CN113188551A - Navigation path planning method - Google Patents
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- CN113188551A CN113188551A CN202110344320.9A CN202110344320A CN113188551A CN 113188551 A CN113188551 A CN 113188551A CN 202110344320 A CN202110344320 A CN 202110344320A CN 113188551 A CN113188551 A CN 113188551A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000012544 monitoring process Methods 0.000 claims abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 38
- 238000009825 accumulation Methods 0.000 claims description 30
- 238000012790 confirmation Methods 0.000 claims description 13
- 239000000446 fuel Substances 0.000 claims description 9
- 230000000903 blocking effect Effects 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000001960 triggered effect Effects 0.000 abstract description 3
- 206010039203 Road traffic accident Diseases 0.000 description 5
- 230000003111 delayed effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
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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
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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
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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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
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
Abstract
The invention provides a navigation path planning method, which comprises the following steps: step 1, receiving current position information and destination information of a client to carry out path planning to obtain a navigation route; step 2, issuing a navigation route to a client; step 3, monitoring preset road condition information on the remaining paths of the navigation route in real time, judging whether the preset road condition information meets the condition of triggering the route re-planning, if so, generating a re-planning instruction and entering the next step, otherwise, executing the step in a circulating manner; step 4, replanning the navigation path according to the replanning instruction to obtain an updated navigation route; and 5, issuing the updated navigation route to the client, and returning to the step 3. The invention realizes the automatic route planning of the navigation route when the condition of route re-planning is triggered, and improves the intelligent degree of the navigation technology.
Description
Technical Field
The invention relates to the technical field of navigation, in particular to a navigation path planning method.
Background
With the development of road construction and the increasing popularization of transportation, road conditions are increasingly complex and changeable, and therefore people increasingly rely on a path planning function provided by a navigation system when driving and traveling.
However, the current navigation system does not consider the current real-time road condition, which easily causes traffic accidents on a pre-planned route or road sections which cannot be passed by the vehicle under special weather conditions, thereby delaying the route of the vehicle owner and causing unnecessary loss. At present, related traffic radio stations collect real-time road condition information conditions on some roads and broadcast the information conditions to car owners to listen to the information, but the information transmission efficiency of the mode is low, the car owners need to manually change navigation routes, the operation steps are complex, safety problems are easily caused, and the problems cannot be really solved.
Therefore, the prior art is in need of further improvement.
Disclosure of Invention
The invention provides a navigation path planning method, which aims to overcome the defects in the prior art, realize automatic route planning of a navigation route when the condition of route re-planning is triggered, and improve the intelligent degree of the navigation technology.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the invention provides a navigation path planning method, which comprises the following steps:
step 1, receiving current position information and destination information of a client to carry out path planning to obtain a navigation route;
step 2, issuing a navigation route to a client;
step 3, monitoring preset road condition information on the remaining paths of the navigation route in real time, judging whether the preset road condition information meets the condition of triggering the route re-planning, if so, generating a re-planning instruction and entering the next step, otherwise, executing the step in a circulating manner;
step 4, replanning the navigation path according to the replanning instruction to obtain an updated navigation route;
and 5, issuing the updated navigation route to the client, and returning to the step 3.
Further, after the step 3 and before the step 4, the method further comprises:
step 3A, judging whether the client sends a noninductive route changing request, if so, entering the next step, otherwise, issuing preset prompt information and a route changing request to the client;
and 3B, judging whether the confirmation information of the changed route is received, if so, entering the next step, and if not, returning to the step 3.
Specifically, the determining whether the confirmation information of the reroute is received includes:
step 3B-1, judging whether the prompt information contains road section accumulated water information, if so, detecting whether the confirmation information contains the minimum ground clearance data of the chassis of the requested vehicle, if so, entering step 4, otherwise, entering the next step;
and 3B-2, detecting whether the confirmation information contains the vehicle type identification of the requested vehicle, if so, inquiring the minimum ground clearance data of the chassis of the requested vehicle according to the vehicle type identification, and entering the step 4, otherwise, issuing the request information for acquiring the minimum ground clearance data of the chassis of the requested vehicle again.
