A road optimization method with weather and battlefield elements

Abstract

The application relates to a road optimization method with weather and battlefield elements, which comprises the following steps: acquiring intersection points, key points, intersection point information, key point information, weather information and battlefield information on a road; connecting according to the intersection point information and the key point information to obtain a connection result; constructing an adjacency matrix according to the weather information, the battlefield information, the intersection point information, the key point information and the connection result; acquiring a vehicle starting point and a vehicle ending point of a target vehicle; selecting a starting nearest point and an ending nearest point, and determining a starting intersection point and an ending intersection point; bringing the starting intersection point and the ending intersection point into the adjacency matrix to determine a shortest route from the starting intersection point to the ending intersection point; acquiring a first total route from the vehicle starting point to the starting nearest point and then to the starting intersection point, and acquiring a second total route in the same way; and determining an optimal route according to the first total route, the second total route and the shortest route. The application has the effect of improving the calculation efficiency.

Description

Technical Field

[0001] This application relates to the field of road selection, and in particular to a road optimization method incorporating weather and battlefield factors. Background Technology

[0002] With the continuous development of society, the number of vehicles, as the main means of transportation, is increasing dramatically every year. At the same time, autonomous vehicles are also being used in the military.

[0003] Currently, the Floyd algorithm is generally used in the process of vehicle road optimization. However, in the actual driving process, considering weather and battlefield factors, the situation may change, resulting in the original calculation result being a non-optimal route or even an incorrect route. Summary of the Invention

[0004] To improve route accuracy, this application provides a road optimization method incorporating weather and battlefield factors.

[0005] A road optimization method incorporating weather and battlefield factors, including;

[0006] Obtain information on intersection points, key points, intersection point information, and key point information on roads;

[0007] Based on the intersection point information and key point information, a connection is made to obtain the connection result, which is the connection between intersection points and key points, the connection between adjacent intersection points, and the connection between adjacent key points.

[0008] Obtain weather and battlefield information;

[0009] An adjacency matrix is ​​constructed based on the weather information, battlefield information, intersection point information, key point information, and connection results. The adjacency matrix represents the distance and route between two intersection points.

[0010] Obtain vehicle information of the target vehicle, including the vehicle's starting point and ending point;

[0011] Based on the preset proximity selection rules, a starting proximity point and an ending proximity point are selected. The starting proximity point is the key point or intersection point closest to the vehicle's starting point, and the ending proximity point is the key point or intersection point closest to the vehicle's ending point.

[0012] The starting and ending intersection points are determined based on the aforementioned starting and ending nearest points;

[0013] The starting and ending intersection points are input into the adjacency matrix, and the shortest route from the starting intersection point to the ending intersection point is determined.

[0014] Obtain the first total route from the vehicle's starting point to the nearest starting point and then to the starting intersection; obtain the second total route from the vehicle's ending point to the nearest ending point and then to the ending intersection.

[0015] The optimal route is determined based on the first general route, the second general route, and the shortest route, wherein the optimal route is the shortest route from the vehicle's starting point to the vehicle's ending point.

[0016] Optionally, the step of constructing an adjacency matrix based on the weather information, battlefield information, intersection point information, key point information, and connection results includes:

[0017] The connection result includes the connection gradient, and the vehicle information includes the vehicle's maximum speed.

[0018] The distance of the connecting line is determined based on the slope of the line, weather information, battlefield information, and the maximum speed of the vehicles.

[0019] Optionally, the step of constructing an adjacency matrix based on the weather information, battlefield information, intersection point information, key point information, and connection results includes:

[0020] Obtain the standard distance of the connecting slope, which is the distance between the first and last points on the road connecting the slopes;

[0021] The actual distance is determined based on the standard distance, the slope of the connecting line, and the maximum speed of the vehicle.

[0022] Based on preset road weight rules, road weights are determined according to the weather and battlefield information.

[0023] The connection distance is calculated based on the actual distance and road weight.

[0024] Optionally, determining the actual distance based on the standard distance, the slope of the connecting line, and the maximum speed of the vehicle includes:

[0025] Based on a preset reference table, the standard speed of the vehicle is determined according to the slope of the connecting line;

[0026] The first time is calculated based on the standard distance and the vehicle's maximum speed.

[0027] The second time is calculated based on the standard distance and the vehicle's standard speed.

[0028] The actual distance is calculated based on the standard distance, the first time, and the second time.

