CN109708656A - Route planning method, system, equipment and storage medium based on real-time road - Google Patents
Route planning method, system, equipment and storage medium based on real-time road Download PDFInfo
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- CN109708656A CN109708656A CN201910067579.6A CN201910067579A CN109708656A CN 109708656 A CN109708656 A CN 109708656A CN 201910067579 A CN201910067579 A CN 201910067579A CN 109708656 A CN109708656 A CN 109708656A
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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
- G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation
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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
Abstract
The present invention provides route planning method, system, equipment and storage mediums based on real-time road, method includes the following steps: predefining whole process guidance path；Under steam, when wherein continuous at least stretch diameter congestion, then update road-net node map, congestion path is set as open circuit, using the P node of this section of path starting point and sequential before starting point as starting point, P is preset threshold, P is natural number, using the M node of this section of path termination and sequential after starting point as terminal, M is preset threshold, M is natural number, traverses the fastest path of all terminals based on updated road-net node map according to each starting point, acquires P × M Local Navigation path；Each Local Navigation path is replaced to the corresponding part in unfinished whole guidance path respectively and obtains alternative navigation path, obtains an alternative navigation path；By the shortest alternative navigation routing update guidance path of transit time.
Description
Technical field
The present invention relates to automobile path planning fields, specifically, being related to the route planning method based on real-time road, being
System, equipment and storage medium.
Background technique
The sample car of automatic Pilot demonstration at present depends on path and part accurately to scheme more, and the vehicle one of certain volume productions
Secondary path planning is mostly to be provided by navigation map, but do not have the primary system plan path as real-time traffic stream information is adjusted
Ability.If long-time large area congestion occurs in certain section of route, automated driving system has no idea to avoid this section.
Summary of the invention
For the problems of the prior art, the purpose of the present invention is to provide based on real-time road route planning method,
System, equipment and storage medium can overcome path planning route of automatic Pilot existing in the prior art will not be with
The problem of telecommunication flow information changes, so that it is logical to save to realize that planning path can be changed according to real-time traffic stream information
Row chronergy.
The embodiment of the present invention provides a kind of route planning method based on real-time road, comprising the following steps:
S101, it is in advance based on road-net node map, is that navigation equipment determines that whole process is led according to present node and destination node
Bit path；
S102, under steam obtains the transit time in each section of path in the unfinished guidance path, when it in real time
In the continuous at least one section path transit time less than a preset threshold, then update road-net node map, will be continuous
At least one section of path is set as open circuit, executes step S103；
S103, using P node before the starting point of this section of path starting point and sequential as rising
Point, P are preset threshold, and P is natural number, by the M section of this section of path termination and sequential after the starting point
Point is respectively as terminal, and M is preset threshold, and M is natural number, is based on updated road-net node map according to each starting point
The fastest path for traversing all terminals acquires P × M Local Navigation path；
S104, according to obtained all Local Navigation paths, each Local Navigation path replace respectively unfinished
Corresponding part in whole guidance path obtains alternative navigation path, obtains an alternative navigation path；
S105, the transit time for counting all alternative navigation paths, and be ranked up；And
S106, by guidance path described in the current desired shortest alternative navigation routing update of transit time.
Preferably, in the step S103 the following steps are included:
S1031, the nth node of this section of path starting point is set as starting point, N is preset threshold, and N is natural number；
S1032, this section of path termination is arrived separately at based on updated road-net node map according to the starting point
As Local Navigation path, M is preset threshold in the time shortest path of N+1 node each node into N+M node,
M is natural number, saves M Local Navigation path；
S1033, P=P-1；
S1034, judge whether P is equal to 0, if so, S104 is thened follow the steps, if it is not, thening follow the steps S1035；
S1035, using the previous node of current starting point as new starting point, return step S1032.
It preferably, further include saving the current desired transit time in every Local Navigation path in the step S1032.
