Emergency route planning methods, devices, equipment, and computer storage media

Abstract

This application provides an emergency route planning method, apparatus, device, and computer storage medium. The emergency route planning method includes: acquiring the starting point and ending point of the vehicle to be planned; acquiring a conventional route between the starting point and the ending point, and real-world images of each intersection along the conventional route; parsing the real-world images of each intersection to obtain emergency operation rules corresponding to each intersection; adjusting the conventional route according to the emergency operation rules corresponding to each intersection to plan and generate an emergency route. In this embodiment, by parsing the real-world images of each intersection to obtain the emergency operation rules corresponding to each intersection, and adjusting the conventional route according to the emergency operation rules, an emergency route is formed, enabling the route planning to meet driving needs under emergency conditions.

Description

Technical Field

[0001] This application relates to the field of logistics technology, specifically to an emergency route planning method, apparatus, equipment, and computer storage medium. Background Technology

[0002] With the rapid development of society, the transportation network is becoming more and more advanced, and more and more people are traveling by car; the widespread use of electronic maps means that people no longer have to worry about not knowing the way when traveling.

[0003] However, with the continuous increase in vehicles, traffic congestion in various regions has become increasingly serious. Each region usually sets its own traffic restriction rules for each road according to its own traffic management needs. These restriction rules include which road sections, which vehicles are not allowed to drive, and at which times.

[0004] To ensure that users comply with vehicle restriction rules while driving, electronic maps include vehicle route navigation information. This method of vehicle route planning meets people's normal travel needs, but it cannot guarantee a quick arrival at the destination in emergency situations. Summary of the Invention

[0005] This application provides an emergency route planning method, apparatus, device, and computer storage medium, aiming to solve the technical problem that current route planning methods cannot meet users' route planning needs in special scenarios.

[0006] On the one hand, this application provides an emergency route planning method, the emergency route planning method comprising:

[0007] Obtain the starting and ending points of the vehicles to be planned;

[0008] Obtain the regular path between the starting point and the ending point, as well as the real-view image of each intersection along the regular path;

[0009] The real-scene images of each intersection are analyzed to obtain the emergency operation rules corresponding to each intersection;

[0010] The regular routes are adjusted according to the emergency operation rules corresponding to each intersection, and emergency routes are planned and generated.

[0011] In some embodiments of this application, after obtaining the conventional path between the start position and the end position, the method includes:

[0012] Obtain the vehicle model of the vehicle to be planned;

[0013] If the vehicle model is the target model, then obtain the real-world image of each intersection in the conventional route.

[0014] In some embodiments of this application, after obtaining the conventional path between the start position and the end position, the method includes:

[0015] Obtain the route planning pattern for the vehicle to be planned;

[0016] If the path planning mode is an emergency path planning mode, then obtain the real-scene image of each intersection in the regular path.

[0017] In some embodiments of this application, the step of parsing the real-scene image of each intersection to obtain the emergency operation rules corresponding to each intersection includes:

[0018] The real-scene image of each intersection is input into a preset image recognition model, and the preset image recognition model is used to identify feature objects to obtain vehicle operation signs and road segmentation information.

[0019] Obtain the initial operating rules corresponding to the vehicle operation identifier at each intersection;

[0020] The initial operating rules are adjusted based on the road separation information at each intersection to generate emergency operating rules for each intersection.

[0021] In some embodiments of this application, the step of adjusting the regular route according to the emergency operation rules corresponding to each intersection and planning and generating an emergency route includes:

[0022] If the intersection corresponding to the emergency operation rule is a non-physically isolated target intersection, then the target intersection will be set as passable;

[0023] Connect the passable target intersections, adjust the conventional route, and plan and generate an emergency route.

[0024] In some embodiments of this application, after adjusting the regular route according to the emergency operation rules corresponding to each intersection and planning and generating the emergency route, the method includes:

[0025] The emergency route is divided into multiple road segments using intersections as nodes.

[0026] Obtain real-time traffic conditions for each of the aforementioned road segments, and determine whether there are congested road segments in the emergency route based on the real-time traffic conditions for each of the aforementioned road segments;

[0027] If there are congested sections in the emergency route, the congested sections will be adjusted to generate a new emergency route.

[0028] In some embodiments of this application, after adjusting the regular route according to the emergency operation rules corresponding to each intersection and planning and generating the emergency route, the method includes:

[0029] Save the emergency path to the preset path database;

[0030] After obtaining the starting and ending positions of the vehicle to be planned, the method includes:

[0031] Query the preset path database to determine whether there is an emergency path corresponding to the starting point and the ending point;

[0032] If an emergency path exists corresponding to the starting point and the ending point, then the emergency path is output.

[0033] In some embodiments of this application, after parsing the real-scene image of each intersection to obtain the emergency operation rules corresponding to each intersection, the method includes:

[0034] Save the emergency operation rules to a preset rule database;

[0035] After obtaining the conventional path between the starting position and the ending position, the method includes:

[0036] Query the preset rule database to obtain the emergency operation rules corresponding to each intersection in the regular path;

[0037] If there is no right-of-way prohibition order in the emergency operation rules, the regular path is adjusted to obtain the initial planned path;

[0038] If the initial planned path is the shortest route, then the initial planned path is set as the emergency path.

