CN114608577B - Method and system for determining vehicle driving route and engineering vehicle - Google Patents
Method and system for determining vehicle driving route and engineering vehicle Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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Abstract
The application relates to the technical field of vehicle navigation, in particular to a method and a system for determining a vehicle driving route and an engineering vehicle, wherein the method comprises the following steps: respectively acquiring a plurality of running tracks of a plurality of engineering vehicles in an unknown region within a preset time period; synthesizing at least two running tracks with the overlap ratio larger than a first preset value in one engineering vehicle to generate a historical route of the engineering vehicle; taking two historical routes with the largest contact ratio in a plurality of engineering vehicles as a navigation route group; and selecting a historical route from the navigation route group as a navigation route. When the method is applied, the history route obtained by combining a plurality of running tracks is the route with highest frequency of the engineering vehicle passing through an unknown area, and has the highest reference value. The historical route with the largest contact ratio is the route with the highest passing probability of the engineering vehicle, and the navigation route can be adopted for navigation, so that correct navigation in a construction site which is not built is realized.
Description
Technical Field
The application relates to the technical field of vehicle navigation, in particular to a method and a system for determining a vehicle driving route and an engineering vehicle.
Background
When the engineering vehicles travel on the construction site to be built, the navigation function is needed when the construction site is large, because the construction site is not yet built, the area where the construction site to be built is located is an unknown area on a map, and when a large number of engineering vehicles travel on the construction site, drivers of all engineering vehicles do not know how to travel on the construction site, which may cause conditions of road congestion, road staggering and the like under the condition that some drivers do not know the travel route. Therefore, how to realize navigation in a construction site which is not constructed is a technical problem to be solved in the field.
Disclosure of Invention
In view of the above, the present application provides a method and a system for determining a vehicle driving route, and an engineering vehicle, which can realize navigation in a construction site which is not constructed.
In a first aspect, a method for determining a driving route of a vehicle provided in the present application includes: acquiring a plurality of running tracks of the engineering vehicle in an unknown region within a preset time period; matching a plurality of running tracks in one engineering vehicle, and synthesizing at least two running tracks with the overlap ratio larger than a first preset value to generate a historical route of the engineering vehicle; calculating the coincidence degree of a plurality of historical routes of a plurality of engineering vehicles, and taking two historical routes with the largest coincidence degree as a navigation route group; and selecting one historical route from the navigation route group as a navigation route.
When the method is used, the superposition degree among a plurality of running tracks corresponding to the engineering vehicle is calculated for a single engineering vehicle, and the running tracks with the superposition degree larger than a first preset value are mutually synthesized to obtain a history route corresponding to the engineering vehicle. And finally, the synthesized historical route is the route with the highest frequency of the engineering vehicle passing through the unknown region, the synthesized route has the highest reference value for navigation, and the route is used as the historical route of the engineering vehicle.
Then, the overlap ratio of the plurality of history routes is calculated, and the two history routes with the largest overlap ratio are used as the navigation route group. Compared with other historical routes, the historical route with the largest contact ratio is the route with the highest passing probability of the engineering vehicle, so the historical route with the largest contact ratio is suitable for being used as a navigation route. And then, a historical route is selected from the navigation route group by a system random mode, a system default mode or a mode appointed by a user to serve as a navigation route, after the navigation route is selected, other engineering vehicles can navigate by adopting the navigation route, the conditions of road congestion, wrong-way route and the like can be avoided, and correct navigation in a construction site which is not built is realized.
With reference to the first aspect, in one possible implementation manner, the acquiring a plurality of driving tracks of the engineering vehicle in an unknown area within a preset period of time includes: and acquiring the running track of the engineering vehicle based on a global positioning system.
With reference to the first aspect, in one possible implementation manner, the matching a plurality of running tracks in one engineering vehicle, and synthesizing at least two running tracks with a contact ratio greater than a first preset value, and generating a historical route of the engineering vehicle includes: matching the running tracks with each other, and extracting at least two effective tracks with the contact ratio larger than a second preset value; and connecting at least two effective tracks to form the historical route.
With reference to the first aspect, in one possible implementation manner, the matching a plurality of running tracks in one engineering vehicle, and synthesizing at least two running tracks with a contact ratio greater than a first preset value, and generating the historical route of the engineering vehicle further includes: and matching the running tracks with each other, and removing invalid tracks with the contact ratio smaller than a third preset value.
