CN112923941B

CN112923941B - Route planning method, data mining method, corresponding device and electronic equipment

Info

Publication number: CN112923941B
Application number: CN202110083889.4A
Authority: CN
Inventors: 吴雨佳; 黄炜; 赖鸿祥
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2021-01-21
Filing date: 2021-01-21
Publication date: 2022-02-25
Anticipated expiration: 2041-01-21
Also published as: CN112923941A

Abstract

The application provides a route planning method, a data mining method, a corresponding device and electronic equipment, when the route planning method includes turning around and driving a target route crossing a passing road section in a driving route, by determining the minimum number of times of doubling required in the passing road section and acquiring the length of the passing road section in the corresponding lane direction of the passing road section, the minimum length required by crossing the passing road section can be determined according to the set single doubling length of the road section required to be driven by each doubling corresponding to the lane direction and the minimum doubling times, when the length of the passing road section is less than the minimum length, the target route is determined as the impassable route, whether the target route has the condition of difficult merging or not is automatically excavated, the method is convenient to avoid in the process of planning the route by using the map, and avoids the condition that the user breaks rules and merges or cannot complete the merging to miss the target lane.

Description

Route planning method, data mining method, corresponding device and electronic equipment

Technical Field

The present application relates to the field of computer technologies, and in particular, to a route planning method, a data mining method, a corresponding apparatus, and an electronic device.

Background

With the rapid development of computer technology and mobile internet technology, map navigation has become an important auxiliary tool for daily travel, and the map navigation generally has the functions of positioning, route planning, navigation and the like, and can bring much convenience to users.

In real life, a user sometimes encounters a situation as shown in fig. 1 when driving a trip: the vehicle enters a road section 2 after turning around after driving to an intersection on a road section (link)1, and enters a road section 3 after passing through the road section 2 and turning right. It can be seen that driving through the road segment 2 often requires crossing multiple lanes. If the distance of the road section 2 is short, the user is difficult to finish multiple times of doubling to reach the right-turn lane, so that the user is easy to have a violation risk of continuous doubling when driving according to the navigation route, or the doubling cannot be finished on the premise of complying with the intersection rule, and the user misses the target lane.

However, the existing map navigation tools do not provide a technical scheme for automatically solving the above problems, and the existing map navigation tools need to perform manual indoor street view evaluation or manual field evaluation to judge whether the above situations exist one by one so as to avoid the situations. The manual operation has the disadvantages of high cost, low efficiency, long update period and the like, and if the problem cannot be timely and effectively found and solved, the user experience is seriously influenced.

Disclosure of Invention

In order to overcome the above technical problems or at least partially solve the above technical problems, the following technical solutions are proposed:

in a first aspect, the present application provides a route planning method, including:

when the driving route comprises a target route which turns around and crosses a passing road section, determining the minimum number of times of merging required in the passing road section, and acquiring the length of the passing road section in the lane direction corresponding to the passing road section;

determining the minimum length required by crossing the passing road section according to the set single doubling length of the road section required to be driven by each doubling corresponding to the lane direction and the minimum doubling times;

and when the length of the passing road section is less than the minimum length, determining the target route as the impassable route.

In an alternative implementation manner, when the target route includes a route section exiting from the exit intersection and the exit intersection has a traffic light, determining a minimum length required for completing the doubling according to a set single doubling length corresponding to a lane direction of a road section required to be driven in each doubling and a minimum doubling time, including:

acquiring the length of a solid line of an intersection corresponding to the exit intersection;

and determining the minimum length required by crossing the passing road section according to the single doubling length, the minimum doubling times and the length of the solid line of the intersection.

In an alternative implementation, determining the minimum number of doubling times required in routing a road segment includes:

acquiring an exit lane where exit lane guide information closest to an entering side of a passing road section is located;

determining a default driving lane of the driving passing road section after turning around;

and determining the difference value of the number of the lanes between the exit lane and the default entrance lane as the minimum number of the doubling times.

In an alternative implementation manner, determining a default driving lane of the driving-in passing road section after turning around includes at least one of the following:

when the total number of the lanes of the passing road section is equal to the number of the passing lanes to be crossed by the passing road section, determining a second lane on the driving side of the passing road section as a default driving lane;

and when the total number of the lanes is greater than the number of the passing lanes, determining the number of redundant lanes of which the total number of the lanes is greater than the number of the passing lanes, and determining the number of the redundant lanes of which the second lane is far away from the passing road section and drives to the side as the default driving lane.

In an optional implementation manner, obtaining the intersection solid line length corresponding to the exit intersection includes:

determining the lane grade of the passing road section;

and acquiring the intersection solid line length corresponding to the lane grade as the intersection solid line length corresponding to the exit intersection.

In an alternative implementation, the lane grade of the route section includes at least one of: the highway, national level trunk road, provincial level trunk road, county level trunk road, country road and village road, city highway, city expressway, city main road, city secondary road, city branch road.

In an optional implementation manner, before determining the minimum length required for crossing the route section according to the set single merging length of the road section required to be driven for each merging and the corresponding lane direction and the minimum merging times, the method further includes:

setting the single doubling length by at least one of:

and drawing summary information, drawing historical driving tracks, drawing street view image recognition results and drawing real-time calculation results.

In an alternative implementation, the intersection solid line length is determined by at least one of:

and the solid lines summarize summary information, solid line historical driving tracks, solid line street view image recognition results and solid line field measurement and calculation results.

In an alternative implementation, determining a default entry lane of the drive-in pass-through road segment after the U-turn includes:

determining a default driving lane of the driving-in passing road section after turning around by at least one of the following steps:

the lane induction summary information, the historical driving track of the lane, the lane street view image recognition result and the lane field measurement result.

In an optional implementation manner, before acquiring the exit lane where the exit lane guidance information closest to the driving side of the passing road segment is located, the method further includes:

and when a lane guide information-free lane with empty lane guide information exists in part of the passing road section, determining the lane guide information of each lane without lane guide information according to the lane guide information of the lane guide information-containing lane.

