CN110379150B - Method and device for evaluating road trafficability - Google Patents
Method and device for evaluating road trafficability Download PDFInfo
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- CN110379150B CN110379150B CN201811069079.8A CN201811069079A CN110379150B CN 110379150 B CN110379150 B CN 110379150B CN 201811069079 A CN201811069079 A CN 201811069079A CN 110379150 B CN110379150 B CN 110379150B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
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Abstract
The invention discloses a method and a device for evaluating road trafficability, and relates to the technical field of computers. One embodiment of the method comprises: determining a road to be traveled by a vehicle at present, and obtaining the gradient of the road based on road information of the road; determining a length of a road segment section based on a predetermined gradient and the road information when the gradient of the road exceeds a predetermined gradient threshold of the vehicle; when the length of the segmented road segment is less than or equal to the length of the road, it is determined that the vehicle can pass through the road. In the traveling process of the vehicle, the slope information of the uphill road to be passed through can be improved, and whether the uphill road is passable or not can be judged; for roads with higher gradient, Z-shaped driving can be adopted, so that the driving flexibility of the trolley is improved, and the times of road re-planning are reduced.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a method and a device for evaluating road trafficability.
Background
In recent years, the industry of unmanned delivery vehicles has been developed at a high speed, and the climbing capability of the unmanned delivery vehicles is an important standard for measuring the performance of the vehicles. The existing unmanned distribution vehicle is mainly driven automatically on the real road according to high-precision map data to complete distribution work.
However, in the process of implementing the invention, the inventor finds that the prior art has at least the following problems:
1) in the current map data, the record of the road gradient information is not perfect;
2) for an unmanned delivery vehicle, all roads are level roads, but due to the lack of road surface gradient information, the vehicle may not pass through a planned path, and the work is repeated.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for evaluating road trafficability, which can at least solve the problem in the prior art that a route needs to be re-planned many times due to lack of road gradient information.
To achieve the above object, according to an aspect of an embodiment of the present invention, there is provided a method of evaluating road trafficability, including:
determining a road to be traveled by a vehicle at present, and obtaining the gradient of the road based on road information of the road;
determining a length of the road segment based on the predetermined grade and the road information when the grade of the road exceeds a predetermined grade threshold of the vehicle;
determining that the vehicle can pass through the road when the length of the segmented road segment is less than or equal to the length of the road.
Optionally, the determining the road to be currently traveled by the vehicle includes:
planning a driving path of the vehicle based on a target point and an initial point of the vehicle;
and acquiring the coordinates of the current position of the vehicle, and determining the road to be traveled by the vehicle in combination with the running path.
Optionally, obtaining the gradient of the road based on the road information of the road includes: triggering a detection device of the vehicle to detect the elevation value of the road; and acquiring the length of the road based on a navigation map, and determining the gradient of the road by combining the elevation value.
Optionally, when the length of the segment road segment is less than or equal to the length of the road, determining that the vehicle may pass through the road, further includes: and acquiring the turning length of the vehicle, and determining that the vehicle can pass through the road when the length of the segmented road section exceeds the turning length.
Optionally, after determining that the vehicle may pass through the road when the length of the segment road is less than or equal to the length of the road, the method further includes: and determining the number of the segmented road sections according to the lengths of the segmented road sections and the road information of the road, and obtaining the inflection point coordinates of each segmented road section by combining the coordinates of the current position of the vehicle.
Optionally, the driving track of the vehicle in the road is zigzag.
Optionally, the method further includes: determining that the vehicle may not pass through the road when the length of the segment section is greater than the length of the road or less than a turning length of the vehicle; and receiving a path replanning request sent by the vehicle so as to replan the path based on the coordinates of the current position of the vehicle and the coordinates of the target point.
To achieve the above object, according to another aspect of embodiments of the present invention, there is provided an apparatus for evaluating road trafficability, including:
the gradient determining module is used for determining a road to be traveled by a vehicle at present and obtaining the gradient of the road based on the road information of the road;
a road segmentation module to determine a length of the road segment based on a predetermined slope of the road and the road information when the slope of the road exceeds a predetermined slope threshold of the vehicle;
a road evaluation module for determining that the vehicle can pass through the road when the length of the segmented road segment is less than or equal to the length of the road.
Optionally, the gradient determination module is configured to: planning a driving path of the vehicle based on a target point and an initial point of the vehicle; and acquiring the coordinates of the current position of the vehicle, and determining the road to be traveled by the vehicle in combination with the running path.
