CN115204458A - Barrier-free passing path planning method - Google Patents

Barrier-free passing path planning method Download PDF

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CN115204458A
CN115204458A CN202210598035.4A CN202210598035A CN115204458A CN 115204458 A CN115204458 A CN 115204458A CN 202210598035 A CN202210598035 A CN 202210598035A CN 115204458 A CN115204458 A CN 115204458A
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barrier
free
data
user
map
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李麟青
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Orbotec Suzhou Intelligent Technology Co ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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    • G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
    • 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
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • 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
    • G—PHYSICS
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Abstract

The invention relates to a barrier-free traffic path planning method, which is used for carrying out barrier-free traffic data perception on a basic map platform, an acquisition system, a treatment platform and user behavior data in a grabbing, cleaning and mining mode to obtain barrier traffic data. And modeling barrier-free passing data to obtain a barrier-free passing two-dimensional undirected graph. And (4) calculating the barrier-free shortest path planning. Therefore, the traditional map data and the barrier-free environment can be combined, a travel barrier-free service platform is created, and an intelligent barrier-free service system is built. Can provide an intelligent barrier-free solution for various travel scenes.

Description

Barrier-free passing path planning method
Technical Field
The invention relates to a method for improving barrier-free travel of a map, in particular to a method for planning a barrier-free passing path.
Background
According to the main data of the second national handicapped sampling survey published by the national statistical office, more than 8500 million handicapped people exist in China, and the proportion of the handicapped people in the total population of China is about 6.34%; the total number of the nationwide families with disabled people is 7050 ten thousands of households, which account for 17.80 percent of the total number of the nationwide households. Among the disabled, there are 2500 thousands of people with disabled limbs, and the demand for barrier-free travel is high; in addition, according to the seventh national census data, the population over 60 years is about 2.64 billion, accounting for about 18.7% of the national population. In addition, the number of the disabled and semi-disabled people is about 4400 ten thousand, and a large number of injured patients, pregnant women, children and other groups with special requirements are all the demanders who go without obstacles
The barrier-free urban environment construction is not only required for perfecting the modern urban service function, but also provides necessary basic guarantees for living, traveling, working and participating in society on a level basis for special groups such as disabled persons, old people, injured patients and the like. However, according to the survey experience report of barrier-free facilities in hundred cities in 2017 issued by the association of China Consumer Association and China disabled, the overall popularity of the domestic barrier-free facilities is only 40.6%, which is at a lower level; in addition, there are also situations where some barrier-free facilities are occupied, maintenance is not in place, design is problematic, and the like. Therefore, the method fully plays the role of the existing barrier-free environment, meets the travel requirements of special people depending on the barrier-free environment, and is the most central point of attack of the invention.
From the market aspect, the sudden and violent development of the informatization demand of China drives the vigorous development of the whole map industry, wherein map enterprises also face very good development opportunities, but are limited by a plurality of factors. At present, from the aspects of market scale, production value and industry profit, the map industry is wholly in the maturity period, and the accessible map industry is still wholly in the enlightenment period due to the fact that pain points are difficult to accurately capture, the market scale is smaller than that of the traditional map industry and the like.
In view of the above-mentioned drawbacks, the designer actively makes research and innovation to create a barrier-free traffic path planning method, so that the method has industrial application value.
Disclosure of Invention
In order to solve the above technical problems, the present invention aims to provide a method for planning a barrier-free traffic path.
The invention discloses a barrier-free passing path planning method which is characterized by comprising the following steps of: step one, carrying out barrier-free traffic data perception on a basic map platform, an acquisition system, a management platform and user behavior data in a grabbing, cleaning and mining mode to obtain barrier traffic data; step two, modeling barrier-free traffic data to obtain a barrier-free traffic two-dimensional undirected graph; step three, barrier-free shortest path planning calculation.
Further, in the method for planning the barrier-free passage path, in the first step, basic data of a public map is acquired through an API interface or a crawler tool, the basic data is cleaned and mined, map data in the basic data is integrated with a barrier-free facility marking position, and a basic map platform is constructed, wherein the public map comprises a Baidu map and a Gaode map.
