CN111561945A - Navigation path generation method and device based on Internet of vehicles - Google Patents
Navigation path generation method and device based on Internet of vehicles Download PDFInfo
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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
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
Abstract
The invention discloses a navigation path generation method and device based on the Internet of vehicles. When the scheme is applied, any parameter value of the environment parameter is further determined by acquiring the environment parameter of the geographic position to be navigated, and when any parameter value meets the preset road condition, the coordinate information of the geographic position is determined, and whether the area corresponding to the geographic position is the drivable road section is further determined. Further, when the vehicle driving density is larger than the preset driving density, determining the geographic position as a drivable road section, and generating a navigation path based on the geographic position; and when the vehicle running density is smaller than the preset running density, determining a rugged coefficient or a road turning coefficient of the geographic position, and regenerating a navigation path according to the rugged coefficient or the road turning coefficient and the vehicle state information. Therefore, the optimal navigation path can be selected for the user, meanwhile, the vehicle can be prevented from being damaged, and the experience and satisfaction of the user can be improved.
Description
Technical Field
The disclosure relates to the technical field of vehicle navigation, and in particular relates to a navigation path generation method and device based on a vehicle networking.
Background
With the improvement of living standard of people, driving and traveling become one of the best choices for most people to travel. With the continuous popularization and generalization of the internet of vehicles technology, the collection, transmission and storage of road network traffic information are more efficient and convenient, and most people go out and need to generate a plurality of selectable navigation paths through vehicle navigation. When a vehicle runs on a rugged road, the existing vehicle-mounted navigation cannot select the optimal navigation path according to the vehicle type, so that the vehicle is damaged, and meanwhile, the user experience is poor, the satisfaction degree is poor, and a lot of inconvenience is brought to the user.
Disclosure of Invention
In order to solve the technical problems in the related art, the present disclosure provides a navigation path generation method and apparatus based on the internet of vehicles.
The invention provides a navigation path generation method based on Internet of vehicles, which comprises the following steps:
acquiring an environmental parameter of a geographic position to be navigated, wherein the environmental parameter is used for representing a road section condition of the geographic position;
determining any parameter value of the environment parameter, wherein the environment parameter is a position coordinate, and the any parameter value represents any one of position width, rugged coefficient and road turning coefficient of the position coordinate;
when any parameter value meets the preset road condition, determining the coordinate information of the geographic position, and determining whether the area corresponding to the geographic position is a drivable road section according to the coordinate information;
wherein determining any parameter value of the environmental parameter comprises: acquiring at least one navigation path position coordinate from the environment parameters, wherein the navigation path position coordinate is two adjacent position coordinates in the environment parameters; determining historical parking track points of the vehicle at the position coordinates of each navigation path; determining any parameter value of the environment parameter according to the historical staying track points;
wherein determining whether the geographic location is a drivable segment comprises: acquiring the vehicle running density of the geographic position within a preset time; when the vehicle running density is larger than a preset running density, determining the geographic position as a travelable road section, and generating a navigation path based on the geographic position;
determining a bumpiness coefficient or a road turning coefficient of the geographic location when the vehicle driving density is less than a preset driving density; and regenerating a navigation path according to the rugged coefficient or the road turning coefficient and the vehicle state information.
In an alternative embodiment, the method determines whether the road condition is satisfied by any of the parameter values by:
extracting a plurality of first road condition keywords and road condition picture information corresponding to each first road condition keyword from the road condition;
screening a plurality of keywords matched with the first road condition keywords from the plurality of first road condition keywords to obtain a plurality of second road condition keywords, wherein the second road condition keywords are key characteristic values in a first navigation road condition thread in a plurality of navigation road condition threads, and the navigation road condition threads comprise a plurality of keyword information;
inputting the second road condition keywords and the keyword information into a preset road condition table to obtain a target road condition table corresponding to the preset road condition table;
and matching the similarity of any parameter value with the target road condition table, and determining whether any parameter value meets the road condition or not if the similarity between any parameter value and the target road condition table reaches a set value.
In an alternative embodiment, determining whether the area corresponding to the geographic location is a drivable segment according to the coordinate information specifically includes:
determining a road segment to be navigated corresponding to the navigation range of the geographic position and a distance to be navigated in the navigation range, wherein the distance to be navigated represents the distance length of the navigation range of the geographic position; the distance to be navigated at least comprises: a longest run length and a shortest run length representing a navigation range of the geographic location;
acquiring a road section map corresponding to the road section to be navigated, wherein the road section map comprises pre-extracted map identification information corresponding to the road section map, and the map identification information corresponding to the road section map represents the path length of a navigation range which is positioned in an image in the road section map and corresponds to the road section to be navigated;
and searching the road condition picture information matched with the geographic position in the road section map according to the coordinate information, the road section to be navigated and the road section to be navigated, and determining whether the area corresponding to the geographic position is a drivable road section according to the matching degree of the geographic position and the road condition picture information.
