CN110296708B - Operation route planning method, device and storage medium - Google Patents
Operation route planning method, device and storage medium Download PDFInfo
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- CN110296708B CN110296708B CN201910586470.3A CN201910586470A CN110296708B CN 110296708 B CN110296708 B CN 110296708B CN 201910586470 A CN201910586470 A CN 201910586470A CN 110296708 B CN110296708 B CN 110296708B
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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
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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
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/23—Updating
- G06F16/2379—Updates performed during online database operations; commit processing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
Abstract
The invention provides an operation route planning method, an operation route planning device and a storage medium, wherein the operation route planning method comprises the steps of obtaining running data reported by a plurality of operation vehicles, wherein the running data comprises positioning points and signal intensity corresponding to the positioning points; updating the driving data to an operation capacity map; and sending the adjusted operation route to each operation vehicle according to the updated operation capacity map. According to the operation route planning method, the signal intensity information is marked on the operation capacity map in real time so as to adjust the operation route of the operation vehicle running on line, and the overall operation efficiency of the operation vehicle is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of intelligent vehicles, in particular to a method and a device for planning an operation route and a storage medium.
Background
The operating vehicle is an unmanned intelligent automobile, also called a wheeled mobile robot, and mainly depends on an intelligent driving system which is mainly a computer system in the vehicle to realize the purpose of unmanned driving. The operation vehicle develops transportation business according to a preset operation route, and the transportation business comprises the steps of conveying express packages, delivering takeout orders, registering letters, file materials and the like.
The operation map is different from a commercial electronic map and mainly aims at unmanned operation vehicles. At present, the existing operation map only has basic road information such as basic lanes, buildings, stations and the like. According to the existing operation map, the operation vehicle which is automatically driven often encounters the problems of road congestion, poor network signals and the like, so that the operation efficiency is low.
Disclosure of Invention
The invention provides an operation route planning method, an operation route planning device and a storage medium, which improve the operation efficiency of operation vehicles.
The first aspect of the present invention provides an operation route planning method, including:
acquiring running data reported by a plurality of operating vehicles, wherein the running data comprises positioning points and signal intensity corresponding to the positioning points;
updating the driving data to an operation capacity map;
and sending the adjusted operation route to each operation vehicle according to the updated operation capacity map.
Optionally, the signal strength includes at least one of a wireless local area network signal strength, a GPS signal strength, and a mobile network signal strength.
Optionally, the updating the driving data to an operation capability map includes:
determining a first abnormal locating point according to the driving data, wherein the first abnormal locating point is a locating point with signal intensity lower than preset signal intensity;
and marking the first abnormal positioning point on the operation capacity map to obtain an updated operation capacity map.
Optionally, the sending the adjusted operation route to each of the operation vehicles according to the updated operation capability map includes:
and judging whether the initial operation route of each operation vehicle passes through the first abnormal positioning point, if so, adjusting the initial operation route according to the updated operation capacity map, the current position and the target position of the operation vehicle, and sending the adjusted operation route to the operation vehicle.
Optionally, the method further includes:
and acquiring road abnormal data reported by the operating vehicles, wherein the road abnormal data comprises a second abnormal positioning point and a road abnormal type corresponding to the second abnormal positioning point.
Optionally, the road anomaly type includes at least one of a road ambient light anomaly, a road obstacle anomaly and a road visibility anomaly.
Optionally, the method further includes:
and marking the second abnormal positioning point on the operation capacity map to obtain an updated operation capacity map.
Optionally, the sending the adjusted operation route to each of the operation vehicles according to the updated operation capability map includes:
and judging whether the initial operation route of each operation vehicle passes through the first abnormal positioning point and/or the second abnormal positioning point, if so, adjusting the initial operation route according to the updated operation capacity map, the current position and the target position of the operation vehicle, and sending the adjusted operation route to the operation vehicle.
A second aspect of the present invention provides an operation route planning method, including:
sending running data to an operation capacity server, wherein the running data comprises positioning points and signal intensities corresponding to the positioning points, so that the operation capacity server determines a first abnormal positioning point with the signal intensity lower than a preset signal intensity according to the running data, updates an operation capacity map, and adjusts the operation route of each operation vehicle in real time according to the updated operation capacity map;
and receiving the adjusted operation route sent by the operation capacity server, and executing the adjusted operation route.
Optionally, the signal strength includes at least one of a wireless local area network signal strength, a GPS signal strength, and a mobile network signal strength.
Optionally, the method further includes:
and sending road abnormal data to the operation capacity server, wherein the road abnormal data comprises a second abnormal positioning point and a road abnormal type corresponding to the second abnormal positioning point.
