CN109461322A - A kind of intelligent navigation method, device, equipment and readable storage medium storing program for executing - Google Patents
A kind of intelligent navigation method, device, equipment and readable storage medium storing program for executing Download PDFInfo
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
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Abstract
The invention discloses a kind of intelligent navigation methods, according to the destination of current vehicle, judge the direction of advance of the vehicle at target crossing；Obtain the number of vehicles in each lane at target crossing；According to the traffic lights situation at current crossing, time delays needed for current vehicle enters target road section from current crossing are obtained；According to the traffic lights situation of target road section and the number of vehicles in each lane, selection passes through target crossing used time shortest optimal lane.The application can guarantee that through vehicles will not influence the vehicle of left-hand rotation and right-hand rotation, pass through target crossing within the shortest time simultaneously, and switching lane is not had in driving process, the lane of this method selection is optimal lane, traffic congestion problem can be effectively relieved, the probability that further reduced traffic accident generation, is adapted to the smart city advocated now.In addition, present invention also provides a kind of intelligent navigation device having above-mentioned technique effect, equipment and computer readable storage mediums.
Description
Technical field
The present invention relates to wisdom traffic field of navigation technology, more particularly to a kind of intelligent navigation method, device, equipment with
And computer readable storage medium.
Background technique
Society, especially big city now, vehicle fleet size is growing day by day, and incident is the congestion of road, serious to drop
Low adventure in daily life, increases the probability of traffic accident, seriously reduces the working efficiency of society, and the happiness for reducing the common people refers to
Number.
To find out its cause, causing one of congestion critically important the reason is that driver can not select optimal lane.Often it will appear
Following situation: situation one: the vehicle in direction of keeping straight on selects the right-turn lane of the rightmost side, but reaches target road because caring only for oneself
When mouth, straight trip direction is red light, and all right-turning vehicles of the vehicle back will be unable to turn right at this time；Situation two: straight trip direction
Vehicle selection the leftmost side left turn lane, but reach target crossing when, straight trip direction be red light, left-hand rotation direction be it is green
Lamp, but all left turning vehicles after the vehicle will be unable to；Situation three: the vehicle in direction of keeping straight on, because can not accurately learn
The quantity of vehicle in each Through Lane can not also estimate the time for reaching target crossing, therefore blindly select a runway row
The lane sailed, but selected is likely to be the more lane of number of vehicles, therefore can extend through the time at target crossing, makes
Continue to overstock at vehicle below, causes vehicle congestion.
Three kinds of situations above, it is extremely common in the metropolitan peak period on and off duty in one, two wires.But do not have so far
Measure, therefore often result in traffic congestion, especially major urban arterial highway, congestion phenomenon can be more serious.
Summary of the invention
The object of the present invention is to provide a kind of intelligent navigation method, device, equipment and computer readable storage medium, with
Solve the problems, such as that existing navigation system can not provide the selection in optimal lane for driver and lead to traffic congestion.
In order to solve the above technical problems, the present invention provides a kind of intelligent navigation method, comprising:
According to the destination of current vehicle, the direction of advance of the vehicle at target crossing is judged；
Obtain the number of vehicles in each lane at target crossing；
According to the traffic lights situation at current crossing, the time needed for current vehicle enters target road section from current crossing is obtained
Delay；
According to the traffic lights situation of target road section and the number of vehicles in each lane, selection passes through the target crossing used time most
Short optimal lane；
Wherein, the target road section be current crossing between target crossing by way of section.
Optionally, the traffic lights situation at the current crossing of the basis obtains current vehicle from current crossing and enters target road
The time delays of Duan Suoxu include:
Time needed for entering target road section from current crossing using t0_delay=t0+t0_r_b calculating current vehicle prolongs
When；
Wherein, t0_delay is time delays needed for current vehicle enters target road section from current crossing, and t0 is vehicle
Pass through the time used in current crossing；T0_r_b is the time that current crossing is become green light from red light.