In an alternative embodiment, generating the navigation path based on the geographic location specifically includes:
correcting the position information of the geographic position to obtain corrected position information;
determining a target area corresponding to the corrected position information;
extracting an area road section list of the target area, and extracting a coordinate characteristic value based on the area road section list;
judging the distance between the coordinate characteristic value corresponding to the target area and the coordinate characteristic value of each road section in a preset road section information set; respectively judging whether the distance from the coordinate characteristic value to the regional road section list is equal to the distance from the coordinate characteristic value of each coordinate in a preset road section information set to the regional road section list;
if so, acquiring list node information of the area road section list corresponding to the coordinate characteristic value, taking the list node information as the list node information of the coordinate characteristic value, and generating a navigation path according to the list node information;
if not, keeping the list node information of the coordinate characteristic value unchanged; judging whether the coordinate characteristic value of the target area is matched with a preset coefficient value or not in the displacement deviation coefficient which is judged to occur; and if so, determining the coordinate characteristic value of the target area as the coordinate characteristic value corresponding to the target area meeting the generation condition, and generating the navigation path according to the coordinate characteristic value corresponding to the target area meeting the generation condition.
In an alternative embodiment, the regenerating a navigation path according to the bumpiness index or the road turning index and the vehicle state information specifically includes:
determining a vehicle running track according to the vehicle state information;
for a current driving trajectory of vehicles in the driving trajectories of vehicles, determining a ratio of coefficients of the current driving trajectory of vehicles on a rugged road and at a road turning point based on a set of rugged coefficients of the current driving trajectory of vehicles on the rugged road and the road turning coefficient of the driving trajectory of vehicles at the road turning point;
determining the change parameters of track points of the current driving track of the vehicle between the adjacent rugged road and the road turning points according to the coefficient proportion of the current driving track of the vehicle at the adjacent rugged road and the road turning points;
determining whether the current running track of the vehicle is an abnormally rugged road and a road turning point or not based on the change parameters of the track points;
if not, generating a navigation path according to the rugged coefficients corresponding to the rugged road, the road turning coefficients corresponding to the road turning points and the vehicle running track;
if yes, optimizing the navigation path according to the coefficient proportion of the current driving track of the vehicle on the adjacent rugged road and the road turning point, and the track point and the variation parameter of the driving track of the vehicle on the rugged road.
The invention also provides a navigation path generation device based on the Internet of vehicles, which comprises:
the navigation device comprises a parameter acquisition module, a navigation module and a navigation module, wherein the parameter acquisition module is used for acquiring an environment parameter of a geographic position to be navigated, and the environment parameter is used for representing a road section condition of the geographic position;
the system comprises a parameter value determining module, a road turning coefficient determining module and a road turning coefficient determining module, wherein the parameter value determining module is used for determining any parameter value of the environment parameter, the environment parameter is a position coordinate, and the any parameter value represents any one of the position width, the rugged coefficient and the road turning coefficient of the position coordinate;
the coordinate information determining module is used for determining the coordinate information of the geographic position when any parameter value meets the preset road condition, and determining whether the area corresponding to the geographic position is a drivable road section according to the coordinate information;
wherein determining any parameter value of the environmental parameter comprises: acquiring at least one navigation path position coordinate from the environment parameters, wherein the navigation path position coordinate is two adjacent position coordinates in the environment parameters; determining historical parking track points of the vehicle at the position coordinates of each navigation path; determining any parameter value of the environment parameter according to the historical staying track points;
wherein determining whether the geographic location is a drivable segment comprises: acquiring the vehicle running density of the geographic position within a preset time; when the vehicle running density is larger than a preset running density, determining the geographic position as a travelable road section, and generating a navigation path based on the geographic position;
the route generation module is used for determining a rugged coefficient or a road turning coefficient of the geographic position when the vehicle running density is smaller than a preset running density; and regenerating a navigation path according to the rugged coefficient or the road turning coefficient and the vehicle state information.
In an alternative embodiment, the coordinate information determination module is specifically configured to:
extracting a plurality of first road condition keywords and road condition picture information corresponding to each first road condition keyword from the road condition;
screening a plurality of keywords matched with the first road condition keywords from the plurality of first road condition keywords to obtain a plurality of second road condition keywords, wherein the second road condition keywords are key characteristic values in a first navigation road condition thread in a plurality of navigation road condition threads, and the navigation road condition threads comprise a plurality of keyword information;
inputting the second road condition keywords and the keyword information into a preset road condition table to obtain a target road condition table corresponding to the preset road condition table;
and matching the similarity of any parameter value with the target road condition table, and determining whether any parameter value meets the road condition or not if the similarity between any parameter value and the target road condition table reaches a set value.