Preferably, in the step S104, according to the beginning and end in Local Navigation path described in each, institute is replaced
The local path of identical beginning and end in whole guidance path is stated, and retains the whole guidance path of rest part,
Obtain P × M alternative navigation path.
Preferably, each node is crossing that road crosses in the road-net node.
Preferably, P is less than or equal to 5, M and is less than or equal to 5.
Preferably, the preset threshold is the 0% to 50% of the path histories mean transit time.
The embodiment of the present invention also provides a kind of route planning system based on real-time road, for realizing it is above-mentioned based on
The route planning method of real-time road, the route planning system based on real-time road, comprising:
Whole guidance path setting module, is in advance based on road-net node map, is to lead according to present node and destination node
Equipment of navigating determines whole guidance path；
Road-net node mapping module is updated, under steam, obtains every stretch in the unfinished guidance path in real time
The transit time of diameter then updates road-net node map when the transit time in wherein one section of path is less than a preset threshold, will
This section of path is set as open circuit, and Local Navigation path module is established in execution；
Local Navigation path module is established, by the P of this section of path starting point and sequential before the starting point
For a node respectively as starting point, P is preset threshold, and P is natural number, by this section of path termination and sequential described
For M node after starting point respectively as terminal, M is preset threshold, and M is natural number, is based on updating according to each starting point
Road-net node map afterwards traverses the fastest path of all terminals, acquires P × M Local Navigation path；
Alternative navigation path module is obtained, according to obtained all Local Navigation paths, by each Local Navigation path
The corresponding part in unfinished whole guidance path is replaced respectively and obtains alternative navigation path, obtains an alternative navigation path；
Alternative navigation paths ordering module, counts the transit time in all alternative navigation paths, and is ranked up；With
And
Guidance path module is updated, by road of navigating described in the current desired shortest alternative navigation routing update of transit time
Diameter.
The embodiment of the present invention also provides a kind of route planning equipment based on real-time road, comprising:
Processor；
Memory, wherein being stored with the executable instruction of the processor；
Wherein, the processor is configured to execute the above-mentioned road based on real-time road via the executable instruction is executed
The step of line planing method.
The embodiment of the present invention also provides a kind of computer readable storage medium, and for storing program, described program is held
The step of above-mentioned route planning method based on real-time road is realized when row.
The purpose of the present invention is to provide route planning method, system, equipment and storage medium based on real-time road are logical
Crossing will be planned again by the path of congested link, in road-net node after the corresponding node of congested link is extended
Middle searching optimal path, makes full use of the advantage of road-net node, the planning path and real-time traffic states that digital map navigation is generated
In conjunction with timely update optimum programming path, significantly reduces the congestion time in the traveling of automatic driving vehicle, evades congestion in real time
Section.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon.
Fig. 1 is the flow chart of the route planning method of the invention based on real-time road.
Fig. 2 to 9 is the schematic diagram of the implementation process of the route planning method of the invention based on real-time road.
Figure 10 is the module diagram of the route planning system of the invention based on real-time road.
Figure 11 is the structural schematic diagram of the route planning equipment of the invention based on real-time road.And
Figure 12 is the structural schematic diagram of the computer readable storage medium of one embodiment of the invention.
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to embodiment set forth herein.On the contrary, thesing embodiments are provided so that the present invention will
Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.It is identical attached in figure
Icon note indicates same or similar structure, thus will omit repetition thereof.
Fig. 1 is the flow chart of the route planning method of the invention based on real-time road.As shown in Figure 1, of the invention one
Kind embodiment provides a kind of route planning method based on real-time road, comprising the following steps:
S101, it is in advance based on road-net node map, is that navigation equipment determines that whole process is led according to present node and destination node
Bit path.
S102, under steam obtains the transit time in each section of path in unfinished guidance path in real time, when wherein connecting
The transit time of continuous at least stretch diameter then updates road-net node map less than a preset threshold, will continuously at least one section
Path is set as open circuit, executes step S103.
