WO2023201955A1

WO2023201955A1 - Vehicle path planning method and device

Info

Publication number: WO2023201955A1
Application number: PCT/CN2022/115692
Authority: WO
Inventors: 王慧敏
Original assignee: 合众新能源汽车股份有限公司
Priority date: 2022-04-22
Filing date: 2022-08-30
Publication date: 2023-10-26
Also published as: CN114964284A

Abstract

A vehicle path planning method and device, a storage medium, and a processor, relating to the technical field of automatic driving, and mainly aiming to solve the problems of traffic congestion, safety and the like of all vehicles in an area. The method comprises: acquiring vehicle information uploaded by a target vehicle in real time in a designated area, the vehicle information at least comprising current position information of the vehicle, destination position information of the vehicle, and environment information identified by the vehicle (101); analyzing a traffic state of the designated area on the basis of the current position information of the vehicle and the environment information identified by the vehicle, and determining, on the basis of the traffic state, whether a vehicle congestion threshold is reached in the designated area (102); and if so, planning a new driving path of the target vehicle in the designated area on the basis of the traffic state of the designated area and the destination position information of the vehicle, so that the target vehicle travels according to the new driving path (103).

Description

A vehicle route planning method and device

Technical field

The present invention relates to the field of automatic driving technology, and in particular, to a vehicle path planning method and device.

Background technique

In a society where technological development is becoming more and more intelligent, more and more applications have begun automated operations, such as autonomous driving technology. However, with the emergence of autonomous driving technology, if you want to apply autonomous vehicles more safely and widely, How to achieve smarter and safer transportation with autonomous vehicles is particularly important.

However, currently, for issues such as path planning and driving safety when the vehicle is in autonomous driving state, cameras and sensors installed in the autonomous vehicle are mostly used to identify the obstacles and traffic environment around the vehicle, so that the vehicle can avoid and target obstacles. Operations such as selecting the optimal path under traffic congestion, but this method only solves the problem of traffic congestion and obstacle avoidance of a single vehicle. It cannot communicate the obstacles identified by each vehicle in the area and the surrounding traffic environment information, and thus cannot regionally Traffic congestion and safety conditions of all vehicles within.

Contents of the invention

In view of the above problems, the present invention provides a vehicle route planning method and device, whose main purpose is to solve the traffic congestion and safety of all vehicles in the area.

In order to solve the above technical problems, the present invention proposes the following solutions:

In a first aspect, the present invention provides a vehicle route planning method, which method includes:

Obtain the vehicle information uploaded in real time by the target vehicle in the designated area, the vehicle information at least includes the vehicle's current location information, the vehicle's destination location information, and the environment information recognized by the vehicle;

Analyze the traffic status of the designated area based on the current location information of the vehicle and the environmental information recognized by the vehicle, and determine whether the vehicle congestion threshold is reached in the designated area based on the traffic status;

If so, a new driving path of the target vehicle in the designated area is planned based on the traffic status of the designated area and the vehicle destination location information, so that the target vehicle travels according to the new driving path.

In a second aspect, the present invention provides a vehicle route planning device, which device includes:

An acquisition unit is used to acquire vehicle information uploaded in real time by the target vehicle in the designated area, where the vehicle information at least includes vehicle current location information, vehicle destination location information, and environmental information recognized by the vehicle;

A determination unit configured to analyze the traffic status of the designated area based on the current location information of the vehicle and the environmental information recognized by the vehicle, and determine whether the vehicle congestion threshold is reached in the designated area based on the traffic status;

A planning unit configured to, if so, plan a new driving path of the target vehicle in the designated area based on the traffic status of the designated area and the vehicle destination location information, so that the target vehicle travels according to the new driving path .

In order to achieve the above object, according to a third aspect of the present invention, a storage medium is provided. The storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to perform the above-mentioned first aspect. Vehicle route planning methods.

In order to achieve the above object, according to a fourth aspect of the present invention, a processor is provided, the processor being configured to run a program, wherein when the program is running, the vehicle path planning method of the first aspect is executed.