Optionally, when determine at target crossing vehicle direction of advance for straight trip direction when, it is described according to target road section
Traffic lights situation and each lane number of vehicles, selection by target crossing used time shortest optimal lane includes:
Using t_et=t0_delay+NUM_MIN*t1 calculate vehicle when reaching the target crossing it is required most in short-term
Between, wherein t_et is estimated time of the vehicle by target road section；NUM_MIN is number of vehicles minimum value in all lanes, t1
Pass through the time required to target crossing for each vehicle；
Target crossing straight trip direction be red light and distance become green light time be t1_r_b in the case where:
If t1_r_b+ (2n-1) * T < t_et < t1_r_b+ (2n) * T or t_et < t1_r_b, wherein n is just whole greater than 1
Number, T be straight trip direction red light become one complete cycle time of green light, then select the least Through Lane of number of vehicles as
Optimal lane；
If when t1_r_b+ (2n) * T < t_et < t1_r_b+ (2n+1) * T, selection includes the whole of the leftmost side and the rightmost side
The least lane of number of vehicles is as optimal lane in lane；
Target crossing straight trip direction be green light and distance become red light time be t1_b_r in the case where:
If t1_b_r+ (2n-1) * T < t_et < t1_b_r+ (2n) * T or t_et < t1_b_r, selection include the leftmost side and
The least lane of number of vehicles is as optimal lane in whole lanes of the rightmost side；
If t1_b_r+ (2n) * T < t_et < t1_b_r+ (2n+1) * T, select the least Through Lane of number of vehicles as
Optimal lane.
Optionally, after selecting through target crossing used time shortest optimal lane further include:
Selected optimal lane is prompted by voice and/or video mode.
Present invention also provides a kind of intelligent navigation devices, comprising:
Direction of advance judgment module is judged before vehicle at target crossing for the destination according to current vehicle
Into direction；
Number of vehicles obtains module, for obtaining the number of vehicles in each lane at target crossing；
Time delays obtain module and obtain current vehicle from current crossing for the traffic lights situation according to current crossing
Time delays needed for into target road section；
Optimal choosing lane module, for according to the traffic lights situation of target road section and the number of vehicles in each lane,
Selection passes through target crossing used time shortest optimal lane；
Wherein, the target road section be current crossing between target crossing by way of section.
Optionally, the time delays obtain module and are used for:
Time needed for entering target road section from current crossing using t0_delay=t0+t0_r_b calculating current vehicle prolongs
When；
Wherein, t0_delay is time delays needed for current vehicle enters target road section from current crossing, and t0 is vehicle
Pass through the time used in current crossing；T0_r_b is the time that current crossing is become green light from red light.
Optionally, when determine at target crossing vehicle direction of advance for straight trip direction when, the optimal choosing lane
Module is used for:
Using t_et=t0_delay+NUM_MIN*t1 calculate vehicle when reaching the target crossing it is required most in short-term
Between, wherein t_et is estimated time of the vehicle by target road section；NUM_MIN is number of vehicles minimum value in all lanes, t1
Pass through the time required to target crossing for each vehicle；
Target crossing straight trip direction be red light and distance become green light time be t1_r_b in the case where:
If t1_r_b+ (2n-1) * T < t_et < t1_r_b+ (2n) * T or t_et < t1_r_b, wherein n is just whole greater than 1
Number, T be straight trip direction red light become one complete cycle time of green light, then select the least Through Lane of number of vehicles as
Optimal lane；
If when t1_r_b+ (2n) * T < t_et < t1_r_b+ (2n+1) * T, selection includes the whole of the leftmost side and the rightmost side
The least lane of number of vehicles is as optimal lane in lane；
Target crossing straight trip direction be green light and distance become red light time be t1_b_r in the case where:
If t1_b_r+ (2n-1) * T < t_et < t1_b_r+ (2n) * T or t_et < t1_b_r, selection include the leftmost side and
The least lane of number of vehicles is as optimal lane in whole lanes of the rightmost side；
If t1_b_r+ (2n) * T < t_et < t1_b_r+ (2n+1) * T, select the least Through Lane of number of vehicles as
Optimal lane.
