CN113739815B - Road surface comfort level-based path planning method and device - Google Patents
Road surface comfort level-based path planning method and device Download PDFInfo
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Abstract
The invention discloses a road surface comfort level-based path planning method, which comprises the following steps: generating an initial planning route according to the starting and ending point position information and a set path planning algorithm; acquiring road network data of a driving area corresponding to an initial planning route; and carrying out local route replacement on the initial planned route according to comfort information pre-stored in the road network data to generate a comfort planned route.
Description
Technical Field
The invention belongs to the technical field of path planning, and particularly relates to a path planning method and device based on road comfort.
Background
In the prior art, a navigation application program is installed on a terminal, when a user needs to drive to a certain place, the navigation application program can be utilized in advance to initiate route planning, the terminal sends a departure place and a destination of the user to a server, the server returns one or more routes pointing to the destination from the departure place, and then drives to go according to the planned routes.
At present, the terminal mostly adopts conventional planning algorithms such as shortest paths, shortest time and the like to realize the planning of navigation routes, namely, distance or time is used as a weight of a directional weighted graph, such as a shortest path algorithm, for example, dijkstra' sAlgorithm, the shortest route is solved, one or more routes with the minimum weight are found, and one or more reasonable routes are planned for a user.
The existing route planning method is difficult to meet various requirements of users at present, such as comfort level, and particularly in the field of network taxi traveling, a new route planning method is still to be provided.
Disclosure of Invention
The invention aims to solve the technical problems and provides a road surface comfort level-based path planning method and device.
In order to solve the problems, the invention is realized according to the following technical scheme:
in a first aspect, the present invention provides a road surface comfort level-based path planning method, including the steps of:
Generating an initial planning route according to the starting and ending point position information and a set path planning algorithm;
acquiring road network data of a driving area corresponding to an initial planning route;
And carrying out local route replacement on the initial planned route according to comfort information pre-stored in the road network data to generate a comfort planned route.
With reference to the first aspect, the present invention further provides a1 st preferred implementation manner of the first aspect, specifically, the comfort level information is obtained by a method including:
Monitoring tire pressure data of a vehicle;
When the tire pressure data has abnormal values, recording the abnormal values, corresponding space-time information and road sections, and generating jolting points;
And evaluating the road surface jolt degree of the road section based on the jolt point number, and obtaining the comfort degree information of the road section.
With reference to the first aspect, the present invention further provides a 2 nd preferred implementation manner of the first aspect, specifically, the evaluating the road surface bump degree of the road section based on the number of bump points, and obtaining the comfort degree information of the road section, including:
acquiring all bump points, and classifying the bump points according to road sections;
based on the space-time information, integrating a plurality of jolting points with similar longitude and latitude in the same road section to obtain a jolting point set;
identifying the number of bump point sets of a road section to obtain the number of bump point bits;
and calculating comfort degree information of the road section according to a calculation formula: p comfort = S/a;
Where S is the road length of the road segment, a is the number of jolting points of the road segment, and a larger value of P comfort represents a higher comfort of the road segment.
With reference to the first aspect, the present invention further provides a3 rd preferred implementation manner of the first aspect, specifically, before identifying the number of bump point sets of the road section and obtaining the bump point number, the method further includes:
Identifying the number of bump points of the bump point set; and when the number of the bump points is smaller than a preset threshold value, eliminating the bump point set.
With reference to the first aspect, the present invention further provides a4 th preferred implementation manner of the first aspect, specifically, before identifying the number of jolting points of the road section and obtaining the number of jolting points, the method further includes:
and resetting all the bump point sets according to a preset period, and re-evaluating the bump degree of the road surface of the road section to avoid false alarm when the road surface of the road section is repaired.
With reference to the first aspect, the present invention further provides a 5 th preferred implementation manner of the first aspect, specifically, when an abnormal value occurs in the tire pressure data, recording the abnormal value, corresponding space-time information and road segments, and generating a jolting point, including:
acquiring normal values of tire pressure data of the vehicle, and comparing the normal values with abnormal values of the tire pressure data;
when the tire pressure data is the amplitude reduction, the abnormal value is not recorded;
When the tire pressure data is amplified, judging whether the amplification of the tire pressure data exceeds a preset amplification threshold value, if so, generating a bump point, and if not, not recording the abnormal value.
