CN112212877A - Internet of things unmanned vehicle and navigation path calculation method and device - Google Patents
Internet of things unmanned vehicle and navigation path calculation method and device Download PDFInfo
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
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Abstract
The invention provides an Internet of things unmanned vehicle navigation path calculation device and method and an automobile. The current position of the unmanned vehicle and the target position of navigation are obtained; acquiring road information in a virtual map range, establishing a road information table, and deleting roads which do not contain the current position and the position of the target and intersect with the virtual map range in the road information table; and deleting the road of the road end point containing the deleted road information to obtain a communication road information table. Obtaining a connecting road through the road end point information in the connecting road information table; and selecting one of the connected roads as a navigation route. The invention also provides a corresponding method and a vehicle. According to the technical scheme, all points do not need to be traversed by establishing the road connection tree, the calculation complexity is low, calculation resources are not consumed, and the use of the Internet of things is facilitated. And in the scene of poor road connectivity, the efficiency of searching for a reasonable connected path is high.
Description
Technical Field
The invention relates to an Internet of things unmanned vehicle, a navigation method and a navigation device, and belongs to the field of Internet of things, unmanned driving and map navigation.
Background
Internet of things (IoT) refers to connecting multiple devices to each other through the internet, and driverless cars utilize this connection technology when updating algorithms for user data. Unmanned vehicles need to collect and process large amounts of data, in which case they share road information including actual routes, traffic conditions, and how to bypass obstacles, etc., through the internet of things. All the data are shared among the automobiles connected with the Internet of things and are uploaded to the cloud system in a wireless mode for analysis and use, and therefore the automation degree is improved.
An important function of the internet of things automobile is navigation. Navigation technology relies on high-precision maps to store large amounts of driving assistance information as structured data, which can be divided into two categories. The first type is road data such as lane information such as the position, type, width, gradient, and curvature of a lane line. The second type is fixed object information around a lane, such as traffic signs, traffic lights, etc., lane limits, junctions, obstacles and other road details, and further includes infrastructure information such as overhead objects, guard rails, number, road edge types, roadside landmarks, etc.
The existing internet-of-things automobile navigation mode basically adopts a directed connected graph model to model a road network, road intersections are used as connected graph nodes of the road network, original road space data are processed by utilizing a road line space information table to form directed connected graph model data, starting and ending points of the road connection data are subjected to cross overlapping calculation, and a road network node data table is established. And then, designing a routing model by combining an A-algorithm, designing corresponding routing evaluation according to the shortest route, high-speed priority, comprehensive priority and the like, and then determining a navigation path.
Note that, in the existing algorithms such as the a-algorithm, the next path grid is determined step by comparing the heuristic function values F of 8 neighbors of the current path grid, and although it is not necessary to traverse all paths, it is necessary to traverse all points. Because the time-consuming algorithm is not suitable for frequent routing occasions, the algorithm is generally suitable for occasions requiring accuracy. And the efficiency is low under the condition of poor road connectivity.
Disclosure of Invention
The method aims to solve the problems that the existing navigation routing method based on the Internet of things for the automobile is high in calculation complexity, consumes calculation resources and is low in efficiency particularly in the scene that the road connectivity is poor. The invention provides the following technical scheme.
An internet of things unmanned vehicle navigation path calculation device, the device comprising: the position acquisition unit is used for acquiring the current position of the unmanned vehicle and the navigation target position; the virtual map unit is a sub-area of the actual map, and the sub-area comprises the current position of the unmanned vehicle and the navigation target position; the road information table calculation unit is used for acquiring road information in a virtual map range, wherein the road information comprises road numbers, namely road end point information; the road information table calculation unit establishes a road information table, and the road information table comprises road numbers and road end points; deleting roads which do not contain the current position and the target position and are intersected with the virtual map range in the road information table; and judging the road end point containing the deleted road information in the road information table, and deleting the road containing the road end point containing the deleted road information to obtain a communication road information table. Obtaining a connecting road through the road end point information in the connecting road information table; and the navigation path selection unit selects one road from the communicated roads as a navigation route.
Preferably, the virtual map is a virtual map range generated by taking the current position and the position of the target as reference points.
More preferably, the virtual map takes the current position and the position of the target as diagonal lines, and selects a point on the diagonal lines at a certain distance along the direction in which the current position and/or the position of the target are far away from each other as a vertex to generate a virtual map range.