With reference to the first aspect, in a possible implementation manner, the selecting a historical route in the navigation route set as the navigation route includes: selecting one historical route from the navigation route group as the navigation route according to a system selection rule; or selecting the historical route corresponding to the user input information from the navigation route group as the navigation route according to the user input information.
With reference to the first aspect, in a possible implementation manner, the selecting, according to a system selection rule, one of the historical routes from the navigation route group as the navigation route includes: randomly selecting one historical route from the navigation route group as the navigation route; or selecting one of the history routes with the shortest length from the navigation route group as the navigation route.
With reference to the first aspect, in one possible implementation manner, the method further includes: acquiring a stay place of the engineering vehicle in the historical route; and taking the stay place with the stay time longer than the preset time length as a stopped position.
With reference to the first aspect, in one possible implementation manner, the method further includes: acquiring the real-time position of the engineering vehicle; acquiring the navigation route; and navigating according to the real-time position and the navigation route.
In a second aspect, the present application further provides a system for determining a driving route of a vehicle, including: the track acquisition module is configured to: acquiring a plurality of running tracks of the engineering vehicle in an unknown region within a preset time period; the track processing module is in communication connection with the track acquisition module and is configured to: matching a plurality of running tracks in one engineering vehicle, and synthesizing at least two running tracks with the overlap ratio larger than a first preset value to generate a historical route of the engineering vehicle; and a navigation route generation module communicatively coupled to the track processing module, the navigation route generation module configured to: and calculating the coincidence degree of a plurality of historical routes of a plurality of engineering vehicles, taking two historical routes with the largest coincidence degree as a navigation route group, and selecting one historical route from the navigation route group as a navigation route.
The second aspect is a system structure corresponding to the first aspect, and therefore the technical effects include those of the first aspect, which are not described herein.
In a third aspect, the present application further provides an engineering vehicle, including: a processor; and a memory for storing the processor-executable instructions; wherein the processor is configured to perform the method for determining a vehicle travel route according to any one of the above.
The third aspect is for performing the method steps of the first aspect, and therefore the technical effects include those of the first aspect, which are not described in detail herein.
Drawings
Fig. 1 is a schematic diagram of method steps of a method for determining a driving route of a vehicle according to an embodiment of the present application.
Fig. 2 is a schematic diagram of method steps of a method for determining a driving route of a vehicle according to another embodiment of the present application.
Fig. 3 is a schematic diagram of method steps of a method for determining a driving route of a vehicle according to another embodiment of the present application.
Fig. 4 is a schematic diagram of method steps of a method for determining a driving route of a vehicle according to another embodiment of the present application.
Fig. 5 is a schematic diagram of method steps of a method for determining a driving route of a vehicle according to another embodiment of the present application.
Fig. 6 is a schematic diagram of method steps of a method for determining a driving route of a vehicle according to another embodiment of the present application.
Fig. 7 is a schematic diagram of method steps of a method for determining a driving route of a vehicle according to another embodiment of the present application.
Fig. 8 is a schematic diagram of method steps of a method for determining a driving route of a vehicle according to another embodiment of the present application.
Fig. 9 is a schematic structural diagram of a system for determining a driving route of a vehicle according to another embodiment of the present application.
Fig. 10 is a schematic structural diagram of an engineering vehicle according to another embodiment of the present application.
Detailed Description
The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
Fig. 1 is a schematic diagram of method steps of a method for determining a driving route of a vehicle according to an embodiment of the present application. The present application provides a method for determining a driving route of a vehicle, in an embodiment, as shown in fig. 1, the method includes:
and 101, acquiring a plurality of running tracks of the engineering vehicle in an unknown region within a preset time period.
In the step, a plurality of travel tracks of a single engineering vehicle, which travel back and forth in an unknown region within a certain period of time, are acquired for the engineering vehicle.
Step 102, matching a plurality of running tracks in one engineering vehicle, and combining at least two running tracks with the overlap ratio larger than a first preset value to generate a historical route of the engineering vehicle.