[0029] Optionally, determining the starting intersection point and the ending intersection point based on the starting nearest point and the ending nearest point includes:

[0030] The starting nearest point includes both the starting nearest point on the ground and the starting nearest point on the viaduct;

[0031] Determine whether both the nearest starting point and the vehicle's starting point are located on the ground;

[0032] If not, then reselect the nearest starting point until both the nearest starting point and the vehicle's starting point are on the ground;

[0033] Determine whether both the nearest end point and the vehicle's end point are located on the ground;

[0034] If not, then reselect the nearest end point until both the nearest end point and the vehicle's end point are on the ground.

[0035] Optionally, determining the starting intersection point based on the starting nearest point and the ending nearest point includes:

[0036] Retrieve multiple starting road lines that pass through the nearest starting point, and draw perpendicular lines to these multiple starting road lines through the vehicle's starting point, intersecting at the starting perpendicular point.

[0037] Calculate multiple initial road distances, where each initial road distance is the distance from the vehicle's starting point to the line connecting the initial road points;

[0038] If the starting vertical point is located on the starting road line, then the starting road distance is the distance from the vehicle's starting point to the vertical point.

[0039] If the starting vertical point is located on the extension line of the starting road connection, then the starting road distance is the distance from the vehicle's starting point to the nearest starting point.

[0040] By comparing the multiple initial path distances, the minimum initial path distance is obtained;

[0041] The nearest starting path connection is determined based on the minimum starting path distance;

[0042] The starting intersection point is determined based on the minimum starting road connection.

[0043] Optionally, the ending intersection point can be selected based on the starting nearest point and the ending nearest point, including:

[0044] Retrieve multiple end-road lines that pass through the nearest end point, and draw perpendicular lines to these multiple end-road lines through the vehicle's end point, intersecting at the end perpendicular point.

[0045] Calculate multiple end-of-road distances, where each end-of-road distance is the distance from the vehicle's end point to the line connecting the end-of-road points;

[0046] If the end vertical point is located on the end road connection line, then the end road distance is the distance from the vehicle end point to the vertical point;

[0047] If the end vertical point is located on the extension line of the end road connection, then the end road distance is the distance from the vehicle's end point to the nearest end point;

[0048] Compare the multiple termination distances to obtain the minimum termination distance.

[0049] The nearest end-of-lane connection is determined based on the minimum end-of-lane distance;

[0050] The end intersection point is determined based on the minimum ending road connection.

[0051] Optionally, the step of inputting the starting intersection point and the ending intersection point into the adjacency matrix and determining the shortest route from the starting intersection point to the ending intersection point includes:

[0052] The starting intersection points include a first starting intersection point and a second starting intersection point;

[0053] The termination points include a first termination point and a second termination point;

[0054] The shortest routes include the first shortest route, the second shortest route, the third shortest route, and the fourth shortest route;

[0055] The shortest route from the first starting intersection to the first ending intersection is selected as the first shortest route.

[0056] The shortest route from the first starting intersection to the second ending intersection is selected as the second shortest route.

[0057] The shortest route from the second starting intersection to the first ending intersection is selected as the third shortest route.

[0058] The shortest route from the second starting intersection to the second ending intersection is selected as the fourth shortest route.

[0059] Optional, also includes;

[0060] The connection result includes the connection angle, and the vehicle information includes the vehicle's cornering performance;

[0061] Based on the connection angle and the vehicle's turning performance, the key points are smoothed to obtain the processing result. The processing result indicates that the vehicle has passed the key point when the distance between the vehicle and the next key point changes from decreasing to increasing.

[0062] Optional, also includes;

[0063] The vehicle information includes the vehicle's direction of travel and its location.

[0064] Obtain the driving direction and position of other vehicles traveling on the same optimal route as the target vehicle;

[0065] If the target vehicle is traveling in the same direction as other vehicles, the distance between the target vehicle and other vehicles is determined based on their positions. If so, the target vehicle decelerates, accelerates, or stops.

[0066] In summary, this application includes the following technical advantages:

[0067] This application provides a road optimization method incorporating weather and battlefield factors. It comprehensively considers the connecting angle and slope of the intersection point information and key point information, takes into account weather and battlefield information, and also considers the influence of vehicle maximum speed, vehicle turning performance and vehicle driving direction on route selection. Subsequently, it considers the driving problems of the target vehicle and other vehicles during the driving process, thereby improving the route accuracy. Finally, it obtains the optimal route for vehicle driving by inputting the vehicle's starting point and ending point. Attached Figure Description

[0068] Figure 1 This is a flowchart illustrating a road optimization method incorporating weather and battlefield elements according to an embodiment of this application.

[0069] Figure 2 This is an example diagram of a road optimization method incorporating weather and battlefield elements according to an embodiment of this application.

[0070] Figure 3 This is an example diagram of a road optimization method with weather and battlefield elements according to an embodiment of this application.

[0071] Figure 4 This is an example diagram of a road optimization method with weather and battlefield elements according to an embodiment of this application.