Alternatively, the road end point information is represented by an array of road numbers connected to the end point.
Further, the road including the end point not within the virtual map range is deleted in the road information table. The road having one end point not including the start point and the end point and the other end point being NULL is deleted in the road information table, or the road having the end point being NULL is directly deleted.
More preferably, the obtaining of the connected road through the road endpoint information in the connected road information table is: and setting a connected vector, starting from a road containing a starting point, moving the connected vector to the next road through end point information until the connected vector reaches the road of an end point, wherein the road through which the connected vector moves forms a connected road.
The invention also provides a navigation path calculation method of the Internet of things unmanned vehicle, which comprises the following steps: step 1, acquiring the current position of an unmanned vehicle and a navigation target position; step 2, establishing a virtual map; the virtual map is a sub-area of the actual map, and the sub-area comprises the current position of the unmanned vehicle and the navigation target position; step 3, acquiring road information in the virtual map range, wherein the road information comprises road numbers, namely road end point information; step 4, deleting the road which does not contain the current position and the position of the target and is intersected with the virtual map range in the road information table; and 5, deleting the road with one end point not containing the starting point and the end point and the other end point being NULL in the road information table, or directly deleting the road with the end point being NULL. The deleted road information table is shown in fig. 8. And 6, judging the road end points containing the deleted road information in the road information table, deleting the roads containing the road end points containing the deleted road information, and obtaining a communication road information table. E.g. the link 8,12 has been deleted, then the end point containing information on link 8 also has link 7, the end point on link 9 (7,8,9), the end point containing information on link 12 also has link 11 ( end points 11,12, 13). Then, the link 7,9,11 is deleted from the link information table; step 7, obtaining a connecting road through the road end point information; and 8, selecting one of the connected roads as a navigation route.
In step 7, a connected vector is set, and the connected vector is moved to the next road by the end point information from the road including the starting point until the connected vector reaches the road of the end point, and the road through which the connected vector moves forms a connected road.
The virtual map takes the current position and the position of the target as diagonal lines, and selects points as vertexes on the diagonal lines at a certain distance along the direction that the current position and/or the position of the target are far away from each other to generate a virtual map range.
The invention also provides an Internet of things unmanned vehicle which comprises the device.
According to the technical scheme, all points do not need to be traversed by establishing the road connection tree, the calculation complexity is low, calculation resources are not consumed, and the use of the Internet of things is facilitated. And in the scene of poor road connectivity, the efficiency of searching for a reasonable connected path is high.
Drawings
FIG. 1 is a logic diagram of an apparatus provided by the present invention;
FIG. 2 is an exemplary map scenario of the present invention;
FIG. 3 is a schematic view of a virtual map range of the present invention;
FIG. 4 is a second schematic view of a virtual map range of the present invention;
FIG. 5 is a schematic diagram of a road endpoint road information table according to the present invention;
FIG. 6 is a second schematic view of a road endpoint road information table according to the present invention;
FIG. 7 is a third schematic view of a road end point road information table according to the present invention;
FIG. 8 is a fourth schematic view of a road end point road information table according to the present invention;
FIG. 9 is a fifth schematic view of a road endpoint road information table according to the present invention;
fig. 10 is a schematic diagram of a navigation path obtained by the technical solution of the present invention.
Detailed Description
The invention provides an internet of things unmanned vehicle navigation path calculation device in a first embodiment. As shown in fig. 1, the apparatus includes:
and the position acquisition unit is used for acquiring the current position of the unmanned vehicle and the target position of navigation. The current position is the starting point of navigation. A common way to obtain the position may be obtained through a BeiDou Navigation Satellite System (BDS), a Global Positioning System (GPS), and a russian GLONASS Satellite Navigation System (GLONASS), and the position information may be represented by latitude and longitude values. As shown in fig. 2, a start point S of the unmanned vehicle, and an end point G, and a plurality of roads (road numbers 1 to 32) in the map are shown in fig. 2. The location information may be represented by latitude and longitude values. The position capture unit may or may not be fixed to the drone vehicle.
And the virtual map unit is a sub-area of the actual map, and the sub-area comprises the current position of the unmanned vehicle and the navigation target position. For example, the current position and the target position are used as reference points, which may be used as a diagonal line of a square or rectangle, or two points on a circle, such as points symmetrically distributed on the circle along the center of the circle, or the focal points of an ellipse, to generate a virtual map range.