Optionally, the road anomaly type includes at least one of a road ambient light anomaly, a road obstacle anomaly and a road visibility anomaly.
Optionally, the sending the road abnormal data to the operation capability server includes:
acquiring environmental data of each data acquisition device on an operating vehicle;
and judging whether the environmental data is abnormal or not, and if so, sending road abnormal data to the operation capacity server.
Optionally, the data acquisition device includes a light sensor, a binocular camera, an infrared sensor, a laser radar sensor, a millimeter wave sensor, an ultrasonic sensor and a visibility tester.
A third aspect of the present invention provides an operation route planning apparatus, including:
the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring running data reported by a plurality of operating vehicles, and the running data comprises positioning points and signal intensities corresponding to the positioning points;
the updating module is used for updating the driving data to an operation capacity map;
and the sending module is used for sending the adjusted operation route to each operation vehicle according to the updated operation capacity map.
A fourth aspect of the present invention provides an operating vehicle comprising:
the system comprises a sending module, a running data processing module and a running data processing module, wherein the running data comprises positioning points and signal intensity corresponding to the positioning points, so that the running data processing module determines a first abnormal positioning point with the signal intensity lower than a preset signal intensity according to the running data, updates a running capability map and adjusts the running route of each running vehicle in real time according to the updated running capability map;
the receiving module is used for receiving the adjusted operation route sent by the operation capacity server;
and the execution module is used for executing the adjusted operation route.
A fifth aspect of the present invention provides an operation route planning apparatus, including:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method according to any one of the first aspect of the invention.
A sixth aspect of the present invention provides an operating vehicle comprising:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method according to any one of the second aspects of the invention.
A seventh aspect of the invention provides a computer readable storage medium having stored thereon a computer program for execution by a processor to perform the method according to any one of the first aspect of the invention.
An eighth aspect of the invention provides a computer readable storage medium having stored thereon a computer program for execution by a processor to perform the method according to any one of the second aspects of the invention.
The embodiment of the invention provides an operation route planning method, an operation route planning device and a storage medium, wherein the operation route planning method comprises the steps of obtaining running data reported by a plurality of operation vehicles, wherein the running data comprises positioning points and signal intensity corresponding to the positioning points; updating the driving data to an operation capacity map; and sending the adjusted operation route to each operation vehicle according to the updated operation capacity map. According to the operation route planning method, the signal intensity information is marked on the operation capacity map in real time so as to adjust the operation route of the operation vehicle running on line, and the overall operation efficiency of the operation vehicle is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present invention;
fig. 2 is a schematic flow chart of a method for planning an operation route according to an embodiment of the present invention;
FIG. 3a is a schematic diagram of an initial operation route according to an embodiment of the present invention;
FIG. 3b is a schematic diagram of an adjusted operation route according to an embodiment of the present invention;
fig. 4 is a flowchart illustrating an operation route planning method according to another embodiment of the present invention;
FIG. 5a is a schematic diagram of an initial operation route according to another embodiment of the present invention;
FIG. 5b is a schematic diagram of an adjusted operation route according to another embodiment of the present invention;
fig. 6 is a flowchart illustrating an operation route planning method according to another embodiment of the present invention;
fig. 7a is a schematic structural diagram of an operation route planning apparatus according to an embodiment of the present invention;
fig. 7b is a schematic structural diagram of an operation route planning apparatus according to another embodiment of the present invention;
fig. 8 is a schematic hardware structure diagram of an operation route planning apparatus according to an embodiment of the present invention;
FIG. 9a is a schematic structural diagram of a service vehicle according to an embodiment of the present invention;
FIG. 9b is a schematic structural diagram of a service vehicle according to another embodiment of the present invention;
fig. 10 is a schematic hardware structure diagram of an operating vehicle according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
The terms "first," "second," and the like in the description and in the claims, and in the drawings described above, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Reference throughout this specification to "one embodiment" or "another embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in this embodiment" or "in some embodiments" in various places throughout this specification are not necessarily all referring to the same embodiments. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The existing operation capacity map only has basic road basic information such as basic lanes, buildings, stations and the like, an operation vehicle executes transportation business according to a preset route after route planning is finished, and if abnormal conditions are met, such as obstacles, pedestrians, water pits and the like existing on the current road, the operation vehicle executes a preset avoidance program and then returns to the initial route to continue driving. The above process results in inefficient operation of the operating vehicle.
In order to solve the above technical problem, an embodiment of the present invention provides an operation route planning method, which improves an existing operation capability map, and marks signal strength information and road abnormality information on the operation capability map in real time to adjust an operation route of an operation vehicle that runs online, so as to improve the overall operation efficiency of the operation vehicle.
Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present invention, where the operation route planning method provided in this embodiment is applied to an unmanned operation system, and as shown in fig. 1, the unmanned operation system of this embodiment includes: a service capability server 11 and a plurality of service vehicles running online, such as vehicle 12, vehicle 13, vehicle 14, and vehicle 15. Each service vehicle and the service capability server communicate wirelessly, and the vehicles may communicate wirelessly.
Some of the operation vehicles are provided with a drive computer or an On Board Unit (OBU), and some of the operation vehicles are provided with a user terminal such as a mobile phone. A mobile phone, a travel computer or an OBU in the vehicle may communicate with the operation capability server.
The operation vehicle of this embodiment develops the transportation business according to the operation route that the operation ability server planned, and wherein, the transportation business includes transporting express delivery parcel, dispatching takeaway order form, registration letter, file material etc.. The operating vehicle is an unmanned intelligent automobile, also called a wheeled mobile robot, and mainly depends on an intelligent driving system which is mainly a computer system in the vehicle to realize the purpose of unmanned driving. And each operating vehicle automatically runs according to a preset initial operating route, and in the running process, the running data and the environmental abnormal data which are acquired in real time are reported to the operating capacity server, so that the operating capacity server updates the operating capacity map in real time, and the running route of each operating vehicle which runs on line is adjusted according to the updated operating capacity map.
The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 2 is a schematic flow chart of an operation route planning method according to an embodiment of the present invention, fig. 3a is a schematic view of an initial operation route according to an embodiment of the present invention, and fig. 3b is a schematic view of an adjusted operation route according to an embodiment of the present invention.
The method provided by the embodiment may be performed by any device for performing the operation route planning method, for example, the operation capability server shown in fig. 1, and the device may be implemented by software and/or hardware.
As shown in fig. 2, the operation route planning method provided by this embodiment includes the following steps:
s201, acquiring running data reported by a plurality of operating vehicles, wherein the running data comprises positioning points and signal intensity corresponding to the positioning points;
the signal strength includes at least one of wireless local area network signal strength, GPS signal strength, mobile network signal strength. The wireless local area network signal comprises a wireless wifi signal, and the mobile network signal comprises a 3G or 4G signal.
And each operating vehicle runs according to a preset initial running route, acquires the signal intensity of different positions in the running process and reports the signal intensity to the operating capacity server.
S202, updating the running data to an operation capacity map;
the operation capacity server determines a first abnormal positioning point according to the acquired running data reported by each operation vehicle, wherein the first abnormal positioning point is a positioning point with signal intensity lower than the preset signal intensity; and marking the first abnormal positioning point on the operation capacity map to obtain an updated operation capacity map. The operation capability map of this embodiment includes signal strength information, and in particular, a dynamic label is performed on a positioning point with weak signal strength.
It should be noted that the signal strength of the same anchor point at different time instants may be the same or different, that is, the signal strength of the same anchor point is dynamically changed. And the operation capacity server updates the signal intensity information of the operation capacity map in real time according to the acquired running data of each operation vehicle.
And S203, sending the adjusted operation route to each operation vehicle according to the updated operation capacity map.
And the operation capacity server judges whether the initial operation route of each operation vehicle is routed to a first abnormal positioning point according to the updated operation capacity map, and if the initial operation route is routed to the first abnormal positioning point, the initial operation route is adjusted according to the updated operation capacity map, the current position and the target position of the operation vehicle, and the adjusted operation route is sent to the operation vehicle.
As shown in fig. 3a, when an operating vehicle a approaches a road 1, reporting the signal intensity on the road 1 to an operating capability server, and when the operating capability server determines that the signal intensity on the road 1 is lower than a preset signal intensity, marking the road 1 as an abnormal road, and updating the information to an operating capability map; and the operation capacity server learns that the current online running operation vehicle B is going to approach the road 1, and adjusts the unexecuted route of the operation vehicle B in the initial operation route according to the updated operation capacity map, the current position and the target position of the operation vehicle B. As shown in fig. 3a, the initial operation route of the operation vehicle B reaches the target position by way of roads 1 and 2. The adjusted working route approaches roads 3 and 4 reach the target position of the working vehicle B as shown in fig. 3B.
According to the operation route planning method provided by the embodiment of the invention, the running data reported by a plurality of operation vehicles is obtained, and the running data comprises positioning points and signal intensity corresponding to the positioning points; updating the driving data to an operation capacity map; and sending the adjusted operation route to each operation vehicle according to the updated operation capacity map. According to the operation route planning method, the signal intensity information is marked on the operation capacity map in real time so as to adjust the operation route of the operation vehicle running on line, and the overall operation efficiency of the operation vehicle is improved.