Specifically, the step 1 includes:
step 1-1, acquiring the number of road layers in an electronic map;
step 1-2, setting a search range corresponding to the road hierarchy;
step 1-3, calculating a linear distance between the current position and a destination;
step 1-4, comparing the linear distance with a search range, and listing a road level corresponding to the search range to which the linear distance belongs and road levels above the road level as road levels to be searched;
step 1-5, performing path search in a preset range;
step 1-6, judging whether an evaded road section exists, if so, setting the evaded road section as an impassable road section, and if not, entering the next step;
step 1-7, establishing a topological structure of an adjacent matrix for the path search result;
and 1-8, obtaining a planning path through an A-star algorithm.
Specifically, the step 3 of determining whether the trigger of re-planning the route is met includes:
step 3-1, judging whether the accident road section has uniqueness, if so, judging that the accident road section does not meet the condition of triggering the re-planning of the route, and issuing preset prompt information to the client, otherwise, entering the next step;
3-2, judging whether the accident road section is of a full blocking type, if so, judging that the accident road section meets the condition of triggering the re-planning of the route, and if not, entering the next step;
3-3, calculating first time and first oil consumption required for reaching the destination according to the current navigation route, and second time and second oil consumption required for reaching the destination according to the changed navigation route;
step 3-4, calculating a time difference between the first time and the second time and a fuel consumption difference between the first fuel consumption and the second fuel consumption;
and 3-5, judging whether the time difference and the oil consumption difference are within a preset range, if so, judging that the time difference and the oil consumption difference do not meet the condition of triggering the route re-planning, and otherwise, judging that the time difference and the oil consumption difference meet the condition of triggering the route re-planning.
Specifically, the step 4 includes:
step 4-1, detecting whether the replanning instruction contains a water accumulation condition, if so, entering step 4-3, otherwise, entering the next step;
4-2, after the accident road section is listed as the impassable road section, planning the path according to a default route planning method;
4-3, acquiring the water accumulation depth of the water accumulation road section and requesting the minimum ground clearance of a chassis of the vehicle;
step 4-4, determining the passing attribute of the water accumulation road section according to the water accumulation depth and the minimum ground clearance of the chassis of the requested vehicle, wherein the step comprises the following steps: if the water accumulation depth is larger than or equal to the minimum ground clearance of the chassis of the requested vehicle, marking the water accumulation section as an impassable section, otherwise, marking the water accumulation section as a passable section;
step 4-5, if the passing attribute is the section which cannot pass, returning to the step 4-2, otherwise, entering the next step;
4-6, acquiring the average wading height of various vehicles;
4-7, acquiring a current node J (k) of the current position of the request vehicle in the electronic map;
4-8, searching adjacent nodes from the current node J (k) according to a preset algorithm, selecting the node with the minimum cost estimation value in the adjacent nodes as a next node J (k +1), judging whether the next node J (k +1) is a destination or not, if so, entering the next step, otherwise, circularly executing the step;
and 4-9, outputting the navigation route.
Specifically, the preset algorithm is as follows: f (k) ═ h (k) + q × g (n), where f (k) represents the cost estimate resulting from the requested vehicle moving from the current node j (k) to the next node, h (k) is the cost estimate of the best route to move from the current node j (k) to the next node, g (n) is the actual cost value resulting from the current node j (k) to the preselected node j (n), and q represents the weight.
Specifically, the method for determining the weight q is as follows:
when Sc is less than or equal to H1, q is D/Sc;
when H (x-1) < Sc < Hx (x.ltoreq.m), q ═ D-Hx)/(Sc-Hx;
where Sc represents the minimum ground clearance of the chassis of the requested vehicle, D represents the water accumulation depth, H1 represents the minimum average wading height, and Hx represents the average wading height numbered x.
The invention has the beneficial effects that: the method and the device have the advantages that the preset road condition information on the rest paths of the navigation route is monitored in real time, the navigation route is re-planned when the condition of triggering re-planning of the route occurs, the updated navigation route is obtained, and the intelligent degree of the navigation technology is improved.
Drawings
Fig. 1 is a flow chart of a navigation path planning method according to the present invention.
Detailed Description
The embodiments of the present invention will be described in detail with reference to the accompanying drawings, which are for reference and illustrative purposes only and are not intended to limit the scope of the invention.