S103, using P node before starting point of this section of path starting point and sequential as starting point, P is pre-
If threshold value, P is natural number, using the M node of this section of path termination and sequential after starting point as terminal, M
For preset threshold, M is natural number, traverses the most fast of all terminals based on updated road-net node map according to each starting point
Path acquires P × M Local Navigation path.
S104, according to obtained all Local Navigation paths, each Local Navigation path replace respectively unfinished
Corresponding part in whole guidance path obtains alternative navigation path, obtains an alternative navigation path.
S105, the transit time for counting all alternative navigation paths, and be ranked up.And
S106, by the current desired shortest alternative navigation routing update guidance path of transit time.
The present invention overcomes path planning route of automatic Pilot existing in the prior art will not be with telecommunication flow information
The problem of changing, to realize that planning path can be changed according to real-time traffic stream information to save transit time effect
Fruit.
In a preferred embodiment, in step S103 the following steps are included:
S1031, the nth node of this section of path starting point is set as starting point, N is preset threshold, and N is natural number.
S1032, the N+1 node for arriving separately at this section of path termination based on updated road-net node map according to starting point
Into N+M node, the time of each node, shortest path was as Local Navigation path, and M is preset threshold, and M is nature
Number saves M Local Navigation path.
S1033, P=P-1.
S1034, judge whether P is equal to 0, if so, S104 is thened follow the steps, if it is not, thening follow the steps S1035.
S1035, using the previous node of current starting point as new starting point, return step S1032.
It further include saving the current desired passage in every Local Navigation path in a preferred embodiment, in step S1032
Time.
In a preferred embodiment, in step S104, according to the beginning and end in each Local Navigation path, replacement
The local path of identical beginning and end in whole guidance path, and retain the whole guidance path of rest part, obtain P ×
M alternative navigation path.
In a preferred embodiment, each node is the crossing that road crosses in road-net node.
In a preferred embodiment, P is less than or equal to 5, M and is less than or equal to 5.
In a preferred embodiment, preset threshold is the 0% to 50% of the path histories mean transit time.
Fig. 2 to 9 is the schematic diagram of the implementation process of the route planning method of the invention based on real-time road.Such as Fig. 2 to 9
It is shown, under a kind of implementation process of the invention is such:
It is vapour according to present node and destination node as shown in Fig. 2, being in advance based on road-net node map (not shown)
The navigation equipment of vehicle 1 or unmanned vehicle determines whole guidance path are as follows: A-B-C-D-E-F-G-H, the transit time of adjacent node is all
It is 5 minutes.
As shown in figure 3, under steam, obtaining the transit time in each section of path in unfinished guidance path, road in real time
The transit time of diameter D-E is all 30 minutes, it is clear that path D-E gets congestion, and road-net node map is updated at this time, by path D-E
It is set as open circuit.
Using 2 nodes B, the C of this section of path starting point D and sequential before starting point as starting point, by the section
2 nodes F, the G of path termination E and sequential after starting point are based on updating respectively as terminal, according to each starting point
Road-net node map afterwards traverses the fastest path of all terminals, acquires 9 Local Navigation paths and every Local Navigation
The current desired transit time in path.
As shown in figure 4, the time of path Route1 (D-E) is 7 minutes, the time of path Route2 (D-F) is 14 minutes,
The time of path Route3 (D-G) is 19 minutes.
As shown in figure 5, the time of path Route4 (C-E) is 14 minutes, the time of path Route5 (C-F) is 16 points
Clock, the time of path Route6 (C-G) are 28 minutes.
As shown in fig. 6, the time of path Route7 (D-E) is 19 minutes, the time of path Route8 (D-F) is 27 points
Clock, the time of path Route9 (D-G) are 31 minutes.
According to obtained all Local Navigation paths, unfinished whole process is replaced into each Local Navigation path respectively and is led
Corresponding part in bit path obtains alternative navigation path, obtains an alternative navigation path.Count all alternative navigation paths
Transit time:
Then the alternative navigation path 1 based on path Route1 is A-B-C-Route1-F-G-H, required time=5+5+5+7
+ 5+5+5=37 minutes.
