CN110083153A - Vehicle travel route acquisition methods and device - Google Patents
Vehicle travel route acquisition methods and device Download PDFInfo
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- CN110083153A CN110083153A CN201910292443.5A CN201910292443A CN110083153A CN 110083153 A CN110083153 A CN 110083153A CN 201910292443 A CN201910292443 A CN 201910292443A CN 110083153 A CN110083153 A CN 110083153A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The embodiment of the present invention provides a kind of vehicle travel route acquisition methods and device, this method comprises: according to driving information and global map road network information, obtain the lane feasible speed of the traffic information in every lane, the lane priority in every lane and every lane, driving information includes initial place and target location, and global map road network information includes from initial place to the road network information target location；The overall efficiency in every lane is obtained according to traffic information, lane priority and lane feasible speed, wherein, whether traffic information is used to indicate vehicle can be in lane, lane priority is used to indicate vehicle in the priority of lanes, and lane feasible speed is used to indicate the speed that vehicle allows to travel in lane；According to the overall efficiency in every lane, the travel route of vehicle is obtained.Travel route provided in an embodiment of the present invention can guarantee unpiloted reliability and stability, and improve running efficiency.
Description
Technical field
The present embodiments relate to artificial intelligence field more particularly to a kind of vehicle travel route acquisition methods and dress
It sets.
Background technique
Express delivery shipping has become a part indispensable in daily life, and have in cargo service significant portion be by
Truck is freighted in fastlink.Traditional shipping is driven by driver, and driver holds during long-duration driving
Easily there is fatigue or situation of diverting attention, leads to traffic accident, therefore unmanned technology is strong in shipping domain requirement.
Unmanned Systems are based primarily upon preset automation control program, perceive vehicle periphery ring by onboard sensor
Border, and make vehicle to control the steering and speed of vehicle according to road, vehicle location and obstacle information obtained is perceived
Can be safe and reliable be travelled on road.The selection of driving path and the selection in lane etc. determine traveling in driving procedure
The decision movement of route determines the security performance and conevying efficiency of shipping.
However, existing unmanned automobile carrier under relatively simple road conditions, can be realized it is unmanned, and once
On complicated road, unpiloted reliability and stability are difficult to meet the requirement of road safety, cause unmanned
Running efficiency it is accordingly poor, not can guarantee the freight transport task of the completion starting point to the end of unmanned automobile carrier safety.
Summary of the invention
The embodiment of the present invention provides a kind of vehicle travel route acquisition methods and device, with guarantee it is unpiloted can
By property and stability, and improve running efficiency.
In a first aspect, the embodiment of the present invention provides a kind of vehicle travel route acquisition methods, comprising:
According to driving information and global map road network information, the traffic information in every lane, the lane in every lane are obtained
Priority and the lane feasible speed in every lane, the driving information include initial place and target location, the overall situation
Map road network information includes from the initial place to the road network information the target location；
The overall effect in every lane is obtained according to the traffic information, the lane priority and the lane feasible speed
It can, wherein whether the traffic information is used to indicate vehicle can be in the lane, and the lane priority is for referring to
Show the vehicle in the priority of the lanes, the lane feasible speed is used to indicate the vehicle in institute
State the speed for allowing to travel in lane；
According to the overall efficiency in every lane, the travel route of the vehicle is obtained.
It is described feasible according to the traffic information, the lane priority and the lane in a kind of possible design
Speed obtains the overall efficiency in every lane, specifically includes:
The distance of passing through in every lane is determined according to the traffic information, and determines first according to the distance of passing through
Weight；
According to the corresponding relationship of lane priority and weight, corresponding second weight of the lane priority is determined；
According to the speed limit of the lane feasible speed and the lane, third weight is determined；
For corresponding first weight in every lane, second weight and the third weight, obtain each described
The overall efficiency in lane.
It is described according to driving information and global map road network information in a kind of possible design, obtain every lane
The lane feasible speed of traffic information, the lane priority in every lane and every lane, specifically includes:
According to the global map road network information and the driving information, obtain from the initial place to the target
The road information in every lane between point, the road information includes road speed-limiting messages, road traffic flow information, road
Curvature, forbidden information and lane occupied information；
According to the forbidden information, obtain the traffic information in every lane, the forbidden information be used to indicate forbid it is described
The lane of vehicle traveling；
According to the lane occupied information, the lane priority in every lane is obtained, the lane occupied information is for referring to
Show the vehicle to every lane can occupancy situation；
According to the corresponding road speed-limiting messages in every lane, road traffic flow information and road curvature, every vehicle is obtained
The lane feasible speed in road.
In a kind of possible design, the overall efficiency according to every lane obtains the vehicle
Travel route specifically includes:
According to the overall efficiency in every lane, obtain from the initial place to target road the target location
Expectation traveling lane in section, the expectation traveling lane are the maximum lane of current overall efficiency；
According to the overall efficiency of the overall efficiency of the expectation traveling lane and the vehicle current lane, the phase is obtained
Hope driving behavior；
Travel route of the vehicle in the target road section is obtained according to the expectation driving behavior.
It is described to be worked as according to the overall efficiency and the vehicle of the expectation traveling lane in a kind of possible design
The overall efficiency in preceding lane obtains expectation driving behavior, specifically includes:
According to the overall efficiency of the overall efficiency of the expectation traveling lane and the vehicle current lane, mesh is determined
Mark lane；
If the target lane be the vehicle current lane, it is determined that it is expected the driving behavior for it is described nobody
Vehicle continues to travel along the current lane；
If the target lane is the expectation traveling lane, it is determined that the expectation driving behavior is the vehicle
The target lanes are turned to from the current lane.
In a kind of possible design, if the expectation driving behavior is that the vehicle is turned to from the current lane
The target lanes, the method also includes:
According to the current driving speed of the traffic flow information of the expectation traveling lane and the vehicle, institute is obtained
The collision information of vehicle is stated, the collision information includes that the first collision distance of the vehicle and front truck and first touch
Hit the second collision distance and the second collision time of time and the vehicle and rear car；
According to the collision information, determine whether the vehicle from the current lane turns to target lane row
It sails.
It is described according to the collision information in a kind of possible design, determine whether the vehicle works as from described
Preceding lane turns to the target lanes, comprising:
According to the traffic flow information of the expectation traveling lane, obtain the vehicle with the front truck first is touched
Hit distance and the second collision distance between corresponding first travel speed of the front truck, the rear car and the vehicle
The second travel speed corresponding with the rear car；
According to first collision distance, the travel speed of first travel speed and the vehicle, acquisition pair
The first collision time answered, first collision time refer to when first travel speed is less than the traveling of the vehicle
When speed, the front truck and the vehicle bump against the time needed；
According to second collision distance, the travel speed of second travel speed and the vehicle, acquisition pair
The second collision time answered, second collision time refer to when second travel speed is greater than the traveling of the vehicle
When speed, the rear car and the vehicle bump against the time needed；
If first collision distance and second collision distance are greater than collision distance threshold value, and when first collision
Between and second collision time be greater than collision time threshold value, it is determined that described in the vehicle is turned to from the current lane
Target lanes.