Or the current position and the target position may be used as diagonal lines, and a point may be selected as a vertex on the diagonal line at a distance along the direction in which the current position and/or the target position are away from each other, so as to generate a virtual map range. I.e. to extend the range of the virtual map, said certain distance may be 1 km, 0.5 km, or 2 km, or other value ranges.
And the road information table calculating unit is used for acquiring road information in the virtual map range, wherein the road information comprises road numbers, namely road end point information. The road end point information is represented by an array of road numbers connected to the end points, for example, one end point of the road 1 is S, one end point is P _1,2,3,31, or (1,2,3,31), and the end point of the road 3 is P _1,2,3 and P _3,4,5, or (1,2,3) and (3,4, 5). The end points of the road 6 are for example P _2,6,7 and P _6,21, 22. Special cases, such as road 4, and road 28, where only one end of the road is connected to other roads and the other end is not connected to other roads, the end point not connected to other roads is NULL.
The road information table calculation unit establishes a road information table, and the road information table comprises road numbers and road end points. And deleting the road which does not contain the current position and the position of the target and is intersected with the virtual map range in the road information table. Preferably, the end point not within the virtual map range is determined. The road information table deletes a road including an end point not within the virtual map range. The road having one end point not including the start point and the end point and the other end point being NULL is deleted in the road information table, or the road having the end point being NULL is directly deleted.
The road information table calculation unit determines a road end point including the deleted road information in the road information table, and deletes the road including the road end point of the deleted road information to obtain a communicated road information table. And obtaining the connecting road through the road end point information in the connecting road information table. Starting from a road including a starting point, a connected vector is set, for example, in fig. 10, the road including the starting point includes roads 1 and 31, the road 1 is the starting point of the connected vector and can be represented by (S, road 1), the other end point of the road 1 is (1,2,3), the road 1 in the end point array is itself, the road 3 is deleted, so that the connected vector is diverted to the road 2, the connected vector can be represented by the array (S, road 1, road 2), the other end point of the road 2 is (2,6,7), the road 7 is deleted, the connected vector is diverted to the road 6, and the connected vector can be represented by the array (S, road 1, road 2, road 6); the other end of road 6 is (6,20,32), and road 32 has been deleted, at which point the connected vector is diverted to road 20, at which point the connected vector may be represented by an array (road 1, road 2, road 6, road 20); the other end of road 20 is (20,21,22), and road 21 has been deleted, at which time the connected vector is diverted to road 22, at which time the connected vector may be represented by an array (S, road 1, road 2, road 6, road 20, road 22); the other end of road 22 is (22,23,30), and road 30 has been deleted, at which time the connected vector is diverted to road 23, at which time the connected vector may be represented by an array (S, road 1, road 2, road 6, road 20, road 22, road 23); the other end of the road 23 is (G), and the connected vector may be represented by an array (S, road 1, road 2, road 6, road 20, road 22, road 23, G). In the same manner, another connected vector (S, road 31, road 2, road 6, road 20, road 22, road 23, G) can be obtained. Each connected vector forms a connected path.
And the navigation path selection unit selects one road from the communicated roads as a navigation route. For fig. 10, where there are two connecting roads, then a least expensive road is preferably selected as the navigation route. The least cost may be the shortest route or the best trafficability (e.g., no traffic congestion, no mountain roads, etc.). And the user can also select one of the connecting roads as the navigation route.
The invention further provides a navigation path calculation method of the Internet of things unmanned vehicle. The method comprises the following steps:
And 2, establishing a virtual map. The virtual map is a sub-area of the actual map, and the sub-area comprises the current position of the unmanned vehicle and the navigation target position. For example, the current position and the target position are used as reference points, which may be used as a diagonal line of a square or rectangle, or two points on a circle, such as points symmetrically distributed on the circle along the center of the circle, or the focal points of an ellipse, to generate a virtual map range. As shown in fig. 3, the virtual rectangle in fig. 3 is a rectangular virtual map range established by using S point and G point as diagonal vertices.
