CN110930688B - Planning method and device for vehicle driving path, computer equipment and storage medium - Google Patents
Planning method and device for vehicle driving path, computer equipment and storage medium Download PDFInfo
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- CN110930688B CN110930688B CN201811094033.1A CN201811094033A CN110930688B CN 110930688 B CN110930688 B CN 110930688B CN 201811094033 A CN201811094033 A CN 201811094033A CN 110930688 B CN110930688 B CN 110930688B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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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
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
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Abstract
The application relates to a planning method, a system, a computer device and a storage medium for a driving path of a vehicle, wherein the method comprises the following steps: detecting the current traffic road condition in a preset road section; predicting a future traffic road condition in the preset road section after a preset time period according to the current traffic road condition; and obtaining the evasive route according to the current position of the vehicle, the current traffic road condition and the future traffic road condition. According to the method, the device, the computer equipment and the storage medium for planning the running path of the vehicle, the future traffic road condition in the road section is predicted by detecting the traffic road condition in the preset road section, so that the suggestion for avoiding the blocked road section corresponding to the vehicle is given according to the detection result and the prediction result, and the blocking probability of the vehicle is reduced.
Description
Technical Field
The application relates to the technical field of vehicle networking, in particular to a planning method and device for a driving path of a vehicle, computer equipment and a storage medium.
Background
With the popularization of vehicles, the traffic jam problem becomes more serious. When a vehicle encounters traffic congestion, it sometimes wastes hours of time.
In the conventional technology, a congested road section is specially marked in a vehicle navigation route, for example, the existence of congestion is indicated by yellow, and the serious congestion is indicated by red, but it is difficult to accurately provide a feasible driving suggestion to a driver.
Disclosure of Invention
Based on this, it is necessary to provide a method, an apparatus, a computer device, and a storage medium for planning a driving path of a vehicle, which can provide evasive measures for a driver for different road conditions, in order to provide a feasible driving advice to the driver for a future road condition that cannot be predicted in the conventional technology.
A method of planning a path for travel by a vehicle, the method comprising:
detecting the current traffic road condition in a preset road section;
predicting a future traffic road condition in the preset road section after a preset time period according to the current traffic road condition;
and obtaining the evasive route according to the current position of the vehicle, the current traffic road condition and the future traffic road condition.
In one embodiment, the method further comprises the following steps:
the step of detecting the current traffic road condition in the preset road section comprises the following steps:
acquiring the traffic flow density and the traffic running speed in the preset road section;
and if the traffic flow density is greater than a first threshold value and the traffic running speed is less than a second threshold value, judging that the current traffic road condition of the preset road section is in a blocked state.
In one embodiment, the future traffic conditions include traffic conditions of a traffic driving range after a preset time period; the step of predicting the future traffic road condition in the preset road section according to the current traffic road condition comprises the following steps:
detecting a navigation route of a vehicle;
and calculating the future traffic road condition of the preset road section in the navigation route after a preset time period according to the traffic flow density and the traffic running speed.
In one embodiment, the step of obtaining the avoidance route according to the current position of the vehicle, the current traffic road condition, and the future traffic road condition includes:
detecting attribute information of traffic participants;
calculating travelable intervals among the traffic participants according to the attribute information of the traffic participants;
and iteratively simulating the driving route of the vehicle according to the current position of the vehicle, the current traffic road condition, the future traffic road condition, the attribute information of the vehicle and the drivable interval, and judging whether the vehicle can smoothly drive through.
In one embodiment, the attribute information of the transportation participant and the attribute information of the transportation means include: space occupancy, geographic location, velocity, and acceleration.
In one embodiment, the step of obtaining the avoidance route according to the current position of the vehicle, the current traffic road condition, and the future traffic road condition includes:
if the current traffic road condition in the preset road section is a jam state or the future traffic road condition is a jam state, and the current position of a vehicle is not in the preset road section, detecting whether an evaded route exists at the current position of the vehicle;
and if the evasive route exists, re-planning the route so that the vehicle runs according to the evasive route.
In one embodiment, the step of obtaining the avoidance route according to the current position of the vehicle, the current traffic road condition, and the future traffic road condition includes:
if the current traffic road condition is a blocked state and the current position of the vehicle is within the preset road section, detecting whether an exit path through which the vehicle can exit the preset road section exists within the preset road section;
and if the exit path exists, controlling the vehicle to exit the preset road section along the exit path.