[0039] On the other hand, this application provides an emergency route planning device, the emergency route planning device comprising:

[0040] The first acquisition module is used to acquire the starting position and ending position of the vehicle to be planned;

[0041] The second acquisition module is used to acquire the regular path between the starting position and the ending position, as well as the real-scene image of each intersection in the regular path.

[0042] The parsing module is used to parse the real-scene image of each intersection to obtain the emergency operation rules corresponding to each intersection;

[0043] The planning module is used to adjust the regular routes according to the emergency operation rules corresponding to each intersection, and to plan and generate emergency routes.

[0044] On the other hand, this application also provides an emergency route planning device, the emergency route planning device comprising:

[0045] One or more processors;

[0046] Memory; and

[0047] One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the emergency route planning method.

[0048] On the other hand, this application also provides a computer storage medium storing a computer program thereon, which is loaded by a processor to execute the steps in the emergency route planning method.

[0049] The technical solution of this application obtains the starting position and ending position of the vehicle to be planned; obtains the regular path between the starting position and the ending position, and the real-scene image of each intersection in the regular path; analyzes the real-scene image of each intersection to obtain the emergency operation rules corresponding to each intersection; adjusts the regular path according to the emergency operation rules corresponding to each intersection to plan and generate an emergency path; in this embodiment of the application, by analyzing the real-scene image of each intersection to obtain the emergency operation rules corresponding to each intersection, and adjusting the regular path according to the emergency operation rules to form an emergency path, the path planning can meet the needs under emergency conditions. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0051] Figure 1 This is a schematic diagram of a scenario for the emergency route planning method provided in an embodiment of this application;

[0052] Figure 2 This is a schematic flowchart of an embodiment of the emergency route planning method in this application.

[0053] Figure 3 This is a schematic diagram of a real-world image used in the emergency path planning method of this application embodiment;

[0054] Figure 4 This is a schematic diagram illustrating a specific scenario in the emergency path planning method of this application, where the initial operating rules are adjusted to generate emergency operating rules.

[0055] Figure 5 This is a schematic diagram of a scenario for configuring emergency operation rules in the emergency path planning method provided in this application embodiment;

[0056] Figure 6 This is a flowchart illustrating an embodiment of the emergency route planning method in this application, which determines whether to perform emergency route planning based on vehicle model.

[0057] Figure 7 This is a flowchart illustrating an embodiment of the emergency route planning method in this application, which determines whether to perform emergency route planning based on a route planning mode.

[0058] Figure 8 This is a schematic flowchart of an embodiment of the emergency route planning method provided in this application for post-emergency route verification;

[0059] Figure 9 This is a flowchart illustrating an embodiment of the emergency path planning method provided in this application for saving emergency paths for later emergency path planning.

[0060] Figure 10 This is a flowchart illustrating an embodiment of the emergency route planning method provided in this application for saving emergency operation rules for later emergency route planning;

[0061] Figure 11 This is a schematic diagram of an embodiment of the emergency route planning device involved in this invention;

[0062] Figure 12 This is a schematic diagram of the emergency route planning device involved in the embodiments of the present invention. Detailed Implementation

[0063] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of the present invention.

[0064] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0065] In this application, the term "exemplary" is used to mean "serving as an example, illustration, or description." Any embodiment described as "exemplary" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use the invention. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that the invention can be made without using these specific details. In other instances, well-known structures and processes will not be described in detail to avoid obscuring the description of the invention with unnecessary detail. Therefore, the invention is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0066] This application provides an emergency route planning method, apparatus, device, and computer storage medium, which will be described in detail below.

[0067] The emergency route planning method in this embodiment of the invention is applied to an emergency route planning device, which is set in an emergency route planning equipment. The emergency route planning equipment is provided with one or more processors, a memory, and one or more applications, wherein one or more applications are stored in the memory and configured to be executed by the processor to implement the emergency route planning method. The emergency route planning equipment can be a server or a terminal, such as a mobile phone, a tablet computer, or a camera.

[0068] like Figure 1 As shown, Figure 1 This is a schematic diagram of an emergency route planning method according to an embodiment of the present application. The emergency route planning scenario in this embodiment includes an emergency route planning device 100 (which integrates an emergency route planning apparatus). The emergency route planning device 100 runs a computer storage medium corresponding to the emergency route planning to execute the steps of the emergency route planning method.

[0069] Understandable Figure 1 The emergency route planning equipment in the scenario shown, or the devices included in the emergency route planning equipment, does not constitute a limitation on the embodiments of the present invention. That is, the number or type of equipment included in the emergency route planning scenario, or the number or type of devices included in each equipment, does not affect the overall implementation of the technical solution in the embodiments of the present invention, and can all be considered as equivalent substitutions or derivatives of the technical solutions claimed in the embodiments of the present invention.