On the basis of the above embodiment, the operation route planning method provided by this embodiment further marks road abnormal information on the operation capability map, further improves the real-time data of the operation capability map, enhances the accuracy of the operation capability server in adjusting the route of the operation vehicle, and further improves the operation efficiency of the operation system.
Fig. 4 is a schematic flow chart of an operation route planning method according to another embodiment of the present invention, fig. 5a is a schematic view of an initial operation route according to another embodiment of the present invention, and fig. 5b is a schematic view of an adjusted operation route according to another embodiment of the present invention.
As shown in fig. 4, the operation route planning method provided by this embodiment includes the following steps:
s401, acquiring running data reported by a plurality of operating vehicles, wherein the running data comprises positioning points and signal intensity corresponding to the positioning points;
s401 in this embodiment is the same as S201 in the above embodiment, and reference is specifically made to the above embodiment, which is not described herein again.
S402, acquiring road abnormal data reported by a plurality of operating vehicles;
the road abnormal data comprises a second abnormal positioning point and a road abnormal type corresponding to the second abnormal positioning point.
The road abnormity type comprises at least one of road ambient light abnormity, road obstacle abnormity and road visibility abnormity.
In this embodiment, the vehicle body of each operation vehicle is provided with data acquisition device all around, and data acquisition device is used for gathering the environmental data around the operation vehicle. The environmental data includes ambient light intensity, road surface obstacles, road surface visibility, and the like.
The obstacles include movable obstacles such as pedestrians and running vehicles, and stationary obstacles such as construction waste and road closures.
Specifically, the data acquisition device includes light sensor, binocular camera, infrared ray sensor, laser radar sensor, millimeter wave sensor, ultrasonic sensor and visibility tester.
The present embodiment can acquire the ambient light intensity of the current environment of traveling of operation vehicle through light sensor, and light sensor sends the ambient light intensity of gathering to the on-vehicle data analysis equipment on the operation vehicle. Correspondingly, the vehicle-mounted data analysis equipment judges whether the ambient light intensity is smaller than the preset ambient light intensity, if so, the vehicle-mounted data analysis equipment reports road abnormal data to the operation capacity server, and the road abnormal data is used for indicating that the road ambient light of the current positioning point is abnormal.
According to the embodiment, the information of the road barriers around the operating vehicle in different environments can be obtained through the binocular camera, the infrared sensor, the laser radar sensor, the millimeter wave sensor and the ultrasonic sensor, if the vehicle-mounted data analysis equipment judges whether the road barriers are abnormal according to the information of the road barriers, if the road barriers are abnormal, the vehicle-mounted data analysis equipment reports road abnormal data to the operation capacity server, and the road abnormal data are used for indicating that the road barriers at the current positioning points are abnormal.
Specifically, if the road surface obstacle is a movable obstacle, such as a pedestrian, the vehicle-mounted data analysis device can acquire the number of pedestrians on the current road surface according to an image processing algorithm, and if the number of pedestrians exceeds a preset value, the vehicle-mounted data analysis device reports road abnormal data to the operation capacity server, wherein the road abnormal data is used for indicating that the pedestrian flow at the current positioning point is dense. Similarly, the movable barriers are other vehicles, and if the number of the vehicles exceeds a preset value, road abnormal data are reported to the operation capacity server, and the road abnormal data are used for indicating that the traffic flow of the current locating point is dense.
If the road surface barrier is a static barrier, the vehicle-mounted data analysis equipment can obtain the transverse size of the road surface barrier, and if the transverse size of the barrier is larger than the width of the current road, the vehicle-mounted data analysis equipment reports road abnormal data to the operation capacity server, wherein the road abnormal data is used for indicating that the current locating point road is not communicated.
Specifically, infrared ray sensor can gather the infrared ray of sending of pedestrian, thereby confirms pedestrian's position through measuring human surface temperature, after on-vehicle data analysis equipment received certain pedestrian's temperature, can judge this pedestrian's position, further can also confirm this pedestrian's speed of traveling.
The lidar sensor may provide a three-dimensional spatial map of an environment surrounding the operating vehicle to enable the in-vehicle data analysis device to sense a distance between the operating vehicle and the obstacle, a traveling direction of the operating vehicle, a traveling speed of the obstacle, a traveling direction of the obstacle, and a shape parameter of the obstacle.
The millimeter wave sensor has the characteristics of strong capability of penetrating fog, smoke and dust and strong anti-interference capability, and can be used for acquiring the running speed of an obstacle, the distance between an operating vehicle and the obstacle and the like in smoke weather. Optionally, the millimeter wave sensor is installed in a rear bumper of the operating vehicle for monitoring whether the lanes on the two sides behind the operating vehicle have vehicles or not and whether lane changing is possible or not. The millimeter wave sensor has a problem in that a detection distance is very limited due to a wavelength, and a pedestrian cannot be sensed.