In an alternative implementation, determining lane guidance information for each lane without lane guidance information based on lane guidance information for lanes with lane guidance information includes at least one of:

when the lane guide information-free lane is a middle lane, taking the lane guide information of the nearest left and right lane guide information-containing lanes as the lane guide information of the lane guide information-free lane;

when the lane guide information-free lane is the leftmost lane, taking the lane guide information of the nearest right lane guide information-free lane and the lane guide information of the counterclockwise directions as the lane guide information of the lane guide information-free lane;

and when the lane guide information-free lane is the rightmost lane, taking the lane guide information of the nearest left lane guide information-containing lane and the lane guide information of the lane in each clockwise direction as the lane guide information of the lane guide information-free lane.

In a second aspect, the present application provides a data mining method, including:

acquiring each target route, wherein the target route is a route which turns around and runs across the passing road sections;

determining whether each target route is an impassable route or not by using a route planning method provided in the first aspect of the present application or any optional implementation manner of the first aspect;

and obtaining a data mining result according to each target route determined as the impassable route.

In an alternative implementation, obtaining each target route includes:

obtaining each candidate target route;

filtering each candidate target route to obtain each target route by at least one of:

whether the number of lanes on the passing road section is greater than a first threshold value or not;

road grade of the passing road section;

whether the turn-around intersection and the exit intersection are correctly identified or not;

whether the target route is a vehicle guide route;

whether the number of lanes on the road section before turning around is less than a second threshold value;

a turning position;

whether the U-turn intersection is a continuous ramp U-turn intersection or not;

whether the lane guide information of each lane of the passing road section is empty or not.

In a third aspect, the present application provides a route planning apparatus, comprising:

the determining and obtaining module is used for determining the minimum merging times required in the passing road section and obtaining the length of the passing road section in the lane direction corresponding to the passing road section when the driving route comprises a target route which turns around and crosses the passing road section;

the calculation module is used for determining the minimum length required by crossing the passing road section according to the set single doubling length of the road section required to be driven by each doubling corresponding to the lane direction and the minimum doubling times;

and the judging module is used for determining the target route as the impassable route when the length of the passing road section is less than the minimum length.

In an alternative implementation manner, when the target route includes a route segment exiting from the exit intersection, and there is a traffic light at the exit intersection, the calculation module is specifically configured to, when determining the minimum length required for completing the merging according to the set single merging length of the lane direction corresponding to the segment to be traveled in each merging and the minimum merging time, determine:

In an alternative implementation manner, the determining and acquiring module, when configured to determine the minimum number of times of merging required in the route section, is specifically configured to:

In an optional implementation manner, when the determining and acquiring module is used to determine the default driving lane of the driving-in passing road segment after turning around, the determining and acquiring module is specifically used to at least one of:

In an optional implementation manner, when the determining and acquiring module is used to acquire the length of the intersection solid line corresponding to the exit intersection, the determining and acquiring module is specifically configured to:

determining the lane grade of the passing road section;

In an alternative implementation manner, the calculation module is further configured to, before determining the minimum length required for crossing the route section according to the set single merging length of the road section required to be traveled for each merging and the minimum merging time, according to the set single merging length corresponding to the lane direction of the road section and the minimum merging time:

setting the single doubling length by at least one of:

In an optional implementation manner, when the determining and acquiring module is configured to determine that the vehicle enters the default entering lane of the passing road segment after turning around, the determining and acquiring module is specifically configured to:

In an alternative implementation, the determining and obtaining module, before the exit lane for obtaining the exit lane guidance information closest to the entering side of the passing road segment, is further configured to:

In an optional implementation manner, the determining and acquiring module is specifically configured to, when determining lane guidance information of each lane without lane guidance information according to lane guidance information of lanes with lane guidance information, at least one of the following:

In a fourth aspect, the present application provides a data mining device, comprising:

the acquisition module is used for acquiring each target route, and the target route is a route which turns around and runs across the passing road sections;

a determining module, configured to determine whether each target route is an impassable route by using a route planning method provided in the first aspect of the present application or any optional implementation manner of the first aspect;

and the mining module is used for obtaining a data mining result according to each target route determined as the impassable route.

In an optional implementation manner, when the obtaining module is configured to obtain each target route, the obtaining module is specifically configured to:

obtaining each candidate target route;

road grade of the passing road section;

whether the target route is a vehicle guide route;

a turning position;

In a fifth aspect, an embodiment of the present application provides an electronic device, including:

a processor and a memory, the memory storing a computer program that is loaded and executed by the processor to implement the method as shown in the first aspect of the embodiments of the present application or any alternative implementation of the first aspect.

In a sixth aspect, an embodiment of the present application provides an electronic device, including:

a processor and a memory, the memory storing a computer program that is loaded and executed by the processor to implement the method as shown in the second aspect of the embodiments of the present application or any alternative implementation of the second aspect.

In a seventh aspect, an embodiment of the present application provides a computer-readable storage medium for storing a computer program, which, when run on a computer, causes the computer to execute the method as shown in the first aspect of the embodiment of the present application or any optional implementation manner of the first aspect.

In an eighth aspect, the present application provides a computer-readable storage medium for storing a computer program which, when run on a computer, causes the computer to perform a method as shown in the second aspect of the present application or any alternative implementation of the second aspect.

According to the route planning method, the data mining method, the corresponding device and the electronic equipment, when a driving route comprises a target route which turns around and runs across a passing road section, the minimum merging time required in the passing road section is determined, the length of the passing road section in the lane direction corresponding to the passing road section is obtained, the minimum length required for crossing the passing road section can be determined according to the set single merging length in the lane direction corresponding to the road section required to be run for each merging and the minimum merging time, when the length of the passing road section is smaller than the minimum length, the target route is determined to be an impassable route, whether the target route is difficult to merge is automatically excavated, so that the situation that the target route is avoided in the route planning process, and the target lane is missed due to the fact that a user breaks through the merging or cannot complete the merging is avoided.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments of the present application will be briefly described below.