In an alternative embodiment, the coordinate information determination module is further configured to:
determining a road segment to be navigated corresponding to the navigation range of the geographic position and a distance to be navigated in the navigation range, wherein the distance to be navigated represents the distance length of the navigation range of the geographic position; the distance to be navigated at least comprises: a longest run length and a shortest run length representing a navigation range of the geographic location;
acquiring a road section map corresponding to the road section to be navigated, wherein the road section map comprises pre-extracted map identification information corresponding to the road section map, and the map identification information corresponding to the road section map represents the path length of a navigation range which is positioned in an image in the road section map and corresponds to the road section to be navigated;
and searching the road condition picture information matched with the geographic position in the road section map according to the coordinate information, the road section to be navigated and the road section to be navigated, and determining whether the area corresponding to the geographic position is a drivable road section according to the matching degree of the geographic position and the road condition picture information.
In an alternative embodiment, the coordinate information determination module is further configured to:
correcting the position information of the geographic position to obtain corrected position information;
determining a target area corresponding to the corrected position information;
extracting an area road section list of the target area, and extracting a coordinate characteristic value based on the area road section list;
judging the distance between the coordinate characteristic value corresponding to the target area and the coordinate characteristic value of each road section in a preset road section information set; respectively judging whether the distance from the coordinate characteristic value to the regional road section list is equal to the distance from the coordinate characteristic value of each coordinate in a preset road section information set to the regional road section list;
if so, acquiring list node information of the area road section list corresponding to the coordinate characteristic value, taking the list node information as the list node information of the coordinate characteristic value, and generating a navigation path according to the list node information;
if not, keeping the list node information of the coordinate characteristic value unchanged; judging whether the coordinate characteristic value of the target area is matched with a preset coefficient value or not in the displacement deviation coefficient which is judged to occur; and if so, determining the coordinate characteristic value of the target area as the coordinate characteristic value corresponding to the target area meeting the generation condition, and generating the navigation path according to the coordinate characteristic value corresponding to the target area meeting the generation condition.
In an alternative embodiment, the path generating module is specifically configured to:
determining a vehicle running track according to the vehicle state information;
for a current driving trajectory of vehicles in the driving trajectories of vehicles, determining a ratio of coefficients of the current driving trajectory of vehicles on a rugged road and at a road turning point based on a set of rugged coefficients of the current driving trajectory of vehicles on the rugged road and the road turning coefficient of the driving trajectory of vehicles at the road turning point;
determining the change parameters of track points of the current driving track of the vehicle between the adjacent rugged road and the road turning points according to the coefficient proportion of the current driving track of the vehicle at the adjacent rugged road and the road turning points;
determining whether the current running track of the vehicle is an abnormally rugged road and a road turning point or not based on the change parameters of the track points;
if not, generating a navigation path according to the rugged coefficients corresponding to the rugged road, the road turning coefficients corresponding to the road turning points and the vehicle running track;
if yes, optimizing the navigation path according to the coefficient proportion of the current driving track of the vehicle on the adjacent rugged road and the road turning point, and the track point and the variation parameter of the driving track of the vehicle on the rugged road.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects.
The invention provides a navigation path generation method and device based on an internet of vehicles, wherein any parameter value of an environmental parameter is further determined by acquiring the environmental parameter of a geographic position to be navigated, when any parameter value meets a preset road condition, the coordinate information of the geographic position is determined, and whether an area corresponding to the geographic position is a drivable road section is further determined. Further, when the vehicle driving density is larger than the preset driving density, determining the geographic position as a drivable road section, and generating a navigation path based on the geographic position; and when the vehicle running density is smaller than the preset running density, determining a rugged coefficient or a road turning coefficient of the geographic position, and regenerating a navigation path according to the rugged coefficient or the road turning coefficient and the vehicle state information. Therefore, the optimal navigation path can be selected, meanwhile, the vehicle is prevented from being damaged, and the experience and satisfaction of a user are improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a flowchart of a navigation path generation method based on the internet of vehicles according to an embodiment of the present invention.
Fig. 2 is a block diagram of a navigation path generation device based on the internet of vehicles according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a hardware structure of a server 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 application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
Fig. 1 is a flowchart of a navigation path generation method based on internet of vehicles according to the present disclosure, which may include the following.
Step S110, obtaining an environmental parameter of a geographic position to be navigated, wherein the environmental parameter is used for representing a road section condition of the geographic position.
Step S120, determining any parameter value of the environment parameter, wherein the environment parameter is a position coordinate, and the any parameter value represents any one of the position width, the rugged coefficient and the road turning coefficient of the position coordinate.
Step S130, when any parameter value meets the preset road condition, determining the coordinate information of the geographic position, and determining whether the area corresponding to the geographic position is a drivable road section according to the coordinate information.
Wherein determining any parameter value of the environmental parameter comprises: acquiring at least one navigation path position coordinate from the environment parameters, wherein the navigation path position coordinate is two adjacent position coordinates in the environment parameters; determining historical parking track points of the vehicle at the position coordinates of each navigation path; and determining any parameter value of the environment parameter according to the historical staying track point.
Wherein determining whether the geographic location is a drivable segment comprises: acquiring the vehicle running density of the geographic position within a preset time; and when the vehicle driving density is greater than the preset driving density, determining the geographic position as a drivable road section, and generating a navigation path based on the geographic position.