In one embodiment, the method further comprises:
acquiring the change dynamics of the exit path;
and if the change dynamics is congestion in the process of controlling the vehicle to drive out of the preset road section along the driving-out path, outputting warning information.
A vehicle travel path planning apparatus, the apparatus comprising:
the current traffic road condition detection module is used for detecting the current traffic road condition in a preset road section;
the future traffic road condition prediction module is used for predicting the future traffic road condition in the preset road section after a preset time period according to the current traffic road condition;
and the evasive route acquiring module is used for acquiring an evasive route according to the current position of the vehicle, the current traffic road condition and the future traffic road condition.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
detecting the current traffic road condition in a preset road section;
predicting a future traffic road condition in the preset road section after a preset time period according to the current traffic road condition;
and obtaining the evasive route according to the current position of the vehicle, the current traffic road condition and the future traffic road condition.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
detecting the current traffic road condition in a preset road section;
predicting a future traffic road condition in the preset road section after a preset time period according to the current traffic road condition;
and obtaining the evasive route according to the current position of the vehicle, the current traffic road condition and the future traffic road condition.
According to the method, the device, the computer equipment and the storage medium for planning the running path of the vehicle, the future traffic road condition in the road section is predicted by detecting the current traffic road condition in the preset road section, so that the suggestion for avoiding the blocked road section corresponding to the vehicle is given according to the detection result and the prediction result, and the blocking probability of the vehicle is reduced.
Drawings
FIG. 1 is a diagram of an exemplary implementation of a method for planning a driving path of a vehicle;
FIG. 2 is a schematic flow chart diagram of a method for planning a driving path of a vehicle according to an embodiment;
FIG. 3 is a flowchart illustrating a step of detecting a current traffic condition within a predetermined road segment according to an embodiment;
FIG. 4 is a block diagram showing the construction of a vehicle travel path planning apparatus according to an embodiment;
FIG. 5 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The planning method for the vehicle driving path can be applied to the application environment shown in fig. 1. In one embodiment, the vehicle 101 detects the current traffic conditions of the preset road segment 102 and transmits the current traffic conditions to the server 103. The server 103 may calculate an avoidance route that prevents the vehicle 101 from being jammed, based on the acquired information, and transmit the avoidance route to the vehicle 101. The server 103 may be various personal computers, notebook computers, smart phones, tablet computers, portable wearable devices; or some device in the vehicle, such as a central control device, a driving assistance device, a vehicle-mounted infotainment system and a navigation device; in addition, the server 103 may also be a cloud server (Online server), and the cloud server may be implemented by an independent server or a server cluster composed of a plurality of servers, and is connected to the vehicle through a wireless network. The vehicle may be, but is not limited to, an automobile, a motorcycle, and the like, as well as various variations of vehicles.
In one embodiment, as shown in fig. 2, a method for planning a driving path of a vehicle is provided, which is described by taking the vehicle in fig. 1 as an example, and includes the following steps:
step S202, detecting the current traffic road condition in the preset road section.
Wherein the preset road section is determined according to a driving route of the vehicle. For example, the preset link may be a link that the vehicle enters after 30 minutes, and may also be a travel link of 5 km in the future of the vehicle. The current traffic road condition in the preset road section can be obtained through an internet of vehicles system or an online server; and real-time detection and acquisition can be carried out through a vehicle-mounted sensor. Specifically, the current traffic road condition refers to a traffic road condition in a preset road section at the current moment. Optionally, the traffic road conditions specifically include whether congestion occurs in a preset road section, congestion degree, whether an accident occurs, accident type, traffic light status, and other traffic road conditions.
And step S204, predicting the future traffic road condition in the preset road section after a preset time period according to the current traffic road condition.
The preset time period may include a time required for the vehicle to travel to a preset road segment, for example, a time required for the vehicle to reach the preset road segment according to a current vehicle speed and a pre-planned route. Specifically, the future traffic road condition is a traffic road condition of a preset road section when the vehicle arrives at the preset road section. It can be understood that if the current traffic conditions are congested, the congestion of the future traffic conditions may disappear.
Step S206, obtaining an evasive route according to the current position of the vehicle, the current traffic road condition and the future traffic road condition.
The current position of the vehicle may be obtained by a global positioning system GNSS. The avoiding route is a route which is recommended to be adopted by a vehicle to avoid a congested preset road section when the future traffic road condition of the preset road section is not smooth. It can be understood that when the future traffic road condition is smooth, the evaded route may also be the original driving route.