FIG. 1 is a schematic diagram of a target route provided by an embodiment of the present application;

fig. 2 is a schematic flow chart of a route planning method according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a re-planned route according to an embodiment of the present application;

FIG. 4 is a schematic diagram of determining the number of times of merging provided by an embodiment of the present application;

FIG. 5 is a schematic diagram of another determination of the number of times of merging provided by an embodiment of the present application;

FIG. 6 is a schematic diagram of a determined length provided by an embodiment of the present application;

FIG. 7 is a schematic illustration of another determined length provided by an embodiment of the present application;

fig. 8 is a schematic flowchart of a data mining method according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of a route planning device according to an embodiment of the present application;

fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.

As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.

In order to better explain the solutions provided by the embodiments of the present application, the following briefly introduces and explains the technical terms involved in the embodiments of the present application.

(1) Entering a link: the first link of a complete traffic route, for example for the route in fig. 1, the entry link is the route section traveled before the turn, i.e. route section 1 in fig. 1.

(2) And exiting the link: the last link of a complete set of traffic paths, for example for the driving route in fig. 1, the exit link is the section driven after the right turn, i.e. section 3 in fig. 1.

(3) The route link: links in a complete traffic path, except for the first and last links, for example, for the driving route in fig. 1, the passing link is a road segment which is driven after the turn and before the right turn, i.e., the road segment 2 in fig. 1. In practical application, a link passing through may be 1 link or multiple links.

(4) Turn-around/turn-around intersections: the intersection with the turning road traffic sign and the road traffic marking (for convenience of description, hereinafter simply referred to as the sign and the marking) or the intersection with the left-turn sign and the marking and without the turning prohibition sign is the intersection between the entering link and the passing link in the embodiment of the application.

(5) Exit/exit junction: the intersection having the exit sign and the marking line, for example, when the exit intersection is a right turn intersection/a right turn intersection, that is, the intersection having the right turn sign and the marking line, in the embodiment of the present application, the exit intersection is an intersection between a passing link and an exiting link.

(6) And (3) doubling: the behavior of the vehicle traveling from the current lane of travel to the adjacent lane.

(7) Long solid line: crossing the borderline of the co-directional lane is prohibited.

(8) The number of lanes: the number of lanes in the corresponding link in the traffic direction.

(9) Vehicle information: also referred to as lane guidance information, refers to white arrows on the road that express straight running or turning, for example, indicated by black solid arrows on the road in fig. 1, including straight running arrows, left-turning arrows, right-turning arrows, and the like.

(10) And (3) false node: there are and only two nodes where the links meet, such as straight nodes that are erroneously identified as a u-turn node or a right-turn node.

(11) Multiple link cross-regulations: in actual driving, the driven vehicle cannot complete the merging and enter the target lane on the premise of complying with the intersection rule. That is, the vehicle cannot pass through linkA, linkB (B may be 1 or more links), and reach linkC, for example, in fig. 1, after turning around from road segment 1 and entering road segment 2, it is difficult to complete multiple doubling on road segment 2 and reach road segment 3 by turning right, which may cause a violation risk that a user may easily perform continuous doubling when traveling according to a navigation route, or may fail to complete doubling on the premise of complying with a crossing rule, thereby missing a target lane. The embodiment of the application also aims to excavate the multi-link intersection rule so as to facilitate avoidance.

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

An embodiment of the present application provides a route planning method, as shown in fig. 2, the method includes:

step S201: when the driving route comprises a target route which turns around and crosses a passing road section, determining the minimum number of times of merging required in the passing road section, and acquiring the length of the passing road section in the lane direction corresponding to the passing road section;

step S202: determining the minimum length required by crossing the passing road section according to the set single doubling length of the road section required to be driven by each doubling corresponding to the lane direction and the minimum doubling times;

step S203: and when the length of the passing road section is less than the minimum length, determining the target route as the impassable route.

In this embodiment of the application, the scenes of turning around and driving across the route section may include, but are not limited to, scenes of turning right after driving across the route section after turning around in an anticlockwise direction, or driving to stop right after turning around in an anticlockwise direction, or driving to turn left after turning around in a clockwise direction, or driving to stop right after turning around in an anticlockwise direction, or driving to cross the route section, and the like. For convenience of description, the following description will be given taking an example in which the target route is right-turn after driving across the route section after turning around.

In the embodiment of the application, the target route is determined to be the impassable route, namely the target route is automatically excavated to be the multi-link intersection, so that avoidance can be performed, for example, a better planned route is given.

In a practical embodiment, as shown in fig. 3, after the target route is determined to be an impassable route in step S203, the target route may be re-planned, and the original u-turn intersection does not turn around, but continues to pass through the intersection straight, and turns around after reaching the next u-turn intersection, and then turns right after doubling many times more easily, and at this time, the distance available for doubling is greatly extended, and the violation risk of continuous doubling is avoided.

In other embodiments, the target route may also be re-planned in other manners according to actual situations, and the embodiments of the present application are not limited herein.

The method for planning the route comprises the steps of determining the minimum merging time required in a passing road section when a driving route comprises a target route which turns around and crosses the passing road section, obtaining the length of the passing road section in the lane direction corresponding to the passing road section, determining the minimum length required by crossing the passing road section according to the set single merging length in the lane direction corresponding to the road section required to be driven in each merging and the minimum merging time, determining the target route as an impassable route when the length of the passing road section is smaller than the minimum length, and automatically digging out whether the target route is difficult to merge or not so as to avoid the condition that a user misses the target lane due to illegal merging or incapability of merging.