Furthermore, in the first step, the POI data and the user evaluation data in the basic data are compared and analyzed to construct a data cleaning and mining model, and the data are re-labeled in the data cleaning and mining model by combining with the API interface data call in the user using process and the feedback data, the path change and the path query operation when the user uses navigation, so as to optimize the basic data.
Furthermore, in the first step, the acquired barrier-free traffic data is subjected to supplementary labeling on the data source by using an auxiliary acquisition system through daily travel planning, and the supplementary labeling is completed through field acquisition, automatic review and manual secondary confirmation.
Furthermore, in the method for planning the barrier-free passing path, the abatement platform in the first step is used for carrying out barrier-free environment detection and rectification, the abatement platform contains barrier-free environment data, barrier-free facility real-time state data, barrier-free facility fault, rectification and other data, and the basic map platform and the abatement platform are communicated in real time.
Furthermore, in the barrier-free traffic path planning method, the user behavior data includes user basic information, trip data, platform click and use habits, and desensitization processing is performed on the user behavior data, wherein the desensitization processing is that comprehensive calculation is performed on the user basic information through a hash algorithm to generate a unique user code for each user, and the user code does not contain any user information but can uniquely identify a user in the system, and replaces the original user information with the user code.
Furthermore, in the second step, the curb ramp is used as a vertex set, the sidewalk and the zebra crossing are used as a set of sides, and a barrier-free passing two-dimensional undirected graph based on the walking system is constructed, wherein each side in the barrier-free passing two-dimensional undirected graph uses a barrier-free passing index as a weight.
Furthermore, in the method for planning the barrier-free passing path, each vertex of the barrier-free passing two-dimensional undirected graph comprises longitude, latitude and altitude attributes, the barrier-free passing index is based on the existing national standard barrier-free design specification, and the weight comprises the passability of the wheelchair.
Still further, in the above method for planning unobstructed traffic route, in the third step, any two vertices V in the vertex set V in the constructed two-dimensional unobstructed traffic graph are subjected to the planning s 、V d And searching a shortest path to ensure that the sum of weight calculation of each edge passed by the path is minimum.
By the scheme, the invention at least has the following advantages:
1. the method can realize the combination of the traditional map data and the barrier-free environment, create a trip barrier-free service platform and establish an intelligent barrier-free service system.
2. Can provide an intelligent barrier-free solution for various travel scenes.
3. The system can be matched with the existing VR technology to realize panoramic barrier-free navigation, and has various functional applications such as real-time navigation, voice navigation, barrier-free facility query and the like.
4. The map display device is convenient to use, and a user can apply conventional map application habits to meet travel guidance.
The foregoing is a summary of the present invention, and in order to provide a clear understanding of the technical means of the present invention and to be implemented in accordance with the present specification, the following is a detailed description of the preferred embodiments of the present invention.
Detailed Description
The following examples are given to further illustrate the embodiments of the present invention. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
The method for planning the barrier passing path is characterized by comprising the following steps of:
step one, carrying out barrier-free traffic data perception on a basic map platform, an acquisition system, a management platform and user behavior data in a grabbing, cleaning and mining mode, and obtaining barrier traffic data. During implementation, basic data of the public map are obtained through an API (application programming interface) or a crawler tool, the basic data are cleaned and mined, map data in the basic data and the barrier-free facility marking position are integrated and provided for the barrier-free map, and a basic map platform is conveniently constructed. In consideration of implementation convenience, the public map includes a Baidu map, a Gade map, and the like public map system.
Specifically, during implementation, POI data and user evaluation data in basic data are compared and analyzed, a data cleaning and mining model is constructed, and the data are labeled again in the data cleaning and mining model by combining operations such as API (application program interface) data calling in the using process of a user, feedback data, path replacement, path query and the like when the user uses navigation, so that the basic data are optimized. Meanwhile, the acquired barrier-free traffic data are subjected to supplementary labeling on the data source by an auxiliary acquisition system through daily trip planning, and the supplementary labeling is completed through field acquisition, automatic auditing and manual secondary confirmation. Therefore, the accuracy of the barrier-free facility information is guaranteed, and the situations of complete planning and poor actual experience are avoided.
Meanwhile, the treatment platform is used for barrier-free environment detection and correction, and the treatment platform contains barrier-free environment data, barrier-free facility real-time state data, barrier-free facility faults, correction and other data. And the basic map platform and the treatment platform are communicated in real time. Thus, real-time unobstructed environmental data may be provided.