According to the planning method for the running path of the vehicle, the future traffic road condition in the road section is predicted by detecting the current traffic road condition in the preset road section, so that the suggestion for avoiding the blocked road section corresponding to the vehicle is given according to the detection result and the prediction result, and the blocking probability of the vehicle is reduced.
In an embodiment, referring to fig. 3, in step S202, the step of detecting the current traffic road condition in the preset road segment includes:
step S2021, obtaining the traffic flow density and the traffic driving speed in the preset road segment. The traffic flow density refers to the number of traffic participants in a preset road section.
The traffic participant means other vehicles, pedestrians, etc. in a preset road section. Alternatively, the traffic flow density may also be the number of traffic participants per 5 square meters. The traffic driving speed refers to an average driving speed of traffic participants in a preset road section.
In one embodiment, the positions of the traffic participants in the preset road section are obtained, and the traffic flow density is calculated according to the positions of the traffic participants and the area of the preset road section. In another embodiment, the traffic speed may be obtained by calculating the displacement distance of the traffic participant per unit time.
Step S2022, if the traffic flow density is greater than the first threshold and the traffic speed is less than the second threshold, determining that the current traffic road condition of the preset road segment is in a traffic jam state.
The first threshold value may be a preset traffic flow density value. It is understood that when the traffic flow density is greater than the first threshold value, it means that the number of the traffic participants in the preset road segment is greater and the traffic participants are more dense. In particular, the second threshold value is a preset lower driving speed value. It is understood that when the traffic traveling speed is less than the second threshold value, it means that the moving speed of the traffic participant in the preset section, i.e., the traveling speed, is very slow. Further, when the traffic flow density is greater than the first threshold value and the traffic travel speed is less than the second threshold value, it means that the number of the traffic participants in the preset road segment is large and the travel is slow. Therefore, whether the preset road section is blocked can be judged according to whether the traffic flow density in the preset road section is larger than the first threshold value or not and whether the traffic running speed is smaller than the second threshold value or not.
In one embodiment, in step S204, the future traffic road condition includes a traffic road condition within a traffic driving range after a preset time period; the step of predicting the future traffic road condition in the preset road section according to the current traffic road condition comprises the following steps:
acquiring a navigation route of a vehicle;
and calculating the future traffic road condition of the preset road section in the navigation route after a preset time period according to the traffic flow density and the traffic running speed. The navigation route can be information provided by a GPS (global positioning system) and also can be information provided by a Beidou navigation system. Specifically, the navigation route is a travel route planned according to a satellite navigation system after the start point position and the end point position are determined. It is understood that the driving path planned by the satellite navigation system is the shortest path, but not necessarily a path in which congestion does not occur. In one embodiment, when no congestion occurs in the preset road section, the next preset road section is determined according to the navigation route, and the current traffic road condition in the next preset road section is continuously detected and the future traffic road condition in the next preset road section is predicted.
In one embodiment, in step S206, the step of obtaining the avoidance route according to the current position of the vehicle, the current traffic road condition, and the future traffic road condition includes:
step S2061, detecting attribute information of the traffic participant. In one embodiment, the transportation participants obtain their own attribute information and upload the attribute information to the server 103. The vehicle acquires attribute information of the transportation participant from the server 103.
Step S2062, calculating the travelable interval among the traffic participants according to the attribute information of the traffic participants. Here, the travelable interval refers to an interval through which the vehicle can travel, such as a space between the vehicle and the vehicle, between the vehicle and the road edge, or the like, which can accommodate the passage of the vehicle. Furthermore, the running route formed by mutually connecting a plurality of running intervals also meets the requirement that vehicles smoothly pass through.
Step S2063, iteratively simulating the driving route of the vehicle according to the current position of the vehicle, the current traffic road condition, the future traffic road condition, the attribute information of the vehicle and the drivable interval, and judging whether the vehicle can smoothly drive through. The iterative simulation of the driving route of the vehicle means that the driving route of the vehicle is continuously updated according to the real-time change of the current traffic road condition, and the process of driving the vehicle along the driving route is simulated so as to further determine whether the vehicle can smoothly pass through the preset road section.
In one embodiment, the step S206 of obtaining the avoidance route according to the current position of the vehicle, the current traffic road condition, and the future traffic road condition includes:
if the current traffic road condition is a blocked state and the current position of the vehicle is within the preset road section, detecting whether an exit path through which the vehicle can exit the preset road section exists within the preset road section;
and if the exit path exists, controlling the vehicle to exit the preset road section along the exit path.