Optionally, the gradient determination module is configured to: triggering a detection device of the vehicle to detect the elevation value of the road; and acquiring the length of the road based on a navigation map, and determining the gradient of the road by combining the elevation value.
Optionally, the road evaluation module is further configured to: and acquiring the turning length of the vehicle, and determining that the vehicle can pass through the road when the length of the segmented road section exceeds the turning length.
Optionally, the method further includes an inflection point determining module, configured to: and determining the number of the segmented road sections according to the lengths of the segmented road sections and the road information of the road, and obtaining the inflection point coordinates of each segmented road section by combining the coordinates of the current position of the vehicle.
Optionally, the driving track of the vehicle in the road is zigzag.
Optionally, the system further includes a path re-planning module, configured to:
determining that the vehicle may not pass through the road when the length of the segment section is greater than the length of the road or less than a turning length of the vehicle; and
and receiving a path replanning request sent by the vehicle so as to replan the path based on the coordinates of the current position of the vehicle and the coordinates of the target point.
To achieve the above object, according to still another aspect of embodiments of the present invention, there is provided an electronic device for evaluating road trafficability.
The electronic device of the embodiment of the invention comprises: one or more processors; a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement any of the above-described methods for assessing road trafficability.
To achieve the above object, according to a further aspect of the embodiments of the present invention, there is provided a computer readable medium having a computer program stored thereon, the program, when executed by a processor, implementing any one of the above-mentioned methods for evaluating road trafficability.
According to the scheme provided by the invention, one embodiment of the invention has the following advantages or beneficial effects: every time the vehicle travels, the slope information of the uphill road to be passed can be improved, and whether the road ahead is passable or not can be judged. For roads with higher gradient, Z-shaped driving can be adopted, so that the driving flexibility of the trolley is improved, and the times of road re-planning are reduced.
Further effects of the above-mentioned non-conventional alternatives will be described below in connection with the embodiments.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
FIG. 1 is a schematic main flow chart of a method for evaluating road trafficability according to an embodiment of the invention;
FIG. 2 is a schematic view of a zigzag path according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the calculation of the segmentation distance according to the embodiment of the present invention
FIG. 4 is a schematic diagram of a piecewise inflection point calculation according to an embodiment of the present invention
FIG. 5 is a schematic diagram of the main modules of an apparatus for evaluating road trafficability according to an embodiment of the present invention;
FIG. 6 is an exemplary system architecture diagram in which embodiments of the present invention may be employed;
FIG. 7 is a schematic block diagram of a computer system suitable for use with a mobile device or server implementing an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
It should be noted that the embodiment of the present invention is applicable to a vehicle with a navigation function, and the present invention is mainly described by taking an unmanned delivery vehicle as an example, so as to evaluate the passing feasibility (traffic performance for short) on a road with a slope.
In addition, the road with a slope includes an uphill road and a downhill road. However, the invention considers that the vehicle can go up to the slope and can go down, if the vehicle does not turn over when going up to the slope, the vehicle is theoretically safe when going down to the slope, and the invention is mainly explained by taking the slope as an example.
Referring to fig. 1, a main flowchart of a method for evaluating road trafficability according to an embodiment of the present invention is shown, including the following steps:
s101: determining a road to be traveled by a vehicle at present, and obtaining the gradient of the road based on road information of the road;
s102: determining a length of the road segment section based on the predetermined gradient and the road information when the gradient of the road exceeds a predetermined gradient threshold of the vehicle;
s103: when the length of the segmented road segment is less than or equal to the length of the road, it is determined that the vehicle can pass through the road.
In the above embodiment, in step S101, the route of the unmanned delivery vehicle is calculated from the initial point (i.e., the departure point), the target point, and the navigation service. The car is only an executive body, and the specific data processing is operated by a background server of the car.
According to the planned route and the current position of the trolley, the road where the trolley needs to advance currently can be determined. For example, there are 10 roads in the planned path, and if the cart is currently at the end point of the third section, the 4 th road is the road on which the cart is to be advanced.
For an unmanned delivery vehicle, all roads are level roads. The term "level road" as used herein means that the data of all roads does not include height information and gradient information.
However, for road trafficability evaluation, the gradient is an indispensable factor, so that for the problem of gradient deficiency, the road information on the road ahead can be acquired in real time and calculated by relying on a high-precision navigation device (such as a laser radar) on the vehicle.