With reference to the first aspect, the present invention further provides a 6 th preferred implementation manner of the first aspect, specifically, obtaining road network data of a driving area corresponding to the initial planned route, including:
acquiring road network data of a driving area corresponding to an initial planning route;
Generating a road network topological graph according to the road network data; the road network topology comprises a plurality of nodes, each node represents a road section, and the nodes comprise comfort degree information of the road section.
With reference to the first aspect, the present invention further provides a7 th preferred implementation manner of the first aspect, specifically, performing local route replacement on the initial planned route according to comfort level information pre-stored in road network data, to generate a comfort level planned route, which specifically includes:
acquiring nodes of an initial planning route and nodes of a driving area;
Judging whether the comfort level of all nodes of the initial planning route is smaller than a comfort level threshold value, and marking the node as a bump node when the comfort level of any node of the initial planning route is smaller than the comfort level threshold value;
Replacing the bump node of the initial planned route with the candidate node of at least one driving area; the candidate nodes are nodes which are adjacent to the corresponding bump nodes, and the comfort level of the candidate nodes is greater than a comfort level threshold;
a comfort planned route is generated based on the non-bump nodes and the candidate nodes of the initial planned route.
In a second aspect, the present invention also provides a road surface comfort level-based path planning apparatus, including:
the path planning module is used for generating an initial planning route according to the starting and ending position information and a set path planning algorithm;
The acquisition module is used for acquiring road network data of a driving area corresponding to the initial planning route;
And the comfort level planning module is used for carrying out local route replacement on the initial planning route according to the comfort level information pre-stored in the road network data to generate a comfort level planning route.
With reference to the second aspect, the present invention further provides a preferred embodiment of the second aspect, specifically, the comfort information is obtained by a method comprising:
Monitoring tire pressure data of a vehicle;
When the tire pressure data has abnormal values, recording the abnormal values, corresponding space-time information and road sections, and generating jolting points;
And evaluating the road surface jolt degree of the road section based on the jolt point number, and obtaining the comfort degree information of the road section.
Compared with the prior art, the invention has the beneficial effects that:
According to the starting and ending point position information and a set path planning algorithm, an initial planning route is generated; acquiring road network data of a driving area corresponding to an initial planning route; and carrying out local route replacement on the initial planned route according to the comfort information pre-stored in the road network data, and generating the comfort information of the comfort planned route passing through the road.
The invention provides information support about comfort level for planning and selecting travel routes, makes up the defect of static planning paths of the traditional algorithm, improves the diversity of path planning, and meets travel demands of different users.
The invention carries out comfort local route replacement on the basis of the initial planning route, and reduces development cost without a brand new route planning mode.
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The invention is described in further detail below with reference to the attached drawing figures, wherein:
FIG. 1 is a schematic diagram of a road surface comfort-based path planning system of the present invention;
FIG. 2 is a flow chart of a road comfort based path planning method of the present invention;
fig. 3 is a schematic view of the road surface comfort-based path planning apparatus of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying 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. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. Based on the embodiments of the present application, every other embodiment obtained by a person skilled in the art without making any inventive effort falls within the scope of protection of the present application.
In order to enable a person skilled in the art to use the present disclosure, the following embodiments are given in connection with a specific application scenario "planning a travel route for a user in a travel service". It will be apparent to those having ordinary skill in the art that the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of the application. While the present application is described primarily in terms of planning a travel route for a user based on the user's demand for comfort and road network data, it should be understood that this is merely one exemplary embodiment.
It should be noted that the term "comprising" will be used in embodiments of the application to indicate the presence of the features stated hereafter, but not to exclude the addition of other features.
The terms "passenger," "requestor," "service requestor," and "customer" are used interchangeably herein to refer to a person, entity, or tool that may request or subscribe to a service. The terms "user," "provider," "service provider," and "provider" are used interchangeably herein to refer to a person, entity, or tool that can provide a service. The term "user" in the present application may refer to a person, entity or tool requesting, subscribing to, providing or facilitating the provision of a service. For example, the user may be a passenger, driver, operator, etc., or any combination thereof. In the present application, "passenger" and "passenger terminal" may be used interchangeably, and "driver" and "driver terminal" may be used interchangeably.