In one embodiment, the attribute information of the traffic participant and the attribute information of the vehicle include: the space occupation size, the geographic position, the speed and the acceleration. In one embodiment, the step of calculating the travelable intervals between the traffic participants according to the attribute information of the traffic participants comprises the following steps: acquiring the space occupation size of the traffic participant, and calculating the actual occupied space range of the traffic participant according to the geographical position of the traffic participant; calculating intervals among the space ranges actually occupied by the traffic participants; a plurality of travel intervals capable of allowing the vehicle to travel therethrough are screened out.
In one embodiment, the step of iteratively simulating the driving route of the host vehicle according to the current position of the vehicle, the current traffic road condition, the future traffic road condition, the attribute information of the vehicle, and the drivable interval, and determining whether the host vehicle can smoothly drive further includes:
determining an outgoing path according to the plurality of travelable intervals, and simulating the vehicle to travel in the outgoing path; and judging whether the vehicle can smoothly drive through the preset road section through the driving-out path.
In one embodiment, when it is determined that the exit path enables the vehicle to smoothly exit the preset road segment, the method further includes:
acquiring the change dynamics of the exit path; it can be understood that the outgoing path also changes in real time during the passing of the vehicle, so that the change dynamics of the outgoing path needs to be acquired in real time, and the outgoing path of the vehicle needs to be iteratively simulated.
And if the change dynamics is congestion in the process of controlling the vehicle to drive out of the preset road section along the driving-out path, outputting warning information. Specifically, the change dynamics to congestion means that an outgoing path congestion that enables the vehicle to smoothly exit the preset section is previously determined. The vehicle cannot travel along the original exit path. Further, the output of the warning information is to give a warning to the driver that the original outgoing route has been changed. It will be appreciated that when the original exit route has been blocked, the probability of the vehicle encountering a blockage is great if the vehicle continues to follow the original exit route. In one embodiment, if the change dynamics is congestion during the process of controlling the vehicle to exit the preset road segment along the exit path, the step of outputting the warning message further includes re-determining the exit path.
In one embodiment, in step S206, the step of obtaining the avoidance route according to the current position of the vehicle, the current traffic road condition, and the future traffic road condition includes:
if the current traffic road condition in the preset road section is a jam state or the future traffic road condition is a jam state, and the current position of a vehicle is not in the preset road section, detecting whether an evaded route exists at the current position of the vehicle;
and if the evasive route exists, re-planning the route so that the vehicle runs according to the evasive route. It is understood that the current location of the vehicle is not within the preset stretch, meaning that the vehicle has not encountered a jam. The avoidance route refers to a route which can avoid the traffic jam condition of a preset road section and enable a vehicle to reach a destination more quickly. It will be appreciated that when there are multiple choices for avoiding a route, the least time consuming route is preferred.
In one embodiment, if the current traffic road condition in the preset road section is a traffic jam state or the future traffic road condition is a traffic jam state, and the current position of the vehicle is not in the preset road section, a sound prompt message is sent to the driver.
It should be understood that although the various steps in the flow diagrams of fig. 2-3 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-3 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 4, there is provided a vehicle travel path planning apparatus including:
a current traffic road condition detection module 402, configured to detect a current traffic road condition in a preset road segment;
a future traffic road condition prediction module 404, configured to predict, according to the current traffic road condition, a future traffic road condition in the preset road segment after a preset time period;
and an avoidance route obtaining module 406, configured to obtain an avoidance route according to the current position of the vehicle, the current traffic road condition, and the future traffic road condition.
In one embodiment, the current traffic conditions detection module 402 includes:
the traffic flow density and running speed acquisition module is used for acquiring the traffic flow density and the traffic running speed in the preset road section;
and the traffic jam judging module is used for judging that the current traffic road condition of the preset road section is in a jam state if the traffic flow density is greater than a first threshold value and the traffic running speed is less than a second threshold value.
In one embodiment, the future traffic prediction module 404 includes:
the navigation route acquisition module is used for acquiring a navigation route of a vehicle;
and the future traffic road condition acquisition module is used for calculating the future traffic road condition of the preset road section in the navigation route after a preset time period is calculated according to the traffic flow density and the traffic running speed.