Example 1
The embodiment provides a navigation path planning method, which comprises the following steps:
step 1, receiving current position information and destination information of a client to carry out path planning, and obtaining a navigation route.
The client (vehicle navigation) is installed on a vehicle (hereinafter referred to as a request vehicle) sending a route planning request, the current position information and the destination information are sent to a server (cloud) by the client when the client makes the route planning request, the current position information can be obtained by the client through a satellite positioning system or a mobile data positioning or manual input method, and the destination information can be obtained by a user through a Point of Interest (POI) selected by an electronic map of the client or through manual input (touch, handwriting or voice recognition and the like), and then is sent to the server through a communication network.
And 2, issuing the navigation route to the client.
After the server side finishes path planning to obtain a navigation route, the data packet of the navigation route is issued to the client side through a relevant protocol, the client side analyzes after receiving the data packet of the navigation route, displays the navigation route, and starts navigation by combining with current position information.
And 3, monitoring preset road condition information on the remaining paths of the navigation route in real time, judging whether the preset road condition information meets the condition of triggering the route re-planning, if so, generating a re-planning instruction and entering the next step, and otherwise, executing the step in a circulating mode.
The preset road condition information comprises traffic accidents, temporary road closure, traffic flow, water accumulation conditions and the like, and can be set by the server according to actual needs.
The conditions that trigger re-routing include one or more of the following conditions: the traffic accident or the temporary closure of the road causes the road to be interrupted, the traffic flow reaches the threshold value, and the influence of accumulated water requests the normal passing of the vehicle.
The replanning instruction comprises road condition information for triggering replanning of the route.
And 4, replanning the navigation path according to the replanning instruction to obtain an updated navigation route.
The server marks the road section (accident road section) triggering the condition of re-planning the route as an avoidance road section, specifically, the accident road section is temporarily marked as an impassable road section, and then the navigation path is re-planned.
And 5, issuing the updated navigation route to the client, and returning to the step 3.
After the server side finishes path re-planning to obtain the updated navigation route, the data packet of the updated navigation route is issued to the client side through a relevant protocol, the client side analyzes after receiving the data packet of the updated navigation route, displays the updated navigation route, and starts navigation by combining with the current position information.
Example 2
Unlike embodiment 1, this embodiment further includes, after step 3 and before step 4 of embodiment 1:
and 3A, judging whether the client sends a noninductive route changing request, if so, entering the next step, and otherwise, issuing preset prompt information and a route changing request to the client.
The senseless route replacement request is that after the condition of replanning the route is triggered by the current road condition, the replanning of the navigation route can be automatically executed without confirmation of a vehicle owner, and a user does not feel the change of the navigation route. The non-sensory route replacement request can be sent to the server by the client at the same time when the navigation path planning is requested.
The preset prompting information includes information of the road condition ahead and information of the degree of influence on the requested vehicle, for example, "a traffic accident occurred ahead, the travel of the vehicle will be delayed by about 30 minutes", or "the vehicle may not pass safely because of accumulated water in the road section ahead of 1 meter".
And 3B, judging whether the confirmation information of the changed route is received, if so, entering the next step, and if not, returning to the step 3.
In this embodiment, the determining whether the confirmation information of the reroute is received includes:
step 3B-1, judging whether the prompt information contains road section accumulated water information, if so, detecting whether the confirmation information contains the minimum ground clearance data of the chassis of the requested vehicle, if so, entering step 4, otherwise, entering the next step;
and 3B-2, detecting whether the confirmation information contains the vehicle type identification of the requested vehicle, if so, inquiring the minimum ground clearance data of the chassis of the requested vehicle according to the vehicle type identification, and entering the step 4, otherwise, issuing the request information for acquiring the minimum ground clearance data of the chassis of the requested vehicle again.
Example 3
Different from embodiment 1, this embodiment provides a specific method of step 1:
step 1-1, acquiring the number of road layers in the electronic map.
In the present embodiment, the number of road levels is k, and L1 and L2 … Lk are arranged in order from the upper level to the lower level. For example, L1 denotes a country-level road, L2 denotes a provincial road, L3 denotes a city-county level, and so on.
And 1-2, setting a search range corresponding to the road hierarchy.
