and goes to step
Rapid D；
Step F：V is free of to most short queuemvm+1Node seek min (li+ DT [i]), it is assumed that it is at this time node vi, obtain most
Minor node plans queue Pathi, go to step G.
Step G：Update Path.
Wherein, the specific example of above-mentioned flow may refer to shown in Fig. 3, if node vmTo node vm+1For initial plan road
Diameter, and node v will be reachedmWhen, local optimum is activated, introductory path information is updated, Assessment of Serviceability of Roads occurs in judgement：
1, judge three-level service level occur, seek min ((1.6lm+1+ DT [m+1]), (lm+2+ DT [m+2]), (lm+3+DT[m
+ 3]), (lm+4+ DT [m+4])), it is assumed that shortest path node v at this timej, obtain minimum node planning queue Pathj, algorithm terminates,
Update shortest path queue.
2, judge level Four service level occur.Node v at this timem+2Most short queue in contain section vmvm+1, node vm+3With
Node vm+4Most short queue in then be free of vmvm+1, seek min ((lm+3+ DT [m+3]), (lm+4+ DT [m+4])), it is assumed that at this time for
Node vi, obtain minimum node planning queue Pathi, algorithm terminates, and updates queue.
In this way, the time complexity calculated is constant order, the time has greatly been saved.
Step 104, by target road section described in the local optimum path replacement, to update the planning path.
It should be noted that the planning path is in the updated, and it may be consistent with original path, this is because by certainly
The local optimum path that plan tree pruning algorithms obtain exists may be consistent with the target road section.It is carried out below with a specific example
Explanation：
Vehicle is travelled according to planning path as shown in Figure 2 during, not yet driven into that will enter respectively
c1、c2、c3When three sections of paths, by the presentation of information for monitoring and being calculated in real time, the level of service in this three sections of paths is sent out
It is raw to change, wherein section c1Level of service be in level Four level of service grade, section c2And c3Three-level is then in hand over
Logical service level class will reach c by using the local optimum in path1Planning chart when section is as shown in figure 4, right
In section c2And c3Two sections of planning chart, it is as shown in Figure 5 and Figure 6 respectively.It can be seen that section c1In level Four transport services water
Equality grade, then local optimum path affirmative, i.e. in Fig. 4 dotted line different from original section obtained by decision tree pruning algorithms
Shown section；And c2Section illustrates that this section still may be at current shape due to being in three-level level of service grade
State only needs the length to this section to be weighted processing, and after being weighted processing with decision tree pruning algorithms into
Row path planning, to obtain local optimum path, and algorithm still believes that this section after weighting is still shortest path,
Therefore not change after local optimum path replacement.Assuming that in the planning in actual path, will drive into
In the non-driving path of planning, only c1、c2、c3Three sections of routing information change it is larger, occur three-level or level Four road clothes
It is engaged in horizontal road conditions, therefore, until vehicle is reached home, as shown in fig. 6, forming final path planning in the updated.
In the embodiment of the present invention, above-mentioned apparatus can be mobile phone, tablet computer (Tablet Personal Computer),
Laptop computer (Laptop Computer), personal digital assistant (personal digital assistant, abbreviation PDA),
Mobile Internet access device (Mobile Internet Device, MID) or wearable device (Wearable Device) etc..
The embodiment of the present invention, the driving path using preset algorithm object of planning vehicle from initial position to destination locations,
Obtain planning path, wherein the planning path includes multiple sections；It is travelled according to the planning path in the target vehicle
In the case of, inquire the level of service grade of target vehicle target road section to be driven into；If the target road section
Level of service grade is predetermined level, then uses decision tree pruning algorithms, pair with the initial position of the target road section and
Driving path between final position is calculated, and local optimum path is obtained；Described in the local optimum path replacement
Target road section, to update the planning path.In this way, target vehicle according to planning path when driving, can be according to waiting driving into
Target road section level of service grade Regeneration planning path, so as to improve the accuracy of planning path.
It is the structure chart of the device for planning for the driving path that one embodiment of the invention provides referring to Fig. 7, Fig. 7, such as Fig. 7 institutes
Show, the device for planning 700 of driving path includes planning module 701, enquiry module 702, computing module 703 and update module 704；
Wherein：
Planning module, for using driving path of the preset algorithm object of planning vehicle from initial position to destination locations,
Obtain planning path, wherein the planning path includes multiple sections；
Enquiry module, in the case where the target vehicle is travelled according to the planning path, inquiring the target
The level of service grade of vehicle target road section to be driven into；
Computing module uses decision tree if the level of service grade for the target road section is predetermined level
Pruning algorithms, the driving path pair between the initial position and final position of the target road section calculate, and obtain part
Path optimizing；
Update module is used for by target road section described in the local optimum path replacement, to update the planning path.