[0072] Figure 5 This is an example diagram of a road optimization method with weather and battlefield elements according to an embodiment of this application.

[0073] Figure 6 This is an example diagram of a road optimization method with weather and battlefield elements according to an embodiment of this application.

[0074] Figure 7 This is an example diagram of a road optimization method with weather and battlefield elements according to an embodiment of this application. Detailed Implementation

[0075] The present application will be further described in detail below with reference to the accompanying drawings.

[0076] This specific embodiment is merely an explanation of this application and is not intended to limit it. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they fall within the scope of the claims of this application.

[0077] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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 this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0078] This application discloses a road optimization method incorporating weather and battlefield factors, which can construct the optimal driving route while vehicles are in motion.

[0079] The embodiments of this application will now be described in further detail with reference to the accompanying drawings.

[0080] Reference Figure 1 and Figure 2 :

[0081] Step S100: Obtain the intersection points, key points, intersection point information, and key point information on the road.

[0082] Specifically, when acquiring intersection points and intersection point information on the road, key points and key point information on the road are also acquired simultaneously. Key points are points located between adjacent intersection points. The selection of intersection points and key points follows the principle of selecting more points on curved roads and fewer points on straight roads. Furthermore, since the road width is fixed in the scenario of this application embodiment, points on the road centerline are selected when choosing intersection points and key points.

[0083] It can be understood that intersection point information includes the location of intersection points and the relationships between them. For example, if there are three intersection points A, B, and C on a road, where A is located between B and C, the relationships are: there is a road between A and B, there is a road between A and C, but there is no road between B and C. Similarly, key point information includes the location of key points and the relationships between them, as well as the relationships between key points and intersection points.

[0084] Reference Figure 1 and Figure 3 :

[0085] Step S200: Connect the intersection points and key points to obtain the connection results.

[0086] Specifically, given the known relationships between intersection points, key points, and intersection points and key points, lines are then drawn connecting these intersection points and key points to obtain connection results. These results include lines connecting intersection points and key points, lines connecting adjacent intersection points, and lines connecting adjacent key points. The connection results include the angles between key points and between key points and intersection points.

[0087] Simultaneously, given the locations of intersection points and key points, the distances between key points and between key points and intersection points can be calculated using the Floyd-Warshall algorithm, further allowing the calculation of the distances between intersection points. For example, if there are intersection points O and A on a road, and key points B, C, and D, with key points B, C, and D located at intersection points O and A, where AB is 10 meters, BC is 15 meters, CD is 20 meters, and DO is 25 meters, then OA is 70 meters. The Floyd-Warshall algorithm is simple to implement, directly calculating the distances between multiple intersection points and reducing computation time.

[0088] It is known that, according to the Freud algorithm, the slope of the line connecting key points and the slope of the line connecting key points and intersection points can also be obtained.

[0089] Step S300: Obtain weather and battlefield information.

[0090] Specifically, obtain weather and battlefield information for the day the target vehicle is traveling. The weather information includes information on strong winds, heavy snow, and heavy rain. The information on strong winds includes wind direction and speed, the information on heavy snow includes snowfall, and the information on heavy rain includes rainfall. The battlefield information includes whether the road has been damaged.

[0091] Reference Figure 1 , Figure 2 and Figure 4 :

[0092] Step S400: Construct an adjacency matrix based on weather information, battlefield information, intersection point information, key point information, and connection results.

[0093] Specifically, an adjacency matrix is ​​constructed based on weather information, battlefield information, intersection point information, key point information, and connection results. The adjacency matrix includes the distance and route connecting any two intersection points.

[0094] For example, in Table 1, given that OA is 10 meters, OB is 20 meters, and OC is 30 meters, then AB = OA + OB = 30 meters, AC = OA + OC = 40 meters, and BC = OB + OC = 50 meters.

[0095] Table 1

[0096]

[0097] Given that OA is 10 meters, OB is 20 meters, OC is 30 meters, and AB is 40 meters, there are two routes from point A to point B: one is AOB, and the other is AB.

[0098] It's known that in practice, two problems arise. One is that the 3D engine has limitations on the vehicle's turning performance, causing the vehicle to spin in circles while trying to pass another key point. The other problem is on downhill roads, where the increased speed can lead to rollovers. Therefore, both of these issues need to be considered when choosing a road for the vehicle.

[0099] Reference Figure 1 and Figure 5 :

[0100] Step S500: Obtain vehicle information of the target vehicle.

[0101] Specifically, vehicle information includes the vehicle's starting point, ending point, turning performance, and maximum speed. The starting and ending points refer to the vehicle's location information.