Second aspect, the embodiment of the present invention provide a kind of vehicle travel route acquisition device, comprising:
Module is obtained, for according to driving information and global map road network information, obtaining the traffic information, every in every lane
The lane priority in lane and the lane feasible speed in every lane, the driving information include initial place and target
Point, the global map road network information include from the initial place to the road network information the target location；
First processing module, for being obtained according to the traffic information, the lane priority and the lane feasible speed
Take the overall efficiency in every lane, wherein whether the traffic information can be in the lane, institute if being used to indicate vehicle
It states lane priority and is used to indicate the vehicle in the priority of the lanes, the lane feasible speed is for referring to
Show the speed that the vehicle allows to travel in the lane；
Second processing module obtains the traveling road of the vehicle for the overall efficiency according to every lane
Line.
In a kind of possible design, the first processing module is specifically used for:
The distance of passing through in every lane is determined according to the traffic information, and determines first according to the distance of passing through
Weight；
According to the corresponding relationship of lane priority and weight, corresponding second weight of the lane priority is determined；
According to the speed limit of the lane feasible speed and the lane, third weight is determined；
For corresponding first weight in every lane, second weight and the third weight, obtain each described
The overall efficiency in lane.
In a kind of possible design, the acquisition module is specifically used for:
According to the global map road network information and the driving information, obtain from the initial place to the target
The road information in every lane between point, the road information includes road speed-limiting messages, road traffic flow information, road
Curvature, forbidden information and lane occupied information；
According to the forbidden information, obtain the traffic information in every lane, the forbidden information be used to indicate forbid it is described
The lane of vehicle traveling；
According to the lane occupied information, the lane priority in every lane is obtained, the lane occupied information is for referring to
Show the vehicle to every lane can occupancy situation；
According to the corresponding road speed-limiting messages in every lane, road traffic flow information and road curvature, every vehicle is obtained
The lane feasible speed in road.
In a kind of possible design, the Second processing module is specifically used for:
According to the overall efficiency in every lane, obtain from the initial place to target road the target location
Expectation traveling lane in section, the expectation traveling lane are the maximum lane of current overall efficiency；
According to the overall efficiency of the overall efficiency of the expectation traveling lane and the vehicle current lane, the phase is obtained
Hope driving behavior；
Travel route of the vehicle in the target road section is obtained according to the expectation driving behavior.
In a kind of possible design, the Second processing module is specifically also used to:
According to the overall efficiency of the overall efficiency of the expectation traveling lane and the vehicle current lane, mesh is determined
Mark lane；
If the target lane be the vehicle current lane, it is determined that it is expected the driving behavior for it is described nobody
Vehicle continues to travel along the current lane；
If the target lane is the expectation traveling lane, it is determined that the expectation driving behavior is the vehicle
The target lanes are turned to from the current lane.
In a kind of possible design, the Second processing module is specifically also used to:
According to the current driving speed of the traffic flow information of the expectation traveling lane and the vehicle, institute is obtained
The collision information of vehicle is stated, the collision information includes that the first collision distance of the vehicle and front truck and first touch
Hit the second collision distance and the second collision time of time and the vehicle and rear car；
According to the collision information, determine whether the vehicle from the current lane turns to target lane row
It sails.
In a kind of possible design, the Second processing module is specifically also used to:
According to the traffic flow information of the expectation traveling lane, obtain the vehicle with the front truck first is touched
Hit distance and the second collision distance between corresponding first travel speed of the front truck, the rear car and the vehicle
The second travel speed corresponding with the rear car；
According to first collision distance, the travel speed of first travel speed and the vehicle, acquisition pair
The first collision time answered, first collision time refer to when first travel speed is less than the traveling of the vehicle
When speed, the front truck and the vehicle bump against the time needed；
According to second collision distance, the travel speed of second travel speed and the vehicle, acquisition pair
The second collision time answered, second collision time refer to when second travel speed is greater than the traveling of the vehicle
When speed, the rear car and the vehicle bump against the time needed；
If first collision distance and second collision distance are greater than collision distance threshold value, and when first collision
Between and second collision time be greater than collision time threshold value, it is determined that described in the vehicle is turned to from the current lane
Target lanes.
The third aspect, the embodiment of the present invention provide a kind of vehicle travel route acquisition equipment, comprising: at least one
Manage device and memory；
The memory stores computer executed instructions；
At least one described processor executes the computer executed instructions of memory storage so that it is described at least one
Processor executes such as the described in any item vehicle travel route acquisition methods of first aspect.
Fourth aspect, the embodiment of the present invention provide a kind of computer readable storage medium, the computer-readable storage medium
It is stored with computer executed instructions in matter, when processor executes the computer executed instructions, realizes as first aspect is any
Vehicle travel route acquisition methods described in.
Vehicle travel route acquisition methods and device provided in an embodiment of the present invention, according to the driving information got
With global map information, the traffic information, lane priority and lane feasible speed in every lane are obtained, it is then comprehensive to obtain often
The overall efficiency in lane, the overall efficiency can really react the efficiency that vehicle travels on every lane, according to
The overall efficiency in every lane obtains travel route, can guarantee that vehicle is protected within a relatively long period every time
It holds and runs at high speed, improve running efficiency, ensure that vehicle is capable of the shipping of completion starting point to the end safely and fast and is appointed
Business, while avoiding the traffic meaning because occurring in the case of the distractions such as carelessness or fatigue in human driver's driving procedure
Outer situation.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is that a kind of vehicle travel route provided in an embodiment of the present invention obtains system schematic；
Fig. 2 is the flow diagram of vehicle travel route acquisition methods provided in an embodiment of the present invention；
Fig. 3 is the flow diagram of the overall efficiency provided in an embodiment of the present invention for obtaining lane；
Fig. 4 is the flow diagram provided in an embodiment of the present invention for obtaining travel route；
Fig. 5 is lane change process schematic provided in an embodiment of the present invention；
Fig. 6 is the structural schematic diagram of vehicle travel route acquisition device provided in an embodiment of the present invention；
Fig. 7 is the hardware structural diagram that vehicle travel route provided in an embodiment of the present invention obtains equipment.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Fig. 1 is a kind of vehicle travel route acquisition system schematic provided in an embodiment of the present invention, as shown in Figure 1,
The system includes server 11 and vehicle 12, which can have the functions such as Map Services, be capable of providing the overall situation
Map road network information.The vehicle 12 has Unmanned Systems, which can hand over server 11
Mutually, global map road network information is obtained, the overall efficiency in lane is then obtained according to driving information and global map road network information,
To obtain travel route.Vehicle 12 can be mainly used for basis for type of vehicle, the vehicles 12 such as lorry, trucies
Travel route travels, and in the process of moving, Che Zhongke, can also be with nobody, in the unmanned vehicle with someone the vehicle 12
In 12 when someone, the people in vehicle cuts little ice to travel route, which passes through the server 11 and this nobody
The information of interaction determines between vehicle 12.