The terms "service request" and "order" are used interchangeably herein to refer to a request initiated by a passenger, service requester, user, service provider, or vendor, etc., or any combination thereof. Accepting the "service request" or "order" may be a passenger, a service requester, a driver, a service provider, a vendor, or the like, or any combination thereof. The service request may be either fee-based or free.
The positioning techniques used in the present application may be based on global positioning system (Global Positioning System, GPS), global navigation satellite system (Global Navigation SATELLITE SYSTEM, GLONASS), COMPASS navigation system (COMPASS), galileo positioning system, quasi Zenith satellite system (Quasi-Zenith SATELLITE SYSTEM, QZSS), wireless fidelity (WIRELESS FIDELITY, WIFI) positioning techniques, or the like, or any combination thereof. One or more of the above-described positioning systems may be used interchangeably in the present application.
One aspect of the application relates to a road surface comfort-based path planning system. The system can generate an initial planning route according to the starting and ending point position information and a set path planning algorithm; acquiring road network data of a driving area corresponding to an initial planning route; and carrying out local route replacement on the initial planned route according to comfort information pre-stored in the road network data to generate a comfort planned route. Information support about comfort level is provided for planning and selecting travel routes, the defect of static planning paths of the traditional algorithm is overcome, the diversity of path planning is improved, and travel demands of different users are met. Such as pregnant women, sick patients, elderly people, etc., and passengers or users who have corresponding requirements for comfort.
It is worth noting that before the application of the application is put forward, the most basic of the navigation function is to carry out route planning for the user, most of the existing route planning is to plan a route between a starting point and a destination based on real-time road conditions, or directly recommend the user to the route which the user recently walks or most of the user walks, and the route planning mode does not have consideration of evaluating the comfort level, is not friendly enough for the experience of pregnant women, sick patients, old people and the like on the vehicle, and has increasingly long-lived demands along with the improvement of pursuit of life by the user.
Therefore, the invention provides a road surface comfort level-based path planning method and device.
Fig. 1 is a schematic architecture diagram of a road surface comfort level-based path planning system according to an embodiment of the present application. The route planning system may be an online transportation service platform for transportation services such as map service, taxis, ride service, express, carpool, bus service, driver rental, or airliner service, or any combination thereof. The route planning system may include one or more of a server 110, a network 120, a service request terminal 130, a service provider 140, and a database 150.
In some embodiments, server 110 may include a processor. The processor may process information and/or data related to the service request to perform one or more of the functions described in the present application. For example, the processor may determine a travel area in which the user of the path to be planned is located based on the service request obtained from the service request terminal 130, thereby performing route planning. In some embodiments, a processor may include one or more processing cores (e.g., a single core processor (S) or a multi-core processor (S)). By way of example only, the Processor may include a central processing unit (CentralProcessing Unit, CPU), application-specific integrated Circuit (ASIC), special-purpose instruction set Processor (Application Specific Instruction-set Processor, ASIP), graphics processing unit (Graphics Processing Unit, GPU), physical processing unit (Physics ProcessingUnit, PPU), digital signal Processor (DIGITAL SIGNAL Processor, DSP), field-programmable gate array (FieldProgrammable GATE ARRAY, FPGA), programmable logic device (Programmable Logic Device, PLD), controller, microcontroller unit, reduced instruction set computer (Reduced Instruction Set Computing, RISC), microprocessor, or the like, or any combination thereof.
In some embodiments, the device type corresponding to the service request end 130 and the service providing end 140 may be a mobile device, for example, may include a smart home device, a wearable device, a smart mobile device, a virtual reality device, or an augmented reality device, and may also be a tablet computer, a laptop computer, or a built-in device in a motor vehicle, and so on.
In some embodiments, database 150 may be connected to network 120 to communicate with one or more components in the routing system (e.g., server 110, service requester 130, service provider 140, etc.). One or more components in the route planning system may access data or instructions stored in database 150 via network 120. In some embodiments, database 150 may be directly connected to one or more components in the route planning system, or database 150 may be part of server 110.
The following describes in detail the road surface comfort level-based path planning method according to the embodiment of the present application, with reference to the description of the route planning system shown in fig. 1.