Step S140, when the vehicle running density is smaller than a preset running density, determining a rugged coefficient or a road turning coefficient of the geographic position; and regenerating a navigation path according to the rugged coefficient or the road turning coefficient and the vehicle state information.
And executing steps S110-S140, further determining any parameter value of the environment parameter by acquiring the environment parameter of the geographic position to be navigated, determining the coordinate information of the geographic position when any parameter value meets the preset road condition, and further determining whether the area corresponding to the geographic position is a drivable road section. Further, when the vehicle driving density is larger than the preset driving density, determining the geographic position as a drivable road section, and generating a navigation path based on the geographic position; and when the vehicle running density is smaller than the preset running density, determining a rugged coefficient or a road turning coefficient of the geographic position, and regenerating a navigation path according to the rugged coefficient or the road turning coefficient and the vehicle state information. Therefore, the optimal navigation path can be selected, meanwhile, the vehicle is prevented from being damaged, and the experience and satisfaction of a user are improved.
In actual implementation, it is necessary to determine whether a vehicle can pass through the road section through experience and know the specific situation of the road section by driving the vehicle to the road section, so that the condition of the road section cannot be determined quickly and accurately. Therefore, in order to be able to determine the condition of the link quickly and accurately, the following sub-steps may be specifically included in step S130.
Step S1301, extracting a plurality of first road condition keywords and road condition picture information corresponding to each first road condition keyword from the road condition.
Step S1302, a plurality of keywords matched with the first road condition keywords are screened from the plurality of first road condition keywords, and a plurality of second road condition keywords are obtained, where the second road condition keywords are key feature values in a first navigation road condition thread in a plurality of navigation road condition threads, and the navigation road condition threads include a plurality of keyword information.
Step S1303, inputting the second road condition keywords and the keyword information into a preset road condition table, and obtaining a target road condition table corresponding to the preset road condition table.
Step S1304, performing similarity matching between the any parameter value and the target road condition table, and determining whether the any parameter value satisfies the road condition if the similarity between the any parameter value and the target road condition table reaches a set value.
By executing the above steps, the first road condition keyword and the road condition picture information corresponding to the first road condition keyword are extracted from the road condition, the second road condition keyword matched with the first road condition keyword is further screened out from the first road condition keyword, the second road condition keyword is input into a preset road condition table to obtain a target road condition table, similarity matching is further performed on any parameter value and the target road condition table, and if the similarity between any parameter value and the target road condition table reaches a set value, whether any parameter value meets the road condition or not can be determined. By the design, whether any parameter value meets the road condition can be judged quickly and accurately.
In practical implementation, the driver often cannot arrive at the destination on time due to road congestion or bumpy road, and in order to quickly determine whether the road is a drivable road section and ensure that the driver arrives at the destination on time, the following sub-steps may be specifically included in step S130.
Step S1305, determining a road segment to be navigated corresponding to the navigation range of the geographic position and a route to be navigated in the navigation range, where the route to be navigated represents a route length of the navigation range of the geographic position; the distance to be navigated at least comprises: a longest run length and a shortest run length of a navigation range representing the geographic location.
Step 1306, a road section map corresponding to the road section to be navigated is obtained, the road section map comprises map identification information corresponding to the road section map extracted in advance, and the map identification information corresponding to the road section map represents the path length of a navigation range which is located in an image in the road section map and corresponds to the road section to be navigated.
Step 1307, according to the coordinate information, the road section to be navigated and the route to be navigated, searching the road condition picture information matched with the geographic position in the road section map, and determining whether the area corresponding to the geographic position is a drivable road section according to the matching degree of the geographic position and the road condition picture information.
When the steps are executed, the road section to be navigated corresponding to the geographic position navigation range and the road section to be navigated in the navigation range are determined, the road section map is obtained according to the road section to be navigated and the road section to be navigated, and the road condition picture information matched with the geographic position is searched in the road section map. Therefore, whether the area corresponding to the geographic position is the drivable road section or not can be judged quickly, and the condition that the driver cannot arrive at the destination on time due to road problems can be avoided.
In practical implementation, when a certain destination point needs to be reached, a plurality of routes are generated by inputting a start point and an end point on the navigation software, so that an optimal navigation path cannot be provided for the driver, and in order to provide the optimal navigation path for the driver, the following sub-steps may be specifically included in step S130.
Step S1308, the location information of the geographic location is corrected, and the corrected location information is obtained.
Step S1309 determines a target area corresponding to the corrected position information.
In step S1310, an area link list of the target area is extracted, and coordinate feature value extraction is performed based on the area link list.
Step S1311, performing distance judgment on the coordinate characteristic value corresponding to the target area and the coordinate characteristic value of each road section in a preset road section information set; and respectively judging whether the distance from the coordinate characteristic value to the regional road section list is equal to the distance from the coordinate characteristic value of each coordinate in a preset road section information set to the regional road section list.
Step S1312, if yes, acquiring list node information of the area link list corresponding to the coordinate feature value, where the list node information is used as the list node information of the coordinate feature value, and generating a navigation path according to the list node information.