Optionally, further includes:
Cue module, for passing through voice and/or view after selecting through target crossing used time shortest optimal lane
Frequency mode prompts selected optimal lane.
Present invention also provides a kind of intelligent navigation equipment, comprising:
Memory, for storing computer program；
Processor, the step of any of the above-described kind of intelligent navigation method is realized when for executing the computer program.
Present invention also provides a kind of computer readable storage medium, meter is stored on the computer readable storage medium
The step of calculation machine program, the computer program realizes any of the above-described kind of intelligent navigation method when being executed by processor.
Intelligent navigation method provided by the present invention judges the vehicle at target crossing according to the destination of current vehicle
Direction of advance；Obtain the number of vehicles in each lane at target crossing；According to the traffic lights situation at current crossing, worked as
Time delays needed for vehicle in front enters target road section from current crossing；According to the traffic lights situation of target road section and each vehicle
The number of vehicles in road, selection pass through target crossing used time shortest optimal lane.The application can guarantee that through vehicles will not shadow
The vehicle that rings and turn right, while not having to switching lane by target crossing within the shortest time, and in driving process,
The lane of this method selection is optimal lane, and traffic congestion problem can be effectively relieved, and further reduced traffic accident generation
Probability is adapted to the smart city advocated now.In addition, present invention also provides a kind of intelligence having above-mentioned technique effect to lead
Navigate device, equipment and computer readable storage medium.
Detailed description of the invention
It, below will be to embodiment or existing for the clearer technical solution for illustrating the embodiment of the present invention or the prior art
Attached drawing needed in technical description is briefly described, it should be apparent that, the accompanying drawings in the following description is only this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of flow chart of specific embodiment of intelligent navigation method provided herein；
Fig. 2 is the schematic diagram at current crossing, target crossing and target road section；
Fig. 3 is the overall system diagram of intelligent navigation method provided herein；
Fig. 4 is the schematic diagram of intelligent navigation method provided herein；
Fig. 5 is the structural block diagram of intelligent navigation device provided in an embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.Obviously, described embodiments are only a part of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
A kind of flow chart of specific embodiment of intelligent navigation method provided herein is as shown in Figure 1, this method
Include:
Step S101: according to the destination of current vehicle, judge the direction of advance of the vehicle at target crossing；
It, can be by judging vehicle at target crossing in guidance path according to the destination and current location of current vehicle
The direction of advance at place is straight trip, still right-hand rotation direction of turning left.
Step S102: the number of vehicles in each lane at target crossing is obtained；
Obtain target crossing at each lane current vehicle number, each lane include left turn lane, Through Lane with
And right-turn lane.Specifically Image Acquisition can be carried out to target crossing region by camera, divided after being handled image
Analysis obtains the number of vehicles on each lane.It certainly can also be other acquisition modes, it is not limited here.
Step S103: according to the traffic lights situation at current crossing, current vehicle is obtained from current crossing and enters target road section
Required time delays；
According to the traffic lights situation at the current crossing where vehicle, current vehicle is obtained from current crossing and enters target road section
Required time delays.
As a kind of specific embodiment, current vehicle can be calculated using t0_delay=t0+t0_r_b from current road
Time delays needed for mouth enters target road section；Wherein, t0_delay enters target road section institute from current crossing for current vehicle
The time delays needed, t0 are that vehicle passes through the time used in current crossing；T0_r_b becomes green light from red light for current crossing
Time.
Step S104: according to the traffic lights situation of target road section and the number of vehicles in each lane, selection passes through target
Crossing used time shortest optimal lane；
As shown in the schematic diagram of the current crossing Fig. 2, target crossing and target road section, the target road section is current crossing
To between target crossing by way of section.According on different lanes vehicle data and current crossing and target crossing it is red green
Lamp situation estimates the time that vehicle reaches target crossing, the optimal lane of intelligent selection, it is therefore an objective to guarantee that through vehicles will not influence
The vehicle for turning left and turning right, while not having to switching lane by target crossing within the shortest time, and in driving process.