In the embodiment of the present application, a feasible implementation manner is provided for determining the minimum number of times of merging required in the route section in step S201, and specifically, the implementation manner includes the steps of:

step SA: acquiring an exit lane where exit lane guide information closest to an entering side of a passing road section is located;

the exit lane refers to a lane for exiting the passing link among the passing links. Taking the target route as an example of right turn after driving across the passing road section after turning around, the exit lane is usually a right turn lane.

As an example, if there are two lanes on the right side of the passing road segment and there is right-turn lane guidance information, the second lane from the right side at this time is the lane where the right-turn lane guidance information closest to the entering side of the passing road segment is located, and the lane may be regarded as an exit lane.

It will be appreciated that a smaller number of merges are required to travel to the second lane from the right than the first lane from the right, and that right turns can be achieved following a cross-road, yet enabling a smaller length to be required to travel through the route section.

Therefore, in the embodiment of the application, the exit lane where the exit lane guidance information closest to the driving side of the passing road section is located is obtained and used for calculating the minimum merging times.

Step SB: determining a default driving lane of the driving passing road section after turning around;

considering that a driving vehicle often makes a low-speed U-turn when the oncoming traffic flow is small, and one lane has a limited width, and a driver can easily enter the lane directly from the intersection, in the embodiment of the application, the second lane away from the U-turn intersection is determined as the default entering lane, that is, the second lane entering the passing link from the entering link is the default entering lane. In other embodiments, a person skilled in the art may set other lanes as default driving lanes according to actual situations.

Step SC: and determining the difference value of the number of the lanes between the exit lane and the default entrance lane as the minimum number of the doubling times.

The lane number difference is the number of times of merging from the default driving lane to the exiting lane.

For example, as shown in fig. 4, the exit lane is a first lane from the right side, the default entrance lane is a second lane away from the u-turn intersection, that is, a third lane from the right side, and the difference between the number of lanes of the exit lane and the number of lanes of the default entrance lane is 2.

In the embodiment of the application, the default driving lanes under different conditions can be distinguished according to the types of roads, specifically, in one condition, the total number of lanes of the passing road section is equal to the number of passing lanes to be crossed by the passing road section, and at this time, the second lane on the driving side of the passing road section is determined as the default driving lane. For example, as shown in fig. 4, the total number of lanes of the route section is 4, the number of lanes to be crossed by the route section is also 4, and the total number of lanes is equal to the number of lanes, and then the second lane on the driving side of the route section, that is, the second lane away from the u-turn intersection, that is, the second lane on the driving side of the route link from the entering link is determined as the default driving lane.

In another case, the total number of lanes is greater than the number of passing lanes, the number of redundant lanes with the total number of lanes greater than the number of passing lanes is determined, and the lane with the number of redundant lanes on the driving-in side of the second lane far away from the passing road segment is determined as the default driving-in lane. Since the redundant lanes are usually on the link entering side, all the redundant lanes can be reached by default, namely the number of the merging times is 0. Therefore, when the number of times of merging is calculated, the lane which is more on the entering side can be removed by default. For example, as shown in fig. 5, the total number of lanes on the route section is 4, the number of lanes to be crossed through the route section is 3, the total number of lanes is greater than the number of lanes to be passed, the number of extra lanes having a greater total number of lanes than the number of lanes to be passed is 1, and the extra lanes do not need to be merged. The second lane on the driving side of the passing road section is far away from the third lane on the driving side of the passing road section, namely the second lane away from the U-turn intersection, namely the second lane driving into the passing link from the entering link, and the third lane on the driving side of the passing road section can be determined as the default driving lane.

In practical applications, a person skilled in the art can set the default driving lane according to actual conditions. The embodiment of the application provides a feasible implementation mode, and the default driving lane of the driving passing road section after turning around is determined by at least one of the following steps: the lane induction summary information, the historical driving track of the lane, the lane street view image recognition result and the lane field measurement result. Wherein, the lane inductive summary information can come from interview information of different drivers, or a certain amount of case analysis, etc.; the historical driving track of the lane can be from digging the historical track of driving near the U-turn port and the like; the lane and street view image recognition result can be a result of recognizing and analyzing an image shot by street view, and the like; the lane field estimation result can be from data collected and estimated in the field, and the like.

After the default driving lane is determined, the minimum number of times of line merging can be determined according to the lane number difference value of the exit lane and the default driving lane. For example, as shown in fig. 4, the total number of lanes is equal to the number of passing lanes, the exit lane is the first lane from the right side, the default entry lane is the third lane from the right side, and the minimum number of merging times is 2. For example, as shown in fig. 5, the total number of lanes is greater than the number of passing lanes, the exit lane is the first lane from the right side, the default entry lane is the second lane from the right side, and the minimum number of times of merging is 1.

In the embodiment of the present application, for step S202, the cost of one lane per merging may be preset, that is, the single merging length of the road segment required to be traveled per merging corresponding to the lane direction, as shown in the single merging length in fig. 6. As an example, the cost of one lane per merge can be set to require a length of D meters. One skilled in the art can set the length of the single doubling according to actual conditions, and the embodiment of the present application is not limited herein.

In practical application, considering that the driving speeds on roads with different lane grades are different and the required single doubling lengths are also different, the embodiment of the application can respectively set the corresponding single doubling lengths for the roads with different lane grades. Further, in step S202, the lane grade of the passing road segment is determined, a single doubling length corresponding to the set lane grade is acquired, and the minimum length required for crossing the passing road segment is determined according to the acquired single doubling length and the minimum doubling times.

The lane grade of the passing road section comprises at least one of the following types: the highway (may be referred to as a highway for short), the national level highway (may be referred to as a national road for short), the provincial level highway (may be referred to as a provincial road for short), the county level highway (may be referred to as a county road for short), the rural road and the village road (may be referred to as a village and town road for short), the urban highway (may be referred to as a city height for short), the urban expressway, the urban main road, the urban secondary road, the urban branch road and the like. In practical application, the running speed and the single-time merging length corresponding to each lane grade can be set according to practical situations, and the embodiment of the application is not limited herein.