The ultrasonic sensor can detect the distance between the operating vehicle and the obstacle, the ultrasonic generator in the sensor is used for generating ultrasonic waves, the receiving probe receives the ultrasonic waves reflected by the obstacle, and the vehicle-mounted data analysis equipment can calculate the distance between the vehicle-mounted data analysis equipment and the obstacle according to the time difference of the ultrasonic waves reflected and received. The ultrasonic sensor has the advantages of low cost, short detection distance and high precision, and is not influenced by light conditions.
In this embodiment, the visibility of the current road surface of the operating vehicle can be obtained through the visibility tester, and accordingly, the vehicle-mounted data analysis device determines whether the visibility of the current road surface is smaller than the preset visibility, and if so, reports road abnormal data to the operation capability server, where the road abnormal data is used to indicate that the visibility of the current locating point is abnormal.
S403, updating the driving data and the road abnormal data to an operation capacity map;
specifically, according to the running data and the road abnormal data reported by each operating vehicle, a first abnormal locating point with signal intensity lower than the preset signal intensity in the running data is marked on the operating capacity map, and meanwhile, a second abnormal locating point corresponding to different road abnormal types determined in the step S402 is marked on the operating capacity map, so that the updated operating capacity map is obtained. The operation capability map of this embodiment includes signal strength information and road abnormality information, and dynamically labels the localization points with weak signal strength and abnormal road conditions.
It should be noted that the signal strength of the same anchor point is dynamically changed, and the abnormal condition of the road is also dynamically changed. And the operation capacity server updates the abnormal positioning points of the operation capacity map in real time according to the acquired running data and road abnormal data of each operation vehicle.
Optionally, when the operating vehicle determines that the signal intensity of the abnormal locating point is recovered or the road abnormality is removed according to the updated operating capability map, the environmental data and the driving data acquired by the vehicle in real time during the driving process of the operating vehicle, the updating data is sent to the operating capability server, so that the operating capability server updates the abnormal locating point.
And S404, sending the adjusted operation route to each operation vehicle according to the updated operation capacity map.
And the operation capacity server judges whether the initial operation route of each operation vehicle is routed to the first abnormal positioning point and/or the second abnormal positioning point according to the updated operation capacity map, and if the initial operation route is routed to the first abnormal positioning point and/or the second abnormal positioning point, the initial operation route is adjusted according to the updated operation capacity map, the current position and the target position of the operation vehicle, and the adjusted operation route is sent to the operation vehicle.
As shown in fig. 5a, the operating vehicle a approaches the road 1, and reports the signal intensity on the road 1 to the operating capability server, and the operating capability server determines that the signal intensity on the road 1 is lower than the preset signal intensity, marks the road 1 as an abnormal road, and updates the information to the operating capability map; and operating the vehicle C to pass through the road 4 at the same moment, reporting road abnormal data to the operation capacity server, wherein the road is not communicated, marking the road 4 as an abnormal road by the operation capacity server, and updating the operation capacity map. And the operation capacity server learns that the current online running operation vehicle B is going to approach the road 1, and adjusts the unexecuted route of the operation vehicle B in the initial operation route according to the updated operation capacity map, the current position and the target position of the operation vehicle B. As shown in fig. 5B, the adjusted working route approaches road 3, road 5, and road 2 reach the target position of the working vehicle B.
According to the operation route planning method provided by the embodiment of the invention, the first abnormal positioning point and the second abnormal positioning point are determined by acquiring the driving data and the road abnormal data reported by a plurality of operation vehicles, and the operation capacity map is updated according to the first abnormal positioning point and the second abnormal positioning point; and sending real-time route adjustment to an operation vehicle passing through the first positioning point and/or the second positioning point according to the updated operation capacity map. By the process, the problems of road congestion, poor network signals and the like are avoided, and the overall operation efficiency of the operation vehicle is improved.
Fig. 6 is a flowchart of a method for planning an operation route according to another embodiment of the present invention, where the method provided in this embodiment may be executed by any mobile device, and the device may be implemented by software and/or hardware, for example, the operation vehicle in fig. 1, where the operation vehicle is provided with a communication device to implement wireless communication with an operation capability server.