The device for planning 700 of driving path can realize each process that device in above method embodiment is realized and beneficial
Effect, to avoid repeating, which is not described herein again.
Referring to Fig. 8, a kind of hardware configuration of Fig. 8 device for planning of driving path of each embodiment to realize the present invention shows
It is intended to,
The device 800 includes but not limited to：Radio frequency unit 801, network module 802, audio output unit 803, input are single
Member 804, sensor 805, display unit 806, user input unit 807, interface unit 808, memory 809, processor 810,
And the equal components of power supply 811.It will be understood by those skilled in the art that the not structure twin installation of apparatus structure shown in Fig. 8
It limits, device may include either combining certain components or different components arrangement than illustrating more or fewer components.
In embodiments of the present invention, device include but not limited to mobile phone, tablet computer, desktop computer, laptop, palm PC,
Car-mounted terminal etc..
Wherein, processor 810, for using traveling of the preset algorithm object of planning vehicle from initial position to destination locations
Path obtains planning path, wherein the planning path includes multiple sections；
In the case where the target vehicle is travelled according to the planning path, target vehicle mesh to be driven into is inquired
Mark the level of service grade in section；
If the level of service grade of the target road section be predetermined level, use decision tree pruning algorithms, pair with
Driving path between the initial position and final position of the target road section is calculated, and local optimum path is obtained；
By target road section described in the local optimum path replacement, to update the planning path.
Optionally, the preset algorithm is Dijkstra's algorithm.
Optionally, the processor 810 is additionally operable to obtain the traffic capacity and the volume of traffic of the target road section；
According to the traffic capacity and the volume of traffic, the road saturation degree of the target road section is calculated；
According to the correspondence of preset road saturation degree and level of service grade, the road of the target road section is determined
The corresponding level of service grade of road saturation degree.
Optionally, what the processor 810 executed uses decision tree pruning algorithms, the start bit pair with the target road section
The driving path set between final position is calculated, including：
If the level of service grade of the target road section is the first predetermined level, increase the length of the target road section
The weighted value of degree, and the weighted value of the length based on the target road section after increase, using decision tree pruning algorithms, pair and institute
The most short transportation route stated between the start node of target road section and terminal node is calculated, and local optimum path is obtained；With/
Or
If the level of service grade of the target road section is the second predetermined level, decision tree pruning algorithms are used,
Most short transportation route pair between the start node and terminal node of the target road section calculates, and obtains local optimum road
Diameter, wherein do not include the target road section in calculating parameter when calculating driving path using the decision tree pruning algorithms
Length.
Optionally, the level of service grade is divided into level-one, two level, three-level and level Four, wherein 0≤road is saturated
Degree≤0.6 section be the level-one, 0.6<The section of road saturation degree≤0.8 be the two level, 0.8<Road saturation degree≤1
Section be the three-level, 1<The section of road saturation degree is the level Four.
Device 800 can realize each process and advantageous effect that device is realized in previous embodiment, to avoid repeating, this
In repeat no more.
It should be understood that the embodiment of the present invention in, radio frequency unit 801 can be used for receiving and sending messages or communication process in, signal
Send and receive, specifically, by from base station downlink data receive after, to processor 810 handle；In addition, by uplink
Data are sent to base station.In general, radio frequency unit 801 includes but not limited to antenna, at least one amplifier, transceiver, coupling
Device, low-noise amplifier, duplexer etc..In addition, radio frequency unit 801 can also by radio communication system and network and other set
Standby communication.
Device has provided wireless broadband internet to the user by network module 802 and has accessed, and such as user is helped to receive and dispatch electricity
Sub- mail, browsing webpage and access streaming video etc..
It is that audio output unit 803 can receive radio frequency unit 801 or network module 802 or in memory 809
The audio data of storage is converted into audio signal and exports to be sound.Moreover, audio output unit 803 can also be provided and be filled
Set the relevant audio output of specific function (for example, call signal receives sound, message sink sound etc.) of 800 execution.Sound
Frequency output unit 803 includes loud speaker, buzzer and receiver etc..
Input unit 804 is for receiving audio or video signal.Input unit 804 may include graphics processor
(Graphics Processing Unit, GPU) 8041 and microphone 8042, graphics processor 8041 is in video acquisition mode
Or the image data of the static images or video obtained by image capture apparatus (such as camera) in image capture mode carries out
Reason.Treated, and picture frame may be displayed on display unit 806.Through graphics processor 8041, treated that picture frame can be deposited
Storage is sent in memory 809 (or other storage mediums) or via radio frequency unit 801 or network module 802.Mike
Wind 8042 can receive sound, and can be audio data by such acoustic processing.Treated audio data can be
The format output of mobile communication base station can be sent to via radio frequency unit 801 by being converted in the case of telephone calling model.