Referring to fig. 2, fig. 2 is a flow chart of a road surface comfort level-based path planning method according to an embodiment of the present application, where the method may be executed by a processor in a route planning system, and specifically includes:
s100: generating an initial planning route according to the starting and ending point position information and a set path planning algorithm;
s200: acquiring road network data of a driving area corresponding to an initial planning route;
S300: and carrying out local route replacement on the initial planned route according to comfort information pre-stored in the road network data to generate a comfort planned route.
Specifically, the following description is given to each step of the execution process:
s100: and generating an initial planning route according to the starting and ending point position information and the set path planning algorithm.
Illustratively, the starting point position information of the user can be obtained directly through GPS positioning, and also can be obtained through input operation of the user; the end position information of the user can be obtained by an input operation of the user. Here, the input of the user may be either manual input of the user or historical input of the user, that is, if the start position information and/or the end position information that the user needs to input are position information that the user has used before, the user may directly click on the start position and/or the end position in the display window to complete input of the start position information. When the starting point position of the user needing to navigate is the current position of the user, preferably, the current position information of the user can be obtained through GPS positioning to serve as the starting point position information of the initial planning route, so that operation steps required by the user are reduced, and the accuracy of the generated initial planning route is improved.
In one implementation, the set path planning algorithm used in obtaining the initial planned route may be flexibly determined according to actual needs, for example: the time is shortest, the mileage is shortest, the traffic light is least, etc. For example, the initial planned route may be generated by using a shortest path algorithm (such as Dijkstra algorithm), which is also called as single-source shortest path algorithm, and solves the shortest path problem in the directed graph, and is mainly characterized by extending layer by layer with the starting point as the center until reaching the end point.
The user may be a service requester, i.e. a passenger requesting travel by bus, or a service provider, i.e. a driver providing travel services.
The invention carries out comfort local route replacement on the basis of the initial planning route, and reduces development cost without a brand new route planning mode.
S200: and acquiring road network data of a driving area corresponding to the initial planning route.
In the art, road network data specifically refers to a plurality of road layouts in a region, and road network data is provided for a user to implement a plurality of road layouts in a specific area of a current route plan. In one aspect, road network data of the traveling area corresponding to the initially planned route may be obtained from road network geometric data in a map database, where the road network geometric data may be composed of geospatial data and traffic information, such as longitude and latitude, road information, and the like; on the other hand, the road network data may also be map data already developed in the market, such as a Tencer map, a Goldmap, a hundred degree map, etc., which is directly obtained through an interface.
In a preferred implementation, obtaining road network data of a driving area corresponding to an initial planned route specifically includes:
s210: acquiring road network data of a driving area corresponding to an initial planning route;
S220: generating a road network topological graph according to the road network data; the road network topology comprises a plurality of nodes, each node represents a road section, and the nodes comprise comfort degree information of the road section.
In the art, a road network topology map including a plurality of nodes (i.e., nodes) is generated based on road network data, in which each node represents one road segment, i.e., the road segment is abstracted as a node, and comfort information of the road segment is further pre-stored in each node.
In one implementation, a road may be a road segment, corresponding to a node. When the road is long, one road may include a plurality of continuous road segments, i.e., a corresponding plurality of nodes. Road section division of roads can be divided according to traffic settings such as road intersections, traffic lights and the like.
By adopting the concept opposite to the concept of abstracting a line segment (namely link) into a road section and abstracting an end point or a fork of the road section into a node in the existing road network model, comfort information is applied to route planning, accurate recommendation of a route can be realized, data processing efficiency can be effectively improved, and user experience is improved.
In a preferred implementation, each node in S220 further includes traffic regulation information including u-turn prohibition, one-way travel, time-limited travel, steering limitation, single-double number limitation, license plate limitation, and the like. Judging whether any two nodes in the road network topological graph pass through according to traffic rule information, updating the initial road network topological graph based on the judgment result, and generating the road network topological graph for route planning.
Further, in order to ensure that the latest real-time traffic situation is maintained between nodes in the target road network topology graph for route planning, preset traffic rule information corresponding to each road section can be updated every preset time, so that the high accuracy of route planning is ensured, the result of route planning is more in line with the actual situation, the satisfaction degree of users is improved, for example, the traffic rule information can be updated every 5 minutes to 10 minutes, and preferably the traffic rule information can be updated every 5 minutes.