Through the above technical solution, the vehicle route planning method and device provided by the present invention can obtain the vehicle information uploaded in real time by the target vehicle in the designated area, which is conducive to the real-time and accuracy of subsequent analysis of the traffic status in the designated area. This is beneficial to improving the matching degree between the subsequent planning of the new driving route in the designated area and the current traffic status of the designated area. The vehicle information at least includes the vehicle's current location information, the vehicle's destination location information and the environment information recognized by the vehicle. After obtaining the vehicle information, the traffic status in the designated area can be analyzed based on the current location information of the vehicle in the vehicle information and the environmental information recognized by the vehicle, and then the traffic status can be determined based on the analyzed traffic status. Whether the vehicle congestion threshold has been reached in the designated area, the vehicle congestion situation in the designated area can be discovered in time, so that the vehicle congestion situation can be adjusted in a timely manner. Furthermore, if it is determined that the vehicle congestion threshold in the designated area has been reached, If the congestion threshold is determined, a new path for the target vehicle to travel in the designated area can be planned based on the traffic status of the designated area and then combined with the obtained vehicle destination location information in the vehicle information. In this way, if If there are congested road sections or traffic accidents in the traffic state, the congested road sections or traffic accident sections can be avoided when planning the new driving route, and then the target vehicle can travel according to the new driving route, The vehicle congestion and safety conditions of the target vehicle are solved, and the new driving route is planned for the target vehicle in the designated area, not a single vehicle. Therefore, the traffic of all target vehicles in the designated area can be solved. Crowding and safety.

The above description is only an overview of the technical solution of the present invention. In order to have a clearer understanding of the technical means of the present invention, it can be implemented according to the content of the description, and in order to make the above and other objects, features and advantages of the present invention more obvious and understandable. , the specific embodiments of the present invention are listed below.

Description of the drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are for the purpose of illustrating preferred embodiments only and are not to be construed as limiting the invention. Also throughout the drawings, the same reference characters are used to designate the same components. In the attached picture:

Figure 1 shows a flow chart of a vehicle route planning method provided by an embodiment of the present invention;

Figure 2 shows a flow chart of another vehicle route planning method provided by an embodiment of the present invention;

Figure 3 shows a block diagram of a vehicle route planning device provided by an embodiment of the present invention;

Figure 4 shows a block diagram of another vehicle route planning device provided by an embodiment of the present invention.

Detailed ways

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a thorough understanding of the disclosure, and to fully convey the scope of the disclosure to those skilled in the art.

In today's society, more and more technologies are becoming more intelligent. For example, in the past, vehicles could only be driven by humans. However, with the continuous advancement of technology, autonomous driving technology has emerged. However, with the emergence of autonomous driving technology, if you want to be safe, With the widespread application of autonomous vehicles, it is particularly important to achieve more intelligent and safer transportation when the vehicles are autonomously driving. However, currently, most of the solutions to issues such as path planning and driving safety in autonomous vehicles are solved through autonomous driving. The cameras and sensors installed in the driving vehicle identify the obstacles and traffic environment around the vehicle, so that the vehicle can avoid obstacles and select the optimal path in traffic congestion. However, this method only solves the traffic congestion and traffic congestion of a single vehicle. To avoid obstacles and other situations, it is impossible to communicate the obstacles and surrounding traffic environment information recognized by each vehicle in the area, and thus the traffic congestion and safety of all vehicles in the area cannot be communicated. To this end, embodiments of the present invention provide a vehicle route planning method that can solve traffic congestion and safety issues for all vehicles in the area. The specific execution steps are shown in Figure 1, including:

101. Obtain the vehicle information uploaded in real time by the target vehicle in the designated area.

Wherein, the vehicle information includes at least the current location information of the vehicle, the vehicle destination location information and the environment information recognized by the vehicle.

In this step, the target vehicle can collect its own vehicle information in real time through sensors and cameras, and then upload the vehicle information collected in real time to the cloud. Furthermore, the cloud can obtain the vehicle information uploaded by the target vehicle in real time, so as to facilitate Subsequent analysis of the traffic status within the designated area.

There may be multiple target vehicles, and they may be all self-driving vehicles present in the designated area.

The designated area may be a fixed area or an area that changes with a certain target vehicle as the center, and may include multiple road segments.