[0102] The slope of the line connecting the known key points and the slope of the line connecting the key points and the intersection points are retrieved from the preset reference library. The preset reference library stores the correlation between the slope of the line and the actual speed of the vehicle, that is, the speed of the vehicle that can travel on the road with the slope of the line, which can prevent the vehicle from overturning when going downhill.

[0103] Therefore, the standard distance for the slope of the connecting line is obtained. The standard distance is the distance between the first and last points on the road with the slope of the connecting line. The actual speed of the vehicle is determined based on the slope of the connecting line. Then, the actual distance is determined based on the standard distance, the maximum speed of the vehicle, and the actual speed of the vehicle.

[0104] (1)

[0105] (2)

[0106] (3)

[0107] Referring to formulas (1), (2), and (3), where, Standard distance, This is the vehicle's maximum speed. This refers to the vehicle's actual speed. To be the first, For the second time, The first time is calculated based on the standard distance and the vehicle's maximum speed, and the second time is calculated based on the standard distance and the vehicle's actual speed. The actual distance is then calculated based on the standard distance, the first time, and the second time. For example, the standard distance from key point 0 to key point A is 100 meters, and the slope of the line connecting key points 0 and A is 45°. According to a pre-set reference library, when the slope is 45°, the corresponding actual vehicle speed is 50 meters per second, while the vehicle's maximum speed is 100 meters per second. Therefore, the calculated first time is 1 second, the second time is 2 seconds, and to ensure the accuracy of the vehicle's route and prevent rollover, the distance between the two points is set to 200 meters.

[0108] The distance for connecting lines is determined based on actual distance, weather information, and battlefield information.

[0109] Based on the aforementioned known weather and battlefield information and preset road weighting rules, road weights are determined using these information. For example, in strong winds (easterly, wind speed 7), if the target vehicle is traveling from east to west, the road weight of the route connecting the two key points is 0.9; if the target vehicle is traveling from west to east, the road weight is 1.1. In heavy snow (5mm snowfall), the road weight of the route connecting the two key points is 1.5. In heavy rain (20mm rainfall), the road weight of the route connecting the two key points is 1.1. If the battlefield information indicates that the road is damaged, the road weight of the route connecting the two key points is the maximum value, indicating that the route is impassable.

[0110] It is important to note that when weather information encounters multiple conditions, the corresponding road weights are multiplied together. For example, if a vehicle encounters strong winds and heavy rain, with the wind direction being east, the wind speed being level 7, and the rainfall being 20mm, then when the target vehicle is traveling from east to west, the road weight of the route connecting the two key points is 0.9 * 1.1 = 0.99.

[0111] Finally, the connection distance is calculated based on the actual distance and road weights. The connection distance is the optimal distance between two key points under the given conditions. The connection distance takes into account the slope, weather information, and battlefield information, and includes the distance between key points and the distance between key points and intersections.

[0112] As mentioned above, due to the vehicle's turning performance, it may be unable to pass a certain key point, causing it to circle around that point. By smoothing the key point based on the connecting line angle and the vehicle's turning performance, a result is obtained: when the distance between the vehicle and the next key point increases from a decreasing angle, it indicates that the vehicle has passed that key point. For example, if a vehicle travels from key point A to key point B, passing through key point O, and the angle of the line connecting AOB is 40°, the vehicle cannot pass through key point O due to its turning performance. Route C is the vehicle's travel path. When the distance between the vehicle and key point O increases from a decreasing angle, it indicates that the vehicle has passed that key point. This effectively solves the problem of the vehicle circling.

[0113] Reference Figure 1 :

[0114] Step S600: Select the starting nearest point and the ending nearest point based on the preset nearest selection rules.

[0115] Specifically, the nearest starting point is the key point or intersection closest to the vehicle's starting point, and the nearest ending point is the key point or intersection closest to the vehicle's ending point.

[0116] The selection of the starting and ending nearest points both follow the rule that the shortest distance between two points is a straight line.

[0117] It is known that the starting nearest point includes both the starting nearest point on the ground and the starting nearest point on the viaduct, and the ending nearest point includes both the ending nearest point on the ground and the ending nearest point on the viaduct.

[0118] During the selection of the nearest starting point, the location information of the nearest starting point and the vehicle's starting point are used to determine whether both are located on the ground:

[0119] If so, there is no need to reselect the nearest starting point;

[0120] If not, then a new starting point is selected until both the starting point and the vehicle's starting point are on the ground. The selection of the new starting point also follows the rule that the shortest distance between two points is a straight line.

[0121] During the process of selecting the nearest exit point, it is determined whether both the nearest exit point and the vehicle's exit point are located on the ground based on the location information of the nearest exit point and the vehicle's exit point:

[0122] If so, there is no need to reselect the nearest ending point;

[0123] If not, then reselect the nearest ending point until both the nearest ending point and the vehicle's ending point are on the ground. Reselecting the nearest ending point also follows the rule that the shortest distance between two points is a straight line.