In one embodiment, the avoidance route obtaining module 406 includes:
the system comprises a traffic participant attribute information detection module, a traffic participant attribute information detection module and a traffic participant attribute information detection module, wherein the traffic participant attribute information detection module is used for detecting attribute information of traffic participants;
the travelable interval calculation module is used for calculating travelable intervals among the traffic participants according to the attribute information of the traffic participants;
and the vehicle route judging module is used for iteratively simulating the driving route of the vehicle according to the current position of the vehicle, the current traffic road condition, the future traffic road condition, the attribute information of the vehicle and the driving interval, and judging whether the vehicle can smoothly drive through.
In another embodiment, the avoidance route obtaining module 406 includes:
the avoidance route confirming module is used for detecting whether an avoidance route exists at the current position of the vehicle if the current traffic road condition in the preset road section is a congestion state or the future traffic road condition is a congestion state and the current position of the vehicle is not in the preset road section;
and the path planning module is used for re-planning the route to enable the vehicle to run according to the avoiding route if the avoiding route exists.
In one embodiment, the vehicle travel path planning apparatus further includes:
the dynamic monitoring module of the outgoing path is used for acquiring the change dynamic of the outgoing path;
and the warning information output module is used for outputting warning information if the change dynamics is congestion in the process of controlling the vehicle to exit the preset road section along the exit path.
For specific limitations of the vehicle travel path planning apparatus, reference may be made to the above limitations of the vehicle travel path planning method, which are not described herein again. All or part of the modules in the vehicle driving path planning device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 5. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing traffic path planning data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a vehicle travel path planning method.
Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
detecting the current traffic road condition in a preset road section;
predicting a future traffic road condition in the preset road section after a preset time period according to the current traffic road condition;
and obtaining the evasive route according to the current position of the vehicle, the current traffic road condition and the future traffic road condition.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring the traffic flow density and the traffic running speed in the preset road section;
and if the traffic flow density is greater than a first threshold value and the traffic running speed is less than a second threshold value, judging that the current traffic road condition of the preset road section is in a blocked state.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring a navigation route of a vehicle;
and calculating the future traffic road condition of the preset road section in the navigation route after a preset time period according to the traffic flow density and the traffic running speed.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
detecting attribute information of traffic participants;
calculating travelable intervals among the traffic participants according to the attribute information of the traffic participants;
and iteratively simulating the driving route of the vehicle according to the current position of the vehicle, the current traffic road condition, the future traffic road condition, the attribute information of the vehicle and the drivable interval, and judging whether the vehicle can smoothly drive through.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
if the current traffic road condition in the preset road section is a jam state or the future traffic road condition is a jam state, and the current position of a vehicle is not in the preset road section, detecting whether an evaded route exists at the current position of the vehicle;
and if the evasive route exists, re-planning the route so that the vehicle runs according to the evasive route.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
if the current traffic road condition is a blocked state and the current position of the vehicle is within the preset road section, detecting whether an exit path through which the vehicle can exit the preset road section exists within the preset road section;
and if the exit path exists, controlling the vehicle to exit the preset road section along the exit path.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
acquiring the change dynamics of the exit path;
and if the change dynamics is congestion in the process of controlling the vehicle to drive out of the preset road section along the driving-out path, outputting warning information.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
detecting the current traffic road condition in a preset road section;
predicting a future traffic road condition in the preset road section after a preset time period according to the current traffic road condition;
and obtaining the evasive route according to the current position of the vehicle, the current traffic road condition and the future traffic road condition.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring the traffic flow density and the traffic running speed in the preset road section;
and if the traffic flow density is greater than a first threshold value and the traffic running speed is less than a second threshold value, judging that the current traffic road condition of the preset road section is in a blocked state.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring a navigation route of a vehicle;
and calculating the future traffic road condition of the preset road section in the navigation route after a preset time period according to the traffic flow density and the traffic running speed.
In one embodiment, the computer program processor when executed further performs the steps of:
detecting attribute information of traffic participants;
calculating travelable intervals among the traffic participants according to the attribute information of the traffic participants;
and iteratively simulating the driving route of the vehicle according to the current position of the vehicle, the current traffic road condition, the future traffic road condition, the attribute information of the vehicle and the drivable interval, and judging whether the vehicle can smoothly drive through.
In one embodiment, the computer program processor when executed further performs the steps of:
if the current traffic road condition in the preset road section is a jam state or the future traffic road condition is a jam state, and the current position of a vehicle is not in the preset road section, detecting whether an evaded route exists at the current position of the vehicle;
and if the evasive route exists, re-planning the route so that the vehicle runs according to the evasive route.