For example, the current location information of the vehicle in the obtained vehicle information may be No. 36, Street A, City A, Province A, the destination location information of the vehicle may be No. 41, Street B, City A, Province A, and the environment information recognized by the vehicle may be the vehicle There are three pedestrians walking around, there can also be five vehicles surrounding the vehicle, there are two obstacles on the roadside, etc.

102. Analyze the traffic status of the designated area based on the current location information of the vehicle and the environmental information recognized by the vehicle, and determine whether the vehicle congestion threshold is reached in the designated area based on the traffic status.

In this step, after obtaining the vehicle information uploaded by the target vehicle in real time, the traffic status of the designated area can be determined based on the location information of the target vehicle. For example, the location information of the target vehicle can be used to confirm the vehicles on the road section corresponding to the location of the target vehicle. Density and the driving speed of the target vehicle, etc., the actual scene of the location of the target vehicle can also be simulated through the current location information of the vehicle and the environmental information recognized by the vehicle to analyze the traffic status of the designated area, and then can Determine whether the vehicle congestion threshold is reached in the designated area through the analyzed traffic status of the designated area. For example, it may be to first confirm the vehicle density of a certain road section in the designated area in the analyzed traffic status, and then Confirm whether the vehicle density exceeds the specified value. If not, you can continue to obtain the vehicle information uploaded by the vehicle in real time, that is, return to step 101, and then analyze the traffic status of the designated area to prevent vehicle congestion. If , then step 103 can be performed.

The traffic status of the designated area may include whether a traffic accident occurs in each road section in the designated area, the number of vehicles and pedestrians in each road section, etc.

Wherein, the vehicle congestion threshold may be a preset maximum value of vehicle congestion on each road section within the designated area.

103. Based on the traffic status of the designated area and the vehicle destination location information, plan a new driving path for the target vehicle in the designated area.

In this step, after it is determined that the vehicle congestion threshold has been reached in the designated area, the specific situation of each road section in the traffic status of the designated area can be determined. Specifically, it can be the number of vehicles in each road section and whether it occurs. traffic accident, and then combine the vehicle destination location information to plan a new driving path for the target vehicle in the designated area that avoids the traffic jam in the traffic state and the traffic accident section, so that the target vehicle can travel according to the new Path travel.

For example, if the current locations of target vehicle A and target vehicle B are A, there is a traffic accident on road section A in the designated area and there are many vehicles and it is relatively crowded. At the same time, the destination of target vehicle A is C, and the target vehicle The destination of B is address D, so the new driving path planned for the target vehicle from A to C can avoid road section A, and the new driving route planned for target vehicle B from A to D can also avoid road section A.

Based on the implementation of Figure 1 above, it can be seen that the present invention provides a vehicle path planning method. The target vehicle can collect its own vehicle information in real time, and then upload the collected vehicle information to the cloud in real time. Then, the cloud The vehicle information uploaded in real time by the target vehicle can be obtained to facilitate subsequent analysis of the real-time and accuracy of the traffic status in the designated area. Furthermore, the current vehicle information in the vehicle information uploaded in real time by the target vehicle can be obtained. The location information and the environmental information recognized by the vehicle analyze the traffic status in the designated area, and then determine whether the vehicle congestion threshold has been reached in the designated area based on the analyzed traffic status, and the designated area can be discovered in time vehicle congestion situation in order to make timely adjustments to the vehicle congestion situation in the future. Furthermore, if it is determined that the vehicle congestion threshold has been reached in the designated area, the traffic status of the designated area can be combined to obtain The vehicle destination location information in the vehicle information is used to plan a new path for the target vehicle to travel in the designated area. In this way, if there are congested road sections or traffic accidents in the traffic state, the new path is planned during planning. The new driving route can avoid the congested road section or the traffic accident section. Furthermore, the target vehicle can drive according to the new driving route, which solves the vehicle congestion and safety conditions of the target vehicle, and the new driving route It is planned for the target vehicles in the designated area, not a single vehicle. Therefore, the traffic congestion and safety of all target vehicles in the designated area can be solved.

Further, as a refinement and expansion of the embodiment shown in Figure 1, the embodiment of the present invention also provides another vehicle route planning method, as shown in Figure 2, the specific steps are as follows:

201. Obtain the vehicle information uploaded in real time by the target vehicle in the designated area.

202. Analyze the traffic status of the designated area based on the current location information of the vehicle and the environmental information recognized by the vehicle, and determine whether the vehicle congestion threshold is reached in the designated area based on the traffic status.