[0124] Reference Figure 1 and Figure 6 :

[0125] Step S700: Determine the starting intersection point and the ending intersection point based on the starting nearest point and the ending nearest point.

[0126] Specifically, firstly, given the known starting point, multiple starting road lines are retrieved from the starting point. Each starting road line is a line connecting the starting point to an adjacent key point or intersection. When the starting point is a key point, there are two starting road lines; when the starting point is an intersection, there are at least two starting road lines.

[0127] Subsequently, multiple perpendicular lines are drawn from the vehicle's starting point to connect the starting road lines, intersecting at the starting perpendicular point; multiple starting road distances are calculated, where each starting road distance is the distance from the vehicle's starting point to the starting road line; if the starting perpendicular point is located on the starting road line, the starting road distance is the distance from the vehicle's starting point to the perpendicular point; if the starting perpendicular point is located on the extension of the starting road line, the starting road distance is the distance from the vehicle's starting point to the nearest starting point.

[0128] Then, compare multiple starting top lane distances to obtain the minimum starting top lane distance; determine the nearest starting top lane connection based on the minimum starting top lane distance.

[0129] Finally, the starting intersection point is determined based on the minimum starting road connection line. That is, the intersection point at both ends of the line connecting the intersection points of the minimum starting road connection line is the starting intersection point. There are two starting intersection points: the first starting intersection point and the second starting intersection point.

[0130] The end point of the intersection is determined using the same method described above.

[0131] First, given the known nearest end point, retrieve multiple ending road connections that have passed through the nearest end point. Each ending road connection is a line connecting the nearest end point to an adjacent key point or intersection. When the nearest end point is a key point, there are two ending road connections. When the nearest end point is an intersection, there are at least two ending road connections.

[0132] Subsequently, multiple perpendicular lines are drawn from the vehicle's endpoint to the line connecting the endpoints of the road, intersecting at the endpoint perpendicular point; multiple endpoint distances are calculated, where the endpoint distance is the distance from the vehicle's endpoint to the line connecting the endpoints of the road; if the endpoint perpendicular point is located on the line connecting the endpoints of the road, the endpoint distance is the distance from the vehicle's endpoint to the perpendicular point; if the endpoint perpendicular point is located on the extension of the line connecting the endpoints of the road, the endpoint distance is the distance from the vehicle's endpoint to the nearest endpoint.

[0133] Then, compare the distances to the end of the top lane to obtain the minimum distance to the end of the top lane; determine the nearest end of the top lane based on the minimum distance to the end of the top lane.

[0134] Finally, the ending intersection point is determined based on the minimum ending road connection line. That is, the intersection point at both ends of the line connecting the intersection points where the minimum ending road connection line is located is the ending intersection point. There are two ending intersection points: the first ending intersection point and the second ending intersection point.

[0135] For example, point O is the vehicle's starting point, point W is the nearest starting point and a key point, and points M and N are two key points close to point W. Lines MW and NW are both starting road lines passing through the nearest starting point. Points A and B are intersection points. A perpendicular line is drawn from the vehicle's starting point O to line NW, intersecting at the starting perpendicular point P. OP is the starting road distance from the vehicle's starting point O to line NW. A perpendicular line is drawn from the vehicle's starting point O to line MW, intersecting at the starting perpendicular point Q. The starting perpendicular point Q is located on the extension of line MW. Therefore, OW is the starting road distance from the vehicle's starting point O to line MW. Comparing OP and OW, we know that OP is less than OW. Therefore, line NW is the nearest starting road line, located between points A and B. Thus, the starting intersection points are points A and B.

[0136] For example, point O is the vehicle's starting point, point W is the nearest starting point, and point W is an intersection point. Points M and N are two key points close to point W. Lines MW and NW are both starting road lines passing through the nearest starting point. Points A and B are intersection points. A perpendicular line is drawn from the vehicle's starting point O to line NW, intersecting at the starting perpendicular point P. OP is the starting road distance from the vehicle's starting point O to line NW. A perpendicular line is drawn from the vehicle's starting point O to line MW, intersecting at the starting perpendicular point Q. The starting perpendicular point Q is located on the extension of line MW. Therefore, OW is the starting road distance from the vehicle's starting point O to line MW. Comparing OP and OW, we know that OP is less than OW. Therefore, line NW is the nearest starting road line, located between points W and B. Thus, the starting intersection points are points W and B.