[0070] In this embodiment of the invention, the emergency route planning device 100 is mainly used for: obtaining the starting position and ending position of the vehicle to be planned; obtaining the conventional route between the starting position and the ending position, and the real-scene image of each intersection in the conventional route; parsing the real-scene image of each intersection to obtain the emergency operation rules corresponding to each intersection; adjusting the conventional route according to the emergency operation rules corresponding to each intersection, and planning and generating an emergency route.

[0071] In this embodiment of the invention, the emergency route planning device 100 can be an independent emergency route planning device, or it can be an emergency route planning device network or cluster composed of emergency route planning devices. For example, the emergency route planning device 100 described in this embodiment of the invention includes, but is not limited to, computers, network hosts, single network emergency route planning devices, multiple network emergency route planning device sets, or cloud emergency route planning devices composed of multiple emergency route planning devices. The cloud emergency route planning device is composed of a large number of computer or network emergency route planning devices based on cloud computing.

[0072] Those skilled in the art will understand that Figure 1 The application environment shown is merely one application scenario of the solution in this application and does not constitute a limitation on the application scenario of the solution in this application. Other application environments may include those that are more specific to this application. Figure 1 The number of more or fewer emergency route planning devices shown, or the network connectivity of emergency route planning devices, for example... Figure 1 Only one emergency route planning device is shown in the diagram. It is understood that the emergency route planning scenario may also include one or more other emergency route planning devices, which are not specifically limited here. The emergency route planning device 100 may also include a memory for storing data, such as storing real-scene images obtained by shooting.

[0073] Furthermore, in the emergency route planning scenario of this application, the emergency route planning device 100 may be equipped with a display device, or the emergency route planning device 100 may not have a display device but may communicate with an external display device 200. The display device 200 is used to output the results of the emergency route planning method executed in the emergency route planning device. The emergency route planning device 100 can access a background database 300 (the background database may be located in the local storage of the emergency route planning device or it may be located in the cloud). The background database 300 stores information related to emergency route planning, such as real-world images.

[0074] It should be noted that, Figure 1The scenario diagram of the emergency route planning method shown is merely an example. The emergency route planning scenarios described in the embodiments of the present invention are intended to more clearly illustrate the technical solutions of the embodiments of the present invention and do not constitute a limitation on the technical solutions provided in the embodiments of the present invention.

[0075] like Figure 2 As shown, Figure 2 This is a schematic flowchart of an embodiment of the emergency path planning method in this application.

[0076] The emergency path planning method in this embodiment includes:

[0077] 201, obtain the starting and ending positions of the vehicles to be planned.

[0078] In this embodiment, the emergency route planning method is applied to an emergency route planning device. The type of emergency route planning device is not specifically limited. For example, the emergency route planning device can be a mobile terminal, a vehicle terminal, or a server. In this embodiment, a vehicle terminal is used as an example for explanation. The vehicle terminal has an application installed to execute the emergency route planning method.

[0079] The vehicle-mounted terminal receives emergency route planning requests. The triggering method for emergency route planning requests is not specifically limited. That is, emergency route planning requests can be manually triggered by the user, such as when the user enters the destination location in the vehicle-mounted terminal and clicks the navigation button to trigger the emergency route planning request. In addition, emergency route planning requests can also be automatically triggered by the vehicle-mounted terminal. For example, if the vehicle-mounted terminal is installed in an ambulance, it can be set to automatically trigger the emergency route planning request when the vehicle moves.

[0080] After receiving an emergency route planning request, the vehicle terminal obtains the starting and ending points of the vehicle to be planned. The starting point can be entered by the user or the current location of the vehicle terminal. The ending point can be manually entered by the user or determined by the vehicle terminal based on historical driving records.

[0081] 202, Obtain the regular path between the starting position and the ending position, and the real-scene image of each intersection in the regular path.

[0082] The vehicle terminal obtains the conventional path between the starting point and the ending point. The conventional path refers to the path planned by the existing GPS (Global Positioning System). The conventional path is based on vehicle operation identifiers in the path and the vehicle operation rules of the area, and conforms to the path of most vehicles.

[0083] The vehicle-mounted terminal acquires real-scene images of each intersection along the regular route; the real-scene images can be captured and sent in real time by intersection cameras, or they can be pre-associated and saved along the regular route; there are no specific limitations on the format and number of real-scene images, but the real-scene images must contain intersection signage information and intersection isolation information.

[0084] 203. Analyze the real-scene image of each intersection to obtain the emergency operation rules corresponding to each intersection.

[0085] The vehicle-mounted terminal analyzes the real-scene images of each intersection to determine whether to adjust the initial operating rules of each intersection and obtain emergency operating rules. That is, the vehicle-mounted terminal analyzes the real-scene images to obtain vehicle operation signs and road barrier information. Among them, vehicle operation signs refer to the unique sign information that indicates vehicle operation, such as no U-turn signs, no turning signs, height restriction signs, etc. on the road. Road barrier information refers to the location information of guardrails, flower beds, etc. on the road.