In the embodiment of the present invention, the travel of the vehicle 12 can be common road and highway, run over
Cheng Zhong, vehicle 12 can enter highway by Entry to motorway by common road, can also be by high under ramp exit
Enter common road after speed.The vehicle 12 in common road and on a highway when driving, the acquisition side of travel route
Formula is similar, and in practice, and travel speed of the vehicle 12 in high speed faster, therefore can preferentially select high speed uplink as far as possible
It sails.Therefore in the embodiment of the present invention, it is illustrated by taking the traveling of the vehicle 12 in high speed as an example, the row on common road
Sail similar, the embodiment that those skilled in the art can sail route acquisition process according to high speed uplink obtains vehicle 12
Travel route acquisition process on common road.
How to be solved with technical solution of the specific embodiment to technical solution of the present invention and the application below above-mentioned
Technical problem is described in detail.These specific embodiments can be combined with each other below, for the same or similar concept
Or process may repeat no more in certain embodiments.Below in conjunction with attached drawing, the embodiment of the present invention is described.
Fig. 2 is the flow diagram of vehicle travel route acquisition methods provided in an embodiment of the present invention, such as Fig. 2 institute
Show, comprising:
S21 obtains the traffic information in every lane, every lane according to driving information and global map road network information
Lane priority and the lane feasible speed in every lane, the driving information include initial place and target location, described
Global map road network information includes from the initial place to the road network information the target location；
Driving information and global map road network information are obtained, the movement of acquisition can be by being sent to the nothing after the completion of server
People's vehicle is sent to the vehicle after can also obtaining with third party device such as computer, plate, can also be by the vehicle
On Unmanned Systems obtain.
The driving information includes initial place and target location, which can be the starting point of vehicle,
It can be the anywhere between starting point to destination in addition to destination, which can be the purpose of vehicle
Ground is also possible to from initial place to the anywhere destination in addition to initial place and destination.The initial place and
The specific location of the target location can be set according to actual needs, be not particularly limited herein.
Global map road network information includes the global map herein from initial place to the road network information target location
Road network information can be obtained by obtaining global map, can also be obtained according to initial place to the map between target location,
Road network information includes the lane item number from initial place to the lane rejection information target location, lane speed limit, and correspondence
The magnitude of traffic flow.Whether the initial place of lane rejection message reflection is forbidden to the vehicle between target location, such as when this
When vehicle is truck, no through traffic in a certain section of display truck for a certain lane on road, then on this section of road
The lane can indicate and can not pass through.If the vehicle, on common road, which not only includes obvious
Mark the truck region that no through traffic, further include traffic light intersection be in red light phase region and other forbid truck
Current situation.Lane item number is from the initial place to the lane quantity the target location, and lane quantity is certain
Distance in be usually constant, but when apart from long enough or other situations, lane quantity may also change, such as
Enter high speed, high speed ring road mouth etc. from ordinary road.In the embodiment of the present invention, if from initial place to the vehicle target location
Road item number changes, then needs according to carrying out segmentation acquisition at change.Lane speed limit is then the vehicle in every lane
The case where maximum travelling speed of permission, speed limit mainly includes two kinds, and one is to any type of limiting vehicle speed, such as certain
Lane mark " speed limit 120km/h " requires the speed of all vehicles by this lane that must not all be higher than 120km/h, another
It is such as certain the lane mark " lorry speed limit 100km/h " for certain types of limiting vehicle speed, then the type of the vehicle
When for lorry, 100km/h must not be higher than by the speed in the lane.The magnitude of traffic flow mainly reflects that the vehicle flowrate of corresponding road section is big
It is small, i.e. the vehicle fleet size in every lane of this section of time corresponding road section, if vehicle flowrate is big, may to vehicle traveling speed
Degree has an impact.
S22 obtains the total of every lane according to the traffic information, the lane priority and the lane feasible speed
Body efficiency, wherein the traffic information is used to indicate whether vehicle can be used in the lane, the lane priority
In indicating the vehicle in the priority of the lanes, the lane feasible speed is used to indicate the vehicle
Allow the speed travelled in the lane；
Traffic information is mainly used for indicating whether vehicle can be in corresponding lane, and traffic information is mainly according to traveling
Lane rejection information and lane item number in initial place and target location in information, and global road network information obtain, right
In each lane, if from initial place to there is no lane rejection target location, the corresponding traffic information in this lane
Indicate that vehicle can be current to target location from initial place in this lane, it is on the contrary then indicate that vehicle cannot be at this
Lane is current to target location from initial place.
Lane priority is used to indicate vehicle in the priority of lanes, such as on a highway, generally most
The travel speed that the lane kept right allows is maximum, therefore corresponding lane highest priority, the lane near the right side near a left side,
Priority successively reduces.Therefore, other conditions all when, the preferential lane for selecting lane highest priority is travelled.
Lane feasible speed is basis from initial place to the lane rejection information target location, lane item number, vehicle
Road speed limit and the corresponding magnitude of traffic flow, an obtained feasible speed estimated in certain distance, the lane feasible speed
It is influenced by the corresponding magnitude of traffic flow of lane speed limit and lane, within the allowable range, lane feasible speed is the bigger the better.Lane
Feasible speed can also be changed from initial place to that can keep a definite value target location.
Traffic information, lane priority and lane feasible speed can all generate shadow to traveling of the vehicle on lane
It rings, the forbidden mark in some lanes is too many, and some lane priority is low, and the lane feasible speed also having is low, all can be in certain journey
The running efficiency that vehicle is reduced on degree obtains every lane according to traffic information, lane priority and lane feasible speed
Overall efficiency, the overall efficiency i.e. reflection vehicle running efficiency on corresponding lane at this time to a certain extent.By
It is different in varied situations in the influence size of traffic information, lane priority and lane feasible speed to running efficiency, because
This, the corresponding weight of three may be set according to actual conditions, and be not specifically limited herein.