Step S1313, if not, keeping the list node information of the coordinate characteristic value unchanged; judging whether the coordinate characteristic value of the target area is matched with a preset coefficient value or not in the displacement deviation coefficient which is judged to occur; and if so, determining the coordinate characteristic value of the target area as the coordinate characteristic value corresponding to the target area meeting the generation condition, and generating the navigation path according to the coordinate characteristic value corresponding to the target area meeting the generation condition.
When the steps are executed, firstly, the position information of the geographic position is corrected, then a target area corresponding to the corrected position information is determined, finally, the distance between the coordinate characteristic value corresponding to the target area and the coordinate characteristic value of each road section in a preset road section information set is judged, if the distances are equal, list node information of a road section list of the area corresponding to the coordinate characteristic value is obtained, and a navigation path is generated according to the list node information; and if the distances are not equal, generating a navigation path by using the coordinate characteristic value corresponding to the target area meeting the generation condition. This can provide the driver with an optimal navigation path.
In practical implementation, in order to provide the navigation path for the driver in real time and efficiently, the following sub-steps may be specifically included in step S140.
Step 1401, determining a vehicle running track according to the vehicle state information.
Step S1402, for a current driving trajectory of the vehicle among the driving trajectories of the vehicle, determining a ratio of coefficients of the current driving trajectory of the vehicle on a rough road and at a road turning point based on a set of rough coefficients of the current driving trajectory of the vehicle on the rough road and a set of road turning coefficients of the driving trajectory of the vehicle at the road turning point.
Step S1403, determining a variation parameter of a track point of the current driving track of the vehicle between the adjacent rugged road and the road turning point according to a ratio of coefficients of the current driving track of the vehicle at the adjacent rugged road and the road turning point.
And step S1404, determining whether the current running track of the vehicle is an abnormally rugged road and a road turning point or not based on the variation parameters of the track points.
Step S1405, if not, generating a navigation path according to the rough coefficient corresponding to the rough road, the road turning coefficient corresponding to the road turning point and the vehicle running track.
And step S1406, if yes, optimizing the navigation path according to the coefficient proportion of the current running track of the vehicle running on the adjacent rugged road and the road turning point, and the track point and the variation parameter of the running track of the vehicle running on the rugged road.
When the steps are executed, determining a vehicle running track through vehicle state information, determining a coefficient proportion and a system change parameter for a set of a rugged coefficient of the vehicle running track running on a rugged road and a road turning coefficient of the vehicle running track running at a road turning point, determining whether the vehicle running track is an abnormally rugged road and a road turning point based on the change parameter of the track point, and if not, generating a navigation path according to the rugged coefficient, the turning coefficient and the vehicle running track; and if so, optimizing the navigation path according to the coefficient proportion, the track points and the variation parameters. Therefore, the accuracy of the current driving track of the vehicle can be improved, and the navigation path can be provided for the driver in real time and efficiently.
On the basis, please refer to fig. 2 in combination, the present invention provides a navigation path generation apparatus based on internet of vehicles, which may specifically include the following functional modules.
The parameter obtaining module 110 is configured to obtain an environmental parameter of a geographic location to be navigated, where the environmental parameter is used to represent a road section condition of the geographic location.
A parameter value determining module 120, configured to determine any parameter value of the environment parameter, where the environment parameter is a position coordinate, and the any parameter value represents any one of a position width, a bumpiness coefficient, and a road turning coefficient of the position coordinate.
A coordinate information determining module 130, configured to determine, when any of the parameter values meets a preset road condition, coordinate information of the geographic position, and determine, according to the coordinate information, whether an area corresponding to the geographic position is a drivable road segment.
Wherein determining any parameter value of the environmental parameter comprises: acquiring at least one navigation path position coordinate from the environment parameters, wherein the navigation path position coordinate is two adjacent position coordinates in the environment parameters; determining historical parking track points of the vehicle at the position coordinates of each navigation path; and determining any parameter value of the environment parameter according to the historical staying track point.
Wherein determining whether the geographic location is a drivable segment comprises: acquiring the vehicle running density of the geographic position within a preset time; and when the vehicle driving density is greater than the preset driving density, determining the geographic position as a drivable road section, and generating a navigation path based on the geographic position.
A path generation module 140, configured to determine a bumpiness coefficient or a road turning coefficient of the geographic location when the vehicle driving density is less than a preset driving density; and regenerating a navigation path according to the rugged coefficient or the road turning coefficient and the vehicle state information.
In an alternative embodiment, the coordinate information determining module 130 is specifically configured to:
and extracting a plurality of first road condition keywords and road condition picture information corresponding to each first road condition keyword from the road condition.
And screening a plurality of keywords matched with the first road condition keywords from the plurality of first road condition keywords to obtain a plurality of second road condition keywords, wherein the second road condition keywords are key characteristic values in a first navigation road condition thread in a plurality of navigation road condition threads, and the navigation road condition threads comprise a plurality of keyword information.