Specifically, the method comprises the following steps:
1) acquiring road surface height information of a front road; generally, the navigation information lacks elevation information and needs to depend on real-time measurement and calculation such as detection equipment.
Elevation here is a word for mapping, and refers to the distance from a certain point to an absolute base plane along the direction of a plumb line.
2) And calculating the gradient of the road, namely the angle between the road surface and the horizontal direction by combining the length of the road in the navigation map:
a is arcsin (height/road length) or arcsin [ (height-vertical coordinate value of vehicle)/road length ].
With respect to step S102, after the road gradient information is perfected, the evaluation of the road trafficability is performed.
The invention has a use premise that the trolley can know the hardware parameters of the trolley, such as the size of the trolley body, the turning radius, the passable maximum gradient b and the like.
For the evaluation of road trafficability, two cases were performed:
1) direct evaluation
The trolley is suitable for the condition that the road gradient a is less than or equal to the maximum gradient b which can be passed by the trolley, and the trolley can pass through in a straight line advancing mode.
2) Segmentation evaluation
The trolley is suitable for the condition that the road gradient a is larger than the maximum gradient b which can be passed by the trolley, the trolley cannot pass through linearly at the moment, and the trolley needs to be considered to pass through in a Z-shaped line manner in a segmented mode. Referring specifically to fig. 2, the segmented road segment X is located along the length of the road to determine the inflection point of the zigzag path.
Referring specifically to fig. 3, a schematic diagram of the calculation of the segmentation distance is shown. The road surface of a common road is a rectangular structure, and in the figure, the triangle ABC, the triangle AOC and the triangle BOC are all right-angled triangles.
In Δ AOC, the length of a line segment OC can be obtained from the segmentation distance X and the road gradient a as follows: xsina;
secondly, in the delta BOC, according to the length of the line segment OC and the maximum slope b which can be passed by the trolley, the length of the line segment BC can be obtained as follows: x sin a/sin b;
thirdly, in the delta ABC, according to the width information W of the current road obtained from the navigation map, by using the Pythagorean theorem, the segmentation distance X can be obtained as follows:
the road gradient a is as described in step S101.
In step S103, the vehicle cannot pass through the road, and the determination of the reasonableness of the segment distance is made.
If the sectional distance is greater than the length of the road, the fact that the oblique line driving angle corresponding to the sectional distance does not meet the condition of the passable slope is proved, the slope of the road is steep, and the fact that the trolley cannot pass through the road is judged.
In addition, the section distance should not be less than the turning diameter (length) of the car. If the distance is small, the trolley cannot turn around, and climbing cannot be completed according to a Z-shaped route.
After the assessment trolley cannot pass through the road, the route should be re-planned or the rescue is waited for. Because the trolley cannot plan the path by itself, for the path re-planning, the current position of the trolley, the target point and a re-planning request still need to be sent to the background server for path re-planning.
After determining that the vehicle can pass through the current road, the following process can be continued:
1) calculating the number of segmented road sections
According to the road length L and the segmentation distance X, the number g of the sections where the current road is segmented and advanced is calculated to be L/X;
2) calculating the path inflection point of each segmented road section
Determining the coordinates (x, y) of the current position of the trolley according to a positioning device on the trolley; and (4) combining the segment distance X and the road width W to calculate the inflection point coordinate of each segment, thereby finishing the updating of the path.
The travel of the trolley is then carried out according to the determined coordinates of each inflection point.
The method provided by the embodiment of the invention can be used for improving the gradient information of the uphill road to be passed in the advancing process of the vehicle and finishing the feasibility estimation of the road climbing. For roads with higher gradient, Z-shaped driving can be adopted, so that the driving flexibility of the trolley is improved, and the times of road re-planning are reduced.
Referring to fig. 5, a schematic diagram of main modules of an apparatus 500 for evaluating road trafficability according to an embodiment of the present invention is shown, including:
the gradient determining module 501 is configured to determine a road on which a vehicle is currently going, and obtain a gradient of the road based on road information of the road;
a road segmentation module 502 to determine a length of the road segment based on a predetermined slope of the road and the road information when the slope of the road exceeds a predetermined slope threshold of the vehicle;
a road evaluation module 503, configured to determine that the vehicle may pass through the road when the length of the segment is less than or equal to the length of the road.