Or the current position and the target position may be used as diagonal lines, and a point may be selected as a vertex on the diagonal line at a distance along the direction in which the current position and/or the target position are away from each other, so as to generate a virtual map range. That is, the range of the virtual map is enlarged, and as shown in fig. 4, the virtual rectangle in fig. 4 is the virtual map range. The certain distance may be 1 km, 0.5 km, or 2 km, or other value ranges.
And 3, acquiring road information in the virtual map range, wherein the road information comprises road numbers, namely road end point information. The road end point information is represented by an array of road numbers connected to the end points, and in the present embodiment, each road has two end points, for example, one end point of the road 1 is S, and one end point is P _1,2,3,31, or may be represented by (1,2,3,31), and the end point of the road 3 is P _1,2,3 and P _3,4,5, or may be represented by (1,2,3) and (3,4, 5). The end points of the road 6 are for example P _2,6,7 and P _6,21, 22. Special cases, such as road 4, and road 28, where only one end of the road is connected to another road and the other end is not connected to another road, and the end points not connected to another road are NULL (NULL), and similarly also roads 8,13, 30, etc. And establishing a road information table, wherein the road information table comprises road numbers and road end points. In one embodiment, the road information table created according to FIG. 2 is shown in FIG. 5.
And 4, deleting the road which does not contain the current position and the position of the target and is intersected with the virtual map range in the road information table.
Preferably, the end point not within the virtual map range is determined. Endpoints that are not within the virtual map as shown in fig. 3 are listed in fig. 6, underlined and italicized. The road information table deletes a road including an end point not within the virtual map range. The road information table after deleting the road including the end point not within the virtual map range is shown in fig. 7.
And 5, deleting the road with one end point not containing the starting point and the end point and the other end point being NULL in the road information table, or directly deleting the road with the end point being NULL. The deleted road information table is shown in fig. 8.
And 6, judging the road end points containing the deleted road information in the road information table, deleting the roads containing the road end points containing the deleted road information, and obtaining a communication road information table. E.g. the link 8,12 has been deleted, then the end point containing information on link 8 also has link 7, the end point on link 9 (7,8,9), the end point containing information on link 12 also has link 11 (end points 11,12, 13). Then the links 7,9,11 are deleted from the link information table. According to such an algorithm, the roads in the virtual map area are continuously deleted, and at least one communication road from the starting point S to the end point G is finally obtained, and the road information table shown in fig. 9 is a final communication road information table.
And 7, obtaining a connecting road through the road end point information. Starting from a road including a starting point, a connected vector is set, for example, in fig. 10, the road including the starting point includes roads 1 and 31, the road 1 is the starting point of the connected vector and can be represented by (S, road 1), the other end point of the road 1 is (1,2,3), the road 1 in the end point array is itself, the road 3 is deleted, so that the connected vector is diverted to the road 2, the connected vector can be represented by the array (S, road 1, road 2), the other end point of the road 2 is (2,6,7), the road 7 is deleted, the connected vector is diverted to the road 6, and the connected vector can be represented by the array (S, road 1, road 2, road 6); the other end of road 6 is (6,20,32), and road 32 has been deleted, at which point the connected vector is diverted to road 20, at which point the connected vector may be represented by an array (road 1, road 2, road 6, road 20); the other end of road 20 is (20,21,22), and road 21 has been deleted, at which time the connected vector is diverted to road 22, at which time the connected vector may be represented by an array (S, road 1, road 2, road 6, road 20, road 22); the other end of road 22 is (22,23,30), and road 30 has been deleted, at which time the connected vector is diverted to road 23, at which time the connected vector may be represented by an array (S, road 1, road 2, road 6, road 20, road 22, road 23); the other end of the road 23 is (G), and the connected vector may be represented by an array (S, road 1, road 2, road 6, road 20, road 22, road 23, G). In the same manner, another connected vector (S, road 31, road 2, road 6, road 20, road 22, road 23, G) can be obtained. Each connected vector forms a connected path.
And 8, selecting one of the connected roads as a navigation route.
For fig. 10, where there are two connecting roads, then a least expensive road is preferably selected as the navigation route. The least cost may be the shortest route or the best trafficability (e.g., no traffic congestion, no mountain roads, etc.). And the user can also select one of the connecting roads as the navigation route.
In another embodiment of the invention, the unmanned vehicle of the Internet of things comprises the device and the navigation method for the unmanned vehicle of the Internet of things.