203. Based on the traffic status of the designated area and the vehicle destination location information, plan a new driving path for the target vehicle in the designated area.

204. Obtain the preset identification of the target vehicle in the designated area.

In this step, after planning the new driving path of the target vehicle in the designated area, the preset identification of the target vehicle in the designated area can be obtained, so that the new driving path can be sent to the corresponding target vehicle based on the preset identification. .

Wherein, the preset identification of the target vehicle may be a preset identification representing the target vehicle when the target vehicle communicates with the outside world, wherein one target vehicle corresponds to one preset identification.

205. Send the new driving route to the corresponding target vehicle based on the preset identification.

In this step, after obtaining the preset identification of the target vehicle, the new driving route can be sent to the target vehicle corresponding to the preset identification, and then the target vehicle can receive the corresponding preset identification of itself. a new driving route, and then can drive according to the new driving route.

Among them, one target vehicle can correspond to a new driving path, one target vehicle can correspond to multiple new driving paths, or multiple target vehicles can correspond to the same new driving path.

For descriptions of steps 201 to 203, reference may be made to the descriptions of steps 101 to 103, and the same technical effects can be achieved and the same technical problems can be solved, so no further description is given here.

Below, the contents of each of the above steps will be further described in conjunction with specific implementations.

In some possible implementations, when analyzing the traffic status of the designated area based on the current location information of the vehicle and the environmental information recognized by the vehicle in step 202, the process includes:

Match the pre-stored map model of the designated area based on the current location information of the vehicle;

Simulate the actual scene where the target vehicle is located on the map model of the designated area based on the environmental information recognized by the vehicle;

The vehicle density of the road section corresponding to the location of the target vehicle is determined according to the actual scenario.

In this step, the map model of the designated area pre-stored in the cloud can be matched according to the current location information of the vehicle in the vehicle information uploaded in real time by the target vehicle. Further, the environmental information recognized by the vehicle can be restored. Engraved on the map model, the actual scene of the target vehicle's location in the designated area on the map model is simulated. In this way, the traffic status of the target vehicle's location in the designated area can be more intuitively and clearly understood. Then, the vehicle density of the road section corresponding to the location of the target vehicle can be determined in the actual scenario, so as to subsequently confirm whether the vehicle congestion threshold is reached in the designated area.

Wherein, the vehicle density may be the number of vehicles in the designated area.

In some possible implementations, when determining whether the vehicle congestion threshold is reached in the designated area based on the traffic status in step 202, the method includes:

Determine the vehicle density of each road segment in the designated area according to the traffic status;

Determine the vehicle congestion value corresponding to the road segment based on the vehicle density of the road segment and the traveling speed of the target vehicle in the road segment;

Determine whether the vehicle congestion value reaches the vehicle congestion threshold.

In this step, after obtaining the traffic status of the designated area, the vehicle density of each road section in the designated area can be confirmed based on the traffic status, and then the vehicle density in the road section can be detected in real time based on the positioning function of the target vehicle. The driving speed of the target vehicle can then be combined with the vehicle density and the driving speed of the target vehicle to determine the vehicle congestion value of the road section. After obtaining the vehicle congestion value, the vehicle congestion value and the vehicle congestion value can be combined The vehicle congestion threshold is compared to determine whether the road section reaches the vehicle congestion threshold.

Wherein, the vehicle congestion value may be a value that reflects the vehicle congestion situation, which may be combined with the vehicle density and the vehicle driving speed.

Wherein, the driving speed of the vehicle can be how many meters per minute.

In some possible implementations, determining the vehicle congestion value corresponding to the road segment based on the vehicle density of the road segment and the traveling speed of the target vehicle in the road segment includes:

When the vehicle density is greater than the first threshold and the driving speed is lower than the second threshold, it is determined that vehicles are congested in the road section, and the vehicle congestion value of the road section is greater than the vehicle congestion threshold;

When the vehicle density is less than the first threshold and the driving speed is lower than the second threshold, it is determined that there is a traffic accident in the road section and the vehicle congestion value of the road section is greater than the vehicle congestion threshold;

When the driving speed is not lower than the second threshold, it is determined that the road section is clear and the vehicle congestion value of the road section is less than the vehicle congestion threshold.