Device 800 further includes at least one sensor 805, such as optical sensor, motion sensor and other sensors.
Specifically, optical sensor includes ambient light sensor and proximity sensor, wherein ambient light sensor can be according to ambient light
Light and shade adjusts the brightness of display panel 8061, and proximity sensor can close display panel when device 800 is moved in one's ear
8061 and/or backlight.As a kind of motion sensor, accelerometer sensor can detect in all directions (generally three axis) and add
The size of speed can detect that size and the direction of gravity when static, can be used to identify device posture (such as horizontal/vertical screen switching,
Dependent game, magnetometer pose calibrating), Vibration identification correlation function (such as pedometer, tap) etc.；Sensor 805 can be with
Including fingerprint sensor, pressure sensor, iris sensor, molecule sensor, gyroscope, barometer, hygrometer, thermometer,
Infrared sensor etc., details are not described herein.
Display unit 806 is for showing information input by user or being supplied to the information of user.Display unit 806 can wrap
Display panel 8061 is included, liquid crystal display (Liquid Crystal Display, LCD), Organic Light Emitting Diode may be used
Forms such as (Organic Light-Emitting Diode, OLED) configure display panel 8061.
User input unit 807 can be used for receiving the number or character information of input, and generates and set with the user of device
It sets and the related key signals of function control inputs.Specifically, user input unit 807 include touch panel 8071 and other
Input equipment 8072.Touch panel 8071, also referred to as touch screen, collect user on it or neighbouring touch operation (such as
User is using any suitable objects or attachment such as finger, stylus on touch panel 8071 or near touch panel 8071
Operation).Touch panel 8071 may include both touch detecting apparatus and touch controller.Wherein, touch detecting apparatus is examined
The touch orientation of user is surveyed, and detects the signal that touch operation is brought, transmits a signal to touch controller；Touch controller from
Touch information is received on touch detecting apparatus, and is converted into contact coordinate, then gives processor 810, receives processor 810
The order sent simultaneously is executed.Furthermore, it is possible to using multiple types such as resistance-type, condenser type, infrared ray and surface acoustic waves
Realize touch panel 8071.In addition to touch panel 8071, user input unit 807 can also include other input equipments 8072.
Specifically, other input equipments 8072 can include but is not limited to physical keyboard, function key (such as volume control button, switch
Button etc.), trace ball, mouse, operating lever, details are not described herein.
Further, touch panel 8071 can be covered on display panel 8061, when touch panel 8071 is detected at it
On or near touch operation after, send processor 810 to determine the type of touch event, be followed by subsequent processing device 810 according to touch
The type for touching event provides corresponding visual output on display panel 8061.Although in fig. 8, touch panel 8071 and display
Panel 8061 is to carry out the function that outputs and inputs of realization device as two independent components, but in certain embodiments, can
Function is output and input so that touch panel 8071 and display panel 8061 is integrated and realization device, is not limited herein specifically
It is fixed.
Interface unit 808 is the interface that external device (ED) is connect with device 800.For example, external device (ED) may include it is wired or
Wireless head-band earphone port, external power supply (or battery charger) port, wired or wireless data port, memory card port,
For connecting the port of device with identification module, the port audio input/output (I/O), video i/o port, ear port
Etc..Interface unit 808 can be used for receiving the input (for example, data information, electric power etc.) from external device (ED) and will
One or more elements that the input received is transferred in device 800 or can be used for device 800 and external device (ED) it
Between transmission data.
Memory 809 can be used for storing software program and various data.Memory 809 can include mainly storing program area
And storage data field, wherein storing program area can storage program area, application program (such as the sound needed at least one function
Sound playing function, image player function etc.) etc.；Storage data field can store according to mobile phone use created data (such as
Audio data, phone directory etc.) etc..In addition, memory 809 may include high-speed random access memory, can also include non-easy
The property lost memory, a for example, at least disk memory, flush memory device or other volatile solid-state parts.
Processor 810 is the control centre of device, using the various pieces of various interfaces and connection whole device, is led to
It crosses operation or executes the software program and/or module being stored in memory 809, and call and be stored in memory 809
Data, the various functions and processing data of executive device, to carry out integral monitoring to device.Processor 810 may include one
Or multiple processing units；Preferably, processor 810 can integrate application processor and modem processor, wherein application processing
The main processing operation system of device, user interface and application program etc., modem processor mainly handles wireless communication.It can manage
Solution, above-mentioned modem processor can not also be integrated into processor 810.
Device 800 can also include the power supply 811 (such as battery) powered to all parts, it is preferred that power supply 811 can be with
It is logically contiguous by power-supply management system and processor 810, to by power-supply management system realize management charging, electric discharge, with
And the functions such as power managed.