Alternative navigation path 2 based on path Route2 is A-B-C-Route2-G-H, required time=5+5+5+14+5+
5=39 minutes.
Alternative navigation path 3 based on path Route3 is A-B-C-Route3-H, required time=5+5+5+19+5=
39 minutes.
Alternative navigation path 4 based on path Route4 is A-B-Route4-F-G-H, required time=5+5+14+5+5+
5=39 minutes.
Alternative navigation path 5 based on path Route5 is A-B-Route5-G-H, required time=5+5+16+5+5=
36 minutes.
Alternative navigation path 6 based on path Route6 is A-B-Route6-H, and required time=5+5+28+5=43 divides
Clock.
Alternative navigation path 7 based on path Route7 is A-Route7-F-G-H, required time=5+19+5+5+5=
39 minutes.
Alternative navigation path 8 based on path Route8 is A-Route7-G-H, and required time=5+27+5+5=42 divides
Clock.
Alternative navigation path 9 based on path Route9 be A-Route7-H, required time=5+31+5=41 minutes.
Pass through sequence, it is therefore apparent that the time in the alternative navigation path 5 based on path Route5 is most short
Alternative navigation path 5 is finally updated into guidance path.
With reference to Fig. 7-9, the final guidance path of automobile 1 is exactly A-B-Route5-G-H, arrives after node C, passes through road network
Other paths of node map, which are detoured, reaches node F, and required time=5+5+16+5+5=36 minutes.
The present invention overcomes path planning route of automatic Pilot existing in the prior art will not be with telecommunication flow information
The problem of changing, to realize that planning path can be changed according to real-time traffic stream information to save transit time effect
Fruit.
Route planning method based on real-time road of the invention, which passes through, to be advised again by the path of congested link
It draws, finds optimal path in road-net node after the corresponding node of congested link is extended, make full use of road-net node
Advantage, by digital map navigation generate planning path with real-time traffic states ining conjunction with, timely update optimum programming path, significantly drop
The congestion time in the traveling of low automatic driving vehicle, evade congested link in real time.
Figure 10 is the module diagram of the route planning system of the invention based on real-time road.As shown in Figure 10, this hair
Bright embodiment also provides a kind of route planning system 5 based on real-time road, for realizing above-mentioned based on real-time road
Route planning method, the route planning system based on real-time road include:
Whole guidance path setting module 51, is in advance based on road-net node map, is according to present node and destination node
Navigation equipment determines whole guidance path.
Road-net node mapping module 52 is updated, under steam, obtains each section of path in unfinished guidance path in real time
Transit time road-net node map is then updated, by the Duan Lu when the transit time of wherein stretch diameter is less than a preset threshold
Diameter is set as open circuit, and Local Navigation path module 53 is established in execution.
Local Navigation path module 53 is established, by the P node of this section of path starting point and sequential before starting point
Respectively as starting point, P is preset threshold, and P is natural number, by this section of path termination and sequential the M after starting point
For node respectively as terminal, M is preset threshold, and M is natural number, is based on updated road-net node map time according to each starting point
The fastest path for going through all terminals acquires P × M Local Navigation path.
Alternative navigation path module 54 is obtained, according to obtained all Local Navigation paths, by each Local Navigation road
The corresponding part that diameter replaces in unfinished whole guidance path respectively obtains alternative navigation path, obtains an alternative navigation road
Diameter.
Alternative navigation paths ordering module 55, counts the transit time in all alternative navigation paths, and is ranked up.And
Guidance path module 56 is updated, by current desired transit time shortest alternative navigation routing update navigation road
Diameter.