And inputting the second road condition keywords and the keyword information into a preset road condition table to obtain a target road condition table corresponding to the preset road condition table.
And matching the similarity of any parameter value with the target road condition table, and determining whether any parameter value meets the road condition or not if the similarity between any parameter value and the target road condition table reaches a set value.
In an alternative embodiment, the coordinate information determination module 130 is further configured to:
determining a road segment to be navigated corresponding to the navigation range of the geographic position and a distance to be navigated in the navigation range, wherein the distance to be navigated represents the distance length of the navigation range of the geographic position; the distance to be navigated at least comprises: a longest run length and a shortest run length of a navigation range representing the geographic location.
And acquiring a road section map corresponding to the road section to be navigated, wherein the road section map comprises map identification information corresponding to the road section map extracted in advance, and the map identification information corresponding to the road section map represents the path length of a navigation range which is positioned in the image in the road section map and corresponds to the road section to be navigated.
And searching the road condition picture information matched with the geographic position in the road section map according to the coordinate information, the road section to be navigated and the road section to be navigated, and determining whether the area corresponding to the geographic position is a drivable road section according to the matching degree of the geographic position and the road condition picture information.
In an alternative embodiment, the coordinate information determination module 130 is further configured to:
and correcting the position information of the geographic position to obtain corrected position information.
And determining a target area corresponding to the corrected position information.
And extracting an area road section list of the target area, and extracting a coordinate characteristic value based on the area road section list.
Judging the distance between the coordinate characteristic value corresponding to the target area and the coordinate characteristic value of each road section in a preset road section information set; and respectively judging whether the distance from the coordinate characteristic value to the regional road section list is equal to the distance from the coordinate characteristic value of each coordinate in a preset road section information set to the regional road section list.
If so, acquiring list node information of the area road section list corresponding to the coordinate characteristic value, taking the list node information as the list node information of the coordinate characteristic value, and generating a navigation path according to the list node information.
If not, keeping the list node information of the coordinate characteristic value unchanged; judging whether the coordinate characteristic value of the target area is matched with a preset coefficient value or not in the displacement deviation coefficient which is judged to occur; and if so, determining the coordinate characteristic value of the target area as the coordinate characteristic value corresponding to the target area meeting the generation condition, and generating the navigation path according to the coordinate characteristic value corresponding to the target area meeting the generation condition.
In an alternative embodiment, the path generating module 140 is specifically configured to:
and determining the vehicle running track according to the vehicle state information.
For a current driving trajectory of vehicles in the driving trajectories of vehicles, determining a ratio of coefficients of the current driving trajectory of vehicles on a rugged road and at a road turning point based on a set of rugged coefficients of the current driving trajectory of vehicles on the rugged road and the road turning coefficient of the driving trajectory of vehicles at the road turning point.
And determining the change parameters of the track points of the current driving track of the vehicle between the adjacent rugged roads and the road turning points according to the coefficient proportion of the current driving track of the vehicle at the adjacent rugged roads and the road turning points.
And determining whether the current running track of the vehicle is an abnormally rugged road and a road turning point or not based on the change parameters of the track points.
And if not, generating a navigation path according to the rugged coefficients corresponding to the rugged road, the road turning coefficients corresponding to the road turning points and the vehicle running track.
If yes, optimizing the navigation path according to the coefficient proportion of the current driving track of the vehicle on the adjacent rugged road and the road turning point, and the track point and the variation parameter of the driving track of the vehicle on the rugged road.
On the basis of the above, please refer to fig. 3 in combination, which provides a server 200, including a processor 211, a memory 212 and a bus 213 connected to the processor 211; wherein, the processor 211 and the memory 212 complete the communication with each other through the bus 213; the processor 211 is configured to call the program instructions in the memory 212 to execute the above-mentioned method.
Further, a readable storage medium is provided, on which a program is stored, which when executed by a processor implements the method described above.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (10)
1. A navigation path generation method based on Internet of vehicles is characterized by comprising the following steps:
acquiring an environmental parameter of a geographic position to be navigated, wherein the environmental parameter is used for representing a road section condition of the geographic position;
determining any parameter value of the environment parameter, wherein the environment parameter is a position coordinate, and the any parameter value represents any one of position width, rugged coefficient and road turning coefficient of the position coordinate;
when any parameter value meets the preset road condition, determining the coordinate information of the geographic position, and determining whether the area corresponding to the geographic position is a drivable road section according to the coordinate information;
wherein determining any parameter value of the environmental parameter comprises: acquiring at least one navigation path position coordinate from the environment parameters, wherein the navigation path position coordinate is two adjacent position coordinates in the environment parameters; determining historical parking track points of the vehicle at the position coordinates of each navigation path; determining any parameter value of the environment parameter according to the historical staying track points;
wherein determining whether the geographic location is a drivable segment comprises: acquiring the vehicle running density of the geographic position within a preset time; when the vehicle running density is larger than a preset running density, determining the geographic position as a travelable road section, and generating a navigation path based on the geographic position;
determining a bumpiness coefficient or a road turning coefficient of the geographic location when the vehicle driving density is less than a preset driving density; and regenerating a navigation path according to the rugged coefficient or the road turning coefficient and the vehicle state information.