In this embodiment, the number of search ranges is k, and is W1 and W2 … Wk in order from large to small, that is, W1 corresponds to a road at level L1, W2 corresponds to a road at level L2, and W3 corresponds to a road at level L3. For example, W1>500km, 500km ≦ W2<100km, and W3 ≦ 100 km.
And 1-3, calculating the straight-line distance between the current position and the destination.
The straight-line distance between the current position and the destination can be calculated through the longitude and latitude of the current position and the destination.
And 1-4, comparing the linear distance with a search range, and listing a road level corresponding to the search range to which the linear distance belongs and road levels above the road level as road levels to be searched.
For example, if the straight-line distance is 600km, the road belongs to W1, and the road hierarchy corresponding to W1 is L1, so the road at the level of L1 is listed as the road hierarchy to be searched; if the straight line distance is 200km, the road belongs to W2, and the road level corresponding to W2 is L2, so that the roads of the L2 and L1 levels are selected; if the straight-line distance is 80km and belongs to W3, roads of L3, L2 and L1 levels are selected.
And 1-5, performing path search in a preset range.
The preset range is a circular area which takes the middle point of a straight line between the current position and the destination as the center of a circle and takes alpha S as the radius, wherein S represents the straight line distance between the current position and the destination, and alpha is less than 1 and can be set according to the actual situation.
And 1-6, judging whether an evasive road section exists, if so, setting the evasive road section as an impassable road section, and if not, entering the next step.
And 1-7, establishing a topological structure of an adjacent matrix according to the path search result.
And 1-8, obtaining a planning path through an A-star algorithm.
The A-Star algorithm is the most effective direct search method for solving the shortest path in a static road network, and is widely applied to the planning of navigation routes.
Example 4
Different from embodiment 1, this embodiment provides a specific method for determining whether the determination in step 3 is in accordance with the trigger of re-planning the route:
and 3-1, judging whether the accident road section has uniqueness, if so, judging that the accident road section does not meet the condition of triggering the re-planning of the route, and issuing preset prompt information to the client, otherwise, entering the next step.
The uniqueness is that the accident section is a necessary place and cannot be avoided by changing the navigation route.
The preset prompting information includes information of the road condition ahead and information of the degree of influence on the requested vehicle, for example, "a traffic accident occurred ahead, the travel of the vehicle will be delayed by about 30 minutes", or "the vehicle may not pass safely because of accumulated water in the road section ahead of 1 meter".
And 3-2, judging whether the accident road section is of a full blocking type, if so, judging that the accident road section meets the condition of triggering the re-planning of the route, and if not, entering the next step.
The all-blockage type means that all lanes of the accident road section cannot pass through.
And 3-3, calculating first time and first oil consumption required for reaching the destination according to the current navigation route, and second time and second oil consumption required for reaching the destination according to the changed navigation route.
And 3-4, calculating a time difference value between the first time and the second time and a fuel consumption difference value between the first fuel consumption and the second fuel consumption.
And 3-5, judging whether the time difference and the oil consumption difference are within a preset range, if so, judging that the time difference and the oil consumption difference do not meet the condition of triggering the route re-planning, and otherwise, judging that the time difference and the oil consumption difference meet the condition of triggering the route re-planning.
Example 5
Different from embodiment 1, this embodiment provides a specific method of step 4:
step 4 comprises the following steps:
and 4-1, detecting whether the replanning instruction contains a water accumulation condition, if so, entering the step 4-3, and otherwise, entering the next step.
And 4-2, after the accident road section is listed as the impassable road section, planning the path according to a default route planning method.
The default route planning method can refer to the method in embodiment 3, and may be any other suitable method.
And 4-3, acquiring the water accumulation depth of the water accumulation road section and requesting the minimum ground clearance of the chassis of the vehicle.
When the system is specifically implemented, a water level meter can be arranged on a road section which is easy to accumulate water to measure the water accumulation depth D, and the water accumulation depth D is sent to a server.
Step 4-4, determining the passing attribute of the water accumulation road section according to the water accumulation depth and the minimum ground clearance of the chassis of the requested vehicle, wherein the step comprises the following steps: and if the water accumulation depth is larger than or equal to the minimum ground clearance of the chassis of the requested vehicle, marking the water accumulation section as an impassable section, otherwise, marking the water accumulation section as a passable section.