Intelligent navigation method provided by the present invention judges the vehicle at target crossing according to the destination of current vehicle
Direction of advance；Obtain the number of vehicles in each lane at target crossing；According to the traffic lights situation at current crossing, worked as
Time delays needed for vehicle in front enters target road section from current crossing；According to the traffic lights situation of target road section and each vehicle
The number of vehicles in road, selection pass through target crossing used time shortest optimal lane.The application can guarantee that through vehicles will not shadow
The vehicle that rings and turn right, while not having to switching lane by target crossing within the shortest time, and in driving process,
The lane of this method selection is optimal lane, and traffic congestion problem can be effectively relieved, and further reduced traffic accident generation
Probability is adapted to the smart city advocated now.
As a kind of specific embodiment, the application is direction of keeping straight on when the direction of advance of judgement vehicle at target crossing
When, it is described according to the traffic lights situation of target road section and the number of vehicles in each lane, selection by the target crossing used time most
The implementation process in short optimal lane specifically:
Using t_et=t0_delay+NUM_MIN*t1 calculate vehicle when reaching the target crossing it is required most in short-term
Between, wherein t_et is estimated time of the vehicle by target road section；NUM_MIN is number of vehicles minimum value in all lanes, t1
Pass through the time required to target crossing for each vehicle；
Target crossing straight trip direction be red light and distance become green light time be t1_r_b in the case where:
If t1_r_b+ (2n-1) * T < t_et < t1_r_b+ (2n) * T or t_et < t1_r_b, wherein n is just whole greater than 1
Number, T be straight trip direction red light become one complete cycle time of green light, then select the least Through Lane of number of vehicles as
Optimal lane；
If when t1_r_b+ (2n) * T < t_et < t1_r_b+ (2n+1) * T, selection includes the whole of the leftmost side and the rightmost side
The least lane of number of vehicles is as optimal lane in lane；
Target crossing straight trip direction be green light and distance become red light time be t1_b_r in the case where:
If t1_b_r+ (2n-1) * T < t_et < t1_b_r+ (2n) * T or t_et < t1_b_r, selection include the leftmost side and
The least lane of number of vehicles is as optimal lane in whole lanes of the rightmost side；
If t1_b_r+ (2n) * T < t_et < t1_b_r+ (2n+1) * T, select the least Through Lane of number of vehicles as
Optimal lane.
Further, the application is after selecting through target crossing used time shortest optimal lane further include: passes through language
Sound and/or video mode prompt selected optimal lane.By prompting the optimal lane to driver, driving can be allowed in time
Member enters in the optimal lane, avoids the traffic congestion at crossing.
Overall system diagram and Fig. 4 referring to intelligent navigation method Fig. 3 provided herein is provided herein
The schematic diagram of intelligent navigation method below carries out the specific implementation process of intelligent navigation method provided herein further
It elaborates, this method specifically includes:
According to the destination of current vehicle, the direction of advance of the vehicle at target crossing is judged.
Vehicle opens navigation system, destination is inputted, and then navigation system learns the destination of vehicle, to learn in mesh
The direction of advance of vehicle is at mark crossing: turning left, keeps straight on or turns right.
Determine that the carriageway type that selection enters, carriageway type are divided into left-hand rotation vehicle according to the direction of advance at target crossing
Road, Through Lane, right-turn lane；
When direction of advance of the vehicle at target crossing is left-hand rotation direction, then left turn lane is driven directly into；When vehicle exists
When direction of advance at target crossing is right-hand rotation direction, then right-turn lane is driven directly into.
When direction of advance of the vehicle at target crossing is straight trip direction, then following judgement is carried out:
Navigation system can learn the quantity of the vehicle on each lane, LEFT_NUM, MID_0_NUM, MID_1_
NUM ... MID_N-1_NUM, RIGHT_NUM, LEFT_NUM are the vehicle fleet size of left turn lane, MID_0_NUM, MID_1_
NUM ... MID_N-1_NUM is the vehicle fleet size of intermediate N number of Through Lane, and RIGHT_NUM is the vehicle fleet size of right-turn lane.