When the method is used, aiming at a single engineering vehicle, the coincidence degree among a plurality of running tracks corresponding to the engineering vehicle is calculated, and the running tracks with the coincidence degree larger than a first preset value are synthesized with each other to obtain a history route corresponding to the engineering vehicle. The first preset value may be set to a value of 90% to 98%, for example. The number of travel tracks having a degree of overlap with each other greater than the first preset value may be plural. Specifically, the step may be implemented by using a track overlap ratio algorithm or a similar algorithm, that is, calculating how many track portions overlap each other among a plurality of running tracks, selecting a running track with an overlap ratio greater than a first preset value, and combining the running tracks. In the calculation process, the coincidence degree between two running tracks can be calculated sequentially, and the coincidence degree between three running tracks can be calculated sequentially. The synthetic method can be, for example, curve fitting, line connection and the like, the final synthetic history route is the route with highest frequency of the engineering vehicle passing through the unknown region, the synthetic route has the highest reference value for navigation, and the route is used as the history route of the engineering vehicle. In a single unknown region, since the travel start point and the end point of the engineering vehicle are substantially the same, the start points and the end points of the history routes of all the engineering vehicles obtained are substantially the same.
And 103, calculating the coincidence degree of a plurality of historical routes of a plurality of engineering vehicles, and taking the two historical routes with the largest coincidence degree as a navigation route group.
When the method is used, the overlapping degree of a plurality of historical routes is calculated, and the two historical routes with the largest overlapping degree are used as navigation route groups. Specifically, this step may be implemented by using a track overlap ratio algorithm or the like. In the calculation process, the overlap ratio between two historical routes can be calculated sequentially, and the overlap ratio between three historical routes can be calculated sequentially. Compared with other historical routes, the historical route with the largest contact ratio is the route with the highest passing probability of the engineering vehicle, so the historical route with the largest contact ratio is suitable for being used as a navigation route group.
Step 104, selecting a historical route from the navigation route group as a navigation route.
In the step, a history route is selected from the navigation route group by a system random, system default or according to a mode designated by a user to serve as a navigation route, after the navigation route is selected, other engineering vehicles can navigate by adopting the navigation route, and other engineering vehicles can navigate by adopting the navigation route, so that conditions of road congestion, wrong-way walking and the like can be avoided, and correct navigation in a construction site which is not built is realized.
Fig. 2 is a schematic diagram of method steps of a method for determining a driving route of a vehicle according to another embodiment of the present application. In one embodiment, as shown in fig. 2, step 101 includes:
step 1011, acquiring a running track of the engineering vehicle based on the global positioning system.
When the method is used, the running track obtained based on a Global Positioning System (GPS) is more accurate, and the method has more reference value for the historical route and the navigation route in the subsequent step, so that the historical route and the navigation route obtained in the subsequent step are more accurate. Specifically, a GPS positioning system is arranged in the engineering vehicle, so that the running track of the engineering vehicle when running in an unknown area is recorded.
Fig. 3 is a schematic diagram of method steps of a method for determining a driving route of a vehicle according to another embodiment of the present application. In one embodiment, as shown in FIG. 3, step 102 comprises:
and 1021, matching the plurality of running tracks, and extracting at least two effective tracks with the contact ratio larger than a second preset value.
Step 1022, connecting at least two active tracks to form a historical route.
When the method is used, the second preset value can be preset to be a certain value of 90% -98%, track portions with the contact ratio larger than the second preset value in the running track are selected, the track portions are tracks with highest passing probability of the engineering vehicle, and the track portions are connected with each other to obtain a historical route. In the step, only track parts with the contact ratio larger than a second preset value are selected for interconnection, so that the obtained historical route is more simplified and has a reference value. When the running tracks are acquired, some running tracks in a single engineering vehicle may not be complete tracks from a starting point to an end point, may be discontinuous tracks, track parts with the overlap ratio larger than a second preset value in the scattered tracks are selected, and the selected track parts are connected with each other, so that track parts with the overlap ratio larger than the second preset value in the incomplete tracks can be selected, the data volume adopted in the process of forming a historical route is improved, and the accuracy of the obtained historical route can be improved under the support of more data volumes. In specific implementation, step 101 may be performed directly after step 1021 and step 1022 are performed, without performing step 102.
Fig. 4 is a schematic diagram of method steps of a method for determining a driving route of a vehicle according to another embodiment of the present application. In one embodiment, as shown in fig. 4, step 102 further includes:
step 1023, matching the plurality of running tracks with each other, and removing invalid tracks with the contact ratio smaller than a third preset value.
