Navigation method, device and storage medium based on temporary communication

Abstract

This application provides a navigation method, device, and storage medium based on temporary communication. The method includes: when communication with an external base station is unavailable, acquiring a pre-constructed temporary vehicle network topology and receiving the traffic status and relative position of each vehicle node in the temporary vehicle network topology to the current vehicle; determining a first path and a second path based on preset navigation information and the traffic status and relative position of each vehicle node; wherein the path length of the second path is greater than the path length of the first path; driving along the first path, and if at least one vehicle node in the first path has a non-traffic status, driving along the second path. This technical solution achieves the effect of replanning the route when the current vehicle cannot communicate with an external base station, thus avoiding the risk of impassable routes in advance and improving the overall road transport efficiency.

Description

Technical Field

[0001] The present application relates to the field of vehicle navigation technology, and in particular to a navigation method, device and storage medium based on temporary communication. Background Art

[0002] The disconnection of network communication between the vehicle and the outside world will not only cause the vehicles in the road area to be unable to obtain navigation information from the outside world, but also cause the vehicles in the road area to be unable to transmit road conditions such as road risks or congestion detected by the vehicle to the external road system.

[0003] Furthermore, since the road conditions in the road area will change in real time, some roads in the previously established navigation path may become impassable, so it is impossible to directly use the navigation path before the communication is disconnected, affecting the vehicle's movement and driving safety in the road area. Summary of the invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, the present application aims to provide a navigation method, device and storage medium based on temporary communication, so as to re-plan the route when the current vehicle cannot communicate with the external base station, avoid the risk of impassability in advance, improve the overall road transportation efficiency, and strengthen the coordination and cooperation between vehicles.

[0005] An embodiment of the present application provides a navigation method based on temporary communication, the method comprising:

[0006] In the case where communication with an external base station is impossible, a pre-built temporary vehicle network topology is obtained, and the traffic status corresponding to each vehicle node in the temporary vehicle network topology and the relative position between the node and the current vehicle are received;

[0007] Determine a first path and a second path according to preset navigation information and the traffic status and relative position corresponding to each vehicle node; wherein the path length of the second path is greater than the path length of the first path;

[0008] The vehicle travels along the first path, and when there is at least one vehicle node whose traffic status is blocked on the first path, the vehicle travels along the second path.

[0009] According to the technical solution provided in the embodiment of the present application, optionally, determining the first path and the second path according to the preset navigation information and the traffic status and relative position corresponding to each vehicle node includes:

[0010] Determine the vehicle node whose traffic status is traffic as a node to be selected;

[0011] Determine each to-be-selected path and the path length of each to-be-selected path according to the preset navigation information and the relative position of each to-be-selected node;

[0012] Taking the shortest path among the candidate paths as the first path, and deleting the first path from the candidate paths to obtain candidate paths;

[0013] At least one second path is determined according to the path lengths of the candidate paths.

[0014] According to the technical solution provided in the embodiment of the present application, optionally, determining each to-be-selected path and the path length of each to-be-selected path according to the preset navigation information and the relative position of each to-be-selected node includes:

[0015] Through a preset path algorithm, based on the relative position of each of the candidate nodes, each of the candidate paths between the starting position in the preset navigation information and the end position in the preset navigation information and the path length of each of the candidate paths are determined.

[0016] According to the technical solution provided in the embodiment of the present application, optionally, determining at least one second path according to the path length of each of the candidate paths includes:

[0017] Sort the candidate paths in ascending order according to their length, use the candidate path ranked first as a newly added reference path, and delete the newly added reference path from the candidate paths;

[0018] Determining a diversity evaluation value according to the length of each of the reference paths and the number of reference paths;

[0019] Determining whether the diversity evaluation value is less than a preset evaluation value;

[0020] If yes, then determining each of the reference paths as the second path;

[0021] If not, determining whether the alternative path exists;

[0022] If so, return to the step of sorting the candidate paths in ascending order of path length, taking the candidate path with the first sorting position as the newly added reference path, and deleting the newly added reference path from the candidate paths, until the reference paths are determined as the second paths;

[0023] If not, each of the reference paths is determined as the second path.

[0024] According to the technical solution provided in the embodiment of the present application, optionally, the temporary vehicle network topology is constructed based on the following method:

[0025] For each vehicle to be connected to the network, determining whether the vehicle to be connected to the network can communicate directly with each neighboring vehicle of the vehicle to be connected to the network;

[0026] Constructing a local network topology corresponding to the vehicle to be networked according to the vehicle to be networked and neighboring vehicles that can directly communicate with the vehicle to be networked;

[0027] A temporary vehicle network topology is constructed according to the local network topology corresponding to each of the vehicles to be connected to the network.

[0028] According to the technical solution provided in the embodiment of the present application, optionally, the determining whether the vehicle to be connected to the network can communicate directly with each neighboring vehicle of the vehicle to be connected to the network includes:

[0029] For each neighbor vehicle corresponding to the vehicle to be connected to the network, determine the link success probability according to the link distance between the vehicle to be connected to the network and the neighbor vehicle and the current environmental factors, and determine the preset number of times according to the link success probability;

[0030] Sending preset information to the neighboring vehicle, determining the current number of attempts, and judging whether feedback information corresponding to the preset information is received within a preset time;

[0031] If yes, it is determined that the vehicle to be connected to the network can communicate directly with the neighboring vehicle;

[0032] If not, determine whether the connection termination condition is met; wherein the connection termination condition is that the current number of attempts is equal to the preset number and / or the product of the current number of attempts and the preset time is greater than or equal to the target time;

[0033] If the conditions are met, it is determined that the vehicle to be connected to the network cannot communicate directly with the neighboring vehicle;

[0034] If not satisfied, return to the step of sending the preset information to the neighboring vehicle, determining the current number of attempts, and determining whether feedback information corresponding to the preset information is received within a preset time.