The method has the advantages that the division of users is considered, the use habits of the users can be effectively captured, the map use or the optimization of the path planning can be conveniently realized, and the adopted user behavior data comprise the basic information of the users, the travel data, the platform click and the use habits. The invention requires desensitization of user behavior data during implementation for security protection of user privacy. Specifically, the desensitization processing mode is adopted, the basic information of the user is comprehensively calculated through a Hash algorithm, a unique user code is generated for each user, and the user code does not contain any user information but can uniquely identify the user in the system. And then, replacing the original user information with the user code. In this way, user information is not revealed while user behavior analysis is guaranteed to be completed.
And step two, modeling barrier-free traffic data to obtain a barrier-free traffic two-dimensional undirected graph. Specifically, a curb ramp is taken as a vertex set, a sidewalk and a zebra crossing are taken as a set of edges, a barrier-free passing two-dimensional undirected graph based on a walking system is constructed, and each edge (including the sidewalk or the zebra crossing) in the barrier-free passing two-dimensional undirected graph takes a barrier-free passing index as a weight. Each vertex (curb ramp) of the barrier-free passing two-dimensional undirected graph comprises attributes such as longitude, latitude, altitude and the like, the barrier-free passing index is based on the existing national standard barrier-free design specification (GB 50763-2012), and the weight comprises the passability and the safety of the wheelchair.
Step three, barrier-free shortest path planning calculation. To facilitate the passing, any two vertexes V in the vertex set V in the constructed barrier-free passing two-dimensional undirected graph can be subjected to s 、V d And searching a shortest path to ensure that the sum of weight calculation of each edge passed by the path is minimum. During implementation, because the traditional Dijkstra algorithm cannot be applied to a multi-objective optimization problem, the method searches the shortest path through the improved parallel ant colony algorithm based on the OpenMP multi-core architecture, and the related pheromone quantity is defined by the barrier-free traffic index and the distance.
In view of the embodiments of the present invention, it can be used in a variety of applications, including the following:
accessible city public transit: the bus arrival real-time broadcasting service is realized through Bluetooth, a gateway and a mobile phone network and by utilizing an artificial intelligence algorithm, and efficient bus barrier-free scene service is provided.
Accessible traffic signal lamp: by utilizing a space positioning technology and mobile phone networking, the traffic light state of the traveling route of the user is broadcasted in real time, and a situation that the user passes through the traffic light intersection without obstacles is realized.
Space positioning and indoor navigation: the method comprises the steps of utilizing UWB indoor networking modeling, binding tags and actual users, and utilizing an artificial intelligence algorithm to achieve functions of path planning, path navigation, deviation early warning and the like. The method can be used for barrier-free service in scenes such as office halls, shopping malls, communities and the like.
Scene broadcasting and early warning: and related services such as identity recognition, scene broadcasting, service pushing and the like are realized by utilizing technologies such as RFID and the like. The system can be used for barrier-free services of urban public transport systems, scenic spot urban parks, public service institutions, public toilets, residence school districts, business buildings and the like.
Therefore, the urban barrier-free traffic path planning system based on the improved parallel ant colony algorithm can be constructed, a two-dimensional undirected graph is constructed on the basis of data of sidewalks, curb ramps and zebra crossings, barrier-free traffic indexes are defined, the barrier-free shortest path between two points is calculated by applying the improved parallel ant colony algorithm, and the blank of independent research and development of the barrier-free path planning algorithm based on the walking system in China is filled. Can be suitable for people with various disabilities, including people with visual disorder (color blindness and color weakness) and people with limb disorder (lower limb inconvenience).
The above description shows that the invention has the following advantages:
1. the traditional map data and the barrier-free environment can be combined, a travel barrier-free service platform is created, and an intelligent barrier-free service system is built.
2. Can provide an intelligent barrier-free solution for various travel scenes.
3. The system can be matched with the existing VR technology to realize panoramic barrier-free navigation, and has various functional applications such as real-time navigation, voice navigation, barrier-free facility query and the like.
4. The map display device is convenient to use, and a user can apply conventional map application habits to meet travel guidance.
Furthermore, the present invention is described with reference to orientation or positional relationship merely for convenience in describing and simplifying the invention, and is not intended to indicate or imply that the device or structure so referred to must have a particular orientation or be operated in a particular orientation configuration and is not to be construed as limiting the invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, it should be noted that, for those skilled in the art, many modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims (9)