S300: and carrying out local route replacement on the initial planned route according to comfort information pre-stored in the road network data to generate a comfort planned route.
For example, when the partial route of the initially planned route is replaced, the road segments with high comfort are replaced with each other by the partial route of the initially planned route.
In this embodiment, the number of comfort planned routes that are finally displayed to the user may be one or more, and is not limited herein.
For example, if the comfort planned route finally displayed to the user is a plurality of routes, the plurality of routes completing the local route replacement may be provided to the user in the form of a plurality of comfort planned routes at the same time after completing the local route replacement of the plurality of initial planned routes. Or different local route replacement is carried out on the same initial planning route, and on the basis of ensuring comfort, a plurality of alternatives such as the maximum distance, the maximum time or the most time of congestion are overlapped, so that a plurality of comfort planning routes are provided.
In one implementation, according to comfort information pre-stored in road network data, performing local route replacement on the initial planned route to generate a comfort planned route, which specifically includes:
S310: and acquiring nodes of the initial planning route and nodes of the driving area.
Illustratively, the corresponding node is obtained from all road segments involved in the initial planned route. And simultaneously, acquiring nodes of all road sections of the running area where the initial planning route is located.
In one implementation, the travel area may be an administrative area that the initially planned route is traveling; the track of the initially planned route may also form a specific area on the map at a certain distance, for example, an area within 2km with all track points of the track.
S320: and judging whether the comfort level of all the nodes of the initial planning route is smaller than a comfort level threshold, and marking the nodes as jolt nodes when the comfort level of any one node of the initial planning route is smaller than the comfort level threshold.
Illustratively, the comfort threshold is set by one skilled in the art based on the user population.
S330: replacing the bump node of the initial planned route with the candidate node of at least one driving area; the candidate nodes are nodes adjacent to the corresponding bump nodes, and the comfort level of the candidate nodes is greater than a comfort level threshold.
In the actual road scene, because of the complex road, the transformation of the driving road can be to replace one or more continuous jolt nodes by one candidate node, namely, the road section of one candidate node, and replace the local section of the initial planning path.
The method can also be used for replacing one or more continuous bump nodes by a plurality of candidate nodes, namely, a plurality of road sections are spliced into a replacement section to replace a local section of an initial planning path.
In order to reduce mileage and greatly modify the originally planned route, the candidate node is preferably adjacent to the corresponding bump node, and the travel is facilitated.
S340: a comfort planned route is generated based on the non-bump nodes and the candidate nodes of the initial planned route.
Generating planned routes based on road network nodes is prior art in the art and will not be described here too much.
Aiming at the road surface comfort level-based path planning method, the invention provides a technical means for evaluating the road section comfort level and obtaining comfort level information, which comprises the following steps:
And S10, monitoring tire pressure data of the vehicle.
In one implementation, the tire pressure data of the vehicle may be obtained by a TBOX module of the vehicle, and the tire pressure data may be reported to the server via the internet of vehicles, or may be processed in advance by a processing system of the vehicle.
S20: when the tire pressure data has abnormal values, recording the abnormal values, corresponding space-time information and road sections, and generating jolting points;
The method is characterized in that according to the requirement of the network vehicle platform for reporting data of the network vehicle, the abnormal tire pressure data is reported and recorded based on the vehicle tire pressure monitoring function, the standard tire pressure is 220-280 kpa, the maximum change of 30kpa occurs due to the temperature rise of the tire when the vehicle runs, the instantaneous value of the tire pressure of a bumpy road section is approximately increased by 20kpa again, the floating range of the abnormal tire pressure is approximately increased by 17.9-22.8% instantaneously, the intermediate value is taken as a definition, and the abnormal tire pressure is defined when the instantaneous value of the tire pressure change exceeds 20%.
Specifically, when the tire pressure data has an abnormal value, recording the abnormal value, corresponding space-time information and road sections, and generating jolting points specifically includes:
s21, acquiring normal values of tire pressure data of the vehicle, and comparing the normal values with abnormal values of the tire pressure data;
s22, when the tire pressure data is the amplitude reduction, not recording the abnormal value;
And S23, when the tire pressure data is amplified, judging whether the amplification of the tire pressure data exceeds a preset amplification threshold value, if so, generating a bump point, and if not, recording the abnormal value.