[0086] In this embodiment, the method by which the vehicle terminal parses the real-scene image is not specifically limited. For example, in the first method, an image analysis algorithm is set in the vehicle terminal to identify the real-scene image and obtain vehicle operation identification and road separation information; or in the second method, the vehicle terminal sends the real-scene image to the server, the server parses the real-scene image to obtain vehicle operation identification and road separation information, and the server sends the vehicle operation identification and road separation information back to the vehicle terminal.

[0087] Based on vehicle operation signs and road barrier information, the on-board terminal determines whether there are physical barriers at intersections, vehicle height restrictions, and vehicle width restrictions, and further determines whether vehicles can pass, thereby forming emergency operation rules.

[0088] In this embodiment, the method by which the vehicle-mounted terminal parses the real-scene images to obtain the emergency operation rules corresponding to each intersection is not limited. This embodiment provides a specific implementation method for parsing the real-scene images of each intersection to obtain the emergency operation rules corresponding to each intersection, including:

[0089] (1) Input the real-scene image of each intersection into the preset image recognition model, and use the preset image recognition model to identify feature objects to obtain vehicle operation signs and road block information;

[0090] (2) Obtain the initial operation rules corresponding to the vehicle operation identifier at each intersection;

[0091] (3) Adjust the initial operation rules according to the road blockage information of each intersection to generate emergency operation rules for each intersection.

[0092] That is, in this embodiment, the vehicle terminal has a preset image recognition model. The preset image recognition model refers to an image recognition algorithm trained by a deep neural network. In this embodiment, the preset image recognition model is trained by image samples marked with vehicle operation signs and road divider information. The image recognition model is mainly used to recognize vehicle operation signs and road divider information contained in real scene images.

[0093] The vehicle-mounted terminal inputs real-time images of each intersection into a preset image recognition model. The model then identifies key features to obtain vehicle movement markers and road segment information. (Refer to...) Figure 3 , Figure 3 This is a schematic diagram of a real-world image used in the emergency path planning method of this application.

[0094] The vehicle-mounted terminal acquires the initial operating rules corresponding to the vehicle operation identifiers at each intersection; the vehicle-mounted terminal adjusts the initial operating rules based on the road segmentation information at each intersection, generates emergency operating rules for each intersection, and refers to... Figure 4 , Figure 4 This is a schematic diagram of a specific scenario in the emergency path planning method of this application, where the initial operating rules are adjusted to generate emergency operating rules; for example, for a non-physically isolated T-junction, the initial rule prohibiting U-turns is adjusted to an emergency operating rule allowing U-turns.

[0095] In addition, in some scenarios, users can set emergency operation rules, referring to... Figure 5 , Figure 5 This is a schematic diagram of a scenario for configuring emergency operation rules in the emergency path planning method provided in this application embodiment. In this embodiment, the user can automatically configure emergency operation rules and send them for review. After the review is approved, emergency path planning can be performed according to the configured emergency operation rules.

[0096] 204. Adjust the regular path according to the emergency operation rules corresponding to each intersection, and plan and generate an emergency path.

[0097] In this embodiment, the vehicle terminal adjusts the regular route according to the emergency operation rules of each intersection and plans and generates an emergency route. This can shorten the vehicle's travel distance and further reduce the vehicle's travel time. In this embodiment, the regular route is adjusted according to the emergency operation rules so that the vehicle can not only meet the necessary operation rules such as height and weight restrictions, but also selectively ignore some operation rules with little impact, making the emergency route more reasonable.

[0098] This embodiment provides a specific implementation method for adjusting the regular route according to the emergency operation rules corresponding to each intersection and planning and generating an emergency route, including:

[0099] (1) If the intersection corresponding to the emergency operation rule is a non-physically isolated target intersection, then the target intersection shall be set to be passable;

[0100] (2) Connect the passable target intersections to adjust the regular path and plan and generate an emergency path.

[0101] That is, the vehicle terminal determines whether the intersection corresponding to the emergency rule is a non-physically isolated target intersection. If the intersection corresponding to the emergency operation rule is a non-physically isolated target intersection, the vehicle terminal sets the target intersection as passable. The vehicle terminal connects the passable target intersection to adjust the regular path and plans and generates an emergency path.

[0102] Understandably, different emergency operation rules adjust the regular route in different ways. The vehicle terminal adjusts the operation of each intersection in the regular route according to the emergency operation rules of each intersection to obtain the emergency route, so that the emergency route can quickly reach the destination.

[0103] The technical solution of this application obtains the starting position and ending position of the vehicle to be planned; obtains the regular path between the starting position and the ending position, and the real-scene image of each intersection in the regular path; analyzes the real-scene image of each intersection to obtain the emergency operation rules corresponding to each intersection; adjusts the regular path according to the emergency operation rules corresponding to each intersection to plan and generate an emergency path; in this embodiment of the application, by analyzing the real-scene image of each intersection to obtain the emergency operation rules corresponding to each intersection, and adjusting the regular path according to the emergency operation rules to form an emergency path, the path planning can meet the needs under emergency conditions.