Because current navigation system is the specific location that can determine vehicle, because the method is as follows:
The LEFT_NUM+1 when vehicle enters the leftmost side lane of target road section when, when leaving target crossing, LEFT_
NUM-1, LEFT_NUM initial value are 0；
The MID_M_NUM+1 when vehicle enters the Through Lane M of target road section when, when leaving target crossing, MID_
M_NUM+1.0≤M≤N-1, MID_M_NUM initial value are 0；
The RIGHT_NUM+1 when vehicle enters the rightmost side lane of target road section when, when leaving target crossing,
RIGHT_NUM-1.RIGHT_NUM initial value is 0.
Navigation system starts intelligence computation when vehicle reaches current crossing, and time of the calculating at current crossing prolongs
When.
It is assumed that vehicle is t0, the time of current crossing red light greening lamp needed for the time that current crossing enters target crossing
For t0_r_b, one traffic lights period of target crossing is T.
If vehicle is to turn right to enter target road section, t0_r_b=0 at current crossing.
If vehicle is that straight trip enters target road section at current crossing, and when direction of keeping straight on is green light, then t0_r_b
=0, if straight trip direction is red light, the time apart from greening lamp is t0_r_b.
If vehicle be at current crossing turn left enter target road section, and left-hand rotation direction be green light when, t0_r_b=
0, if left-hand rotation direction is red light, the time apart from left turn green light is t0_r_b.
Can then learn vehicle the time delays for entering target road section from current crossing be t0_delay=t0+t0_r_
b。
Finally, the traffic lights situation at combining target crossing carries out the optimal judgement in lane.
Assuming that vehicle left from target crossing the time required to be t1, all lanes (including leftmost side left turn lane and most right
Side right-turn lane) in vehicle number minimum value be NUM_MIN, i.e. NUM_MIN is LEFT_NUM, MID_0_NUM, MID_1_
Minimum value in NUM ..., MID_N-1_NUM, RIGHT_NUM.
Vehicle number minimum value is MID_ in Through Lane (not including leftmost side left turn lane and rightmost side right-turn lane)
NUM_MIN, i.e. MID_NUM_MIN are MID_0_NUM, the minimum value in MID_1_NUM ..., MID_N-1_NUM.
Assuming that target crossing straight trip direction is red light, and distance becomes the time of green light as t1_r_b, and direction of keeping straight on is red
One, lamp greening lamp complete cycle time is T, estimates vehicle and reaches the shortest time at target crossing as t_et=t0_delay+
NUM_MIN*t1。
T1_r_b+ (2n-1) * T < t_et < t1_r_b+ (2n) * T or t_et < t1_r_b, wherein n=1,2,3 ... i.e.
When the estimated time minimum value in all lanes reaches target crossing, target crossing straight trip direction is still red light, is selected at this time
The least Through Lane of number of vehicles selects Through Lane M, wherein MID_M_NUM=MID_NUM_ as optimal lane
MIN。
T1_r_b+ (2n) * T < t_et < t1_r_b+ (2n+1) * T, wherein n=0,1,2,3 ... i.e. all lanes are estimated
Time minimum value reach target crossing when, target crossing keep straight on direction be green light, at this time select number of vehicles it is least (including
The leftmost side and rightmost side lane) it is used as optimal lane.
Assuming that target crossing straight trip direction is green light, and distance becomes the time of red light as t1_b_r, and direction of keeping straight on is red
One, lamp greening lamp complete cycle time is T.
T1_b_r+ (2n-1) * T < t_et < t1_b_r+ (2n) * T, or t_et < t1_b_r, wherein n=1,2,3 ... is i.e.
When the estimated time minimum value in all lanes reaches target crossing, target crossing straight trip direction is green light, selects vehicle at this time
Number least (including the leftmost side and rightmost side lane) is used as optimal lane.
T1_b_r+ (2n) * T < t_et < t1_b_r+ (2n+1) * T, wherein the i.e. all lanes n=0,1,2,3 ... are estimated
When time minimum value reaches target crossing, target crossing straight trip direction is red light, selects estimated time number of vehicles most at this time
The optimal lane of few Through Lane.Through Lane M is selected, wherein MID_M_NUM=MID_NUM_MIN.