In this step, the first threshold of the vehicle density and the second threshold of the vehicle traveling speed can be preset, and then the vehicle's own positioning function can be used to detect the vehicle density and the traveling speed of the target vehicle. , detect whether the vehicle density and the driving speed of the target vehicle reach the first threshold and the second threshold. If it is detected that the vehicle density is greater than the first threshold, the driving speed of the target vehicle is lower than the first threshold. When the threshold is two, that is, when there are many vehicles in the road section of the designated area and the driving speed is slow, it can be considered to be caused by vehicle congestion in the road section. It can be determined that the vehicle congestion value of the road section is greater than the vehicle congestion threshold. If it is detected When the outgoing vehicle density is less than the first threshold, but the driving speed of the target vehicle is lower than the second threshold, that is, when the number of vehicles in the designated area road section is small, the driving speed of the vehicle is still slow, it can be considered that the There is a traffic accident in the road section of the designated area. At this time, it can also be determined that the vehicle congestion value of the road section is greater than the vehicle congestion threshold. However, if it is detected that the driving speed of the target vehicle in the road section of the designated area is not lower than the second threshold, That is, when the traveling speed of the target vehicle in the designated area is considered to be normal or fast, the road section can be considered to be smooth and there is no congestion. At this time, the vehicle congestion value of the road section is less than the vehicle congestion threshold.

In some possible implementations, 203 includes:

Obtain clear road segments within the specified area;

Predict the probability of traffic congestion in the unblocked section within a preset time period based on the current time and the building signs around the unblocked section;

Delete smooth road sections with probability greater than the threshold to obtain planable road sections;

According to the vehicle destination location information and the planable road section, a new driving path of the target vehicle in the designated area is planned.

In this step, the unobstructed road section in the designated area can be determined by combining the simulated actual scene of the road section where the target vehicle is located in the designated area, and then the current time and the building identification around the unobstructed road section can be determined first, and then, The probability of traffic congestion in the smooth road section within a preset time period can be predicted based on the current time and the building identifiers around the smooth road section. For example, the current time is 4:50, and the buildings around the smooth road section It is marked as school A. Since the school's dismissal time is generally five o'clock, it can be determined that this road section will most likely be congested at five o'clock. Furthermore, this smooth road section can be deleted to obtain a planable road section, which can prevent the target vehicle from being blocked at five o'clock. If vehicle congestion occurs in the future, the efficiency of driving the target vehicle in the planned new driving path is improved. Then, the target vehicle can be planned to travel in the designated area based on the vehicle destination location information and the planable road section. new driving route within.

In some possible implementations, planning a new driving path for the target vehicle in the designated area based on the vehicle destination location information and the planable road segment includes:

When there are multiple planned new driving paths, the number of new driving paths in the same planable road segment is determined based on the number of target vehicles;

When the number of new driving paths exceeds the target number, the target vehicles passing through the same planable road section are diverted, and a new driving path is determined for the target vehicle from multiple new driving paths.

In this step, when planning the new driving path for the target vehicle, if there are multiple new driving paths planned for one target vehicle, it can first be determined whether one of the multiple driving paths is the same as for other target vehicles. If the same road segments in the planned new driving path exist, the number of the same road segments in the new driving paths of other target vehicles can be determined. If the target number is exceeded, the target vehicles passing through the same road segment can be diverted. Confirm other drivable road sections other than this road section in the target vehicle's new driving path, and determine a new driving path for the target vehicle from multiple new driving paths. This can greatly prevent the target vehicle from causing traffic accidents in the designated area road section. Congestion situation.

For example, if the new driving path planned for target vehicle A includes paths A1, A2, and A3, which pass through road sections 1, 2, 3, and 4 respectively, there are two new driving paths planned for target vehicles B and C. , which are B1, B2, C1, C2 respectively, and the road sections they pass through are 1, 2, 5, 6 and 1, 2, 7, 8 respectively, then the distance between target vehicle A, target vehicle B and target vehicle C can be determined The same road segments passed by in the new driving path include Road Segment 1 and Road Segment 2. At this time, other drivable road segments other than Road Segment 1 and Road Segment 2 in the new driving path of the target vehicle A can be confirmed, such as Road Segment 9. and road section 10, and then the places where the target vehicle passes through road section 1 and road section 2 in the new driving path can be replaced by road section 9 and road section 10. Finally, the new driving path planned for the target vehicle A can pass through road section 9 ,10,3,4.