S23 obtains the travel route of the vehicle according to the overall efficiency in every lane.
After obtaining overall efficiency, vehicle selects travel route according to overall efficiency, which is to obtain in real time
It takes, vehicle can choose the highest lanes of overall efficiency according to the overall efficiency obtained in real time.In overall efficiency
After highest lane changes, vehicle can also go to the highest lane of new overall efficiency after continuing by lane change
It sails, until arriving at the destination.
Vehicle travel route acquisition methods and device provided in an embodiment of the present invention, according to the driving information got
With global map information, the traffic information, lane priority and lane feasible speed in every lane are obtained, it is then comprehensive to obtain often
The overall efficiency in lane, the overall efficiency can really react the efficiency that vehicle travels on every lane, according to
The overall efficiency in every lane obtains travel route, can guarantee that vehicle is protected within a relatively long period every time
It holds and runs at high speed, improve running efficiency, ensure that vehicle is capable of the shipping of completion starting point to the end safely and fast and is appointed
Business, while avoiding the traffic meaning because occurring in the case of the distractions such as carelessness or fatigue in human driver's driving procedure
Outer situation.
Below with reference to Fig. 3, and use specific embodiment, the acquisition to the overall efficiency in every lane in Fig. 2 embodiment
Process is described in detail.Fig. 3 is the flow diagram of the overall efficiency provided in an embodiment of the present invention for obtaining lane, such as Fig. 3
It is shown, comprising:
S31 is obtained according to the global map road network information and the driving information from the initial place to the mesh
Mark place between every lane road information, the road information include road speed-limiting messages, road traffic flow information,
Road curvature, forbidden information and lane occupied information.
Road speed-limiting messages reflect the maximum allowable travel speed on corresponding lane, vehicle on lane when driving,
The maximum allowable travel speed is not allowed more than.Road traffic flow information includes present road magnitude of traffic flow size, Yi Jigen
The magnitude of traffic flow trend prediction obtained according to present road magnitude of traffic flow size and historical traffic flows.For example, in festivals or holidays, nothing
The magnitude of traffic flow of people's vehicle on the road of place is especially big, has more than 30 vehicles per minute and passes through, and according to historical traffic flows
It is found that the magnitude of traffic flow on the fastlink can all surge whenever festivals or holidays, reaches 40 vehicles of average minute clock and pass through, therefore
Road traffic flow information is achieved that the magnitude of traffic flow of current lane is more than 30 vehicles per minute, at subsequent one section
The interior magnitude of traffic flow also can achieve per minute more than 30, even reaches 40 vehicles of average minute clock and passes through.Traffic flow
Amount it is swift and violent increase show vehicle on this section of lane when driving, travel speed will not very greatly.Road curvature reflection be
The bending degree of road when Road turnings, will not generally be arranged to the form of dog-ear, but one or more circular arc compositions, and
Road curvature then refers to the degree of this section of route deviation straight line, deviation it is bigger, then vehicle is permitted when by this section of road
Perhaps travel speed is slower.Forbidden message reflection is that whether have not the region for allowing the vehicle to travel, lane on lane
Occupied information then refers to whether the vehicle travels on a certain lane for a long time.
S32 obtains the traffic information in every lane according to the forbidden information, and the forbidden information, which is used to indicate, forbids
The lane of the vehicle traveling.
First according to the map in forbidden information, mark vehicle and forbid running region, the road in the region is complete
Portion is labeled as to travel.Then according to road network structure in global map, the road connection relationship between travelable lane is provided, point
Do not analyze whether every lane can be connected to target location from initial place, it is impossible to enough arrival target location lane markings be
It does not reach.The distance of passing through in every lane is determined according to traffic information, and the first weight, example are determined according to the distance that can pass through
Accessibility lane score St=1 is such as set, not accessibility lane can according to the driving range calculating on this road
The score of traveling:
St=1* (drivable_d/calculate_d)；
Wherein St represents the score of traffic information, drivable_d represent vehicle can pass through on this section of lane away from
From calculate_d represents the actual range in this section of lane.If for every lane, according to distance and the actual range of can passing through
The score of obtained traffic information is not much different, then shows that influence of the traffic information to overall efficiency is smaller in this section of road,
Lesser first weight p_t is set according to the distance that can pass through at this time, if according to can pass through distance and actual range obtain it is logical
Row information phase-splitting difference it is larger, then show that influence of the traffic information to overall efficiency is bigger in this section of road, at this time basis
The distance that can pass through sets biggish first weight p_t.The specific size needs of p_t are set according to actual conditions, and do not make herein
It is specific to limit.
S33 obtains the lane priority in every lane according to the lane occupied information, and the lane occupied information is used
In indicate the vehicle to every lane can occupancy situation.
According to the corresponding relationship of lane priority and weight, corresponding second weight of the lane priority is determined.Such as
During high speed driving, truck is forbidden occupying fast for a long time, therefore the priority of fast is minimum, correspondingly, the rightmost side
Lane is the lane of highest priority.In another example if a certain lane is occupied for a long time by other each vehicles in high speed, the lane
Priority it is lower.The priority in lane can be divided into three classes: it is high, medium and low, respectively correspond score:
Sp=k_h, k_m, k_l；
Wherein Sp represents the score of lane priority, and k_h, k_m, k_l are respectively high, medium and low score value, and size is successively
Successively decrease, and the occurrence for setting according to lane occupied information the second weight p_p, p_p is not particularly limited.
S34 is obtained every according to the corresponding road speed-limiting messages in every lane, road traffic flow information and road curvature
The lane feasible speed in lane.