Specifically, the preset amplification threshold is 20%.
S30: and evaluating the road surface jolt degree of the road section based on the jolt point number, and obtaining the comfort degree information of the road section.
In one implementation of the present invention, the road surface bump degree of the road section is evaluated based on the number of bump points, and comfort degree information of the road section is obtained, specifically including:
s31: acquiring all bump points, and classifying the bump points according to road sections;
The network vehicle platform is provided with a large number of network vehicles which run on the road to provide service, the tire pressure abnormal values of all vehicles every day, the longitude and latitude of the abnormal positions and the road names are reported and recorded based on big data, a group of data records consisting of the longitude and latitude and the tire pressure are formed, and the data are classified into corresponding road sections to realize the subsequent business processes.
S32: based on the space-time information, integrating a plurality of jolting points with similar longitude and latitude in the same road section to obtain a jolting point set.
S33: identifying the number of bump point sets of a road section to obtain the number of bump point bits;
in a preferred embodiment, before identifying the number of bump point sets of the road section and obtaining the bump point number, the method further comprises:
S01: identifying the number of bump points of the bump point set; and when the number of the bump points is smaller than a preset threshold value, eliminating the bump point set.
And S32-S33, wherein the purpose is to filter data with low occurrence frequency of partial tire pressure abnormal values and eliminate special conditions such as tire burst, nail binding and the like. It can be appreciated that if tire pressure anomalies occur less than 10 times at similar latitudes and longitudes within the same time frame (e.g., a day), then the location is considered to have no resident jolt point.
In another preferred embodiment, before identifying the number of bump point sets of the road section and obtaining the bump point number, the method further includes:
S02: and resetting all the bump point sets according to a preset period, and re-evaluating the bump degree of the road surface of the road section to avoid false alarm when the road surface of the road section is repaired.
The preset period may be 1 to 5 days. Because the unevenness of the construction road section can be repaired gradually, the problem of whether the road is repaired or not can be identified by resetting the bump point set and adding the real-time update of the data, and the problem that the path planning is influenced by the historical data is avoided.
S34: and calculating comfort degree information of the road section according to a calculation formula: p comfort = S/a;
Where S is the road length of the road segment, a is the number of jolting points of the road segment, and a larger value of P comfort represents a higher comfort of the road segment.
The obtained bump data are summarized, and the comfort level of the road section is calculated, and the overall comfort level of the road is related to the length of the road and the position number of bump points, if the road is 3 bump points, but the body feeling of the road section of 1 km is greatly different from that of the road section of 500 meters. The calculation formula is: p comfort = S/a, S is road length, a is the abnormal point location number of tire pressure, and the greater the P comfort value is, the higher the comfort is, and the comfort of the road is reasonably evaluated.
Referring to fig. 3, fig. 3 is a schematic flow chart of a road surface comfort level-based path planning apparatus according to an embodiment of the present application, where the apparatus may be deployed in a processor of a server and execute the road surface comfort level-based path planning method described above.
Wherein, a path planning device based on road surface comfort level includes:
the path planning module is used for generating an initial planning route according to the starting and ending position information and a set path planning algorithm;
The acquisition module is used for acquiring road network data of a driving area corresponding to the initial planning route;
And the comfort level planning module is used for carrying out local route replacement on the initial planning route according to the comfort level information pre-stored in the road network data to generate a comfort level planning route.
Specifically, the workflow of each module refers to the road surface comfort level-based path planning method. The method for acquiring the comfort level information refers to the road surface comfort level-based path planning method.
The present invention is not limited to the preferred embodiments, and any modifications, equivalent variations and modifications made to the above embodiments according to the technical principles of the present invention are within the scope of the technical proposal of the present invention.