And 4-5, if the passing attribute is the section which cannot pass, returning to the step 4-2, and otherwise, entering the next step.
And 4-6, acquiring the average wading height of various vehicles.
In the specific implementation, the average wading heights of various vehicles are recorded as H1 and H2 … Hx … Hm from low to high, namely H1 represents the lowest average wading height, Hm represents the highest average wading height, and Hx represents the average wading height with the number x.
And 4-7, acquiring a current node J (k) of the current position of the request vehicle in the electronic map.
And 4-8, searching adjacent nodes from the current node J (k) according to a preset algorithm, selecting the node with the minimum cost estimation value in the adjacent nodes as a next node J (k +1), judging whether the next node J (k +1) is a destination or not, if so, entering the next step, and otherwise, circularly executing the step.
The preset algorithm is as follows: f (k) ═ h (k) + q × g (n), where f (k) represents the cost estimate resulting from the requested vehicle moving from the current node j (k) to the next node, h (k) is the cost estimate of the best route to move from the current node j (k) to the next node, g (n) is the actual cost value resulting from the current node j (k) to the preselected node j (n), and q represents the weight.
The method for determining the weight q comprises the following steps:
when Sc is less than or equal to H1, q is D/Sc;
when H (x-1) < Sc < Hx (x.ltoreq.m), q ═ D-Hx)/(Sc-Hx;
where Sc represents the minimum ground clearance of the chassis of the requested vehicle, D represents the water accumulation depth, H1 represents the minimum average wading height, and Hx represents the average wading height numbered x.
And 4-9, outputting the navigation route.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention.
Claims (8)
1. A navigation path planning method is characterized by comprising the following steps:
step 1, receiving current position information and destination information of a client to carry out path planning to obtain a navigation route;
step 2, issuing a navigation route to a client;
step 3, monitoring preset road condition information on the remaining paths of the navigation route in real time, judging whether the preset road condition information meets the condition of triggering the route re-planning, if so, generating a re-planning instruction and entering the next step, otherwise, executing the step in a circulating manner;
step 4, replanning the navigation path according to the replanning instruction to obtain an updated navigation route;
and 5, issuing the updated navigation route to the client, and returning to the step 3.
2. The navigation path planning method according to claim 1, further comprising, after step 3 and before step 4:
step 3A, judging whether the client sends a noninductive route changing request, if so, entering the next step, otherwise, issuing preset prompt information and a route changing request to the client;
and 3B, judging whether the confirmation information of the changed route is received, if so, entering the next step, and if not, returning to the step 3.
3. The navigation path planning method of claim 2, wherein the determining whether confirmation of the reroute is received comprises:
step 3B-1, judging whether the prompt information contains road section accumulated water information, if so, detecting whether the confirmation information contains the minimum ground clearance data of the chassis of the requested vehicle, if so, entering step 4, otherwise, entering the next step;
and 3B-2, detecting whether the confirmation information contains the vehicle type identification of the requested vehicle, if so, inquiring the minimum ground clearance data of the chassis of the requested vehicle according to the vehicle type identification, and entering the step 4, otherwise, issuing the request information for acquiring the minimum ground clearance data of the chassis of the requested vehicle again.
4. The navigation path planning method according to claim 1, wherein the step 1 comprises:
step 1-1, acquiring the number of road layers in an electronic map;
step 1-2, setting a search range corresponding to the road hierarchy;
step 1-3, calculating a linear distance between the current position and a destination;
step 1-4, comparing the linear distance with a search range, and listing a road level corresponding to the search range to which the linear distance belongs and road levels above the road level as road levels to be searched;
step 1-5, performing path search in a preset range;
step 1-6, judging whether an evaded road section exists, if so, setting the evaded road section as an impassable road section, and if not, entering the next step;
step 1-7, establishing a topological structure of an adjacent matrix for the path search result;
and 1-8, obtaining a planning path through an A-star algorithm.