Travel speed of the vehicle on lane is affected by multiple factors, including road speed-limiting messages, road traffic flow
Information and road curvature are measured, road speed-limiting messages reflect maximum travelling speed of the vehicle on this lane, and road is handed over
Vehicle flowrate size on through-current capacity message reflection lane, if vehicle flowrate is larger on this section of lane, the traveling speed of vehicle
Degree also can be reduced accordingly, and road curvature reflects the bending degree in lane, if such as bending degree compares on certain section of lane
Greatly, travel speed should not be too large at this time, because frictional force is needed to provide centripetal force when crossing bend, and due to the matter of vehicle
Amount is certain, thus frictional force be it is certain, the centripetal force of the bigger needs of speed is bigger, if speed is greatly to a certain extent, frictional force
It is not enough to provide centripetal force, then vehicle may face the danger for being detached from lane, it is therefore necessary to reduce speed to safe range
It is interior.Simultaneously, it is also desirable to consider the performance limitation of vehicle itself, feasible speed, which is adjusted to vehicle maximum performance, to be allowed
In range.Meanwhile according to the speed limit of lane feasible speed and lane, third weight is determined, such as can scanning frequency according to lane
Degree is obtained to reserved portion
Ss=1* (v_max/v_lim),
Wherein Ss represents the score of lane feasible speed, and v_max is represented since real-time road leads to lane feasible speed, v_
Lim represents the true speed limit in lane.If, can according to the lane that the speed limit of lane feasible speed and lane obtains for every lane
The score of scanning frequency degree is not much different, then shows that influence of the lane feasible speed to overall efficiency is smaller in this section of road, at this time
Lesser third weight p_s is set according to the lane feasible speed and the speed limit in lane, if according to lane feasible speed and lane
The obtained lane feasible speed of speed limit phase-splitting difference is larger, then show that lane feasible speed is to overall efficiency in this section of road
Influence it is bigger, biggish third weight p_s is set according to the lane feasible speed and the speed limit in lane at this time.The tool of p_s
Body size needs are set according to actual conditions, and are not especially limited herein.Under normal circumstances, the first weight, the second weight and
The sum of three weights are 1, it may be assumed that
P_t+p_p+p_s=1.
S35 is obtained each for corresponding first weight in every lane, second weight and the third weight
The overall efficiency in the lane.
Finally, according to traffic information and the first weight, lane priority and the second weight and lane feasible speed and
Three weights obtain the overall efficiency in every lane.There are many calculations of overall efficiency, and the embodiment of the present invention is only enumerated wherein
One kind.Design overall efficiency function are as follows:
S=p_t*S_t+p_p*S_p+p_s*S_s,
Wherein S is the feasible efficiency of totality for evaluating every lane, and p_t, p_p, p_s is respectively that traffic information, lane are preferential
Grade, the score weight of lane feasible speed, this three index comprehensive scores have rated the overall utility in a lane.
Vehicle travel route acquisition methods provided in an embodiment of the present invention, according to the driving information and the overall situation got
Cartographic information obtains the traffic information, lane priority and lane feasible speed in every lane, then in conjunction with traffic information, vehicle
The Weight Acquisition method of road priority and lane feasible speed, synthesis obtain the overall efficiency in every lane, the overall efficiency energy
The efficiency that enough true reaction vehicles travel on every lane, traveling road is obtained according to the overall efficiency in every lane
Line can guarantee that vehicle keeps running at high speed within a relatively long period every time, improve running efficiency, guarantee
Vehicle is capable of the freight transport task of completion starting point to the end safely and fast, while avoiding because human driver drives
The traffic accident situation occurred in the case of the distractions such as carelessness or fatigue in the process.
Below with reference to Fig. 4, and specific embodiment is used, is obtained in Fig. 2 embodiment according to the overall efficiency in every lane
The process of the travel route of vehicle is taken to be described in detail.Fig. 4 is acquisition travel route provided in an embodiment of the present invention
Flow diagram, as shown in Figure 4, comprising:
S41 is obtained according to the overall efficiency in every lane from the initial place to mesh the target location
The expectation traveling lane in section is marked, the expectation traveling lane is the maximum lane of current overall efficiency.
Overall efficiency is according to traffic information, lane priority and lane feasible speed three's comprehensive judgement, certain
Vehicle is indicated in degree during the initial place to target location, the high lanes efficiency of overall efficiency is also opposite
It is higher, therefore after obtaining the overall efficiency in every lane, choose the maximum lane of overall efficiency to be used as desired traveling lane.
S42 is obtained according to the overall efficiency of the overall efficiency of the expectation traveling lane and the vehicle current lane
Take desired driving behavior.
After obtaining expectation traveling lane, according to the totality of the overall efficiency of desired traveling lane and vehicle current lane
Efficiency determines target lane, that is, judges whether the expectation traveling lane is the vehicle current lane, to determine target carriage
Road, the target lane are the lane that vehicle will select traveling.
If target lane be vehicle current lane, it is determined that expectation driving behavior be vehicle along current lane after
It continues and sails.If target lane, which schedules to last, hopes traveling lane, i.e. target lane is not vehicle current lane, it is determined that expectation drives
Behavior turns to target lanes from current lane for vehicle.
Vehicle is described in detail from the process that current lane turns to target lanes by taking Fig. 5 as an example below.
Fig. 5 is lane change process schematic provided in an embodiment of the present invention, as shown in figure 5, road is by taking each three lanes in every side as an example, it is intermediate
It is distinguished with being isolated, it is the lane 52 of No.1 lane 51, two and No. three vehicles respectively that road, which includes three lanes, where vehicle
Road 53, wherein 54 current driving lane of vehicle is No. two lanes 52.
When desired driving behavior is that vehicle from current lane turns to target lane when driving, that is, show expectation driving
Behavior includes lane change behavior, and vehicle, which needs to be realized by lane change from current lane, turns to target lanes.Lane change needs
Certain condition is wanted, is not that whenever can be carried out.In the embodiment of the present invention, the factor of the main consideration of lane change is mesh
Mark the driving condition of the front car and rear car on lane.Front truck refers to the upper vehicle in front of vehicle in target lane, rear car
It refers to the upper vehicle in vehicle rear in target lane, if vehicle wants the lane change of safety, just must satisfy not
Any friction and collision can occur with front truck and rear car.
According to the current driving speed of the traffic flow information of desired traveling lane and vehicle, vehicle is obtained
Collision information, collision information include vehicle and front truck the first collision distance and the first collision time and vehicle with
The second collision distance and the second collision time of rear car.According to collision information, only when collision time and collision distance all meet
It is required that when, vehicle could turn to target lanes from current lane.
Due to most possibly collide with vehicle be front first vehicle nearest apart from vehicle and after
Side's second vehicle nearest apart from vehicle, when vehicle does not collide with the first vehicle and the second vehicle, also
Will not collide with other front trucks and rear car, thus in the embodiment of the present invention only by taking the first vehicle and the second vehicle as an example into
Row explanation.If then vehicle 54 needs to turn to one from No. two lanes 52 as shown in figure 5, target lane is No.1 lane 51
Number lane 51.On No.1 lane 51, other multiple vehicles are travelled, including front first vehicle nearest apart from vehicle
55 and rear second vehicle 56 nearest apart from vehicle.
According to the traffic flow information of desired traveling lane, obtain the first collision distance of vehicle and the first vehicle with
And the second collision distance and the second vehicle between first corresponding first travel speed of vehicle, the second vehicle and the vehicle
Corresponding second travel speed.