Route planning system based on real-time road of the invention can be carried out again by that will pass through the path of congested link
Planning, finds optimal path after the corresponding node of congested link is extended in road-net node, makes full use of road network section
The advantage of point, the planning path that digital map navigation is generated is in conjunction with real-time traffic states, and timely update optimum programming path, significantly
The congestion time in the traveling of automatic driving vehicle is reduced, evades congested link in real time.
The embodiment of the present invention also provides a kind of route planning equipment based on real-time road, including processor.Memory,
In be stored with the executable instruction of processor.Wherein, processor is configured to be performed via execution executable instruction based on real
The step of route planning method of Shi Lukuang.
As it appears from the above, the embodiment, which passes through, to be planned again by the path of congested link, by pair of congested link
Optimal path is found after answering node to be extended in road-net node, makes full use of the advantage of road-net node, by digital map navigation
The planning path of generation is in conjunction with real-time traffic states, and timely update optimum programming path, significantly reduces automatic driving vehicle
The congestion time in traveling, evade congested link in real time.
Person of ordinary skill in the field it is understood that various aspects of the invention can be implemented as system, method or
Program product.Therefore, various aspects of the invention can be embodied in the following forms, it may be assumed that complete hardware embodiment, complete
The embodiment combined in terms of full Software Implementation (including firmware, microcode etc.) or hardware and software, can unite here
Referred to as " circuit ", " module " or " platform ".
Figure 11 is the structural schematic diagram of the route planning equipment of the invention based on real-time road.It is retouched referring to Figure 11
State the electronic equipment 600 of this embodiment according to the present invention.The electronic equipment 600 that Figure 11 is shown is only an example,
Should not function to the embodiment of the present invention and use scope bring any restrictions.
As shown in figure 11, electronic equipment 600 is showed in the form of universal computing device.The component of electronic equipment 600 can be with
Including but not limited to: at least one processing unit 610, at least one storage unit 620, connection different platform component (including are deposited
Storage unit 620 and processing unit 610) bus 630, display unit 640 etc..
Wherein, storage unit is stored with program code, and program code can be executed with unit 610 processed, so that processing is single
Member 610 executes various exemplary implementations according to the present invention described in this specification above-mentioned electronic prescription circulation processing method part
The step of mode.For example, processing unit 610 can execute step as shown in fig. 1.
Storage unit 620 may include the readable medium of volatile memory cell form, such as Random Access Storage Unit
(RAM) 6201 and/or cache memory unit 6202, it can further include read-only memory unit (ROM) 6203.
Storage unit 620 can also include program/utility with one group of (at least one) program module 6205
6204, such program module 6205 includes but is not limited to: operating system, one or more application program, other program moulds
It may include the realization of network environment in block and program data, each of these examples or certain combination.
Bus 630 can be to indicate one of a few class bus structures or a variety of, including storage unit bus or storage
Cell controller, peripheral bus, graphics acceleration port, processing unit use any bus structures in a variety of bus structures
Local bus.
Electronic equipment 600 can also be with one or more external equipments 700 (such as keyboard, sensing equipment, bluetooth equipment
Deng) communication, can also be enabled a user to one or more equipment interact with the electronic equipment 600 communicate, and/or with make
Any equipment (such as the router, modulation /demodulation that the electronic equipment 600 can be communicated with one or more of the other calculating equipment
Device etc.) communication.This communication can be carried out by input/output (I/O) interface 650.Also, electronic equipment 600 can be with
By network adapter 660 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public network,
Such as internet) communication.Network adapter 660 can be communicated by bus 630 with other modules of electronic equipment 600.It should
Understand, although not shown in the drawings, other hardware and/or software module can be used in conjunction with electronic equipment 600, including but unlimited
In: microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape drive and number
According to backup storage platform etc..
The embodiment of the present invention also provides a kind of computer readable storage medium, and for storing program, program is performed reality
The step of existing route planning method based on real-time road.In some possible embodiments, various aspects of the invention
It is also implemented as a kind of form of program product comprising program code, when program product is run on the terminal device, journey
Sequence code is for executing terminal device described in this specification above-mentioned electronic prescription circulation processing method part according to this hair
The step of bright various illustrative embodiments.