[0137] Reference Figure 1 and Figure 7 :

[0138] Step S800: Input the starting intersection point and the ending intersection point into the adjacency matrix to determine the shortest route from the starting intersection point to the ending intersection point.

[0139] Specifically, the aforementioned known adjacency matrix includes the distance and route between intersection points. By substituting the starting and ending intersection points into the adjacency matrix, the shortest route from the starting intersection point to the ending intersection point is determined. The shortest routes include the first shortest route, the second shortest route, the third shortest route, and the fourth shortest route.

[0140] Right now:

[0141] The shortest route from the first starting intersection to the first ending intersection is selected as the first shortest route.

[0142] The shortest route from the first starting intersection to the second ending intersection is selected as the second shortest route.

[0143] The shortest route from the second starting intersection to the first ending intersection is selected as the third shortest route.

[0144] The shortest route from the second starting intersection to the second ending intersection is selected as the fourth shortest route.

[0145] It is known that there are multiple lines connecting the first starting intersection to the first ending intersection, and the shortest one is selected as the first shortest route.

[0146] For example, point O is the starting point of the vehicle, point P is the ending point of the vehicle, and points A, B, C, D, E, F, G, H, X and Y are all intersection points. Among them, points A and B are the starting intersection points, and points C and D are the ending intersection points. There are 6 routes from point A to point C: ABFHGDC, ABFHDC, ABFHC, ABEHGDC, ABEHDC, and ABEHC. ABEHC has the shortest distance, making it the first shortest route. Similarly, there are 6 routes from point A to point D: ABFHGD, ABFHD, ABFHCD, ABEHGD, ABEHD, and ABEHCD. ABEHD has the shortest distance, making it the second shortest route. There are also 6 routes from point B to point C: BFHGDC, BFHDC, BFHC, BEHGDC, BEHDC, and BEHC. BEHC has the shortest distance, making it the third shortest route. Finally, there are 6 routes from point B to point D: BFHGD, BFHD, BFHCD, BEHGD, BEHD, and BEHCD. BEHD has the shortest distance, making it the fourth shortest route.

[0147] It's important to note that when the starting nearest point is an intersection, and the minimum starting distance is the distance from the vehicle's starting point to the starting nearest point, this starting nearest point is both the first and second starting intersection. Similarly, when the ending nearest point is an intersection, and the minimum ending distance is the distance from the vehicle's ending point to the ending nearest point, this ending nearest point is both the second and second ending intersection. Therefore, there are four possible shortest route scenarios:

[0148] I. The shortest routes are the first shortest route, the second shortest route, the third shortest route, and the fourth shortest route;

[0149] Second, the shortest routes are the first shortest route, the second shortest route, the third shortest route, and the fourth shortest route, and the first shortest route and the second shortest route are the same route;

[0150] Third, the shortest routes are the first shortest route, the second shortest route, the third shortest route, and the fourth shortest route, and the third shortest route and the fourth shortest route are the same route;

[0151] Fourth, the shortest routes are the first shortest route, the second shortest route, the third shortest route, and the fourth shortest route. The first shortest route and the second shortest route are the same route, and the third shortest route and the fourth shortest route are the same route.

[0152] Reference Figure 1 and Figure 6 :

[0153] Step S900: Obtain the first total route from the vehicle's starting point to the nearest starting point and then to the starting intersection; obtain the second total route from the vehicle's ending point to the nearest ending point and then to the ending intersection.

[0154] Specifically, the starting and ending points of vehicles are generally no longer at intersections or key points. Therefore, the distance from the starting point to the intersection and the distance from the ending point to the intersection need to be taken into consideration.

[0155] Given the known distance and line connecting the vehicle's starting point to the nearest starting point, and the known distance and line connecting the nearest starting point to the starting intersection, the first general route can be obtained.

[0156] Given the known distance and line connecting the vehicle's end point to the nearest end point, and the known distance and line connecting the nearest end point to the end intersection point, the first general route can be obtained.

[0157] For example, point O is the starting point of the vehicle, points A and B are the starting intersection points, point W is the starting nearest point, point M is the key point, and point P is the starting perpendicular point of line NW. Therefore, the first general route is OPWMA and OPNB.

[0158] Reference Figure 1 and Figure 7 :

[0159] Step S1000: Determine the optimal route based on the first total route, the second total route, and the shortest route.

[0160] Specifically, the optimal route is the shortest route from the vehicle's starting point to its ending point.

[0161] For example, point O is the vehicle's starting point, point P is the vehicle's ending point, point Y is the nearest starting point, and point X is the nearest ending point. Points A, B, C, D, E, F, G, H, X, and Y are all intersection points, where points A and B are starting intersection points, and points C and D are ending intersection points. Given that ABEHC is the first shortest route, ABEHD is the second shortest route, BEHC is the third shortest route, and BEHD is the fourth shortest route, the routes from the vehicle's starting point to its ending point include OYABEHCXP, 0-YABEHDXP, OYBEHCXP, and 0-YBEHDXP. Comparing the distances between these four routes, the route with the shortest distance is selected as the optimal route.