First vehicle is in the front of vehicle, when the first travel speed of the first vehicle is more than or equal to the row of vehicle
When sailing speed, and then it will not would not also bump against with any one front truck with the first automobile crash when vehicle lane change.Together
Sample, the second vehicle is at the rear of vehicle, when the second travel speed of the second vehicle is less than or equal to the traveling of vehicle
When speed, vehicle and then will not would not also bump against with the second automobile crash with any one rear car.
According to the first collision distance, the travel speed of the first travel speed and vehicle, corresponding first collision is obtained
Time, wherein the first collision time refers to when the first travel speed is less than the travel speed of vehicle, the first vehicle and nothing
The time that people's automobile crash needs.
When the first travel speed is less than the travel speed of vehicle, the first collision distance is vehicle and the first vehicle
Distance on target lane, as shown in Figure 5 in S1, the first collision time is then according to the first collision distance, the first row
The travel speed for sailing speed and vehicle determines that specific calculation formula is as follows jointly:
T1=S1/ (V-V1),
Wherein, T1 is the first collision time, and S1 is the first collision distance, and V is vehicle travel speed, and V1 is the first row
Sail speed.The formula shows travel speed and the first travel speed according to the first collision distance and vehicle, vehicle
It can bump against after the T1 time with the first vehicle.
According to the second collision distance, the travel speed of the second travel speed and vehicle, corresponding second collision is obtained
Time, the second collision time refer to when the second travel speed is greater than the travel speed of vehicle, the second vehicle and unmanned vehicle
Bump against need time.
When the second travel speed is greater than the travel speed of vehicle, the second collision distance is vehicle and the second vehicle
Distance on target lane, as shown in Figure 5 in S2, the second collision time is then according to the second collision distance, the second row
The travel speed for sailing speed and vehicle determines that specific calculation formula is as follows jointly:
T2=S2/ (V2-V),
Wherein, T2 is the second collision time, and S2 is the second collision distance, and V is vehicle travel speed, and V2 is the second row
Sail speed.The formula shows travel speed and the second travel speed according to the second collision distance and vehicle, vehicle
It can bump against after the T2 time with the second vehicle.
After obtaining the first collision distance, the second collision distance, the first collision time and the second collision time, need
One collision distance and the second collision distance are compared with collision distance threshold value, see whether meet the requirements, then by the first collision
Time and the second collision time are compared with collision time threshold value, see whether meet the requirements.
If the first collision distance and the second collision distance are greater than collision distance threshold value, and the first collision time and the second collision
Time is greater than collision time threshold value, it is determined that vehicle turns to the target lanes from current lane.The present invention is implemented
In example, collision distance threshold value can be set according to actual needs, on a highway, since Vehicle Speed is very fast, collision
Distance threshold can be set it is larger, such as 50 meters of collision distance threshold values accordingly on common road can be set it is small by one
A bit, such as 30 meters.After first collision distance and the second collision distance are met the requirements, when the first travel speed is more than or equal to unmanned vehicle
When travel speed, the first collision time is considered as infinity, is centainly greater than collision time threshold value, likewise, when the second row
When sailing speed less than or equal to vehicle travel speed, the second collision time is also considered as infinity, is greater than collision time threshold
Value.When the first travel speed is less than vehicle travel speed, according to the first collision distance and the first vehicle and unmanned vehicle
Speed difference, the first collision time can be obtained, similarly can be according to the second collision distance and the second vehicle and vehicle
Speed difference obtain the second collision time.First collision time and the second collision time are compared with collision time threshold value,
The setting of collision time threshold value can be not particularly limited herein according to time needs.If the first collision time and the second collision
Time is greater than collision time threshold value, then lane change behavior is safe, and vehicle can turn to the target carriage from current lane
Road traveling.It is wanted when thering is one not meet in the first collision distance, the second collision distance, the first collision time and the second collision time
When asking, lane change behavior be it is unsafe, at this time without lane change, but await a favorable opportunity, to target carriage road occur wagon flow gap compared with
Greatly, when meeting lane change requirement, then lane change is carried out.
It should be noted that the travel speed of vehicle, the first vehicle and the second vehicle is not during lane change
It is always unalterable, but the first collision distance and the second collision distance can be determined according to actual change, then be for
Enough safe distances are reserved between vehicle and the first vehicle, between vehicle and the second vehicle after lane change,
One collision time and the second collision time are then to reserve enough after lane change to vehicle, the first vehicle and the second vehicle
Reaction time, three can adjust according to the actual situation the travel speed of itself, to avoid bumping against.
S43 obtains travel route of the vehicle in the target road section according to the expectation driving behavior.
Obtain expectation driving behavior after, so that it may according to desired driving behavior obtain initial place to target location traveling
Route.In the target road section, if target lane is vehicle current lane, vehicle is along current lane after continuing
It sails；If target lane is not vehicle current lane, vehicle turns to target lanes from current lane.Work as expectation
When in driving behavior including lane change behavior, then the reasonability of lane change is assessed according to collision distance threshold value and collision time threshold value.
After obtaining the travel route in each section of target road section, so that it may finally obtain vehicle starting point to the row between destination
Sail route.
Vehicle travel route acquisition methods provided in an embodiment of the present invention, according to the driving information and the overall situation got
Cartographic information obtains the traffic information, lane priority and lane feasible speed in every lane, and then synthesis obtains every lane
Overall efficiency, which can really react the efficiency that vehicle travels on every lane, according to every vehicle
The overall efficiency in road obtains travel route, can guarantee that vehicle keeps high speed within the relatively long period every time
Traveling, improves running efficiency, ensure that vehicle is capable of the freight transport task of completion starting point to the end safely and fast, simultaneously
It avoids because of the traffic accident situation occurred in the case of the distractions such as carelessness or fatigue in human driver's driving procedure.
Fig. 6 is the structural schematic diagram of vehicle travel route acquisition device provided in an embodiment of the present invention, such as Fig. 6 institute
Show, including obtain module 61, first processing module 62 and Second processing module 63, in which:
Obtain module 61 be used to be obtained according to driving information and global map road network information every lane traffic information,
The lane priority in every lane and the lane feasible speed in every lane, the driving information includes initial place and target
Place, the global map road network information include from the initial place to the road network information the target location；
First processing module 62 according to the traffic information, the lane priority and the lane feasible speed for obtaining
Take the overall efficiency in every lane, wherein whether the traffic information can be in the lane, institute if being used to indicate vehicle
It states lane priority and is used to indicate the vehicle in the priority of the lanes, the lane feasible speed is for referring to
Show the speed that the vehicle allows to travel in the lane；
Second processing module 63 is used for the overall efficiency according to every lane, obtains the traveling road of the vehicle
Line.