As shown in fig. 6, the method for planning an operating line provided in this embodiment includes the following steps:
s601, sending running data to an operation capacity server, wherein the running data comprises positioning points and signal intensity corresponding to the positioning points;
in the embodiment, each operating vehicle runs according to a preset initial running route, acquires signal intensity of different positions in the running process, and sends running data to the operating capacity server, so that the operating capacity server determines a first abnormal positioning point with the signal intensity lower than the preset signal intensity according to the received running data, updates the operating capacity map, and adjusts the operating route of each operating vehicle in real time according to the updated operating capacity map;
wherein the signal strength comprises at least one of wireless local area network signal strength, GPS signal strength and mobile network signal strength. The wireless local area network signal comprises a wireless wifi signal, and the mobile network signal comprises a 3G or 4G signal.
S602, receiving the adjusted operation route sent by the operation capacity server;
and S603, executing the adjusted operation route.
According to the operation route planning method provided by the embodiment of the invention, the operation capacity server sends the running data to the operation capacity server, wherein the running data comprises the locating points and the signal intensity corresponding to the locating points, so that the operation capacity server determines the first abnormal locating point according to the running data and updates the operation capacity map; and if the operating vehicle approaches the first abnormal positioning point, receiving the adjusted operating route sent by the operating capacity server, and automatically driving according to the adjusted operating route. The process avoids long-time disconnection caused by the fact that the operation vehicle drives into the road with weaker signal intensity, and improves the driving safety and the operation efficiency of the operation vehicle.
Optionally, on the basis of the above embodiment, each operating vehicle acquires environment data of the vehicle-mounted data acquisition device, and when determining that the road is abnormal according to the environment data, sends the road abnormal data to the operating capability server.
The environmental data includes ambient light intensity, road surface obstacles, road surface visibility, and the like.
The road abnormity data comprises a second abnormity positioning point and a road abnormity type corresponding to the second abnormity positioning point.
The road abnormity type comprises at least one of road ambient light abnormity, road obstacle abnormity and road visibility abnormity.
The data acquisition device in this embodiment includes light sensor, binocular camera, infrared ray sensor, laser radar sensor, millimeter wave sensor, ultrasonic sensor and visibility tester.
The implementation principle and technical effect of each data acquisition device in this embodiment are the same as those in the above embodiment, and reference may be specifically made to S402 in the above embodiment, which is not described herein again.
Fig. 7a is a schematic structural diagram of an operation route planning device according to an embodiment of the present invention, and as shown in fig. 7a, the operation route planning device 70 according to this embodiment includes:
the acquiring module 71 is configured to acquire driving data reported by a plurality of operating vehicles, where the driving data includes a location point and a signal intensity corresponding to the location point;
an updating module 72, configured to update the driving data to an operation capability map;
and a sending module 73, configured to send the adjusted operation route to each of the operation vehicles according to the updated operation capability map.
Optionally, the signal strength includes at least one of a wireless local area network signal strength, a GPS signal strength, and a mobile network signal strength.
Optionally, the updating module 72 is specifically configured to: determining a first abnormal locating point according to the driving data, wherein the first abnormal locating point is a locating point with signal intensity lower than preset signal intensity;
and marking the first abnormal positioning point on the operation capacity map to obtain an updated operation capacity map.
Fig. 7b is a schematic structural diagram of an operation route planning device according to another embodiment of the present invention, and referring to fig. 7b based on the device shown in fig. 7a, the operation route planning device 70 according to this embodiment further includes: a route planning module 74.
The route planning module 74 is configured to determine whether the initial operation route of each operation vehicle is routed to the first abnormal locating point, and if the initial operation route is routed to the first abnormal locating point, adjust the initial operation route according to the updated operation capability map, the current position of the operation vehicle, and the target position; the sending module 73 is configured to send the adjusted operation route to the operation vehicle.
Optionally, the obtaining module 71 is further configured to obtain road abnormal data reported by the multiple operating vehicles, where the road abnormal data includes a second abnormal locating point and a road abnormal type corresponding to the second abnormal locating point.
Optionally, the road anomaly type includes at least one of a road ambient light anomaly, a road obstacle anomaly and a road visibility anomaly.
Optionally, the updating module 72 is further configured to mark the second abnormal positioning point on the operation capability map to obtain an updated operation capability map.
Optionally, the route planning module 74 is further configured to determine whether the initial operation route of each operation vehicle is routed to the first abnormal locating point and/or the second abnormal locating point, and if the initial operation route is routed to the first abnormal locating point and/or the second abnormal locating point, adjust the initial operation route according to the updated operation capability map, the current position of the operation vehicle, and the target position; the sending module 73 is configured to send the adjusted operation route to the operation vehicle.
The operation route planning apparatus provided in this embodiment may implement the technical solution of the above method embodiment, and the implementation principle and the technical effect are similar, which are not described herein again.
An operation route planning device is further provided in the embodiment of the present invention, as shown in fig. 8, the embodiment of the present invention is only described with reference to fig. 8 as an example, and the present invention is not limited thereto.