In one embodiment, the computer program processor when executed further performs the steps of:
if the current traffic road condition is a blocked state and the current position of the vehicle is within the preset road section, detecting whether an exit path through which the vehicle can exit the preset road section exists within the preset road section;
and if the exit path exists, controlling the vehicle to exit the preset road section along the exit path.
In one embodiment, the computer program processor when executed further performs the steps of:
acquiring the change dynamics of the exit path;
and if the change dynamics is congestion in the process of controlling the vehicle to drive out of the preset road section along the driving-out path, outputting warning information.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of planning a path of travel for a vehicle, the method comprising:
detecting the current traffic road condition in a preset road section;
predicting a future traffic road condition in the preset road section after a preset time period according to the current traffic road condition;
obtaining an evasive route according to the current position of the vehicle, the current traffic road condition and the future traffic road condition, wherein the step of obtaining the evasive route according to the current position of the vehicle, the current traffic road condition and the future traffic road condition comprises the following steps:
detecting attribute information of traffic participants;
calculating travelable intervals among the traffic participants according to the attribute information of the traffic participants;
and iteratively simulating the driving route of the vehicle according to the current position of the vehicle, the current traffic road condition, the future traffic road condition, the attribute information of the vehicle and the drivable interval, and judging whether the vehicle can smoothly drive through.
2. The method of claim 1, wherein the step of detecting the current traffic conditions within the predetermined section comprises:
acquiring the traffic flow density and the traffic running speed in the preset road section;
and if the traffic flow density is greater than a first threshold value and the traffic running speed is less than a second threshold value, judging that the current traffic road condition of the preset road section is in a blocked state.
3. The method of claim 2, wherein the future traffic conditions include traffic conditions within a traffic driving range after a preset time period; the step of predicting the future traffic road condition in the preset road section according to the current traffic road condition comprises the following steps:
acquiring a navigation route of a vehicle;
and calculating the future traffic road condition of the preset road section in the navigation route after a preset time period according to the traffic flow density and the traffic running speed.
4. The method of claim 1, wherein the attribute information of the transportation participant and the attribute information of the vehicle comprise: the space occupation size, the geographic position, the speed and the acceleration.
5. The method according to any one of claims 1 to 3, wherein the step of obtaining an avoidance route according to the current position of the vehicle, the current traffic condition, and the future traffic condition comprises:
if the current traffic road condition in the preset road section is a jam state or the future traffic road condition is a jam state, and the current position of a vehicle is not in the preset road section, detecting whether an evaded route exists at the current position of the vehicle;
and if the evasive route exists, re-planning the route so that the vehicle runs according to the evasive route.
6. The method according to any one of claims 1 to 3, wherein the step of obtaining the avoidance route based on the current position of the vehicle, the current traffic condition, and the future traffic condition comprises:
if the current traffic road condition is a blocked state and the current position of the vehicle is within the preset road section, detecting whether an exit path through which the vehicle can exit the preset road section exists within the preset road section;
and if the exit path exists, controlling the vehicle to exit the preset road section along the exit path.
7. The method of claim 6, further comprising:
acquiring the change dynamics of the exit path;
and if the change dynamics is congestion in the process of controlling the vehicle to drive out of the preset road section along the driving-out path, outputting warning information.
8. A vehicle travel path planning apparatus, characterized in that the apparatus comprises:
the current traffic road condition detection module is used for detecting the current traffic road condition in a preset road section;
the future traffic road condition prediction module is used for predicting the future traffic road condition in the preset road section after a preset time period according to the current traffic road condition;
an avoidance route obtaining module, configured to obtain an avoidance route according to a current position of a vehicle, a current traffic road condition, and the future traffic road condition, where the step of obtaining the avoidance route according to the current position of the vehicle, the current traffic road condition, and the future traffic road condition includes:
detecting attribute information of traffic participants;
calculating travelable intervals among the traffic participants according to the attribute information of the traffic participants;
and iteratively simulating the driving route of the vehicle according to the current position of the vehicle, the current traffic road condition, the future traffic road condition, the attribute information of the vehicle and the drivable interval, and judging whether the vehicle can smoothly drive through.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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| CN112037518B (en) * | 2020-09-15 | 2022-03-25 | 浙江吉利控股集团有限公司 | Calculation method and system for predicting traffic state and vehicle |
| CN115457759A (en) * | 2022-07-22 | 2022-12-09 | 中智行(苏州)科技有限公司 | Road traffic real-time road condition information analysis system and method based on vehicle-road cooperation |
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