In a kind of possible design, the first processing module 62 is specifically used for:
The distance of passing through in every lane is determined according to the traffic information, and determines first according to the distance of passing through
Weight；
According to the corresponding relationship of lane priority and weight, corresponding second weight of the lane priority is determined；
According to the speed limit of the lane feasible speed and the lane, third weight is determined；
For corresponding first weight in every lane, second weight and the third weight, obtain each described
The overall efficiency in lane.
In a kind of possible design, the acquisition module 61 is specifically used for:
According to the global map road network information and the driving information, obtain from the initial place to the target
The road information in every lane between point, the road information includes road speed-limiting messages, road traffic flow information, road
Curvature, forbidden information and lane occupied information；
According to the forbidden information, obtain the traffic information in every lane, the forbidden information be used to indicate forbid it is described
The lane of vehicle traveling；
According to the lane occupied information, the lane priority in every lane is obtained, the lane occupied information is for referring to
Show the vehicle to every lane can occupancy situation；
According to the corresponding road speed-limiting messages in every lane, road traffic flow information and road curvature, every vehicle is obtained
The lane feasible speed in road.
In a kind of possible design, the Second processing module 63 is specifically used for:
According to the overall efficiency in every lane, obtain from the initial place to target road the target location
Expectation traveling lane in section, the expectation traveling lane are the maximum lane of current overall efficiency；
According to the overall efficiency of the overall efficiency of the expectation traveling lane and the vehicle current lane, the phase is obtained
Hope driving behavior；
Travel route of the vehicle in the target road section is obtained according to the expectation driving behavior.
In a kind of possible design, the Second processing module 63 is specifically also used to:
According to the overall efficiency of the overall efficiency of the expectation traveling lane and the vehicle current lane, mesh is determined
Mark lane；
If the target lane be the vehicle current lane, it is determined that it is expected the driving behavior for it is described nobody
Vehicle continues to travel along the current lane；
If the target lane is the expectation traveling lane, it is determined that the expectation driving behavior is the vehicle
The target lanes are turned to from the current lane.
In a kind of possible design, the Second processing module 63 is specifically also used to:
According to the current driving speed of the traffic flow information of the expectation traveling lane and the vehicle, institute is obtained
The collision information of vehicle is stated, the collision information includes that the first collision distance of the vehicle and front truck and first touch
Hit the second collision distance and the second collision time of time and the vehicle and rear car；
According to the collision information, determine whether the vehicle from the current lane turns to target lane row
It sails.
In a kind of possible design, the Second processing module 63 is specifically also used to:
According to the traffic flow information of the expectation traveling lane, obtain the vehicle with the front truck first is touched
Hit distance and the second collision distance between corresponding first travel speed of the front truck, the rear car and the vehicle
The second travel speed corresponding with the rear car；
According to first collision distance, the travel speed of first travel speed and the vehicle, acquisition pair
The first collision time answered, first collision time refer to when first travel speed is less than the traveling of the vehicle
When speed, the front truck and the vehicle bump against the time needed；
According to second collision distance, the travel speed of second travel speed and the vehicle, acquisition pair
The second collision time answered, second collision time refer to when second travel speed is greater than the traveling of the vehicle
When speed, the rear car and the vehicle bump against the time needed；
If first collision distance and second collision distance are greater than collision distance threshold value, and when first collision
Between and second collision time be greater than collision time threshold value, it is determined that described in the vehicle is turned to from the current lane
Target lanes.
Device provided in an embodiment of the present invention can be used for executing the technical solution of above method embodiment, realization principle
Similar with technical effect, details are not described herein again.
Fig. 7 is the hardware structural diagram that vehicle travel route provided in an embodiment of the present invention obtains equipment, such as Fig. 7
Shown, which includes: at least one processor 71 and memory 72.Wherein, it handles
Device 71 and memory 72 are connected by bus 73.
Optionally, model determination further includes communication component.For example, communication component may include receiver and/or transmission
Device.
During specific implementation, at least one processor 71 executes the computer execution that the memory 72 stores and refers to
It enables, so that at least one processor 71 executes vehicle travel route acquisition methods as above.
The specific implementation process of processor 71 can be found in above method embodiment, and it is similar that the realization principle and technical effect are similar,
Details are not described herein again for the present embodiment.
In above-mentioned embodiment shown in Fig. 7, it should be appreciated that processor can be central processing unit (English: Central
Processing Unit, referred to as: CPU), it can also be other general processors, digital signal processor (English: Digital
Signal Processor, referred to as: DSP), specific integrated circuit (English: Application Specific Integrated
Circuit, referred to as: ASIC) etc..General processor can be microprocessor or the processor is also possible to any conventional place
Manage device etc..Hardware processor can be embodied directly in conjunction with the step of invention disclosed method and executes completion, or with handling
Hardware and software module combination in device execute completion.
Memory may include high speed RAM memory, it is also possible to and it further include non-volatile memories NVM, for example, at least one
Magnetic disk storage.
Bus can be industry standard architecture (Industry Standard Architecture, ISA) bus, outer
Portion's apparatus interconnection (Peripheral Component, PCI) bus or extended industry-standard architecture (Extended
Industry Standard Architecture, EISA) bus etc..Bus can be divided into address bus, data/address bus, control
Bus etc..For convenient for indicating, the bus in illustrations does not limit only a bus or a type of bus.
The application also provides a kind of computer readable storage medium, and calculating is stored in the computer readable storage medium
Machine executes instruction, and when processor executes the computer executed instructions, realizes automatic driving vehicle perception as described above system
Unified test method for testing.
Above-mentioned computer readable storage medium, above-mentioned readable storage medium storing program for executing can be by any kind of volatibility or non-
Volatile storage devices or their combination realize that, such as static random access memory (SRAM), electrically erasable is only
It reads memory (EEPROM), Erasable Programmable Read Only Memory EPROM (EPROM), programmable read only memory (PROM) is read-only to deposit
Reservoir (ROM), magnetic memory, flash memory, disk or CD.Readable storage medium storing program for executing can be general or specialized computer capacity
Any usable medium enough accessed.
A kind of illustrative readable storage medium storing program for executing is coupled to processor, to enable a processor to from the readable storage medium storing program for executing
Information is read, and information can be written to the readable storage medium storing program for executing.Certainly, readable storage medium storing program for executing is also possible to the composition portion of processor
Point.Processor and readable storage medium storing program for executing can be located at specific integrated circuit (Application Specific Integrated
Circuits, referred to as: ASIC) in.Certainly, processor and readable storage medium storing program for executing can also be used as discrete assembly and be present in equipment
In.