Fig. 8 is a schematic diagram of a hardware structure of an operation route planning device according to an embodiment of the present invention, and as shown in fig. 8, an operation route planning device 80 according to the embodiment includes:
a memory 81;
a processor 82; and
a computer program;
wherein, the computer program is stored in the memory 81 and configured to be executed by the processor 82 to implement the technical solution of any one of the foregoing method embodiments, and the implementation principle and technical effect thereof are similar, and are not described herein again.
Alternatively, the memory 81 may be separate or integrated with the processor 82.
When the memory 81 is a device independent from the processor 82, the operation route planning apparatus 80 further includes:
a bus 83 for connecting the memory 81 and the processor 82.
Embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor 82 to implement the steps performed by the operation route planning apparatus 80 in the above method embodiments.
Fig. 9a is a schematic structural diagram of an operating vehicle according to an embodiment of the present invention, and as shown in fig. 9a, an operating vehicle 90 according to this embodiment includes:
the sending module 91 is configured to send running data to an operation capability server, where the running data includes a locating point and a signal intensity corresponding to the locating point, so that the operation capability server determines, according to the running data, a first abnormal locating point where the signal intensity is lower than a preset signal intensity, updates an operation capability map, and adjusts, in real time, an operation route of each of the operation vehicles according to the updated operation capability map;
a receiving module 92, configured to receive the adjusted operation route sent by the operation capability server;
and an executing module 93, configured to execute the adjusted operation route.
Optionally, the signal strength includes at least one of a wireless local area network signal strength, a GPS signal strength, and a mobile network signal strength.
Optionally, the sending module 91 is further configured to:
and sending road abnormal data to the operation capacity server, wherein the road abnormal data comprises a second abnormal positioning point and a road abnormal type corresponding to the second abnormal positioning point.
Optionally, the road anomaly type includes at least one of a road ambient light anomaly, a road obstacle anomaly and a road visibility anomaly.
Fig. 9b is a schematic structural diagram of an operating vehicle according to another embodiment of the present invention, and referring to fig. 9b, based on the apparatus shown in fig. 9a, an operating vehicle 90 according to this embodiment further includes: an acquisition module 94 and a judgment module 95.
The acquiring module 94 is used for acquiring environmental data of each data acquisition device on the operating vehicle;
the determining module 95 is configured to determine whether the environmental data is abnormal, and if the environmental data is abnormal, the sending module 91 is configured to send the road abnormal data to the operation capability server.
Optionally, the data acquisition device includes a light sensor, a binocular camera, an infrared sensor, a laser radar sensor, a millimeter wave sensor, an ultrasonic sensor and a visibility tester.
The operating vehicle provided by this embodiment may execute the technical solution of the above method embodiment, and the implementation principle and technical effect thereof are similar, and are not described herein again.
Fig. 10 is a schematic hardware structure diagram of an operating vehicle according to an embodiment of the present invention, and as shown in fig. 10, an operating vehicle 100 according to this embodiment includes:
a memory 101;
a processor 102; and
a computer program;
wherein, the computer program is stored in the memory 101 and configured to be executed by the processor 102 to implement the technical solution of any one of the foregoing method embodiments, and the implementation principle and technical effect thereof are similar, and are not described herein again.
Alternatively, the memory 101 may be separate or integrated with the processor 102.
When the memory 101 is a device separate from the processor 102, the operating vehicle 100 further includes:
a bus 103 for connecting the memory 101 and the processor 102.
Embodiments of the present invention also provide a computer readable storage medium having stored thereon a computer program, which is executed by the processor 102 to implement the steps performed by operating the vehicle 100 as in the above method embodiments.
It should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.
The memory may comprise a high-speed RAM memory, and may further comprise a non-volatile storage NVM, such as at least one disk memory, and may also be a usb disk, a removable hard disk, a read-only memory, a magnetic or optical disk, etc.
The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present application are not limited to only one bus or one type of bus.
The storage medium may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.
An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium may reside as discrete components in an electronic device or host device.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (15)
1. An operation route planning method, comprising:
acquiring running data reported by a plurality of operating vehicles, wherein the running data comprises positioning points and signal intensity corresponding to the positioning points;
acquiring road abnormal data reported by the operating vehicles, wherein the road abnormal data comprises a second abnormal positioning point and a road abnormal type corresponding to the second abnormal positioning point;
updating the driving data and the road abnormal data to an operation capacity map;
sending the adjusted operation route to each operation vehicle according to the updated operation capacity map;
wherein the updating the driving data and the road abnormal data to an operation capability map includes:
determining a first abnormal locating point according to the driving data, wherein the first abnormal locating point is a locating point with signal intensity lower than preset signal intensity;
and marking the first abnormal positioning point and the second abnormal positioning point on the operation capacity map to obtain an updated operation capacity map.