[0162] It is understood that the scenarios in the embodiments of this application include both elevated bridges and land-based scenarios.

[0163] It should be noted that while the target vehicle is traveling along the optimal route, it will encounter other vehicles traveling in the same or opposite directions as the target vehicle. Therefore, vehicle information also includes the vehicle's direction of travel and its position.

[0164] Simultaneously, obtain the driving direction and position of other vehicles traveling on the same shortest route as the target vehicle:

[0165] If the target vehicle is traveling in the same direction as other vehicles, the distance between them is determined based on the target vehicle's position and the positions of the other vehicles. If the target vehicle does not reach the preset distance value, it will decelerate, accelerate, or stop. Otherwise, it will continue at its original speed. Specifically, when the target vehicle is ahead of other vehicles and the distance between them reaches the preset distance value, the target vehicle accelerates; when the target vehicle is behind other vehicles and the distance between them reaches the preset distance value, the target vehicle decelerates or stops. Of course, in this embodiment, other vehicles may be driven automatically or manually. When other vehicles stop due to manual driving, the target vehicle will also stop. The stopping time of the target vehicle is obtained. In a ground scenario, if the stopping time of the target vehicle exceeds a preset parking time, the target vehicle will detour outside the road or detour in the opposite lane if there are no vehicles in the opposite lane. In an elevated bridge scenario, if the stopping time of the target vehicle exceeds the preset parking time, the target vehicle will detour in the opposite lane if there are no vehicles in the opposite lane. In this embodiment, the preset distance value and the preset parking time are set according to the actual situation.

[0166] At the same time, the positions of the target vehicle and other vehicles are used to determine whether the roadsides are blocked:

[0167] If so, then obtain the parking time of other vehicles:

[0168] When the parking time of other vehicles exceeds a preset time value, the target vehicle's route without passing through the blockage point is calculated. If the difference between this route and the remaining route of the optimal route does not exceed a preset difference, the target vehicle travels along the route without passing through the blockage point. If the difference between this route and the remaining route of the optimal route exceeds a preset difference, the target vehicle travels along the optimal route. In this embodiment, the method for calculating the target vehicle's route without passing through the blockage point is the same as the method for obtaining the optimal route described above.

[0169] When the parking time of other vehicles does not exceed the preset time value, the target vehicle travels along the optimal route. In this embodiment, both the preset time value and the preset difference are set according to the actual situation.

[0170] If not, the target vehicle continues along the optimal route.

[0171] Of course, only one implementation method is disclosed in this application for reference, but the order of all steps is not limited.

[0172] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the foregoing application concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions claimed in this application.

Claims

1. A method for road optimization with weather and battlefield elements, characterized by: Comprise; Obtain intersection points, key points, intersection point information and key point information on the road; According to the intersection point information and the key point information, the connection is carried out, and the connection result is obtained, the connection result is the connection between the intersection points and the key points, the connection between the adjacent intersection points and the connection between the adjacent key points; Obtain weather information and battlefield information; the battlefield information is whether the road is damaged; According to the weather information, battlefield information, intersection point information, key point information and connection result, an adjacency matrix is constructed, the adjacency matrix is the connection distance and connection route between two intersection points; Obtain vehicle information of the target vehicle, the vehicle information includes vehicle starting point and vehicle ending point; Based on the preset nearest selection rule, the starting nearest point and the ending nearest point are selected, the starting nearest point is the nearest key point or intersection point to the vehicle starting point, and the ending nearest point is the nearest key point or intersection point to the vehicle ending point; According to the starting nearest point and the ending nearest point, the starting intersection point and the ending intersection point are determined; The starting intersection point and the ending intersection point are brought into the adjacency matrix, and the shortest route from the starting intersection point to the ending intersection point is determined; Obtain the first total route from the vehicle starting point to the starting nearest point to the starting intersection point, and obtain the second total route from the vehicle ending point to the ending nearest point to the ending intersection point; According to the first total route, the second total route and the shortest route, the optimal route is determined, and the optimal route is the shortest route from the vehicle starting point to the vehicle ending point; The adjacency matrix is constructed according to the weather information, battlefield information, intersection point information, key point information and connection result, including; The connection result includes connection slope, and the vehicle information includes vehicle maximum speed; According to the connection slope, weather information, battlefield information and vehicle maximum speed, the connection distance is determined; The adjacency matrix is constructed according to the weather information, battlefield information, intersection point information, key point information and connection result, including; Obtain the standard distance of the connection slope, and the standard distance is the distance between the first and last points on the road with the connection slope; According to the standard distance, connection slope and vehicle maximum speed, the actual distance is determined; According to the weather information and battlefield information, the road weight is determined based on the preset road weight rule; According to the actual distance and road weight, the connection distance is calculated; According to the standard distance, connection slope and vehicle maximum speed, the actual distance is determined, including; According to the preset comparison table, the vehicle standard speed is determined according to the connection slope; According to the standard distance and vehicle maximum speed, the first time is calculated; According to the standard distance and vehicle standard speed, the second time is calculated; According to the standard distance, first time and second time, the actual distance is calculated.