In addition, device 800 includes some unshowned function modules, details are not described herein.
Preferably, the embodiment of the present invention also provides a kind of device for planning of driving path, including processor 810, memory
809, it is stored in the computer program that can be run on memory 809 and on the processor 810, which is handled
Device 810 realizes each process of the planing method embodiment of above-mentioned driving path when executing, and can reach identical technique effect,
To avoid repeating, which is not described herein again.
The embodiment of the present invention also provides a kind of computer readable storage medium, and meter is stored on computer readable storage medium
Calculation machine program, the computer program realize each mistake of the planing method embodiment of above-mentioned driving path when being executed by processor
Journey, and identical technique effect can be reached, to avoid repeating, which is not described herein again.Wherein, the computer-readable storage medium
Matter, such as read-only memory (Read-Only Memory, abbreviation ROM), random access memory (Random Access
Memory, abbreviation RAM), magnetic disc or CD etc..
It should be noted that herein, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that process, method, article or device including a series of elements include not only those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including this
There is also other identical elements in the process of element, method, article or device.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical scheme of the present invention substantially in other words does the prior art
Going out the part of contribution can be expressed in the form of software products, which is stored in a storage medium
In (such as ROM/RAM, magnetic disc, CD), including some instructions are used so that a station terminal (can be mobile phone, computer, service
Device, air conditioner or network equipment etc.) execute method described in each embodiment of the present invention.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited in above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form belongs within the protection of the present invention.
Claims (8)
1. a kind of planing method of driving path, which is characterized in that including：
Driving path using preset algorithm object of planning vehicle from initial position to destination locations, obtains planning path, wherein
The planning path includes multiple sections；
In the case where the target vehicle is travelled according to the planning path, target vehicle target road to be driven into is inquired
The level of service grade of section；
If the level of service grade of the target road section be predetermined level, use decision tree pruning algorithms, pair with it is described
Driving path between the initial position and final position of target road section is calculated, and local optimum path is obtained；
By target road section described in the local optimum path replacement, to update the planning path.
2. according to the method described in claim 1, it is characterized in that, the preset algorithm is Dijkstra's algorithm.
3. according to the method described in claim 1, it is characterized in that, it is described in the target vehicle according to the planning path row
It is described before the step of inquiring the level of service grade of target vehicle target road section to be driven into the case of sailing
Method further includes：
Obtain the traffic capacity and the volume of traffic of the target road section；
According to the traffic capacity and the volume of traffic, the road saturation degree of the target road section is calculated；
According to the correspondence of preset road saturation degree and level of service grade, determine that the road of the target road section is full
The corresponding level of service grade with degree.
4. according to the method described in claim 3, it is characterized in that, it is described use decision tree pruning algorithms, pair with the target
The step of driving path between the initial position and final position in section is calculated, including：
If the level of service grade of the target road section is the first predetermined level, increase the length of the target road section
Weighted value, and the weighted value of the length based on the target road section after increase, using decision tree pruning algorithms, pair with the mesh
The most short transportation route marked between the start node and terminal node in section is calculated, and local optimum path is obtained；And/or
If the level of service grade of the target road section be the second predetermined level, use decision tree pruning algorithms, pair with
Most short transportation route between the start node and terminal node of the target road section is calculated, and local optimum path is obtained,
Wherein, the length of the target road section is not included in calculating parameter when calculating driving path using the decision tree pruning algorithms
Degree.
5. according to the method described in claim 3, it is characterized in that, the level of service grade is divided into level-one, two level, three
Grade and level Four, wherein the section of 0≤road saturation degree≤0.6 be the level-one, 0.6<The section of road saturation degree≤0.8 is
The two level, 0.8<The section of road saturation degree≤1 be the three-level, 1<The section of road saturation degree is the level Four.
6. a kind of device for planning of driving path, which is characterized in that including：
Planning module is obtained for using driving path of the preset algorithm object of planning vehicle from initial position to destination locations
Planning path, wherein the planning path includes multiple sections；
Enquiry module, in the case where the target vehicle is travelled according to the planning path, inquiring the target vehicle
The level of service grade of target road section to be driven into；
Computing module uses decision tree beta pruning if the level of service grade for the target road section is predetermined level
Algorithm, the driving path pair between the initial position and final position of the target road section calculate, and obtain local optimum
Path；
Update module is used for by target road section described in the local optimum path replacement, to update the planning path.
7. a kind of device for planning of driving path, which is characterized in that including：Memory, processor and it is stored in the memory
Computer program that is upper and can running on the processor, the processor realize such as right when executing the computer program
It is required that the step in the planing method of driving path described in any one of 1-5.
8. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program realizes the rule of the driving path as described in any one of claim 1-5 when the computer program is executed by processor
Step in the method for drawing.
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