When the embodiment is used, the third preset value can be preset to be a certain value in 90% -98%, for example, part of the tracks with the contact ratio smaller than the third preset value are invalid tracks, and the invalid tracks are removed, so that the running track is more simplified. The partial tracks with the overlap ratio smaller than the third preset value may be the running tracks of the engineering vehicle running wrong or the running tracks needing to deal with some emergency cases, and the partial tracks have no reference value for obtaining the historical route. Step 1023 may be performed before step 1021, which may result in a more simplified travel track with invalid tracks removed, and may result in a faster and more accurate calculation of step 1021.
Fig. 5 is a schematic diagram of method steps of a method for determining a driving route of a vehicle according to another embodiment of the present application. In one embodiment, as shown in FIG. 5, step 104 comprises:
step 1041, selecting a historical route from the navigation route group according to the system selection rule as the navigation route.
Step 1042, selecting a history route corresponding to the user input information from the navigation route group as a navigation route according to the user input information.
When the embodiment is used, the system selection rule may be a system random selection or a system default selection, that is, one historical route may be selected from two historical routes by a system random or a system default selection. Alternatively, a history route may be selected according to a user selection, for example, a navigation route group may be transmitted to the engineering device, displayed on a central screen of the engineering device, and a user may freely select which history route is used as the navigation route.
Fig. 6 is a schematic diagram of method steps of a method for determining a driving route of a vehicle according to another embodiment of the present application. In one embodiment, as shown in fig. 6, step 1041 includes:
step 1043, randomly selecting a historical route from the navigation route group as the navigation route.
Step 1044, selecting a history route with the shortest length from the navigation route group as the navigation route.
In this embodiment, a history route is randomly selected, so that calculation time can be saved, and selection efficiency can be improved. A shorter one of the two historical routes may also be selected by default to enable more compact navigation.
Fig. 7 is a schematic diagram of method steps of a method for determining a driving route of a vehicle according to another embodiment of the present application. In one embodiment, as shown in fig. 7, the method for determining a driving route of a vehicle further includes:
step 105, obtaining the stay place of the engineering vehicle in the historical route.
And 106, taking the stay place with the stay time longer than the preset duration as the stopped position.
In this step, the stop points of the engineering vehicle during the course of the historical route may be recorded by the GPS positioning system, where the engineering vehicle needs to be constructed or where the engineering vehicle needs to stop briefly. The preset time period may be set to a certain value in 10 to 15 minutes in advance, for example, and the stay time exceeding the preset time period may be regarded as that the working vehicle performs effective work, such as unloading, stirring, or the like, at this point. The screened stay positions are the positions where work needs to be performed in the unknown region, and the positions are sent to each engineering vehicle to serve as references, so that a driver of the engineering vehicle can know the positions where the work needs to be stopped and performed. When the engineering vehicle performs navigation, the distance from the current position to the parked position in front of the engineering vehicle can be prompted through voice. Name information may also be entered by the user to name the parked position so that the name of the parked position in front may be voice-prompted at the time of navigation.
Fig. 8 is a schematic diagram of method steps of a method for determining a driving route of a vehicle according to another embodiment of the present application. In one embodiment, as shown in fig. 8, the method for determining a driving route of a vehicle further includes:
step 107, acquiring the real-time position of the engineering vehicle.
And 108, acquiring a navigation route.
Step 109, navigating according to the real-time position and the navigation route.
After the navigation route is sent to the engineering vehicle, the driver of the engineering vehicle can smoothly run in an unknown area according to the navigation route. Specifically, the navigation route can be displayed on a central control screen of the engineering vehicle and voice navigation prompt is performed, that is, the GPS positioning system acquires the real-time position of the engineering vehicle in real time, and then navigation is performed according to the deviation of the real-time position and the navigation route, which are all the prior art of navigation and are not described herein again.
Exemplary vehicle travel route determination System
Fig. 9 is a schematic structural diagram of a system for determining a driving route of a vehicle according to another embodiment of the present application. The present application also provides a system for determining a vehicle driving route, in an embodiment, as shown in fig. 9, the system 801 for determining a vehicle driving route includes a track acquisition module 802, a track processing module 803, and a navigation route generation module 804.