Further, as an implementation of the method shown in Figure 1 above, an embodiment of the present invention also provides a vehicle path planning device for implementing the method shown in Figure 1 above. This device embodiment corresponds to the foregoing method embodiment. For the convenience of reading, this device embodiment will not elaborate on the details of the foregoing method embodiment one by one. However, it should be clear that the device in this embodiment can correspondingly implement the foregoing method implementation. All content in the example. As shown in Figure 3, the device includes:

The acquisition unit 301 is used to acquire the vehicle information uploaded in real time by the target vehicle in the designated area. The vehicle information at least includes the vehicle's current location information, the vehicle's destination location information, and the environment information recognized by the vehicle;

Determining unit 302, configured to analyze the traffic status of the designated area based on the current location information of the vehicle included in the vehicle information obtained by the obtaining unit 301 and the environmental information recognized by the vehicle, and determine the designated area based on the traffic status. Whether the vehicle congestion threshold is reached within the period;

The planning unit 303 is configured to, if the determination unit 302 determines yes, plan a new driving path of the target vehicle in the designated area based on the traffic status of the designated area and the vehicle destination location information, so that the The target vehicle travels according to the new travel path.

Further, as an implementation of the method shown in Figure 2 above, an embodiment of the present invention also provides another vehicle route planning device for implementing the method shown in Figure 2 above. This device embodiment corresponds to the foregoing method embodiment. For the convenience of reading, this device embodiment will not elaborate on the details of the foregoing method embodiment one by one. However, it should be clear that the device in this embodiment can correspondingly implement the foregoing method implementation. All content in the example. As shown in Figure 4, the device includes:

In an optional implementation, when analyzing the traffic status of the designated area based on the current location information of the vehicle and the environmental information recognized by the vehicle, the determination unit 302 is specifically used to:

Matching module 3021, configured to match the pre-stored map model of the designated area based on the current location information of the vehicle;

The simulation module 3022 is configured to simulate the actual scene where the target vehicle is located on the map model of the specified area matched by the matching module 3021 according to the environmental information recognized by the vehicle;

The first determination module 3023 is used to determine the vehicle density of the road section corresponding to the location of the target vehicle based on the actual scene simulated by the simulation module 3022.

In an optional implementation, when determining whether the vehicle congestion threshold is reached in the designated area based on the traffic state, the determining unit 302 includes:

The second determination module 3024 is used to determine the vehicle density of each road segment in the designated area according to the traffic status;

The third determination module 3025 is configured to determine the vehicle congestion value corresponding to the road segment based on the vehicle density of the road segment determined by the second determination module 3024 and the traveling speed of the target vehicle in the road segment;

The determination module 3026 is used to determine whether the vehicle congestion value determined by the third determination module 3025 reaches the vehicle congestion threshold.

In an optional implementation, the third determination module 3025 includes:

The first determination sub-module 30251 is used to determine vehicle congestion in the road segment when the vehicle density is greater than the first threshold and the driving speed is lower than the second threshold, and the vehicle congestion value of the road segment is greater than the vehicle congestion threshold;

The second determination sub-module 30252 is used to determine that there is a traffic accident in the road section when the vehicle density is less than the first threshold and the driving speed is less than the second threshold, and the vehicle congestion value of the road section is greater than the vehicle congestion threshold;

The third determination sub-module 30253 is used to determine that the road section is clear and the vehicle congestion value of the road section is less than the vehicle congestion threshold when the driving speed is not lower than the second threshold.

In an optional implementation, the planning unit 303 includes:

Obtaining module 3031 is used to obtain unobstructed road segments in the designated area;

The prediction module 3032 is used to predict the probability of traffic congestion in the unblocked road section obtained by the acquisition module 3031 within the preset time period based on the current time and the building identification around the unblocked road section;

The deletion module 3033 is used to delete unobstructed road sections whose probability is greater than the threshold predicted by the prediction module 3032, and obtain planable road sections;

The planning module 3034 is configured to plan a new driving path for the target vehicle in the designated area based on the vehicle destination location information and the planable road section obtained by the deletion module 3033.