The embodiment of the present application provides a feasible implementation manner, and the single doubling length is set by at least one of the following: and drawing summary information, drawing historical driving tracks, drawing street view image recognition results and drawing real-time calculation results. Wherein, the doubling induction summary information can come from interview information of different drivers, or a certain amount of case analysis, etc.; the merging historical driving track can be from cost mining and the like of the driving historical track near the U-turn port; the result of identifying the street view image can be the result of identifying and analyzing the image shot by the street view, and the like; the results of the on-site measurement and calculation can be obtained from data collected and calculated on the site.

In the embodiment of the present application, in step S202, according to the single doubling length and the minimum number of times of doubling, the minimum length required for crossing the route section, that is, the minimum length required for completing the doubling, is determined.

Specifically, the product of the single doubling length and the minimum doubling time may be used as the minimum length required for completing doubling, that is, the distance at which doubling can be completed is calculated by multiplying the single doubling cost by the minimum doubling time, and the distance is used as the minimum distance of the passing road segment. For example, as shown in fig. 6, the minimum number of times of doubling in fig. 6 is 2, and the minimum length is obtained by multiplying the single-time doubling cost by 2, so that the minimum length can be further compared with the length of the passing road section to determine whether the passing can be performed.

As can be seen from the above description of the route sections, in the embodiment of the present application, the length of the route section in the lane direction corresponding to the route section, that is, the length of the route section between the u-turn intersection and the exit intersection in the lane direction corresponding to the route section is shown in fig. 6 as the length of the route section; or the length of the passing road section corresponding to the lane direction is the length of the road section between the U-turn intersection and the side parking position corresponding to the lane direction. The type of the passing road section can be determined according to the scene, and then the length of the passing road section is determined. In practical application, the relevant information of the target route may be obtained from the road network data to obtain the corresponding length of the route section, or may be obtained from other routes, such as real-time measurement or network reception.

In the embodiment of the application, it is considered that if the target route includes a passing road segment exiting from an exit intersection, and there is a traffic indicator (traffic light) at the exit intersection, the driving is limited by a long solid line at the intersection. The long solid line is a boundary line prohibited from crossing the equidirectional lanes, and is prohibited from being merged in the section of the long solid line, and therefore merging should be completed before the long solid line section is driven in the route section. When there is a traffic light at the exit intersection, step S202 includes the steps of:

step S2021: acquiring the length of a solid line of an intersection corresponding to the exit intersection;

step S2022: and determining the minimum length required by crossing the passing road section according to the single doubling length, the minimum doubling times and the length of the solid line of the intersection.

The method is characterized in that the minimum length required by crossing a passing road section is obtained by adding the length of a solid line of the intersection on the basis of obtaining the minimum length required by completing the doubling according to the length of single doubling and the minimum doubling times.

Specifically, the product of the single doubling length and the minimum doubling time can be added to the intersection solid line length to serve as the minimum length required for crossing the passing road section, that is, the single doubling cost x the minimum doubling time plus the intersection solid line length, and the distance capable of crossing the passing road section is calculated and serves as the minimum distance of the passing road section. For example, as shown in fig. 7, the minimum number of times of doubling in fig. 7 is 2, and the minimum length is obtained by multiplying the single-time doubling cost by 2+ the length of the solid line of the intersection, so that the minimum length can be further compared with the length of the passing road section to determine whether the passing can be performed.

In practical application, the lengths of the corresponding intersection solid lines on roads with different lane levels are different, and the embodiment of the application can respectively acquire the lengths of the corresponding intersection solid lines aiming at the roads with different lane levels. Further, in step S2021, a lane grade of the route section is determined; and acquiring the intersection solid line length corresponding to the lane grade as the intersection solid line length corresponding to the exit intersection. The lane grade of the passing road section comprises at least one of the following types: the highway, national level trunk road, provincial level trunk road, county level trunk road, country road and village road, city highway, city expressway, city main road, city secondary road, city branch road. In practical application, the length of the solid line at the intersection corresponding to each lane level can be set according to practical situations, and the embodiment of the application is not limited herein. Illustratively, the length of the solid line at the intersection of the lanes such as high speed, city height or national road is E₁If the lane grade of the passing road section is determined to be high speed, high city or national road, and the like, the corresponding exit intersection is determinedThe length of the solid line at the intersection is E₁Rice; the length of the solid line at the intersection of the lanes such as the provincial or county lane is E₂If the lane grade of the road section passing by is determined to be provincial or county, and the like, the length of the solid line of the intersection corresponding to the exit intersection is E₂Rice; the length of the solid line at the intersection of the lanes such as the village and the town is E₃If the lane grade of the road section passing by is determined to be a village and town road and the like, the length of the solid line of the intersection corresponding to the exit intersection is E₃Rice, and so on.

The embodiment of the present application provides a feasible implementation manner, and the length of the solid line at the intersection is determined by at least one of the following: and the solid lines summarize summary information, solid line historical driving tracks, solid line street view image recognition results and solid line field measurement and calculation results. The solid line induction summary information can come from interview information of different types of drivers, or a certain number of case analyses, or verification performed by extracting a certain number of long solid line distances at the intersection, and the like; the solid line historical driving track can be from digging the historical track of vehicles near the intersection with traffic lights and the like; the solid line street view image recognition result can be a result of inquiring, recognizing and analyzing an image shot by street view, and the like; the solid field measurement and calculation results can be from field viewing, data acquisition and measurement and calculation results and the like.

In the embodiment of the present application, in step S203, when the length of the route section is smaller than the minimum length, the target route is determined as the impassable route. Taking the target route as an example of driving after turning around and crossing the road sections on the way and then turning right, the method comprises the following conditions:

when no traffic indicator light is arranged at the right-turn intersection, the length of the passing road section is less than the minimum length, namely the length of the passing road section-single doubling cost multiplied by the minimum doubling time is less than 0, and the passing is judged to be impossible;

when a traffic indicator lamp is arranged at the right-turn intersection, the length of the road section passing by is less than the minimum length, namely the length of the road section passing by, the length of the solid line of the intersection, the single line-combining cost and the minimum line-combining time are less than 0, and the road section is judged to be not passable;

and the target routes which cannot pass through (including link strings of an entering link, a passing link and an exiting link) can be used as multi-link intersection mining results, so that avoidance can be performed, for example, a more optimal planned route is given.