Wherein the trajectory acquisition module 802 is configured to: and acquiring a plurality of running tracks of the engineering vehicle in the unknown region within a preset time period. The track processing module 803 is communicatively connected to the track acquisition module 802, the track processing module 803 being configured to: and matching a plurality of running tracks in one engineering vehicle, and combining at least two running tracks with the overlap ratio larger than a first preset value to generate a historical route of the engineering vehicle. The navigation route generation module 804 is communicatively coupled to the trajectory processing module 803, the navigation route generation module 804 being configured to: and calculating the coincidence degree of a plurality of historical routes of a plurality of engineering vehicles, taking the two historical routes with the largest coincidence degree as a navigation route group, and selecting one historical route from the navigation route group as the navigation route.
In this embodiment, for a single engineering vehicle, a plurality of travel tracks of the engineering vehicle traveling back and forth in an unknown region in a certain period of time are acquired. And calculating the coincidence degree among a plurality of running tracks corresponding to the engineering vehicle, and mutually synthesizing the running tracks with the coincidence degree larger than a first preset value to obtain a history route corresponding to the engineering vehicle. The number of travel tracks having a degree of overlap with each other greater than a first preset value may be plural, and the first preset value may be set in advance to a value of 90% to 98%, for example. Specifically, the method can be realized by adopting a track overlap ratio algorithm or a similar algorithm, namely, how many track parts overlap each other among a plurality of running tracks, selecting the running tracks with the overlap ratio larger than a first preset value, and combining the running tracks. In the calculation process, the coincidence degree between two running tracks can be calculated sequentially, and the coincidence degree between three running tracks can be calculated sequentially. The synthetic method can be, for example, curve fitting, line connection and the like, the final synthetic history route is the route with highest frequency of the engineering vehicle passing through the unknown region, the synthetic route has the highest reference value for navigation, and the route is used as the history route of the engineering vehicle. In a single unknown region, since the travel start point and the end point of the engineering vehicle are substantially the same, the start points and the end points of the history routes of all the engineering vehicles obtained are substantially the same.
And then calculating the mutual overlapping ratio of the plurality of historical routes, and taking the two historical routes with the largest overlapping ratio as a navigation route group. In particular, the track overlap ratio algorithm or the like can be adopted for implementation. In the calculation process, the overlap ratio between two historical routes can be calculated sequentially, and the overlap ratio between three historical routes can be calculated sequentially. Compared with other historical routes, the historical route with the largest contact ratio is the route with the highest passing probability of the engineering vehicle, so the historical route with the largest contact ratio is suitable for being used as a navigation route group. And then, a historical route is selected from the navigation route group by a system random mode, a system default mode or a mode appointed by a user to serve as a navigation route, after the navigation route is selected, other engineering vehicles can navigate by adopting the navigation route, the conditions of road congestion, wrong-way route and the like can be avoided, and correct navigation in a construction site which is not built is realized.
Exemplary work vehicle and computer readable storage Medium
Next, an engineering vehicle according to an embodiment of the present application is described with reference to fig. 10. Fig. 10 is a schematic structural diagram of an engineering vehicle according to an embodiment of the present application.
As shown in fig. 10, the work vehicle 130 includes one or more processors 1301 and a memory 1302.
Processor 1301 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities, and may control other components in work vehicle 130 to perform desired functions.
Memory 1302 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer readable storage medium that may be executed by the processor 1301 to implement the method of determining a vehicle travel route or other desired functions of the various embodiments of the present application described above. Various contents such as a travel track error parameter may also be stored in the computer-readable storage medium.
In one example, the work vehicle 130 may further include: an input device 1303 and an output device 1304, which are interconnected via a bus system and/or other form of connection mechanism (not shown).
The input device 1303 may include, for example, a keyboard, a mouse, a joystick, a touch screen, and the like.
The output device 1304 may output various information to the outside, including the determined movement data, and the like. The output means 1304 may include, for example, a display, a communication network, and remote output devices connected thereto, and so forth.
Of course, only some of the components of the work vehicle 130 that are relevant to the present application are shown in fig. 10 for simplicity, components such as buses, input/output interfaces, and the like are omitted. In addition, the work vehicle 130 may include any other suitable components depending on the particular application.
In addition to the methods and apparatus described above, embodiments of the present application may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps in the method of determining a vehicle travel route according to various embodiments of the present application described in the present specification.
The computer program product may write program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium, on which computer program instructions are stored, which, when being executed by a processor, cause the processor to perform steps in a method of determining a vehicle travel route according to various embodiments of the present application.
The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The basic principles of the present application have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are merely examples and not limiting, and these advantages, benefits, effects, etc. are not to be considered as necessarily possessed by the various embodiments of the present application. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, as the application is not intended to be limited to the details disclosed herein as such.