[0104] like Figure 6 As shown, Figure 6 This is a flowchart illustrating an embodiment of the emergency route planning method in this application, which determines whether to perform emergency route planning based on the vehicle model.

[0105] In the above embodiments, the vehicle-mounted terminal executes emergency route planning according to the emergency route planning method, which cannot guarantee traffic order. In this embodiment, after the vehicle-mounted terminal obtains the regular route between the starting point and the ending point, the emergency route planning method further includes:

[0106] 301, retrieve the vehicle model of the vehicle to be planned;

[0107] 302. If the vehicle model is the target model, then obtain the real-scene image of each intersection in the conventional path.

[0108] The vehicle terminal obtains the vehicle model of the vehicle to be planned. The vehicle model includes cars, small trucks, buses, taxis, fire trucks, police cars, etc. After obtaining the vehicle model, the vehicle terminal determines whether the vehicle model is the target model. The target model refers to the model that can be driven in an emergency as set in the vehicle terminal. The target model includes fire trucks, police cars, emergency vehicles, etc.

[0109] If the vehicle terminal determines that the vehicle to be planned is not the target model, the vehicle terminal will then proceed with vehicle navigation according to the conventional route.

[0110] The vehicle-mounted terminal determines that the vehicle to be planned is the target model. It then acquires real-world images of each intersection along the regular route for emergency route planning. In this embodiment, the vehicle-mounted terminal determines whether to perform emergency route planning based on the vehicle model. This allows special vehicles to take the shortest route according to specific application scenarios without requiring manual judgment from the driver, making emergency route planning more rational.

[0111] Reference Figure 7 , Figure 7 This is a schematic flowchart of an embodiment of the emergency route planning method provided in this application, which determines whether to perform emergency route planning based on the route planning mode.

[0112] In some embodiments of this application, after the vehicle-mounted terminal obtains the conventional path between the starting point and the ending point, the emergency route planning method further includes the following steps:

[0113] 401, Obtain the route planning mode for the vehicle to be planned;

[0114] 402. If the path planning mode is an emergency path planning mode, then obtain the real-scene image of each intersection in the normal path.

[0115] The vehicle terminal obtains the route planning mode of the vehicle to be planned, and determines whether the current route planning mode is an emergency route planning mode. If the route planning mode is not an emergency route planning mode, the vehicle terminal will navigate the vehicle according to the normal route. If the route planning mode is an emergency route planning mode, the vehicle terminal will obtain real-view images of each intersection in the normal route to plan the emergency route.

[0116] In this embodiment, when the vehicle to be planned activates the emergency route planning mode, the vehicle terminal can perform emergency route planning. This allows ordinary vehicles to perform emergency route planning in special application scenarios to quickly reach the destination without requiring manual judgment from the vehicle driver, making emergency route planning more reasonable.

[0117] Reference Figure 8 , Figure 8This is a schematic flowchart of an embodiment of the emergency path planning method provided in this application for path verification after emergency path planning.

[0118] Since the purpose of emergency route planning is to reduce vehicle travel distance and enable vehicles to reach their destination quickly, this embodiment includes a check of the emergency route planning method to ensure that the emergency route achieves this purpose. This check includes:

[0119] 501. The emergency path is divided into multiple road segments by using intersections as nodes.

[0120] After the emergency route planning is completed, the vehicle terminal divides the emergency route into segments. That is, the vehicle terminal uses each intersection in the emergency route as a dividing node to divide the emergency route into multiple segments.

[0121] 502, obtain the real-time traffic conditions of each road segment, and determine whether there are congested road segments in the emergency route based on the real-time traffic conditions of each road segment.

[0122] 503. If there are congested sections in the emergency route, adjust the planning of the congested sections to generate a new emergency route.

[0123] The vehicle terminal obtains real-time traffic conditions for each road segment and determines whether there are congested sections in the emergency route based on the real-time traffic conditions of each road segment. If there are no congested sections in the emergency route, the vehicle terminal outputs an emergency route operation prompt so that the driver can drive according to the emergency route. If there are congested sections in the emergency route, the vehicle terminal adjusts the congested section planning to generate a new emergency route.

[0124] In this embodiment, after tracing the emergency route, the vehicle terminal monitors the real-time status of each segment of the emergency route to avoid congested sections, enabling the vehicle to quickly reach its destination based on the emergency route, thus meeting the user's needs in emergency situations.

[0125] Reference Figure 9 , Figure 9 This is a flowchart illustrating an embodiment of the emergency path planning method provided in this application, which involves saving emergency paths for later emergency path planning.

[0126] Specifically, the emergency path planning method in this embodiment includes:

[0127] 601. Save the emergency path to the preset path database.

[0128] The vehicle-mounted terminal saves historically planned emergency routes and the starting and ending points of those routes to a preset route database. This preset route database can be located locally on the vehicle-mounted terminal or in the cloud.