In other embodiments, when the length of the route section is greater than or equal to the minimum length, the target route is determined as a passable route. Taking the target route as an example of driving after turning around and crossing the road sections on the way and then turning right, the method comprises the following conditions:

when no traffic indicator light is arranged at the right-turn intersection, the length of the passing road section is greater than or equal to the minimum length, namely the length of the passing road section-single doubling cost multiplied by the minimum doubling time is greater than or equal to 0, and the judgment is that the passing road section can pass;

when a traffic indicator lamp is arranged at the right-turn intersection, the length of the road section passing by is greater than or equal to the minimum length, namely the length of the road section passing by, the length of the solid line of the intersection, the single line-combining cost and the minimum line-combining time are greater than or equal to 0, and the judgment that the road section can pass is carried out.

The target routes which can be passed through can be normally used for route planning.

In the embodiments of the present application, the application of the lane guide information (vehicle information) in the above-described embodiments is described.

(1) Judgment of U-turn intersection

And finding out the turn-around vehicle message to judge the lane for turning around. And if the head-falling vehicle message does not exist, continuously searching for the left-turn vehicle message. If not, the intersection is judged to be the non-U-turn intersection. And if the left-turn vehicle message exists, using the relevant data of the target route corresponding to the left-turn vehicle message. The judgment of the U-turn intersection can be used for determining a target route, replanning the route and the like.

(2) Judgment of minimum doubling times

As can be seen from the above description, the minimum number of times of merging needs to be determined in combination with the exit lane where the exit lane guidance information closest to the driving side of the passing road segment is located, that is, taking the example that the target route is to turn around and then drive to cross the passing road segment and then turn right, the minimum number of times of merging and the number of lanes to be crossed need to use the right-turn traffic information on the passing road segment for auxiliary judgment.

(3) Determination of exiting lane

In practical applications, all lanes or part of lanes are deemed empty.

In the embodiment of the application, the situation that all lane letters are empty can be judged, and the default route does not belong to a multi-link intersection and is a passable route.

And for the condition that the vehicle information of the partial lanes is empty or variable, namely when a lane guide information-free lane with empty part of lane guide information exists in the passing road section, acquiring the lane guide information of each lane guide information-free lane according to the lane guide information of the lane guide information-free lane before the exiting lane where the exit lane guide information nearest to the driving side of the passing road section is located.

Specifically, the lane guidance information of each lane without lane guidance information is determined according to the lane guidance information of the lane with lane guidance information, and the lane guidance information comprises at least one of the following items:

that is, for an empty lane in the middle, the default vehicle credit is the sum of the right and left adjacent 2 lanes. If a continuous empty lane exists, the default is the sum of the left and right lanes with traffic information.

that is, for the empty lane at the far left, the default vehicle credits are all the counterclockwise direction for the vehicle credits of its adjacent right lane and its adjacent right lane. If there are continuous empty lanes, the information of these empty lanes is defaulted to be the same.

That is, for the empty lane on the far right, the default vehicle credits are all clockwise for the vehicle credits on its adjacent left lane and its adjacent left lane. If there are continuous empty lanes, the information of these empty lanes is defaulted to be the same.

Therefore, the information of all lanes can be obtained, so that the exit lane where the exit lane guide information closest to the driving side of the passing road section is located can be obtained.

The route planning method provided by the embodiment of the application utilizes the vehicle information to mine the multi-link intersection, and can effectively improve mining efficiency.

According to the route planning method provided by the embodiment of the application, whether the target route is difficult to merge or not is automatically excavated, so that the situation that the target route is difficult to merge is avoided in the route planning process, the condition that a user misses a target lane due to illegal merging or incapability of completing merging is avoided, and the user experience is effectively improved.

The practical application of the route planning method provided based on the above embodiments is further described below.

The embodiment of the application also provides a data mining method, which comprises the following steps:

determining whether each target route is an impassable route by the route planning method provided in any optional embodiment of the application;

In the embodiment of the application, all target routes in the topological road network data can be acquired for data mining, namely multi-link intersection mining. The specific determination method can be referred to the above description, and is not described herein again.

In the embodiment of the present application, the step of obtaining each target route may include:

obtaining each candidate target route;

(1) whether the number of lanes on the passing road section is greater than a first threshold value

For example, only target routes that are routed by link lanes > a first threshold are mined. When the number of link lanes is too small, the doubling is considered to be finished. In practical applications, a person skilled in the art may set the first threshold according to practical situations, and the embodiment of the present application is not limited herein.

(2) Road grade of a passing road section

For example, only the target route with the road grade of high speed, city height, national road, provincial road, county road and village and town road is dug.

(3) Whether the turn-around intersection and the exit intersection are correctly identified

That is, only the target route between the entering link and the passing link, which is not a false node, is mined.

(4) Whether the target route is a car guide route

That is, only the entering link, the passing link, and the exiting link are dug as target routes of the vehicle guidance link.

(5) Whether the number of lanes on the road section before turning around is less than a second threshold value

I.e. only target routes entering the number of link lanes < the second threshold are mined. When the number of link lanes is large, partial doubling is already completed when the link is passed, and it is considered that the full doubling can be completed probably. In practical applications, a person skilled in the art may set the second threshold according to practical situations, and the embodiment of the present application is not limited herein.

(6) U-turn position

Taking the target route which is driven to cross the road section after turning around and then turn right as an example, only the target route which turns around from the leftmost side of the entering link is excavated. When turning around from the right side of entering the link, the most right lane of the passing link can be directly entered probably without merging.