As it appears from the above, the embodiment, which passes through, to be planned again by the path of congested link, by pair of congested link
Optimal path is found after answering node to be extended in road-net node, makes full use of the advantage of road-net node, by digital map navigation
The planning path of generation is in conjunction with real-time traffic states, and timely update optimum programming path, significantly reduces automatic driving vehicle
The congestion time in traveling, evade congested link in real time.
Figure 12 is the structural schematic diagram of computer readable storage medium of the invention.With reference to shown in Figure 12, basis is described
The program product 800 for realizing the above method of embodiments of the present invention can be deposited using portable compact disc is read-only
Reservoir (CD-ROM) and including program code, and can be run on terminal device, such as PC.However, of the invention
Program product is without being limited thereto, and in this document, readable storage medium storing program for executing can be any tangible medium for including or store program, should
Program can be commanded execution system, device or device use or in connection.
Program product can be using any combination of one or more readable mediums.Readable medium can be readable signal Jie
Matter or readable storage medium storing program for executing.Readable storage medium storing program for executing for example can be but be not limited to electricity, magnetic, optical, electromagnetic, infrared ray or partly lead
System, device or the device of body, or any above combination.More specific example (the non exhaustive column of readable storage medium storing program for executing
Table) it include: the electrical connection with one or more conducting wires, portable disc, hard disk, random access memory (RAM), read-only storage
Device (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read only memory (CD-
ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.
Computer readable storage medium may include in a base band or as carrier wave a part propagate data-signal,
In carry readable program code.The data-signal of this propagation can take various forms, including but not limited to electromagnetic signal,
Optical signal or above-mentioned any appropriate combination.Readable storage medium storing program for executing can also be any readable Jie other than readable storage medium storing program for executing
Matter, the readable medium can send, propagate or transmit for by instruction execution system, device or device use or and its
The program of combined use.The program code for including on readable storage medium storing program for executing can transmit with any suitable medium, including but not
It is limited to wireless, wired, optical cable, RF etc. or above-mentioned any appropriate combination.
The program for executing operation of the present invention can be write with any combination of one or more programming languages
Code, programming language include object oriented program language-Java, C++ etc., further include conventional process
Formula programming language-such as " C " language or similar programming language.Program code can be calculated fully in user
It executes in equipment, partly execute on a user device, executing, as an independent software package partially in user calculating equipment
Upper part executes on a remote computing or executes in remote computing device or server completely.It is being related to remotely counting
In the situation for calculating equipment, remote computing device can pass through the network of any kind, including local area network (LAN) or wide area network
(WAN), it is connected to user calculating equipment, or, it may be connected to external computing device (such as utilize ISP
To be connected by internet).
To sum up, the purpose of the present invention is to provide route planning method, system, equipment and storages based on real-time road to be situated between
Matter, which passes through, to be planned again by the path of congested link, in road network after the corresponding node of congested link is extended
Optimal path is found in node, makes full use of the advantage of road-net node, the planning path and real-time traffic that digital map navigation is generated
Combinations of states, timely update optimum programming path, significantly reduces the congestion time in the traveling of automatic driving vehicle, evades in real time
Congested link.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (10)
1. a kind of route planning method based on real-time road, which comprises the following steps:
S101, it is in advance based on road-net node map, is that navigation equipment determines whole navigation road according to present node and destination node
Diameter；
S102, under steam obtains the transit time in each section of path in the unfinished guidance path in real time, when wherein connecting
The transit time in at least one section continuous path then updates road-net node map less than a preset threshold, will continuously at least
One section of path is set as open circuit, executes step S103；
S103, using P node before the starting point of this section of path starting point and sequential as starting point, P
For preset threshold, P is natural number, by the M node of this section of path termination and sequential after the starting point point
Not Zuo Wei terminal, M is preset threshold, and M is natural number, according to each starting point based on updated road-net node map traverse
The fastest path of all terminals acquires P × M Local Navigation path；
All Local Navigation paths that S104, basis obtain, replace unfinished whole process for each Local Navigation path respectively
Corresponding part in guidance path obtains alternative navigation path, obtains an alternative navigation path；
S105, the transit time for counting all alternative navigation paths, and be ranked up；And
S106, by guidance path described in the current desired shortest alternative navigation routing update of transit time.