5. The method for planning a navigation path according to claim 1, wherein the step 3 of determining whether the trigger for re-planning a route is satisfied comprises:
step 3-1, judging whether the accident road section has uniqueness, if so, judging that the accident road section does not meet the condition of triggering the re-planning of the route, and issuing preset prompt information to the client, otherwise, entering the next step;
3-2, judging whether the accident road section is of a full blocking type, if so, judging that the accident road section meets the condition of triggering the re-planning of the route, and if not, entering the next step;
3-3, calculating first time and first oil consumption required for reaching the destination according to the current navigation route, and second time and second oil consumption required for reaching the destination according to the changed navigation route;
step 3-4, calculating a time difference between the first time and the second time and a fuel consumption difference between the first fuel consumption and the second fuel consumption;
and 3-5, judging whether the time difference and the oil consumption difference are within a preset range, if so, judging that the time difference and the oil consumption difference do not meet the condition of triggering the route re-planning, and otherwise, judging that the time difference and the oil consumption difference meet the condition of triggering the route re-planning.
6. The navigation path planning method according to claim 1, wherein the step 4 comprises:
step 4-1, detecting whether the replanning instruction contains a water accumulation condition, if so, entering step 4-3, otherwise, entering the next step;
4-2, after the accident road section is listed as the impassable road section, planning the path according to a default route planning method;
4-3, acquiring the water accumulation depth of the water accumulation road section and requesting the minimum ground clearance of a chassis of the vehicle;
step 4-4, determining the passing attribute of the water accumulation road section according to the water accumulation depth and the minimum ground clearance of the chassis of the requested vehicle, wherein the step comprises the following steps: if the water accumulation depth is larger than or equal to the minimum ground clearance of the chassis of the requested vehicle, marking the water accumulation section as an impassable section, otherwise, marking the water accumulation section as a passable section;
step 4-5, if the passing attribute is the section which cannot pass, returning to the step 4-2, otherwise, entering the next step;
4-6, acquiring the average wading height of various vehicles;
4-7, acquiring a current node J (k) of the current position of the request vehicle in the electronic map;
4-8, searching adjacent nodes from the current node J (k) according to a preset algorithm, selecting the node with the minimum cost estimation value in the adjacent nodes as a next node J (k +1), judging whether the next node J (k +1) is a destination or not, if so, entering the next step, otherwise, circularly executing the step;
and 4-9, outputting the navigation route.
7. The navigation path planning method according to claim 6, wherein the preset algorithm is: f (k) ═ h (k) + q × g (n), where f (k) represents the cost estimate resulting from the requested vehicle moving from the current node j (k) to the next node, h (k) is the cost estimate of the best route to move from the current node j (k) to the next node, g (n) is the actual cost value resulting from the current node j (k) to the preselected node j (n), and q represents the weight.
8. The navigation path planning method according to claim 7, wherein the weight q is determined by:
when Sc is less than or equal to H1, q is D/Sc;
when H (x-1) < Sc < Hx (x.ltoreq.m), q ═ D-Hx)/(Sc-Hx;
where Sc represents the minimum ground clearance of the chassis of the requested vehicle, D represents the water accumulation depth, H1 represents the minimum average wading height, and Hx represents the average wading height numbered x.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103090878A (en) * | 2011-10-28 | 2013-05-08 | 北京中交兴路信息科技有限公司 | Vehicle path planning method, vehicle path planning system and vehicle navigation apparatus |
| CN104006820A (en) * | 2014-04-25 | 2014-08-27 | 南京邮电大学 | Personalized dynamic real time navigation method and navigation system |
| CN104567907A (en) * | 2015-01-22 | 2015-04-29 | 四川汇源吉迅数码科技有限公司 | Method for real-time path planning based on dynamic feedback |
| CN107389080A (en) * | 2017-07-15 | 2017-11-24 | 深圳市华琥技术有限公司 | A kind of vehicle route air navigation aid and electronic equipment |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103090878A (en) * | 2011-10-28 | 2013-05-08 | 北京中交兴路信息科技有限公司 | Vehicle path planning method, vehicle path planning system and vehicle navigation apparatus |
| CN104006820A (en) * | 2014-04-25 | 2014-08-27 | 南京邮电大学 | Personalized dynamic real time navigation method and navigation system |
| CN104567907A (en) * | 2015-01-22 | 2015-04-29 | 四川汇源吉迅数码科技有限公司 | Method for real-time path planning based on dynamic feedback |
| CN107389080A (en) * | 2017-07-15 | 2017-11-24 | 深圳市华琥技术有限公司 | A kind of vehicle route air navigation aid and electronic equipment |
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