1. A barrier-free passing path planning method is characterized by comprising the following steps: step one, carrying out barrier-free traffic data perception on a basic map platform, an acquisition system, a management platform and user behavior data in a grabbing, cleaning and mining mode to obtain barrier traffic data; step two, modeling barrier-free traffic data to obtain a barrier-free traffic two-dimensional undirected graph; step three, barrier-free shortest path planning calculation.
2. The barrier-free traffic path planning method according to claim 1, wherein: in the first step, basic data of a public map are obtained through an API (application programming interface) or a crawler tool, the basic data are cleaned and mined, map data in the basic data are integrated with barrier-free facility marking positions, and a basic map platform is constructed, wherein the public map comprises a Baidu map and a Gaode map.
3. The barrier-free traffic path planning method according to claim 2, wherein: in the first step, POI data and user evaluation data in the basic data are compared and analyzed, a data cleaning and mining model is constructed, the data are marked again in the data cleaning and mining model by combining API interface data calling in the using process of a user and feedback data, path changing and path inquiring operations when the user uses navigation, and the basic data are optimized.
4. The method for planning a barrier-free traffic path according to claim 1, wherein: in the first step, the acquired barrier-free traffic data are subjected to supplementary labeling on a data source by using an auxiliary acquisition system through daily travel planning, and the supplementary labeling is completed through field acquisition, automatic auditing and manual secondary confirmation.
5. The barrier-free traffic path planning method according to claim 1, wherein: the treatment platform in the first step is used for barrier-free environment detection and rectification, barrier-free environment data, barrier-free facility real-time state data, barrier-free facility fault, rectification and other data are contained in the treatment platform, and the basic map platform and the treatment platform are communicated in real time.
6. The barrier-free traffic path planning method according to claim 1, wherein: the user behavior data comprises user basic information, trip data, platform clicking and using habits, desensitization processing is carried out on the user behavior data, the desensitization processing is that comprehensive calculation is carried out on the user basic information through a Hash algorithm, a unique user code is generated for each user, the user code does not contain any user information, but can uniquely identify the user in a system, and the user code replaces the original user information.
7. The barrier-free traffic path planning method according to claim 1, wherein: and in the second step, constructing a barrier-free passing two-dimensional undirected graph based on the walking system by taking the curb ramp as a vertex set and taking the sidewalk and the zebra crossing as a set of edges, wherein each edge in the barrier-free passing two-dimensional undirected graph takes a barrier-free passing index as a weight.
8. The method for planning a barrier-free traffic path according to claim 7, wherein: each vertex of the barrier-free passing two-dimensional undirected graph comprises longitude, latitude and altitude attributes, the barrier-free passing index is based on the existing national standard barrier-free design specification, and the weight comprises the passability of the wheelchair.
9. The barrier-free traffic path planning method according to claim 1, wherein: in the third step, any two vertexes V in the vertex set V in the constructed barrier-free passing two-dimensional undirected graph are subjected to s 、V d And searching a shortest path to ensure that the sum of weight calculation of each edge passed by the path is minimum.
CN202210598035.4A 2022-05-30 2022-05-30 Barrier-free passing path planning method Pending CN115204458A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116467788A (en) * 2023-05-10 2023-07-21 悉地（苏州）勘察设计顾问有限公司 Barrier-free environment construction management method and system
CN117782137A (en) * 2023-12-28 2024-03-29 重庆交通大学 Intelligent wheelchair path positioning identification and planning method

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116467788A (en) * 2023-05-10 2023-07-21 悉地（苏州）勘察设计顾问有限公司 Barrier-free environment construction management method and system
CN116467788B (en) * 2023-05-10 2023-11-21 悉地（苏州）勘察设计顾问有限公司 Barrier-free environment construction management method and system
CN117782137A (en) * 2023-12-28 2024-03-29 重庆交通大学 Intelligent wheelchair path positioning identification and planning method

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