2. The method of claim 1, wherein: According to the starting nearest point and the ending nearest point, the starting intersection point and the ending intersection point are determined, including; The starting nearest point includes the starting nearest point on the ground and the starting nearest point on the elevated bridge; It is judged whether the starting nearest point and the vehicle starting point are located on the ground; If not, the starting nearest point is reselected until the starting nearest point and the vehicle starting point are both on the ground; If not, the ending nearest point is reselected until the ending nearest point and the vehicle ending point are both on the ground. If not, the ending nearest point is reselected until the ending nearest point and the vehicle ending point are both on the ground.

3. The method of claim 1, wherein: The starting intersection point is determined according to the starting nearest point and the ending nearest point, comprising: A plurality of starting upper road lines passing through the starting nearest point are called, and a plurality of vertical lines of the starting upper road lines passing through the vehicle starting point are called, intersecting at a starting vertical point; A plurality of starting upper road distances are calculated, the starting upper road distance being the distance from the vehicle starting point to the starting upper road line; If the starting vertical point is on the starting upper road line, the starting upper road distance is the distance from the vehicle starting point to the vertical point; If the starting vertical point is on the extension line of the starting upper road line, the starting upper road distance is the distance from the vehicle starting point to the nearest starting point; The plurality of starting upper road distances are compared to obtain a minimum starting upper road distance; The minimum starting upper road line is determined according to the minimum starting upper road distance; The starting intersection point is determined according to the minimum starting upper road line.

4. The method of claim 1, wherein: The ending intersection point is selected according to the starting nearest point and the ending nearest point, comprising: A plurality of ending upper road lines passing through the ending nearest point are called, and a plurality of vertical lines of the ending upper road lines passing through the vehicle ending point are called, intersecting at an ending vertical point; A plurality of ending upper road distances are calculated, the ending upper road distance being the distance from the vehicle ending point to the ending upper road line; If the ending vertical point is on the ending upper road line, the ending upper road distance is the distance from the vehicle ending point to the vertical point; If the ending vertical point is on the extension line of the ending upper road line, the ending upper road distance is the distance from the vehicle ending point to the ending nearest point; The plurality of ending upper road distances are compared to obtain a minimum ending upper road distance; The minimum ending upper road line is determined according to the minimum ending upper road distance; The ending intersection point is determined according to the minimum ending upper road line.

5. The method of claim 1, wherein: The starting intersection point and the ending intersection point are brought into an adjacency matrix, and the shortest route from the starting intersection point to the ending intersection point is determined, comprising: The starting intersection point comprises a first starting intersection point and a second starting intersection point; The ending intersection point comprises a first ending intersection point and a second ending intersection point; The shortest route comprises a first shortest route, a second shortest route, a third shortest route and a fourth shortest route; The shortest line route from the first starting intersection point to the first ending intersection point is selected as the first shortest route; The shortest line route from the first starting intersection point to the second ending intersection point is selected as the second shortest route; The shortest line route from the second starting intersection point to the first ending intersection point is selected as the third shortest route; The shortest line route from the second starting intersection point to the second ending intersection point is selected as the fourth shortest route.

6. The method of claim 1, wherein: Further comprising: The line result comprises a line angle, and the vehicle information comprises a vehicle turning performance; According to the connection angle and the vehicle turning performance, the key point is smoothed to obtain a processing result, and the processing result is that the distance between the vehicle and the next key point is from decreasing to increasing, which indicates that the vehicle has passed the key point.

7. The method of claim 1, wherein: Also include; The vehicle information includes the vehicle driving direction and the vehicle position; Obtain the vehicle driving direction and the vehicle position of other vehicles traveling on the same optimal route as the target vehicle; If the vehicle driving direction of the target vehicle and the vehicle driving direction of the other vehicle are in the same direction, it is judged whether the distance between the vehicle position of the target vehicle and the vehicle position of the other vehicle reaches a preset distance value, and if so, the target vehicle is decelerated or accelerated or stopped.

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