2. The method as claimed in claim 1, wherein the method determines whether any parameter value satisfies the road condition by:
extracting a plurality of first road condition keywords and road condition picture information corresponding to each first road condition keyword from the road condition;
screening a plurality of keywords matched with the first road condition keywords from the plurality of first road condition keywords to obtain a plurality of second road condition keywords, wherein the second road condition keywords are key characteristic values in a first navigation road condition thread in a plurality of navigation road condition threads, and the navigation road condition threads comprise a plurality of keyword information;
inputting the second road condition keywords and the keyword information into a preset road condition table to obtain a target road condition table corresponding to the preset road condition table;
and matching the similarity of any parameter value with the target road condition table, and determining whether any parameter value meets the road condition or not if the similarity between any parameter value and the target road condition table reaches a set value.
3. The method as claimed in claim 1, wherein determining whether the area corresponding to the geographic location is a drivable segment according to the coordinate information specifically includes:
determining a road segment to be navigated corresponding to the navigation range of the geographic position and a distance to be navigated in the navigation range, wherein the distance to be navigated represents the distance length of the navigation range of the geographic position; the distance to be navigated at least comprises: a longest run length and a shortest run length representing a navigation range of the geographic location;
acquiring a road section map corresponding to the road section to be navigated, wherein the road section map comprises pre-extracted map identification information corresponding to the road section map, and the map identification information corresponding to the road section map represents the path length of a navigation range which is positioned in an image in the road section map and corresponds to the road section to be navigated;
and searching the road condition picture information matched with the geographic position in the road section map according to the coordinate information, the road section to be navigated and the road section to be navigated, and determining whether the area corresponding to the geographic position is a drivable road section according to the matching degree of the geographic position and the road condition picture information.
4. The method for generating a navigation path based on the internet of vehicles according to claim 1, wherein generating a navigation path based on the geographic location specifically comprises:
correcting the position information of the geographic position to obtain corrected position information;
determining a target area corresponding to the corrected position information;
extracting an area road section list of the target area, and extracting a coordinate characteristic value based on the area road section list;
judging the distance between the coordinate characteristic value corresponding to the target area and the coordinate characteristic value of each road section in a preset road section information set; respectively judging whether the distance from the coordinate characteristic value to the regional road section list is equal to the distance from the coordinate characteristic value of each coordinate in a preset road section information set to the regional road section list;
if so, acquiring list node information of the area road section list corresponding to the coordinate characteristic value, taking the list node information as the list node information of the coordinate characteristic value, and generating a navigation path according to the list node information;
if not, keeping the list node information of the coordinate characteristic value unchanged; judging whether the coordinate characteristic value of the target area is matched with a preset coefficient value or not in the displacement deviation coefficient which is judged to occur; and if so, determining the coordinate characteristic value of the target area as the coordinate characteristic value corresponding to the target area meeting the generation condition, and generating the navigation path according to the coordinate characteristic value corresponding to the target area meeting the generation condition.
5. The method as claimed in claim 1, wherein the step of regenerating the navigation path according to the bumpiness coefficient or the road turning coefficient and the vehicle status information comprises:
determining a vehicle running track according to the vehicle state information;
for a current driving trajectory of vehicles in the driving trajectories of vehicles, determining a ratio of coefficients of the current driving trajectory of vehicles on a rugged road and at a road turning point based on a set of rugged coefficients of the current driving trajectory of vehicles on the rugged road and the road turning coefficient of the driving trajectory of vehicles at the road turning point;
determining the change parameters of track points of the current driving track of the vehicle between the adjacent rugged road and the road turning points according to the coefficient proportion of the current driving track of the vehicle at the adjacent rugged road and the road turning points;
determining whether the current running track of the vehicle is an abnormally rugged road and a road turning point or not based on the change parameters of the track points;
if not, generating a navigation path according to the rugged coefficients corresponding to the rugged road, the road turning coefficients corresponding to the road turning points and the vehicle running track;
if yes, optimizing the navigation path according to the coefficient proportion of the current driving track of the vehicle on the adjacent rugged road and the road turning point, and the track point and the variation parameter of the driving track of the vehicle on the rugged road.