(7) Whether the U-turn intersection is a continuous ramp U-turn intersection

Only the target route where the incoming link is not a turn-around attribute of the continuous ramp may be mined.

(8) Whether or not the lane guide information of each lane of the passing road section is completely empty

In the embodiment of the present application, after each target route is acquired from the topological road network data, the vehicle information data may be combined to assist in the determination, and further, each multi-link intersection is mined by the route planning method provided in any one of the above optional embodiments of the present application, as shown in fig. 8.

It should be noted that in the embodiment of the present application, the link strings of the target route used for mining should be the minimum link strings, for example, the target route which can be expressed by link 1, link 2, link 3, and no unnecessary link 4, link 5, etc. need to be added.

In the embodiment of the present application, the step of obtaining the data mining result according to each target route determined as the impassable route may specifically include:

and filtering each target route determined as the impassable route to obtain a data mining result through at least one of the following steps:

whether the intersection is overlapped with an existing intersection (such as a line intersection and a multi-link intersection) in a road network database or not, including but not limited to partial overlapping, full overlapping and the like, namely the existing intersection already avoids the route without repeated avoiding.

The traffic flow is greater than a set threshold; if the traffic flow of the excavated route is large, the route is considered to be easy to pass through, so that avoidance is not needed.

The data mining method provided by the embodiment of the application effectively excavates the multi-link intersection rule of each head drop scene caused by difficult merging, avoids the defects of manual operation, further avoids the defects in the process of route planning, and improves user experience.

The data mining method provided by the embodiment of the application can realize the automation and the small-scale updating of the national road network data and can be better applied to the processing of Big data (Big data). Big data is a data set which cannot be captured, managed and processed by a conventional software tool within a certain time range, and is a massive, high-growth-rate and diversified information asset which can have stronger decision-making power, insight discovery power and flow optimization capability only by a new processing mode. With the advent of the cloud era, big data has attracted more and more attention, and the big data needs special technology to effectively process a large amount of data within a tolerance elapsed time. The method is suitable for the technology of big data, and comprises a large-scale parallel processing database, data mining, a distributed file system, a distributed database, a cloud computing platform, the Internet and an extensible storage system.

An embodiment of the present application further provides a route planning device, as shown in fig. 9, the route planning device 90 may include: a determination and acquisition module 901, a calculation module 902 and a judgment module 903, wherein,

the determining and acquiring module 901 is configured to determine the minimum number of times of merging required in a passing road segment when a target route which turns around and crosses the passing road segment is included in a driving route, and acquire a length of the passing road segment in a lane direction corresponding to the passing road segment;

the calculation module 902 is configured to determine a minimum length required for crossing a passing road segment according to a set single merging length in a lane direction corresponding to a road segment required to be driven for each merging and a minimum merging frequency;

the judging module 903 is used for determining the target route as the impassable route when the length of the passing road section is less than the minimum length.

In an alternative implementation manner, when the target route includes a road segment exiting from the exit intersection, and there is a traffic light at the exit intersection, the calculating module 902 is specifically configured to, when determining the minimum length required for completing the merging according to the set single merging length and the minimum merging time of the lane direction corresponding to the road segment required to be traveled in each merging, determine:

In an alternative implementation, the determining and acquiring module 901, when being used for determining the minimum number of times of merging required in a passing road segment, is specifically configured to:

In an optional implementation manner, the determining and acquiring module 901 is specifically configured to, when determining that the default driving lane of the driven-in passing road segment is driven into after turning around, at least one of the following:

In an optional implementation manner, the determining and acquiring module 901, when configured to acquire the length of the intersection solid line corresponding to the exit intersection, is specifically configured to:

determining the lane grade of the passing road section;

In an alternative implementation, the calculation module 902 is further configured to, before determining the minimum length required for crossing the route segment according to the set single merging length corresponding to the lane direction of the road segment required to be traveled for each merging and the minimum merging time, further:

setting the single doubling length by at least one of:

In an optional implementation manner, when the determining and acquiring module 901 is used to determine a default driving lane of a driving-in passing road segment after turning around, the determining and acquiring module is specifically configured to:

In an alternative implementation manner, the determining and acquiring module 901, before the exit lane for acquiring the exit lane guidance information closest to the entering side of the passing road segment, is further configured to:

In an optional implementation manner, the determining and acquiring module 901 is specifically configured to, when configured to determine lane guidance information of each lane without lane guidance information according to lane guidance information of lanes with lane guidance information, at least one of the following:

It can be clearly understood by those skilled in the art that the route planning device provided in the embodiment of the present application has the same implementation principle and the same technical effect as those of the foregoing method embodiment, and for convenience and brevity of description, corresponding contents in the foregoing method embodiment may be referred to where no part of the device embodiment is mentioned, and are not repeated herein.

The route planning device provided by the embodiment of the application determines the minimum length required by crossing the passing road section according to the set single merging length of the road section required to be driven by each merging and the minimum merging time when the driving route comprises a target route which turns around and crosses the passing road section and acquires the length of the passing road section in the lane direction corresponding to the passing road section, determines the minimum length required by crossing the passing road section when the length of the passing road section is smaller than the minimum length, determines the target route as the impassable route, and automatically digs out whether the target route is difficult to merge so as to avoid the violation of merging by a user or miss the target lane due to incapability of completing the merging in the route planning process, thereby effectively improving the user experience.

An embodiment of the present application further provides a data mining apparatus, and the apparatus includes:

the determining module is used for determining whether each target route is an impassable route through the route planning method provided by any optional embodiment of the application;

obtaining each candidate target route;

road grade of the passing road section;

whether the target route is a vehicle guide route;

a turning position;

It can be clearly understood by those skilled in the art that the data mining device provided in the embodiment of the present application has the same implementation principle and the same technical effect as those of the foregoing method embodiment, and for convenience and brevity of description, corresponding contents in the foregoing method embodiment may be referred to where no part of the embodiment of the device is mentioned, and are not repeated herein.