[0129] 602. Query the preset path database to determine whether there is an emergency path corresponding to the starting point and the ending point.

[0130] After obtaining the starting and ending points of the vehicle to be planned, the vehicle terminal queries the preset route database to determine whether there is an emergency route corresponding to the starting and ending points.

[0131] 603. If an emergency path exists corresponding to the starting point and the ending point, then output the emergency path.

[0132] If the preset route database contains an emergency route corresponding to the start and end points, the vehicle terminal outputs the emergency route so that the vehicle can travel according to the emergency route; if the preset route database does not contain an emergency route corresponding to the start and end points, the vehicle terminal performs the step of obtaining the regular route between the start and end points, as well as the real-scene image of each intersection in the regular route, in order to perform real-time emergency route planning.

[0133] In this embodiment, the vehicle terminal saves the real-time planned emergency route, which can be used directly later, thus improving the speed of emergency route planning.

[0134] Reference Figure 10 , Figure 10 This is a flowchart illustrating an embodiment of the emergency route planning method provided in this application, which saves emergency operation rules for later emergency route planning.

[0135] Specifically, in this embodiment, the emergency route planning method performs emergency route planning based on the stored emergency operation rules, including:

[0136] 701. Save the emergency operation rules to the preset rule database.

[0137] The vehicle-mounted terminal analyzes the real-scene image of each intersection to obtain the emergency operation rules corresponding to each intersection. Then, the vehicle-mounted terminal associates the emergency operation rules with the location information of each intersection and saves them to a preset rule database.

[0138] In this embodiment, after the vehicle-mounted terminal obtains the conventional path between the starting point and the ending point, the method includes:

[0139] 702. Query the preset rule database to obtain the emergency operation rules corresponding to each intersection in the normal path;

[0140] 703. If there is no right-of-way prohibition order in the emergency operation rules, then adjust the regular path to obtain the initial planned path;

[0141] 704. If the initial planned path is the shortest route, then the initial planned path is set as the emergency path.

[0142] The vehicle-mounted terminal queries a preset rule database to obtain the emergency operation rules corresponding to each intersection in the regular route. The vehicle-mounted terminal determines whether there is a right-of-way prohibition order in the emergency operation rules. If there is a right-of-way prohibition order in the emergency operation rules, the vehicle-mounted terminal does not adjust the route at the corresponding intersection. If there is no right-of-way prohibition order in the emergency operation rules, the vehicle-mounted terminal adjusts the regular route to obtain the initial planned route. The vehicle-mounted terminal determines whether the initial planned route is the shortest route. If the initial planned route is not the shortest route, the vehicle-mounted terminal reduces some road segments. If the initial planned route is the shortest route, the initial planned route is set as the emergency route.

[0143] In this embodiment, the vehicle terminal associates and saves the emergency operation rules of each path with the location information of the intersection. When the vehicle terminal performs emergency path planning, it directly obtains the emergency operation rules and performs path planning according to the emergency operation rules, thereby improving the planning efficiency of emergency paths.

[0144] To better implement the emergency route planning method in the embodiments of this application, an emergency route planning device is also provided in the embodiments of this application, such as... Figure 11 As shown, Figure 11 This is a schematic diagram of an embodiment of an emergency route planning device; the emergency route planning device includes:

[0145] The first acquisition module 801 is used to acquire the starting position and ending position of the vehicle to be planned;

[0146] The second acquisition module 802 is used to acquire the regular path between the starting position and the ending position, as well as the real-scene image of each intersection in the regular path.

[0147] The parsing module 803 is used to parse the real-scene image of each intersection to obtain the emergency operation rules corresponding to each intersection;

[0148] The planning module 804 is used to adjust the regular path according to the emergency operation rules corresponding to each intersection and plan and generate an emergency path.

[0149] In some embodiments of this application, the emergency route planning device includes:

[0150] Obtain the vehicle model of the vehicle to be planned;

[0151] If the vehicle model is the target model, then obtain the real-world image of each intersection in the conventional route.

[0152] In some embodiments of this application, the emergency route planning device includes:

[0153] Obtain the route planning pattern for the vehicle to be planned;

[0154] If the path planning mode is an emergency path planning mode, then obtain the real-scene image of each intersection in the regular path.

[0155] In some embodiments of this application, the parsing module 803 includes:

[0156] The real-scene image of each intersection is input into a preset image recognition model, and the preset image recognition model is used to identify feature objects to obtain vehicle operation signs and road segmentation information.

[0157] Obtain the initial operating rules corresponding to the vehicle operation identifier at each intersection;

[0158] The initial operating rules are adjusted based on the road separation information at each intersection to generate emergency operating rules for each intersection.

[0159] In some embodiments of this application, the planning module 804 includes:

[0160] If the intersection corresponding to the emergency operation rule is a non-physically isolated target intersection, then the target intersection will be set as passable;

[0161] Connect the passable target intersections, adjust the conventional route, and plan and generate an emergency route.

[0162] In some embodiments of this application, the emergency route planning device includes:

[0163] The emergency route is divided into multiple road segments using intersections as nodes.