According to the technical scheme, all points do not need to be traversed by establishing the road connection tree, the calculation complexity is low, calculation resources are not consumed, and the use of the Internet of things is facilitated. And in the scene of poor road connectivity, the efficiency of searching for a reasonable connected path is high.
Claims (10)
1. An internet of things unmanned vehicle navigation path calculation device, comprising:
the position acquisition unit is used for acquiring the current position of the unmanned vehicle and the navigation target position;
the virtual map unit is a sub-area of the actual map, and the sub-area comprises the current position of the unmanned vehicle and the navigation target position;
the road information table calculation unit is used for acquiring road information in a virtual map range, wherein the road information comprises road numbers, namely road end point information;
the road information table calculation unit establishes a road information table, and the road information table comprises road numbers and road end points; deleting roads which do not contain the current position and the target position and are intersected with the virtual map range in the road information table; judging a road end point containing deleted road information in the road information table, deleting a road containing the road end point containing the deleted road information to obtain a communicated road information table, and obtaining a connected road through the road end point information in the communicated road information table;
and the navigation path selection unit selects one road from the communicated roads as a navigation route.
2. The internet-of-things unmanned vehicle navigation path computation apparatus of claim 1, wherein: the virtual map is a virtual map range generated by taking the current position and the position of the target as reference points.
3. The internet-of-things unmanned vehicle navigation path computation apparatus of claim 1, wherein: the virtual map takes the current position and the position of the target as diagonal lines, and selects points as vertexes on the diagonal lines at a certain distance along the direction that the current position and/or the position of the target are far away from each other to generate a virtual map range.
4. The internet-of-things unmanned vehicle navigation path computation apparatus of claim 2 or 3, wherein: the road end point information is represented by an array of road numbers connected to the end point.
5. The internet-of-things unmanned vehicle navigation path computation apparatus of claim 4, wherein: deleting a road containing an end point not within the virtual map range in the road information table; the road having one end point not including the start point and the end point and the other end point being NULL is deleted in the road information table, or the road having the end point being NULL is directly deleted.
6. The internet-of-things unmanned vehicle navigation path computation apparatus of claim 5, wherein: the continuous road obtained by the road end point information in the continuous road information table is: and setting a connected vector, starting from a road containing a starting point, moving the connected vector to the next road through end point information until the connected vector reaches the road of an end point, wherein the road through which the connected vector moves forms a connected road.
7. A navigation path calculation method of an Internet of things unmanned vehicle is characterized by comprising the following steps:
step 1, acquiring the current position of an unmanned vehicle and a navigation target position;
step 2, establishing a virtual map; the virtual map is a sub-area of the actual map, and the sub-area comprises the current position of the unmanned vehicle and the navigation target position;
step 3, acquiring road information in the virtual map range, wherein the road information comprises road numbers, namely road end point information;
step 4, deleting the road which does not contain the current position and the position of the target and is intersected with the virtual map range in the road information table;
step 5, deleting a road of which one end point does not contain a starting point and an end point and the other end point is NULL in the road information table, or directly deleting a road of which the end point is NULL;
step 6, judging a road end point containing deleted road information in the road information table, deleting a road containing the road end point containing the deleted road information, obtaining a communication road information table, wherein for example, the road 8 and the road 12 are deleted, then the end point containing the road 8 information also contains the road 7, the end point (7,8 and 9) of the road 9, and the end point containing the road 12 information also contains the road 11 (the end points 11,12 and 13), and then deleting the road 7,9 and 11 from the road information table;
step 7, obtaining a connecting road through the road end point information;
and 8, selecting one of the connected roads as a navigation route.
8. The method for calculating the navigation path of the unmanned vehicle of the internet of things of claim 7, wherein: in step 7, a connected vector is set, and the connected vector is moved to the next road by the end point information from the road including the starting point until the connected vector reaches the road of the end point, and the road through which the connected vector moves forms a connected road.
9. The method for calculating the navigation path of the unmanned vehicle of the internet of things of claim 7, wherein: the virtual map takes the current position and the position of the target as diagonal lines, and selects points as vertexes on the diagonal lines at a certain distance along the direction that the current position and/or the position of the target are far away from each other to generate a virtual map range.
10. An internet of things unmanned vehicle, comprising the internet of things unmanned vehicle navigation path calculation device as claimed in any one of claims 1-6.
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