In the apparatus according to the embodiment of the present invention, the gradient determining module 501 is configured to: planning a driving path of the vehicle based on a target point and an initial point of the vehicle; and acquiring the coordinates of the current position of the vehicle, and determining the road to be traveled by the vehicle in combination with the running path.
In the apparatus according to the embodiment of the present invention, the gradient determining module 501 is configured to: triggering a detection device of the vehicle to detect the elevation value of the road; and acquiring the length of the road based on a navigation map, and determining the gradient of the road by combining the elevation value.
In the apparatus according to the embodiment of the present invention, the road evaluation module 503 is further configured to: and acquiring the turning length of the vehicle, and determining that the vehicle can pass through the road when the length of the segmented road section exceeds the turning length.
The apparatus of the embodiment of the present invention further includes an inflection point determining module 504 (not shown in the figure), configured to: and determining the number of the segmented road sections according to the lengths of the segmented road sections and the road information of the road, and obtaining the inflection point coordinates of each segmented road section by combining the coordinates of the current position of the vehicle.
In the device of the embodiment of the invention, the driving track of the vehicle on the road is Z-shaped.
The apparatus of the embodiment of the present invention further includes a path re-planning module 505 (not shown in the figure), configured to:
determining that the vehicle may not pass through the road when the length of the segment section is greater than the length of the road or less than a turning length of the vehicle; and
and receiving a path replanning request sent by the vehicle so as to replan the path based on the coordinates of the current position of the vehicle and the coordinates of the target point.
In addition, the detailed implementation of the device for evaluating road trafficability according to the embodiment of the present invention is described in detail in the method for evaluating road trafficability, and therefore the repeated description is omitted.
The device provided by the embodiment of the invention can be used for improving the gradient information of the uphill road to be passed in the advancing process of the vehicle and finishing the feasibility estimation of the road climbing. For roads with higher gradient, Z-shaped driving can be adopted, so that the driving flexibility of the trolley is improved, and the times of road re-planning are reduced.
Fig. 6 illustrates an exemplary system architecture 600 of a method or apparatus for assessing road trafficability to which embodiments of the invention may be applied.
As shown in fig. 6, the system architecture 600 may include terminal devices 601, 602, 603, a network 604, and a server 605 (by way of example only). The network 604 serves to provide a medium for communication links between the terminal devices 601, 602, 603 and the server 605. Network 604 may include various types of connections, such as wire, wireless communication links, or fiber optic cables, to name a few.
A user may use the terminal devices 601, 602, 603 to interact with the server 605 via the network 604 to receive or send messages or the like. Various communication client applications can be installed on the terminal devices 601, 602, 603.
The terminal devices 601, 602, 603 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like.
The server 605 may be a server providing various services, such as a background management server (for example only) providing support for shopping websites browsed by users using the terminal devices 601, 602, 603. The backend management server may analyze and perform other processing on the received data such as the product information query request, and feed back a processing result (for example, target push information, product information — just an example) to the terminal device.
It should be noted that the method for evaluating road trafficability provided by the embodiment of the present invention is generally executed by the server 605, and accordingly, the device for evaluating road trafficability is generally disposed in the server 605.
It should be understood that the number of terminal devices, networks, and servers in fig. 6 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.
Referring now to FIG. 7, shown is a block diagram of a computer system 700 suitable for use with a terminal device implementing an embodiment of the present invention. The terminal device shown in fig. 7 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 7, the computer system 700 includes a Central Processing Unit (CPU)701, which can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)702 or a program loaded from a storage section 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data necessary for the operation of the system 700 are also stored. The CPU 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
The following components are connected to the I/O interface 705: an input portion 706 including a keyboard, a mouse, and the like; an output section 707 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 708 including a hard disk and the like; and a communication section 709 including a network interface card such as a LAN card, a modem, or the like. The communication section 709 performs communication processing via a network such as the internet. A drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 710 as necessary, so that a computer program read out therefrom is mounted into the storage section 708 as necessary.
In particular, according to the embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 709, and/or installed from the removable medium 711. The computer program performs the above-described functions defined in the system of the present invention when executed by the Central Processing Unit (CPU) 701.
It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present invention may be implemented by software or hardware. The described modules may also be provided in a processor, which may be described as: a processor includes a grade determination module, a road segmentation module, and a road assessment module. The names of these modules do not in some cases constitute a limitation on the module itself, and for example, the road assessment module may also be described as a "trafficability assessment module for assessing roads".