Optimal lane is selected based on navigation system, is not necessarily to manual intervention, using existing navigation system, intelligence provides optimal
It is most fast by target crossing to ensure that vehicle for lane, while guaranteeing that through vehicles will not influence the vehicle of left-hand rotation and right-hand rotation, mentions
The utilization rate in high lane.And does not have to switching lane in driving process, further reduced the probability of traffic accident generation, method
Simply, traffic congestion problem is effectively relieved, is adapted to the smart city advocated now and intelligent transportation.
Intelligent navigation device provided in an embodiment of the present invention is introduced below, intelligent navigation device described below with
Above-described intelligent navigation method can correspond to each other reference.
Fig. 5 is the structural block diagram of intelligent navigation device provided in an embodiment of the present invention, can be with referring to Fig. 5 intelligent navigation device
Include:
Direction of advance judgment module 100 judges the vehicle at target crossing for the destination according to current vehicle
Direction of advance；
Number of vehicles obtains module 200, for obtaining the number of vehicles in each lane at target crossing；
Time delays obtain module 300 and obtain current vehicle from current road for the traffic lights situation according to current crossing
Time delays needed for mouth enters target road section；
Optimal choosing lane module 400, for according to the traffic lights situation of target road section and the vehicle number in each lane
Mesh, selection pass through target crossing used time shortest optimal lane；
Wherein, the target road section be current crossing between target crossing by way of section.
Optionally, the time delays obtain module and are used for:
Time needed for entering target road section from current crossing using t0_delay=t0+t0_r_b calculating current vehicle prolongs
When；
Wherein, t0_delay is time delays needed for current vehicle enters target road section from current crossing, and t0 is vehicle
Pass through the time used in current crossing；T0_r_b is the time that current crossing is become green light from red light.
Optionally, when determine at target crossing vehicle direction of advance for straight trip direction when, the optimal choosing lane
Module is used for:
Using t_et=t0_delay+NUM_MIN*t1 calculate vehicle when reaching the target crossing it is required most in short-term
Between, wherein t_et is estimated time of the vehicle by target road section；NUM_MIN is number of vehicles minimum value in all lanes, t1
Pass through the time required to target crossing for each vehicle；
Target crossing straight trip direction be red light and distance become green light time be t1_r_b in the case where:
If t1_r_b+ (2n-1) * T < t_et < t1_r_b+ (2n) * T or t_et < t1_r_b, wherein n is just whole greater than 1
Number, T be straight trip direction red light become one complete cycle time of green light, then select the least Through Lane of number of vehicles as
Optimal lane；
If when t1_r_b+ (2n) * T < t_et < t1_r_b+ (2n+1) * T, selection includes the whole of the leftmost side and the rightmost side
The least lane of number of vehicles is as optimal lane in lane；
Target crossing straight trip direction be green light and distance become red light time be t1_b_r in the case where:
If t1_b_r+ (2n-1) * T < t_et < t1_b_r+ (2n) * T or t_et < t1_b_r, selection include the leftmost side and
The least lane of number of vehicles is as optimal lane in whole lanes of the rightmost side；
If t1_b_r+ (2n) * T < t_et < t1_b_r+ (2n+1) * T, select the least Through Lane of number of vehicles as
Optimal lane.
Optionally, further includes:
Cue module, for passing through voice and/or view after selecting through target crossing used time shortest optimal lane
Frequency mode prompts selected optimal lane.
The intelligent navigation device of the present embodiment is for realizing intelligent navigation method above-mentioned, therefore in intelligent navigation device
The embodiment part of the visible intelligent navigation method hereinbefore of specific embodiment, for example, direction of advance judgment module 100, vehicle
Number obtains module 200, and time delays obtain module 300, and optimal choosing lane module 400 is respectively used to realize above-mentioned intelligence
Step S101, S102, S103 and S104 in energy air navigation aid, so, specific embodiment is referred to corresponding each portion
Divide the description of embodiment, details are not described herein.