In an optional implementation, the planning module 3034 includes:

The fourth determination sub-module 30341 is used to determine the number of new driving paths in the same planable road segment based on the number of target vehicles when there are multiple planned new driving paths;

The fifth determination sub-module 30342 is used to divert the target vehicles passing through the same planable road section when the number of new driving paths determined by the fourth determination sub-module 30341 exceeds the target number, so as to divert the target vehicles from multiple routes. Determine a new driving route among new driving routes.

In an optional implementation, after the planning unit 303 plans a new driving path of the target vehicle in the designated area based on the traffic status of the designated area and the vehicle destination location information, the device further It includes a sending unit 304, which is specifically used for:

Obtain the preset identification of the target vehicle in the designated area;

The new driving path is sent to the corresponding target vehicle based on the preset identification, so that the target vehicle travels according to the new driving path.

Further, an embodiment of the present invention also provides a storage medium, the storage medium is used to store a computer program, wherein when the computer program is run, the device where the storage medium is located controls the vehicle to execute the vehicle described in FIGS. 1-2. Path planning methods.

Further, an embodiment of the present invention further provides a processor, the processor being configured to run a program, wherein when the program is running, the vehicle path planning method described in FIGS. 1-2 is executed.

In the above embodiments, each embodiment is described with its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

It can be understood that relevant features in the above methods and devices can be referred to each other. In addition, “first”, “second”, etc. in the above-mentioned embodiments are used to distinguish between the embodiments and do not represent the advantages and disadvantages of each embodiment.

Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, devices and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be described again here.

The algorithms and displays provided herein are not inherently associated with any particular computer, virtual system, or other device. Various general-purpose systems can also be used with teaching based on this. From the above description, the structure required to construct such a system is obvious. Furthermore, this invention is not specific to any specific programming language. It should be understood that a variety of programming languages may be utilized to implement the invention described herein, and that the above descriptions of specific languages are intended to disclose the best mode of carrying out the invention.

In addition, memory may include non-volatile memory in computer-readable media, random access memory (RAM) and/or non-volatile memory in the form of read-only memory (ROM) or flash memory (flash RAM). Memory includes At least one memory chip.

Those skilled in the art will understand that embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment that combines software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each process and/or block in the flowchart illustrations and/or block diagrams, and combinations of processes and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing device produce a use A device for realizing the functions specified in one process or multiple processes of the flowchart and/or one block or multiple blocks of the block diagram.

These computer program instructions may also be stored in a computer-readable memory that causes a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction means, the instructions The device implements the functions specified in a process or processes of the flowchart and/or a block or blocks of the block diagram.

These computer program instructions may also be loaded onto a computer or other programmable data processing device, causing a series of operating steps to be performed on the computer or other programmable device to produce computer-implemented processing, thereby executing on the computer or other programmable device. Instructions provide steps for implementing the functions specified in a process or processes of a flowchart diagram and/or a block or blocks of a block diagram.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

Memory may include non-volatile memory in computer-readable media, random access memory (RAM) and/or non-volatile memory in the form of read-only memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media includes both persistent and non-volatile, removable and non-removable media that can be implemented by any method or technology for storage of information. Information may be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), and read-only memory. (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, Magnetic tape cassettes, tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium can be used to store information that can be accessed by a computing device. As defined in this article, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprises" or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements not only includes those elements, but also includes Other elements are not expressly listed or are inherent to the process, method, article or equipment. Without further limitation, an element qualified by the statement "comprises a..." does not exclude the presence of additional identical elements in the process, method, good, or device that includes the element.

Those skilled in the art will understand that embodiments of the present application may be provided as methods, systems or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The above are only examples of the present application and are not used to limit the present application. To those skilled in the art, various modifications and variations may be made to this application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this application shall be included in the scope of the claims of this application.