[0164] Obtain real-time traffic conditions for each of the aforementioned road segments, and determine whether there are congested road segments in the emergency route based on the real-time traffic conditions for each of the aforementioned road segments;

[0165] If there are congested sections in the emergency route, the congested sections will be adjusted to generate a new emergency route.

[0166] In some embodiments of this application, the emergency route planning device includes:

[0167] Save the emergency path to the preset path database;

[0168] After the emergency route planning device performs the step of obtaining the starting and ending positions of the vehicle to be planned, it includes:

[0169] Query the preset path database to determine whether there is an emergency path corresponding to the starting point and the ending point;

[0170] If an emergency path exists corresponding to the starting point and the ending point, then the emergency path is output.

[0171] In some embodiments of this application, the emergency route planning device includes:

[0172] Save the emergency operation rules to a preset rule database;

[0173] After the emergency route planning device executes the process of obtaining the conventional path between the starting point and the ending point, it includes:

[0174] Query the preset rule database to obtain the emergency operation rules corresponding to each intersection in the regular path;

[0175] If there is no right-of-way prohibition order in the emergency operation rules, the regular path is adjusted to obtain the initial planned path;

[0176] If the initial planned path is the shortest route, then the initial planned path is set as the emergency path.

[0177] In this embodiment, the emergency route planning device: acquires the starting position and ending position of the vehicle to be planned; acquires the conventional route between the starting position and the ending position, and the real-scene image of each intersection in the conventional route; analyzes the real-scene image of each intersection to obtain the emergency operation rules corresponding to each intersection; adjusts the conventional route according to the emergency operation rules corresponding to each intersection to plan and generate an emergency route; in this embodiment, by analyzing the real-scene image of each intersection to obtain the emergency operation rules corresponding to each intersection, and adjusting the conventional route according to the emergency operation rules to form an emergency route, the route planning can meet the needs under emergency conditions.

[0178] This invention also provides an emergency route planning device, such as... Figure 12 As shown, Figure 12 The diagram shows a structural schematic of the emergency route planning device involved in an embodiment of the present invention.

[0179] The emergency route planning device integrates any of the emergency route planning apparatuses provided in the embodiments of the present invention, and the emergency route planning device includes:

[0180] One or more processors;

[0181] Memory; and

[0182] One or more applications, wherein the one or more applications are stored in the memory and configured by the processor to perform the steps of the emergency route planning method in any of the embodiments described above.

[0183] Specifically, an emergency route planning device may include components such as a processor 901 with one or more processing cores, a memory 902 with one or more computer storage media, a power supply 903, and an input unit 904. Those skilled in the art will understand that... Figure 12 The emergency route planning equipment structure shown does not constitute a limitation on the emergency route planning equipment. It may include more or fewer components than shown, or combine certain components, or have different component arrangements. Wherein:

[0184] The processor 901 is the control center of the emergency route planning device. It connects various parts of the device via interfaces and lines, and performs various functions and processes data by running or executing software programs and / or modules stored in the memory 902, and by calling data stored in the memory 902, thereby providing overall monitoring of the emergency route planning device. Optionally, the processor 901 may include one or more processing cores; preferably, the processor 901 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 901.

[0185] The memory 902 can be used to store software programs and modules. The processor 901 executes various functional applications and data processing by running the software programs and modules stored in the memory 902. The memory 902 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created based on the use of the emergency route planning device, etc. In addition, the memory 902 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 902 may also include a memory controller to provide the processor 901 with access to the memory 902.

[0186] The emergency path planning device also includes a power supply 903 that supplies power to the various components. Preferably, the power supply 903 can be logically connected to the processor 901 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply 903 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0187] The emergency route planning device may also include an input unit 904, which can be used to receive input digital or character information, and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0188] Although not shown, the emergency route planning device may also include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, the processor 901 in the emergency route planning device loads the executable files corresponding to the processes of one or more applications into the memory 902 according to the following instructions, and the processor 901 runs the applications stored in the memory 902 to realize various functions, as follows:

[0189] Obtain the starting and ending points of the vehicles to be planned;

[0190] Obtain the regular path between the starting point and the ending point, as well as the real-view image of each intersection along the regular path;

[0191] The real-scene images of each intersection are analyzed to obtain the emergency operation rules corresponding to each intersection;

[0192] The regular routes are adjusted according to the emergency operation rules corresponding to each intersection, and emergency routes are planned and generated.

[0193] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by instructions, or by instructions controlling related hardware. These instructions can be stored in a computer storage medium and loaded and executed by a processor.

[0194] Therefore, embodiments of the present invention provide a computer storage medium, which may include: read-only memory (ROM), random access memory (RAM), a disk, or an optical disk, etc. A computer program is stored thereon, which is loaded by a processor to execute the steps in any of the emergency path planning methods provided in the embodiments of the present invention. For example, the computer program loaded by the processor can execute the following steps:

[0195] Obtain the starting and ending points of the vehicles to be planned;

[0196] Obtain the regular path between the starting point and the ending point, as well as the real-view image of each intersection along the regular path;

[0197] The real-scene images of each intersection are analyzed to obtain the emergency operation rules corresponding to each intersection;

[0198] The regular routes are adjusted according to the emergency operation rules corresponding to each intersection, and emergency routes are planned and generated.