The application can guarantee that through vehicles will not influence the vehicle of left-hand rotation and right-hand rotation, while pass through within the shortest time
Target crossing, and do not have to switching lane in driving process, the lane of this method selection is optimal lane, can be effectively relieved
Traffic congestion problem further reduced the probability of traffic accident generation, be adapted to the smart city advocated now.
In addition, present invention also provides a kind of intelligent navigation equipment, comprising:
Memory, for storing computer program；
Processor, the step of any of the above-described kind of intelligent navigation method is realized when for executing the computer program.
Present invention also provides a kind of computer readable storage medium, meter is stored on the computer readable storage medium
The step of calculation machine program, the computer program realizes any of the above-described kind of intelligent navigation method when being executed by processor.
Intelligent navigation equipment provided herein, computer readable storage medium, it is opposite with above-mentioned intelligent navigation method
It answers, specific embodiment can be cross-referenced, and details are not described herein.
The application ensures that through vehicles will not influence left-hand rotation and right-turning vehicles, improves the utilization in lane to greatest extent
Rate.In addition, the application provides optimal lane, it is ensured that vehicle passes through target crossing in the shortest possible time, it is ensured that in driving process not
Changing Lane is needed, while reducing the probability of traffic accident generation.The traffic congestion of crossroad can be effectively relieved in the application, especially
It is major urban arterial highway, is suitble to the smart city advocated now and intelligent transportation, promotes Urban Residential Trip experience.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with it is other
The difference of embodiment, same or similar part may refer to each other between each embodiment.For being filled disclosed in embodiment
For setting, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is referring to method part
Explanation.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
Intelligent navigation method provided by the present invention, device, equipment and computer readable storage medium are carried out above
It is discussed in detail.Used herein a specific example illustrates the principle and implementation of the invention, above embodiments
Explanation be merely used to help understand method and its core concept of the invention.It should be pointed out that for the common of the art
, without departing from the principle of the present invention, can be with several improvements and modifications are made to the present invention for technical staff, these
Improvement and modification are also fallen within the protection scope of the claims of the present invention.
Claims (10)
1. a kind of intelligent navigation method characterized by comprising
According to the destination of current vehicle, the direction of advance of the vehicle at target crossing is judged；
Obtain the number of vehicles in each lane at target crossing；
According to the traffic lights situation at current crossing, obtaining the time needed for current vehicle enters target road section from current crossing prolongs
When；
According to the traffic lights situation of target road section and the number of vehicles in each lane, selection is shortest by the target crossing used time
Optimal lane；
Wherein, the target road section be current crossing between target crossing by way of section.
2. intelligent navigation method as described in claim 1, which is characterized in that the traffic lights situation at the current crossing of basis,
Obtaining time delays needed for current vehicle enters target road section from current crossing includes:
Time delays needed for current vehicle enters target road section from current crossing are calculated using t0_delay=t0+t0_r_b；
Wherein, t0_delay is time delays needed for current vehicle enters target road section from current crossing, and t0 passes through for vehicle
Time used in current crossing；T0_r_b is the time that current crossing is become green light from red light.
3. intelligent navigation method as claimed in claim 2, which is characterized in that when the advance side for determining the vehicle at target crossing
When to for straight trip direction, described according to the traffic lights situation of target road section and the number of vehicles in each lane, selection passes through mesh
Mark crossing used time shortest optimal lane includes:
Vehicle required shortest time when reaching the target crossing is calculated using t_et=t0_delay+NUM_MIN*t1,
In, t_et is estimated time of the vehicle by target road section；NUM_MIN is number of vehicles minimum value in all lanes, and t1 is each
Vehicle passes through the time required to target crossing；
Target crossing straight trip direction be red light and distance become green light time be t1_r_b in the case where:
If t1_r_b+ (2n-1) * T < t_et < t1_r_b+ (2n) * T or t_et < t1_r_b, wherein n is the positive integer greater than 1, T
Become one complete cycle time of green light for straight trip direction red light, then selects the least Through Lane of number of vehicles as optimal
Lane；
If when t1_r_b+ (2n) * T < t_et < t1_r_b+ (2n+1) * T, selection includes whole lanes of the leftmost side and the rightmost side
The middle least lane of number of vehicles is as optimal lane；
Target crossing straight trip direction be green light and distance become red light time be t1_b_r in the case where:
If t1_b_r+ (2n-1) * T < t_et < t1_b_r+ (2n) * T or t_et < t1_b_r, selection includes the leftmost side and most right
The least lane of number of vehicles is as optimal lane in whole lanes of side；
If t1_b_r+ (2n) * T < t_et < t1_b_r+ (2n+1) * T, selects the least Through Lane of number of vehicles as optimal
Lane.