6. An internet-of-vehicles based navigation path generation apparatus, the apparatus comprising:
the navigation device comprises a parameter acquisition module, a navigation module and a navigation module, wherein the parameter acquisition module is used for acquiring an environment parameter of a geographic position to be navigated, and the environment parameter is used for representing a road section condition of the geographic position;
the system comprises a parameter value determining module, a road turning coefficient determining module and a road turning coefficient determining module, wherein the parameter value determining module is used for determining any parameter value of the environment parameter, the environment parameter is a position coordinate, and the any parameter value represents any one of the position width, the rugged coefficient and the road turning coefficient of the position coordinate;
the coordinate information determining module is used for determining the coordinate information of the geographic position when any parameter value meets the preset road condition, and determining whether the area corresponding to the geographic position is a drivable road section according to the coordinate information;
wherein determining any parameter value of the environmental parameter comprises: acquiring at least one navigation path position coordinate from the environment parameters, wherein the navigation path position coordinate is two adjacent position coordinates in the environment parameters; determining historical parking track points of the vehicle at the position coordinates of each navigation path; determining any parameter value of the environment parameter according to the historical staying track points;
wherein determining whether the geographic location is a drivable segment comprises: acquiring the vehicle running density of the geographic position within a preset time; when the vehicle running density is larger than a preset running density, determining the geographic position as a travelable road section, and generating a navigation path based on the geographic position;
the route generation module is used for determining a rugged coefficient or a road turning coefficient of the geographic position when the vehicle running density is smaller than a preset running density; and regenerating a navigation path according to the rugged coefficient or the road turning coefficient and the vehicle state information.
7. The navigation path generation device based on the internet of vehicles according to claim 6, wherein the coordinate information determination module is specifically configured to:
extracting a plurality of first road condition keywords and road condition picture information corresponding to each first road condition keyword from the road condition;
screening a plurality of keywords matched with the first road condition keywords from the plurality of first road condition keywords to obtain a plurality of second road condition keywords, wherein the second road condition keywords are key characteristic values in a first navigation road condition thread in a plurality of navigation road condition threads, and the navigation road condition threads comprise a plurality of keyword information;
inputting the second road condition keywords and the keyword information into a preset road condition table to obtain a target road condition table corresponding to the preset road condition table;
and matching the similarity of any parameter value with the target road condition table, and determining whether any parameter value meets the road condition or not if the similarity between any parameter value and the target road condition table reaches a set value.
8. The internet-of-vehicles-based navigation path generation device of claim 6, wherein the coordinate information determination module is further configured to:
determining a road segment to be navigated corresponding to the navigation range of the geographic position and a distance to be navigated in the navigation range, wherein the distance to be navigated represents the distance length of the navigation range of the geographic position; the distance to be navigated at least comprises: a longest run length and a shortest run length representing a navigation range of the geographic location;
acquiring a road section map corresponding to the road section to be navigated, wherein the road section map comprises pre-extracted map identification information corresponding to the road section map, and the map identification information corresponding to the road section map represents the path length of a navigation range which is positioned in an image in the road section map and corresponds to the road section to be navigated;
and searching the road condition picture information matched with the geographic position in the road section map according to the coordinate information, the road section to be navigated and the road section to be navigated, and determining whether the area corresponding to the geographic position is a drivable road section according to the matching degree of the geographic position and the road condition picture information.
9. The internet-of-vehicles based navigation path generation apparatus of claim 6, wherein the coordinate information determination module is further configured to:
correcting the position information of the geographic position to obtain corrected position information;
determining a target area corresponding to the corrected position information;
extracting an area road section list of the target area, and extracting a coordinate characteristic value based on the area road section list;
judging the distance between the coordinate characteristic value corresponding to the target area and the coordinate characteristic value of each road section in a preset road section information set; respectively judging whether the distance from the coordinate characteristic value to the regional road section list is equal to the distance from the coordinate characteristic value of each coordinate in a preset road section information set to the regional road section list;
if so, acquiring list node information of the area road section list corresponding to the coordinate characteristic value, taking the list node information as the list node information of the coordinate characteristic value, and generating a navigation path according to the list node information;
if not, keeping the list node information of the coordinate characteristic value unchanged; judging whether the coordinate characteristic value of the target area is matched with a preset coefficient value or not in the displacement deviation coefficient which is judged to occur; and if so, determining the coordinate characteristic value of the target area as the coordinate characteristic value corresponding to the target area meeting the generation condition, and generating the navigation path according to the coordinate characteristic value corresponding to the target area meeting the generation condition.
10. The navigation path generation device based on the internet of vehicles according to claim 6, wherein the path generation module is specifically configured to:
determining a vehicle running track according to the vehicle state information;
for a current driving trajectory of vehicles in the driving trajectories of vehicles, determining a ratio of coefficients of the current driving trajectory of vehicles on a rugged road and at a road turning point based on a set of rugged coefficients of the current driving trajectory of vehicles on the rugged road and the road turning coefficient of the driving trajectory of vehicles at the road turning point;
determining the change parameters of track points of the current driving track of the vehicle between the adjacent rugged road and the road turning points according to the coefficient proportion of the current driving track of the vehicle at the adjacent rugged road and the road turning points;
determining whether the current running track of the vehicle is an abnormally rugged road and a road turning point or not based on the change parameters of the track points;
if not, generating a navigation path according to the rugged coefficients corresponding to the rugged road, the road turning coefficients corresponding to the road turning points and the vehicle running track;
if yes, optimizing the navigation path according to the coefficient proportion of the current driving track of the vehicle on the adjacent rugged road and the road turning point, and the track point and the variation parameter of the driving track of the vehicle on the rugged road.
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