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be separate and not incorporated into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to comprise:
determining a road to be traveled by a vehicle at present, and obtaining the gradient of the road based on road information of the road;
determining a length of the road segment based on the predetermined grade and the road information when the grade of the road exceeds a predetermined grade threshold of the vehicle;
determining that the vehicle can pass through the road when the length of the segmented road segment is less than or equal to the length of the road.
According to the technical scheme of the embodiment of the invention, in the advancing process of the vehicle, the slope information of the uphill road to be passed can be perfected, and the feasibility estimation of the road climbing can be completed. For roads with higher gradient, Z-shaped driving can be adopted, so that the driving flexibility of the trolley is improved, and the times of road re-planning are reduced.
The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. A method for evaluating road trafficability is applied to an unmanned distribution vehicle, and is characterized by comprising the following steps:
determining a road to be traveled by a vehicle, triggering detection equipment of the vehicle to detect an elevation value of the road, and obtaining a gradient of the road by combining the length of the road; wherein the length and width of the road are derived from a navigation map;
determining a length of the road segment based on the predetermined grade threshold value and a width and grade of the road when the grade of the road exceeds the predetermined grade threshold value of the vehicle;
when the length of the segmented road segment is less than or equal to the length of the road and greater than or equal to the turning diameter of the vehicle, determining that the vehicle can pass through the road.
2. The method of claim 1, wherein the determining the road on which the vehicle is currently heading comprises:
planning a driving path of the vehicle based on a target point and an initial point of the vehicle;
and acquiring the coordinates of the current position of the vehicle, and determining the current road to be traveled by the vehicle by combining the running path.
3. The method of claim 1, further comprising, after said determining that the vehicle may pass through the road:
and determining the number of the segmented road sections according to the lengths of the segmented road sections and the length of the road, and obtaining the inflection point coordinates of each segmented road section by combining the coordinates of the current position of the vehicle.
4. The method according to any one of claims 1-3, wherein the trajectory of the vehicle in the road is zigzag-shaped.
5. The method of claim 1, further comprising:
determining that the vehicle may not pass through the road when the length of the segment section is greater than the length of the road or less than a turning diameter of the vehicle; and
and receiving a path replanning request sent by the vehicle so as to replan the path based on the coordinates of the current position of the vehicle and the coordinates of the target point.
6. A device for evaluating road trafficability is applied to an unmanned distribution vehicle, and is characterized by comprising:
the gradient determining module is used for determining a road on which a vehicle is currently to go, triggering detection equipment of the vehicle to detect an elevation value of the road, and obtaining the gradient of the road by combining the length of the road; wherein the length and width of the road are derived from a navigation map;
a road segmentation module to determine a length of the road segment based on a width and a grade of the road, a predetermined grade threshold of the vehicle, when the grade of the road exceeds the predetermined grade threshold;
the road evaluation module is used for determining that the vehicle can pass through the road when the length of the segmented road section is smaller than or equal to the length of the road and larger than or equal to the turning diameter of the vehicle.
7. The apparatus of claim 6, wherein the gradient determination module determines the road on which the vehicle is currently heading, in particular:
planning a driving path of the vehicle based on a target point and an initial point of the vehicle;
and acquiring the coordinates of the current position of the vehicle, and determining the current road to be traveled by the vehicle by combining the running path.
8. The apparatus of claim 6, further comprising an inflection point determination module configured to:
and determining the number of the segmented road sections according to the lengths of the segmented road sections and the length of the road, and obtaining the inflection point coordinates of each segmented road section by combining the coordinates of the current position of the vehicle.
9. The device according to any one of claims 6-8, wherein the travel track of the vehicle in the road is zigzag-shaped.
10. The apparatus of claim 6, further comprising a path re-planning module to:
determining that the vehicle may not pass through the road when the length of the segment section is greater than the length of the road or less than a turning diameter of the vehicle; and
and receiving a path replanning request sent by the vehicle so as to replan the path based on the coordinates of the current position of the vehicle and the coordinates of the target point.
11. An electronic device, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-5.
12. A computer-readable medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the method of any one of claims 1 to 5.
Priority Applications (1)
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| CN111998828B (en) * | 2020-09-23 | 2022-05-10 | 暨南大学 | Road gradient estimation method based on portable GPS |
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| CN117724850B (en) * | 2024-02-06 | 2024-04-19 | 天津先进技术研究院 | Method, system, equipment and medium for evaluating feasibility of field pre-passing path |
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