2. the route planning method according to claim 1 based on real-time road, it is characterised in that: in the step S103
The following steps are included:
S1031, the nth node of this section of path starting point is set as starting point, N is preset threshold, and N is natural number；
S1032, the N+1 for arriving separately at this section of path termination based on updated road-net node map according to the starting point
As Local Navigation path, M is preset threshold in the time shortest path of node each node into N+M node, and M is certainly
So number saves M Local Navigation path；
S1033, P=P-1；
S1034, judge whether P is equal to 0, if so, S104 is thened follow the steps, if it is not, thening follow the steps S1035；
S1035, using the previous node of current starting point as new starting point, return step S1032.
3. the route planning method according to claim 2 based on real-time road, it is characterised in that: the step S1032
In further include saving the current desired transit time in every Local Navigation path.
4. the route planning method according to claim 1 based on real-time road, it is characterised in that: the step S104
In, according to the beginning and end in Local Navigation path described in each, replace in the whole guidance path identical starting point and
The local path of terminal, and retain the whole guidance path of rest part, obtain P × M alternative navigation path.
5. the route planning method according to claim 1 based on real-time road, it is characterised in that: in the road-net node
Each node is the crossing that road crosses.
6. the route planning method according to claim 1 based on real-time road, it is characterised in that: it is small that P is less than or equal to 5, M
In equal to 5.
7. the route planning method according to claim 1 based on real-time road, it is characterised in that: the preset threshold is
The 0% to 50% of the path histories mean transit time.
8. a kind of route planning system based on real-time road, is set to automobile, for realizing any one of claims 1 to 7
The route planning method based on real-time road characterized by comprising
Whole guidance path setting module, is in advance based on road-net node map, is that navigation is set according to present node and destination node
It is standby to determine whole guidance path；
Road-net node mapping module is updated, under steam, obtains in the unfinished guidance path each section of path in real time
Transit time then updates road-net node map, by the section when the transit time in wherein one section of path is less than a preset threshold
The path is set as open circuit, and Local Navigation path module is established in execution；
Local Navigation path module is established, by the P section of this section of path starting point and sequential before the starting point
Point is respectively as starting point, and P is preset threshold, and P is natural number, by this section of path termination and sequential in the starting point
For M node later respectively as terminal, M is preset threshold, and M is natural number, is based on according to each starting point updated
Road-net node map traverses the fastest path of all terminals, acquires P × M Local Navigation path；
Alternative navigation path module is obtained, according to obtained all Local Navigation paths, each Local Navigation path is distinguished
Corresponding part in the unfinished whole guidance path of replacement obtains alternative navigation path, obtains an alternative navigation path；
Alternative navigation paths ordering module, counts the transit time in all alternative navigation paths, and is ranked up；And
Guidance path module is updated, by guidance path described in the current desired shortest alternative navigation routing update of transit time.
9. a kind of route planning equipment based on real-time road characterized by comprising
Processor；
Memory, wherein being stored with the executable instruction of the processor；
Wherein, the processor is configured to come any one of perform claim requirement 1 to 7 institute via the execution executable instruction
The step of stating the route planning method based on real-time road.
10. a kind of computer readable storage medium, for storing program, which is characterized in that described program is performed realization power
Benefit require any one of 1 to 7 described in route planning method based on real-time road the step of.
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| PCT/CN2019/127563 WO2020151441A1 (en) | 2019-01-24 | 2019-12-23 | Method, system and device for path planning based on real-time traffic, and storage medium |
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