The division of the unit, only a kind of logical function partition, there may be another division manner in actual implementation,
Such as multiple units or components can be combined or can be integrated into another system, or some features can be ignored, or not hold
Row.Another point, shown or discussed mutual coupling, direct-coupling or communication connection can be through some interfaces,
The indirect coupling or communication connection of device or unit can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer readable storage medium.The journey
When being executed, execution includes the steps that above-mentioned each method embodiment to sequence；And storage medium above-mentioned include: ROM, RAM, magnetic disk or
The various media that can store program code such as person's CD.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can
To be done through the relevant hardware of the program instructions.Program above-mentioned can be stored in a computer readable storage medium.
When being executed, execution includes the steps that above-mentioned each method embodiment to the program；And storage medium above-mentioned includes: ROM, RAM, magnetic
The various media that can store program code such as dish or CD.
Claims (10)
1. a kind of vehicle travel route acquisition methods characterized by comprising
According to driving information and global map road network information, traffic information, the lane in every lane for obtaining every lane are preferential
Grade and the lane feasible speed in every lane, the driving information includes initial place and target location, the global map
Road network information includes from the initial place to the road network information the target location；
The overall efficiency in every lane is obtained according to the traffic information, the lane priority and the lane feasible speed,
Wherein, the traffic information is used to indicate whether vehicle can be used to indicate in the lane, the lane priority
For the vehicle in the priority of the lanes, the lane feasible speed is used to indicate the vehicle described
Allow the speed travelled in lane；
According to the overall efficiency in every lane, the travel route of the vehicle is obtained.
2. the method according to claim 1, wherein described according to the traffic information, the lane priority
The overall efficiency that every lane is obtained with the lane feasible speed, specifically includes:
The distance of passing through in every lane is determined according to the traffic information, and the first power is determined according to the distance of passing through
Weight；
According to the corresponding relationship of lane priority and weight, corresponding second weight of the lane priority is determined；
According to the speed limit of the lane feasible speed and the lane, third weight is determined；
For corresponding first weight in every lane, second weight and the third weight, each lane is obtained
Overall efficiency.
3. according to the method described in claim 2, it is characterized in that, described according to driving information and global map road network information,
The lane feasible speed of the traffic information in every lane, the lane priority in every lane and every lane is obtained, it is specific to wrap
It includes:
According to the global map road network information and the driving information, it is obtained from the initial place to the target location
Between every lane road information, the road information includes that road speed-limiting messages, road traffic flow information, road are bent
Rate, forbidden information and lane occupied information；
According to the forbidden information, obtain the traffic information in every lane, the forbidden information be used to indicate forbid it is described nobody
The lane of vehicle driving；
According to the lane occupied information, the lane priority in every lane is obtained, the lane occupied information is used to indicate institute
State vehicle to every lane can occupancy situation；
According to the corresponding road speed-limiting messages in every lane, road traffic flow information and road curvature, every lane is obtained
Lane feasible speed.
4. the method according to claim 1, wherein the overall efficiency according to every lane, obtains
The travel route of the vehicle, specifically includes:
According to the overall efficiency in every lane, obtain from the initial place to the target location in target road section
Expectation traveling lane, the expectation traveling lane be the maximum lane of current overall efficiency；
According to the overall efficiency of the overall efficiency of the expectation traveling lane and the vehicle current lane, obtains expectation and drive
Sail behavior；
Travel route of the vehicle in the target road section is obtained according to the expectation driving behavior.
5. according to the method described in claim 4, it is characterized in that, it is described according to it is described expectation traveling lane overall efficiency and
The overall efficiency of the vehicle current lane obtains expectation driving behavior, specifically includes:
According to the overall efficiency of the overall efficiency of the expectation traveling lane and the vehicle current lane, target carriage is determined
Road；
If the target lane is the vehicle current lane, it is determined that the expectation driving behavior is the vehicle
Continue to travel along the current lane；
If the target lane is the expectation traveling lane, it is determined that the expectation driving behavior is the vehicle from institute
It states current lane and turns to the target lanes.
6. according to the method described in claim 5, it is characterized in that, if the expectation driving behavior is the vehicle from institute
It states current lane and turns to the target lanes, the method also includes:
According to the current driving speed of the traffic flow information of the expectation traveling lane and the vehicle, the nothing is obtained
The collision information of people's vehicle, when the collision information includes the first collision distance and the first collision of the vehicle and front truck
Between and the vehicle and rear car the second collision distance and the second collision time；
According to the collision information, determine whether the vehicle from the current lane turns to the target lanes.
7. according to the method described in claim 6, determining the unmanned vehicle it is characterized in that, described according to the collision information
Whether from the current lane turn to the target lanes, comprising:
According to the traffic flow information of the expectation traveling lane, obtain the first collision of the vehicle and the front truck away from
From and the second collision distance and institute between corresponding first travel speed of the front truck, the rear car and the vehicle
State corresponding second travel speed of rear car；
According to first collision distance, the travel speed of first travel speed and the vehicle, obtain corresponding
First collision time, first collision time refer to when first travel speed is less than the travel speed of the vehicle
When, the front truck and the vehicle bump against the time needed；
According to second collision distance, the travel speed of second travel speed and the vehicle, obtain corresponding
Second collision time, second collision time refer to when second travel speed is greater than the travel speed of the vehicle
When, the rear car and the vehicle bump against the time needed；
If first collision distance and second collision distance are greater than collision distance threshold value, and first collision time and
Second collision time is greater than collision time threshold value, it is determined that the vehicle turns to the target from the current lane
Lanes.
8. a kind of vehicle travel route acquisition device characterized by comprising
Module is obtained, for according to driving information and global map road network information, obtaining the traffic information in every lane, every vehicle
The lane priority in road and the lane feasible speed in every lane, the driving information include initial place and target location,
The global map road network information includes from the initial place to the road network information the target location；
First processing module, it is every for being obtained according to the traffic information, the lane priority and the lane feasible speed
The overall efficiency in lane, wherein whether the traffic information is used to indicate vehicle can be in the lane, the vehicle
Road priority is used to indicate the vehicle in the priority of the lanes, and the lane feasible speed is used to indicate institute
State the speed that vehicle allows to travel in the lane；
Second processing module obtains the travel route of the vehicle for the overall efficiency according to every lane.
9. a kind of vehicle travel route obtains equipment characterized by comprising at least one processor and memory；
The memory stores computer executed instructions；
At least one described processor executes the computer executed instructions of the memory storage, so that at least one described processing
Device executes vehicle travel route acquisition methods as described in any one of claim 1 to 7.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer in the computer readable storage medium
Execute instruction, when processor execute the computer executed instructions when, realize it is as described in any one of claim 1 to 7 nobody
Route or travel by vehicle acquisition methods.
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