[0199] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the detailed descriptions of other embodiments above, which will not be repeated here.

[0200] In practice, each of the above units or structures can be implemented as an independent entity or can be arbitrarily combined to be implemented as the same or several entities. For the specific implementation of each of the above units or structures, please refer to the previous method embodiments, which will not be repeated here.

[0201] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0202] The above provides a detailed description of an emergency route planning method provided by the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. An emergency route planning method, characterized in that, include: Obtain the starting and ending points of the vehicles to be planned; Obtain the regular path between the starting position and the ending position; And real-world images of each intersection along the conventional path; The real-scene images of each intersection are analyzed to obtain the emergency operation rules corresponding to each intersection; The regular routes are adjusted according to the emergency operation rules corresponding to each intersection, and emergency routes are planned and generated. The emergency route is divided into multiple road segments using intersections as nodes. Obtain real-time traffic conditions for each of the aforementioned road segments, and determine whether there are congested road segments in the emergency route based on the real-time traffic conditions for each of the aforementioned road segments; If there are congested sections in the emergency route, the congested sections will be adjusted to generate a new emergency route.

2. The emergency route planning method as described in claim 1, characterized in that, After obtaining the conventional path between the starting position and the ending position, the method includes: Obtain the vehicle model of the vehicle to be planned; If the vehicle model is the target model, then obtain the real-world image of each intersection in the conventional route.

3. The emergency route planning method as described in claim 1, characterized in that, After obtaining the conventional path between the starting position and the ending position, the method includes: Obtain the route planning pattern for the vehicle to be planned; If the path planning mode is an emergency path planning mode, then obtain the real-scene image of each intersection in the regular path.

4. The emergency route planning method as described in claim 1, characterized in that, The step of analyzing the real-scene image of each intersection to obtain the emergency operation rules corresponding to each intersection includes: The real-scene image of each intersection is input into a preset image recognition model, and the preset image recognition model is used to identify feature objects to obtain vehicle operation signs and road segmentation information. Obtain the initial operating rules corresponding to the vehicle operation identifier at each intersection; The initial operating rules are adjusted based on the road separation information at each intersection to generate emergency operating rules for each intersection.

5. The emergency route planning method as described in claim 1, characterized in that, The step of adjusting the regular route according to the emergency operation rules corresponding to each intersection and planning and generating an emergency route includes: If the intersection corresponding to the emergency operation rule is a non-physically isolated target intersection, then the target intersection will be set as passable; Connect the passable target intersections, adjust the conventional route, and plan and generate an emergency route.

6. The emergency route planning method as described in claim 1, characterized in that, After adjusting the regular routes according to the emergency operation rules corresponding to each intersection and planning and generating emergency routes, the method includes: Save the emergency path to the preset path database; After obtaining the starting and ending positions of the vehicle to be planned, the method includes: Query the preset path database to determine whether there is an emergency path corresponding to the starting point and the ending point; If an emergency path exists corresponding to the starting point and the ending point, then the emergency path is output.

7. The emergency route planning method as described in any one of claims 1-6, characterized in that, After analyzing the real-scene image of each intersection to obtain the emergency operation rules corresponding to each intersection, the method includes: Save the emergency operation rules to a preset rule database; After obtaining the conventional path between the starting position and the ending position, the method includes: Query the preset rule database to obtain the emergency operation rules corresponding to each intersection in the regular path; If there is no right-of-way prohibition order in the emergency operation rules, the regular path is adjusted to obtain the initial planned path; If the initial planned path is the shortest route, then the initial planned path is set as the emergency path.

8. An emergency route planning device, characterized in that, The emergency route planning device includes: The first acquisition module is used to acquire the starting position and ending position of the vehicle to be planned; The second acquisition module is used to acquire the regular path between the starting position and the ending position, as well as the real-scene image of each intersection in the regular path. The parsing module is used to parse the real-scene image of each intersection to obtain the emergency operation rules corresponding to each intersection; The planning module is used to adjust the regular path according to the emergency operation rules corresponding to each intersection and plan and generate an emergency path. The planning module is further configured to divide the emergency path into multiple road segments by using intersections in the emergency path as nodes; obtain the real-time traffic conditions of each road segment, and determine whether there are congested road segments in the emergency path based on the real-time traffic conditions of each road segment; if there are congested road segments in the emergency path, adjust the planning of the congested road segments to generate a new emergency path.

9. An emergency route planning device, characterized in that, The emergency route planning equipment includes: One or more processors; Memory; and One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the steps in the emergency route planning method of any one of claims 1 to 7.

10. A computer storage medium, characterized in that, It stores a computer program, which is loaded by a processor to execute the steps of the emergency route planning method according to any one of claims 1 to 7.

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