The block diagrams of the devices, apparatuses, devices, systems referred to in this application are only illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, apparatuses, devices, systems may be connected, arranged, configured in any manner. Words such as "including," "comprising," "having," and the like are words of openness and mean "including but not limited to," and are used interchangeably therewith. The terms "or" and "as used herein refer to and are used interchangeably with the term" and/or "unless the context clearly indicates otherwise. The term "such as" as used herein refers to, and is used interchangeably with, the phrase "such as, but not limited to.
It is also noted that in the apparatus, devices and methods of the present application, the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent to the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description of the preferred embodiments of the present invention is not intended to limit the invention to the precise form disclosed, and any modifications, equivalents, and alternatives falling within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A method of determining a travel route of a vehicle, comprising:
acquiring a plurality of running tracks of the engineering vehicle in an unknown region within a preset time period;
matching a plurality of running tracks in one engineering vehicle, synthesizing at least two running tracks with the overlap ratio larger than a first preset value, and taking the synthesized route as a historical route of the engineering vehicle;
calculating the coincidence degree of a plurality of historical routes of a plurality of engineering vehicles, and taking two historical routes with the largest coincidence degree as a navigation route group; and
and selecting one historical route from the navigation route group as a navigation route.
2. The method for determining a driving route of a vehicle according to claim 1, wherein the acquiring a plurality of driving trajectories of the engineering vehicle in the unknown region for the preset period of time includes:
and acquiring the running track of the engineering vehicle based on a global positioning system.
3. The method for determining a driving route of a vehicle according to claim 1, wherein the matching a plurality of driving trajectories in one of the engineering vehicles and synthesizing at least two driving trajectories having a contact ratio greater than a first preset value, the generating the history route of the engineering vehicle includes:
matching the running tracks with each other, and extracting at least two effective tracks with the contact ratio larger than a second preset value; and
and connecting at least two effective tracks to form the historical route.
4. The method for determining a travel route of a vehicle according to claim 3, wherein the matching a plurality of travel tracks in one of the engineering vehicles and synthesizing at least two travel tracks having a contact ratio greater than a first preset value, the generating the history route of the engineering vehicle further comprises:
and matching the running tracks with each other, and removing invalid tracks with the contact ratio smaller than a third preset value.
5. The method of determining a driving route of a vehicle according to claim 1, wherein selecting a history route among the navigation route group as the navigation route comprises:
selecting one historical route from the navigation route group as the navigation route according to a system selection rule; or (b)
And selecting the historical route corresponding to the user input information from the navigation route group as the navigation route according to the user input information.
6. The method of determining a travel route of a vehicle according to claim 5, wherein selecting one of the historical routes from the navigation route group as the navigation route according to a system selection rule includes:
randomly selecting one historical route from the navigation route group as the navigation route; or (b)
And selecting one of the historical routes with the shortest length from the navigation route group as the navigation route.
7. The method of determining a vehicle travel route according to any one of claims 1 to 6, characterized by further comprising:
acquiring a stay place of the engineering vehicle in the historical route; and
and taking the stay place with the stay time longer than the preset time length as a stopped position.
8. The method of determining a vehicle travel route according to any one of claims 1 to 6, characterized by further comprising:
acquiring the real-time position of the engineering vehicle;
acquiring the navigation route; and
and navigating according to the real-time position and the navigation route.
9. A system for determining a travel route of a vehicle, comprising:
the track acquisition module is configured to: acquiring a plurality of running tracks of the engineering vehicle in an unknown region within a preset time period;
the track processing module is in communication connection with the track acquisition module and is configured to: matching a plurality of running tracks in one engineering vehicle, synthesizing at least two running tracks with the overlap ratio larger than a first preset value, and taking the synthesized route as a historical route of the engineering vehicle; and
the navigation route generation module is in communication connection with the track processing module and is configured to: and calculating the coincidence degree of a plurality of historical routes of a plurality of engineering vehicles, taking two historical routes with the largest coincidence degree as a navigation route group, and selecting one historical route from the navigation route group as a navigation route.
10. A work vehicle, characterized in that the work vehicle comprises:
a processor; and
a memory for storing the processor-executable instructions;
wherein the processor is configured to perform the method of determining a vehicle travel route according to any one of the preceding claims 1 to 8.
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