Claims (7)
1. A road surface comfort level-based path planning method, characterized by comprising the following steps:
Generating an initial planning route according to the starting and ending point position information and a set path planning algorithm;
acquiring road network data of a driving area corresponding to an initial planning route;
According to comfort information pre-stored in road network data, carrying out local route replacement on the initial planned route to generate a comfort planned route;
Wherein the comfort information is obtained by a method comprising:
Monitoring tire pressure data of a vehicle;
When the tire pressure data has abnormal values, recording the abnormal values, corresponding space-time information and road sections, and generating jolting points;
evaluating the road surface jolt degree of the road section based on the jolt point number to obtain comfort degree information of the road section, and specifically comprising:
acquiring all bump points, and classifying the bump points according to road sections;
based on the space-time information, integrating a plurality of jolting points with similar longitude and latitude in the same road section to obtain a jolting point set;
identifying the number of bump point sets of a road section to obtain the number of bump point bits;
and calculating comfort degree information of the road section according to a calculation formula: p comfort = S/a;
Where S is the road length of the road segment, a is the number of jolting points of the road segment, and a larger value of P comfort represents a higher comfort of the road segment.
2. The road surface comfort level-based path planning method according to claim 1, characterized by further comprising, before identifying the number of bump point sets of the road section, obtaining the bump point number:
Identifying the number of bump points of the bump point set; and when the number of the bump points is smaller than a preset threshold value, eliminating the bump point set.
3. The road surface comfort level-based path planning method according to claim 1, characterized by further comprising, before identifying the number of bump point sets of the road section, obtaining the bump point number:
and resetting all the bump point sets according to a preset period, and re-evaluating the bump degree of the road surface of the road section to avoid false alarm when the road surface of the road section is repaired.
4. The road surface comfort level-based path planning method according to claim 1, wherein when the tire pressure data has an abnormal value, recording the abnormal value and corresponding space-time information and road segments, and generating a jolt point, comprising:
acquiring normal values of tire pressure data of the vehicle, and comparing the normal values with abnormal values of the tire pressure data;
when the tire pressure data is the amplitude reduction, the abnormal value is not recorded;
When the tire pressure data is amplified, judging whether the amplification of the tire pressure data exceeds a preset amplification threshold value, if so, generating a bump point, and if not, not recording the abnormal value.
5. The road surface comfort level-based path planning method according to any one of claims 1 to 4, wherein the acquiring of road network data of a traveling area corresponding to the initially planned route specifically includes:
acquiring road network data of a driving area corresponding to an initial planning route;
Generating a road network topological graph according to the road network data; the road network topology comprises a plurality of nodes, each node represents a road section, and the nodes comprise comfort degree information of the road section.
6. The road surface comfort level-based path planning method according to claim 5, wherein the generating a comfort level planning path by performing local path replacement on the initial planning path according to comfort level information pre-stored in road network data comprises:
acquiring nodes of an initial planning route and nodes of a driving area;
Judging whether the comfort level of all nodes of the initial planning route is smaller than a comfort level threshold value, and marking the node as a bump node when the comfort level of any node of the initial planning route is smaller than the comfort level threshold value;
Replacing the bump node of the initial planned route with the candidate node of at least one driving area; the candidate nodes are nodes which are adjacent to the corresponding bump nodes, and the comfort level of the candidate nodes is greater than a comfort level threshold;
a comfort planned route is generated based on the non-bump nodes and the candidate nodes of the initial planned route.
7. A road surface comfort level-based path planning apparatus, comprising:
the path planning module is used for generating an initial planning route according to the starting and ending position information and a set path planning algorithm;
The acquisition module is used for acquiring road network data of a driving area corresponding to the initial planning route;
The comfort level planning module is used for carrying out local route replacement on the initial planning route according to comfort level information pre-stored in the road network data to generate a comfort level planning route;
Wherein the comfort information is obtained by a method comprising:
Monitoring tire pressure data of a vehicle;
When the tire pressure data has abnormal values, recording the abnormal values, corresponding space-time information and road sections, and generating jolting points;
evaluating the road surface jolt degree of the road section based on the jolt point number to obtain comfort degree information of the road section, and specifically comprising:
acquiring all bump points, and classifying the bump points according to road sections;
based on the space-time information, integrating a plurality of jolting points with similar longitude and latitude in the same road section to obtain a jolting point set;
identifying the number of bump point sets of a road section to obtain the number of bump point bits;
and calculating comfort degree information of the road section according to a calculation formula: p comfort = S/a;
Where S is the road length of the road segment, a is the number of jolting points of the road segment, and a larger value of P comfort represents a higher comfort of the road segment.
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| CN118010059B (en) * | 2024-04-08 | 2024-07-05 | 逸航汽车零部件无锡有限公司 | Path planning system and method based on personalized comfort control |
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