4. intelligent navigation method as described in any one of claims 1 to 3, which is characterized in that used in selection by target crossing
When shortest optimal lane after further include:
Selected optimal lane is prompted by voice and/or video mode.
5. a kind of intelligent navigation device characterized by comprising
Direction of advance judgment module judges the advance side of the vehicle at target crossing for the destination according to current vehicle
To；
Number of vehicles obtains module, for obtaining the number of vehicles in each lane at target crossing；
Time delays obtain module and obtain current vehicle for the traffic lights situation according to current crossing and enter from current crossing
Time delays needed for target road section；
Optimal choosing lane module, for according to the traffic lights situation of target road section and the number of vehicles in each lane, selection
Pass through target crossing used time shortest optimal lane；
Wherein, the target road section be current crossing between target crossing by way of section.
6. intelligent navigation device as claimed in claim 5, which is characterized in that the time delays obtain module and are used for:
Time delays needed for current vehicle enters target road section from current crossing are calculated using t0_delay=t0+t0_r_b；
Wherein, t0_delay is time delays needed for current vehicle enters target road section from current crossing, and t0 passes through for vehicle
Time used in current crossing；T0_r_b is the time that current crossing is become green light from red light.
7. intelligent navigation device as claimed in claim 6, which is characterized in that when the advance side for determining the vehicle at target crossing
To for straight trip direction when, the optimal choosing lane module is used for:
Vehicle required shortest time when reaching the target crossing is calculated using t_et=t0_delay+NUM_MIN*t1,
In, t_et is estimated time of the vehicle by target road section；NUM_MIN is number of vehicles minimum value in all lanes, and t1 is each
Vehicle passes through the time required to target crossing；
Target crossing straight trip direction be red light and distance become green light time be t1_r_b in the case where:
If t1_r_b+ (2n-1) * T < t_et < t1_r_b+ (2n) * T or t_et < t1_r_b, wherein n is the positive integer greater than 1, T
Become one complete cycle time of green light for straight trip direction red light, then selects the least Through Lane of number of vehicles as optimal
Lane；
If when t1_r_b+ (2n) * T < t_et < t1_r_b+ (2n+1) * T, selection includes whole lanes of the leftmost side and the rightmost side
The middle least lane of number of vehicles is as optimal lane；
Target crossing straight trip direction be green light and distance become red light time be t1_b_r in the case where:
If t1_b_r+ (2n-1) * T < t_et < t1_b_r+ (2n) * T or t_et < t1_b_r, selection includes the leftmost side and most right
The least lane of number of vehicles is as optimal lane in whole lanes of side；
If t1_b_r+ (2n) * T < t_et < t1_b_r+ (2n+1) * T, selects the least Through Lane of number of vehicles as optimal
Lane.
8. such as the described in any item intelligent navigation devices of claim 5 to 7, which is characterized in that further include:
Cue module, for passing through voice and/or video side after selecting through target crossing used time shortest optimal lane
Formula prompts selected optimal lane.
9. a kind of intelligent navigation equipment characterized by comprising
Memory, for storing computer program；
Processor, realizing the intelligent navigation method as described in any one of Claims 1-4 when for executing the computer program
Step.
10. 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 step of the intelligent navigation method as described in any one of Claims 1-4 when the computer program is executed by processor
Suddenly.
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