The data mining device provided by the embodiment of the application can realize the automation and the hour-level updating of the national road network data. The multi-link intersection rule caused by the difficulty in merging of all the end-drop scenes is effectively excavated, the defects of manual operation are overcome, the avoidance can be further realized in the route planning process, and the user experience is improved.

An embodiment of the present application further provides an electronic device, as shown in fig. 10, the electronic device 100 shown in fig. 10 includes: the method comprises the following steps: a processor 1001 and a memory 1002, the memory 1002 storing a computer program which is loaded and executed by the processor 1001 to implement the corresponding content in the foregoing method embodiments.

Optionally, the electronic device 100 may further comprise a transceiver 1003. The processor 1001 is coupled to the transceiver 1003, such as via a bus 1004. It should be noted that the transceiver 1003 is not limited to one in practical application, and the structure of the electronic device 100 is not limited to the embodiment of the present application.

The processor 1001 may be a CPU, general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, transistor logic device, hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure of the embodiments of the application. The processor 1001 may also be a combination of computing functions, e.g., comprising one or more microprocessors, DSPs and microprocessors, and the like.

Bus 1004 may include a path that conveys information between the aforementioned components. The bus 1004 may be a PCI bus or an EISA bus, etc. The bus 1004 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 10, but this is not intended to represent only one bus or type of bus.

The memory 1002 may be, but is not limited to, a ROM or other type of static storage device that can store static information and instructions, a RAM or other type of dynamic storage device that can store information and instructions, an EEPROM, a CD-ROM or other optical disk storage, optical disk storage (including compact disk, laser disk, optical disk, digital versatile disk, blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.

The present application further provides a readable storage medium, for example, a computer-readable storage medium, which is used for storing a computer program, and when the computer program runs on a computer, the computer is enabled to execute the corresponding content in the foregoing method embodiments.

It should be understood that, although the steps in the flowcharts of the figures 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 may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

The foregoing is only a partial embodiment of the present application, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present application, and these modifications and decorations should also be regarded as the protection scope of the present application.

Claims

1. A method of data mining, comprising:

acquiring each target route in the topological road network data, wherein the target route is a route which turns around and runs across the road sections passing by;

determining whether each target route is an impassable route, and obtaining a data mining result according to each target route determined to be an impassable route by the following steps:

determining the minimum number of times of doubling required in the passing road section, and acquiring the length of the passing road section in the lane direction corresponding to the passing road section;

and when the length of the route section is less than the minimum length, determining the target route as a non-passable route.

2. The data mining method according to claim 1, wherein when the target route includes a route section exiting from an exit intersection, and the exit intersection has a traffic light, the determining a minimum length required for completion of the merging according to a set single merging length corresponding to a lane direction of a set section required to be traveled for each merging and the minimum number of times of merging includes:

acquiring the length of a solid line of the intersection corresponding to the exit intersection;

and determining the minimum length required for crossing the passing road section according to the single doubling length, the minimum doubling times and the intersection solid line length.

3. The data mining method according to claim 1 or 2, wherein the determining of the minimum number of times of merging required in the route section includes:

acquiring an exit lane where exit lane guide information closest to the driving side of the passing road section is located;

determining a default driving lane for driving into the road section after turning around;

and determining the difference value of the number of the lanes between the exit lane and the default entrance lane as the minimum number of times of merging.

4. The data mining method of claim 3, wherein the determining a default drive-in lane for driving into the traversed road segment after turning around comprises at least one of:

when the total number of the lanes of the passing road section is equal to the number of the passing lanes to be crossed by the passing road section, determining a second lane on the driving side of the passing road section as the default driving lane;

and when the total number of the lanes is greater than the number of the passing lanes, determining the number of redundant lanes of which the total number of the lanes is greater than the number of the passing lanes, and determining the lane of the second lane, which is far away from the passing road section entering side and is the redundant number of the lanes, as the default entering lane.

5. The data mining method according to claim 2, wherein the obtaining of the intersection solid line length corresponding to the exit intersection comprises:

determining the lane grade of the passing road section;

6. The data mining method according to claim 3 or 4, wherein before the exit lane where the exit lane guidance information closest to the entering side of the route section is located, the obtaining further includes:

and when the lane guide information-free lanes with part of lane guide information being empty exist in the passing road section, determining the lane guide information of each lane without lane guide information according to the lane guide information of the lanes with the lane guide information.

7. The data mining method of claim 6, wherein determining lane guidance information for each lane without lane guidance information based on lane guidance information for lanes with lane guidance information comprises at least one of:

when the lane guide information-free lane is the leftmost lane, taking the lane guide information of the nearest right lane guide information-free lane and the lane guide information of the lane guide information-free lane in each counterclockwise direction as the lane guide information of the lane guide information-free lane;

8. The data mining method of claim 1, wherein the obtaining each target route comprises:

obtaining each candidate target route;

filtering the candidate target routes to obtain the target routes by at least one of:

road grade of the passing road section;

whether the target route is a vehicle guide route;

a turning position;

9. A data mining device, comprising:

the acquisition module is used for acquiring each target route in the topological road network data, wherein the target route is a route which turns around and runs across the passing road section;

the mining module is used for determining whether each target route is an impassable route or not through steps executed by the following modules, and obtaining a data mining result according to each target route determined to be the impassable route;

the determining and acquiring module is used for determining the minimum number of times of doubling required in the passing road section and acquiring the length of the passing road section in the lane direction corresponding to the passing road section;

10. An electronic device, comprising: a processor and a memory, wherein the processor is capable of processing a plurality of data,

the memory stores a computer program that is loaded and executed by the processor to implement the method of any of claims 1-8.

11. A computer-readable storage medium, characterized in that the computer-readable storage medium is used to store a computer program which, when run on a computer, causes the computer to perform the method according to any one of claims 1-8.