Claims

A vehicle route planning method, characterized in that the method includes:

Obtain the vehicle information uploaded in real time by the target vehicle in the designated area, the vehicle information at least includes the vehicle's current location information, the vehicle's destination location information, and the environment information recognized by the vehicle;

Analyze the traffic status of the designated area based on the current location information of the vehicle and the environmental information recognized by the vehicle, and determine whether the vehicle congestion threshold is reached in the designated area based on the traffic status;

If so, a new driving path of the target vehicle in the designated area is planned based on the traffic status of the designated area and the vehicle destination location information, so that the target vehicle travels according to the new driving path.
The method according to claim 1, characterized in that analyzing the traffic status of the designated area based on the current location information of the vehicle and the environmental information recognized by the vehicle includes:

Match the pre-stored map model of the designated area based on the current location information of the vehicle;

Simulate the actual scene where the target vehicle is located on the map model of the designated area based on the environmental information recognized by the vehicle;

The vehicle density of the road section corresponding to the location of the target vehicle is determined according to the actual scenario.
The method of claim 2, wherein determining whether a vehicle congestion threshold is reached in the designated area based on the traffic status includes:

Determine the vehicle density of each road segment in the designated area according to the traffic status;

Determine the vehicle congestion value corresponding to the road segment based on the vehicle density of the road segment and the traveling speed of the target vehicle in the road segment;

Determine whether the vehicle congestion value reaches the vehicle congestion threshold.
The method of claim 3, wherein determining the vehicle congestion value corresponding to the road segment based on the vehicle density of the road segment and the traveling speed of the target vehicle in the road segment includes:

When the vehicle density is greater than the first threshold and the driving speed is lower than the second threshold, it is determined that vehicles are congested in the road section, and the vehicle congestion value of the road section is greater than the vehicle congestion threshold;

When the vehicle density is less than the first threshold and the driving speed is lower than the second threshold, it is determined that there is a traffic accident in the road section and the vehicle congestion value of the road section is greater than the vehicle congestion threshold;

When the driving speed is not lower than the second threshold, it is determined that the road section is clear and the vehicle congestion value of the road section is less than the vehicle congestion threshold.
The method according to claim 1, characterized in that, based on the traffic status of the designated area and the vehicle destination location information, planning a new driving path for the target vehicle in the designated area, including:

Obtain clear road segments within the specified area;

Predict the probability of traffic congestion in the unblocked section within a preset time period based on the current time and the building signs around the unblocked section;

Delete smooth road sections with probability greater than the threshold to obtain planable road sections;

According to the vehicle destination location information and the planable road section, a new driving path of the target vehicle in the designated area is planned.
The method according to claim 5, characterized in that planning a new driving path of the target vehicle in the designated area based on the vehicle destination location information and the planable road section includes:

When there are multiple planned new driving paths, the number of new driving paths in the same planable road segment is determined based on the number of target vehicles;

When the number of new driving paths exceeds the target number, the target vehicles passing through the same planable road section are diverted, and a new driving path is determined for the target vehicle from multiple new driving paths.
The method according to any one of claims 1 to 6, characterized in that after planning a new driving path of the target vehicle in the designated area based on the traffic status of the designated area and the vehicle destination location information , the method includes:

Obtain the preset identification of the target vehicle in the designated area;

The new driving path is sent to the corresponding target vehicle based on the preset identification, so that the target vehicle travels according to the new driving path.
A vehicle route planning device, characterized in that the device includes:

An acquisition unit is used to acquire vehicle information uploaded in real time by the target vehicle in the designated area, where the vehicle information at least includes vehicle current location information, vehicle destination location information, and environmental information recognized by the vehicle;

A determination unit configured to analyze the traffic status of the designated area based on the current location information of the vehicle and the environmental information recognized by the vehicle, and determine whether the vehicle congestion threshold is reached in the designated area based on the traffic status;

A planning unit configured to, if so, plan a new driving path of the target vehicle in the designated area based on the traffic status of the designated area and the vehicle destination location information, so that the target vehicle travels according to the new driving path .
A storage medium, characterized in that the storage medium includes a stored program, wherein when the program is run, the device where the storage medium is located is controlled to execute the vehicle according to any one of claims 1 to 7. Path planning methods.
A processor, characterized in that the processor is configured to run a program, wherein when the program is run, the vehicle path planning method according to any one of claims 1 to 7 is executed.