2. The method of claim 1, wherein the signal strength comprises at least one of a wireless local area network signal strength, a GPS signal strength, and a mobile network signal strength.
3. The method of claim 1, wherein the road anomaly type comprises at least one of a road ambient light anomaly, a road obstacle anomaly, and a road visibility anomaly.
4. The method of claim 1, wherein the sending the adjusted service route to each of the service vehicles according to the updated service capability map comprises:
and judging whether the initial operation route of each operation vehicle passes through the first abnormal positioning point and/or the second abnormal positioning point, if so, adjusting the initial operation route according to the updated operation capacity map, the current position and the target position of the operation vehicle, and sending the adjusted operation route to the operation vehicle.
5. An operation route planning method, comprising:
the method comprises the steps of sending running data to an operation capacity server, wherein the running data comprises positioning points and signal intensity corresponding to the positioning points, sending road abnormal data to the operation capacity server, the road abnormal data comprises second abnormal positioning points and road abnormal types corresponding to the second abnormal positioning points, so that the operation capacity server determines first abnormal positioning points and second abnormal positioning points of which the signal intensity is lower than preset signal intensity according to the running data, updates an operation capacity map, and adjusts operation routes of operation vehicles in real time according to the updated operation capacity map;
and receiving the adjusted operation route sent by the operation capacity server, and executing the adjusted operation route.
6. The method of claim 5, wherein the signal strength comprises at least one of a wireless local area network signal strength, a GPS signal strength, and a mobile network signal strength.
7. The method of claim 5, wherein the road anomaly type comprises at least one of a road ambient light anomaly, a road obstacle anomaly, and a road visibility anomaly.
8. The method of claim 5, wherein sending road anomaly data to the service capability server comprises:
acquiring environmental data of each data acquisition device on an operating vehicle;
and judging whether the environmental data is abnormal or not, and if so, sending road abnormal data to the operation capacity server.
9. The method of claim 8, wherein the data acquisition device comprises a light sensor, a binocular camera, an infrared sensor, a lidar sensor, a millimeter wave sensor, an ultrasonic sensor, and a visibility tester.
10. An operation route planning apparatus, comprising:
the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring running data reported by a plurality of operating vehicles, and the running data comprises positioning points and signal intensities corresponding to the positioning points;
the updating module is used for updating the driving data to an operation capacity map;
the sending module is used for sending the adjusted operation route to each operation vehicle according to the updated operation capacity map;
the acquisition module is further configured to acquire road anomaly data reported by the multiple operating vehicles, where the road anomaly data includes a second anomaly locating point and a road anomaly type corresponding to the second anomaly locating point;
the update module is specifically configured to: determining a first abnormal locating point according to the driving data, wherein the first abnormal locating point is a locating point with signal intensity lower than preset signal intensity; and marking the first abnormal positioning point and the second abnormal positioning point on the operation capacity map to obtain an updated operation capacity map.
11. An operating vehicle, comprising:
the system comprises a sending module, a running data processing module and an operation capacity server, wherein the running data comprises positioning points and signal intensity corresponding to the positioning points, the running data comprises road abnormal data, the road abnormal data comprises second abnormal positioning points and road abnormal types corresponding to the second abnormal positioning points, so that the operation capacity server determines first abnormal positioning points and second abnormal positioning points with the signal intensity lower than preset signal intensity according to the running data, updates an operation capacity map, and adjusts the operation routes of operation vehicles in real time according to the updated operation capacity map;
the receiving module is used for receiving the adjusted operation route sent by the operation capacity server;
and the execution module is used for executing the adjusted operation route.
12. An operation route planning apparatus, comprising:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method of any of claims 1 to 4.
13. An operating vehicle, comprising:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the method of any of claims 5 to 9.
14. A computer-readable storage medium, having stored thereon a computer program for execution by a processor to perform the method of any one of claims 1 to 4.
15. A computer-readable storage medium, having stored thereon a computer program for execution by a processor to perform the method of any one of claims 5 to 9.
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| CN111578954A (en) * | 2020-05-29 | 2020-08-25 | 北京百度网讯科技有限公司 | Navigation prompting method, device, equipment and readable storage medium |
| CN111664861B (en) * | 2020-06-02 | 2023-02-28 | 阿波罗智联(北京)科技有限公司 | Navigation prompting method, device, equipment and readable storage medium |
| CN113645567A (en) * | 2021-07-28 | 2021-11-12 | 北京三快在线科技有限公司 | Communication state map construction method and unmanned equipment control method and device |
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