[0035] According to the technical solution provided in the embodiment of the present application, optionally, after the temporary vehicle network topology is constructed, the method further includes:

[0036] For each communication path in the temporary vehicle network topology, determining at least one backup path corresponding to the communication path;

[0037] If at least one evaluation indicator corresponding to the communication path does not meet the preset requirements, the communication path is replaced with a backup path;

[0038] Re-determine each vehicle to be connected to the network, and return to execute the step of determining, for each vehicle to be connected to the network, whether the vehicle to be connected to the network and each neighboring vehicle of the vehicle to be connected to the network can directly communicate with each other, so as to update the temporary vehicle network topology.

[0039] According to the technical solution provided in the embodiment of the present application, optionally, it also includes:

[0040] In the case where at least one vehicle node in the vehicle temporary network topology resumes communication with the external base station, taking the vehicle node that resumes communication with the external base station as a target node;

[0041] The road risk information is sent to the target node through the temporary network topology of the vehicle, so that the road risk information is sent to the external base station through the target node; and / or, an information request is sent to the target node through the temporary network topology of the vehicle, so that response information corresponding to the information request is obtained from the external base station through the target node.

[0042] In summary, the present application proposes a navigation method based on temporary communication, by obtaining a pre-constructed temporary vehicle network topology when the current vehicle cannot communicate with an external base station, and receiving the traffic status corresponding to each vehicle node in the temporary vehicle network topology and the relative position with the current vehicle, and then, according to the preset navigation information and the traffic status and relative position corresponding to each vehicle node, determining the first path and the second path, so as to re-plan the vehicle's travel path and redundant alternative paths, and driving according to the first path, if there is at least one vehicle node in the first path whose traffic status is blocked, driving according to the second path to avoid the situation where the first path is impassable when the traffic status corresponding to the vehicle node changes, thereby achieving the effect of re-planning the path when the current vehicle cannot communicate with an external base station and avoiding the risk of impassability in advance. Compared with the prior art, the present application avoids the problems of driving path interruption and poor driving safety caused by driving according to the preset navigation information, effectively improves the overall road transportation efficiency, and strengthens the cooperation between vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is a flowchart of a navigation method based on temporary communication provided in an embodiment of the present application;

[0044] Figure 2 is a flowchart of another navigation method based on temporary communication provided in an embodiment of the present application;

[0045] Figure 3 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0047] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0048] Figure 1 is a flowchart of a navigation method based on temporary communication provided by an embodiment of the present application. Figure 1 , the navigation method based on temporary communication specifically includes:

[0049] S110. In the case where communication with an external base station is impossible, a pre-constructed temporary vehicle network topology is obtained, and a traffic status corresponding to each vehicle node in the temporary vehicle network topology and a relative position between the node and the current vehicle are received.

[0050] Among them, the external base station is a device that transmits information to the outside world and / or obtains information from the outside world. It is understandable that the communication may be disconnected due to the existence of road risks, so that all vehicles within a certain range cannot communicate with the external base station, and the road risks and traffic conditions detected by each vehicle cannot be transmitted, so that the surrounding vehicles know the road conditions and avoid the risk of being unable to pass in advance; it may also be that the external base station or network equipment fails, resulting in the inability to communicate with the external base station. The temporary network topology of the vehicle is a temporary network topology built based on the direct communication technology between vehicles, which is used to transmit information between vehicles when information cannot be transmitted through the external base station. It can be a dedicated short-range communication technology (Dedicated Short Range Communication, DSRC) or a vehicle network communication technology (Cellular Vehicle-to-Everything, C-V2X) based on cellular mobile communication technology, so that adjacent vehicles can directly exchange data without relying on traditional external base stations, such as cellular base stations or wireless network communication technology (Wi-Fi) hotspots. Communication technologies such as DSRC or C-V2X are designed for low-latency and high-reliability information transmission, which is suitable for real-time information sharing between vehicles. The vehicle node is each communication node in the temporary vehicle network topology, that is, each vehicle that joins the temporary vehicle network topology for information transmission. The traffic status is used to describe whether the vehicle node is passable, which can include passable and non-passable. The traffic status can be comprehensively determined by identifying the road conditions around the vehicle node (such as road congestion, etc.) and the surrounding environment conditions (such as landslides, etc.). The relative position is the relative position between each vehicle node and the current vehicle, which can include relative direction and relative distance, etc.

[0051] Specifically, if the current vehicle cannot communicate with an external base station, it means that it cannot travel according to the current preset navigation information and needs to re-plan the route, but it cannot be planned based on an external base station. Therefore, the current vehicle joins the temporary vehicle network topology to transmit traffic conditions between vehicles. In addition, the pre-built temporary vehicle network topology can be obtained to receive the traffic status corresponding to each vehicle node in the temporary vehicle network topology and the relative position with the current vehicle, so as to facilitate the subsequent re-planning of the travel route and avoid blocked roads in advance.

[0052] It is understandable that the current vehicle can obtain the surrounding road conditions and surrounding environment conditions through vehicle sensors such as radars and cameras to determine whether there are road risks. If there are road risks and communication is disconnected, navigation can also be performed using the method of this example. Road risks can be situations where traffic is dangerous due to bad weather or disasters, such as difficult and dangerous traffic caused by earthquakes, mudslides, etc. Road risks can also be being trapped, trapped, asking for help, etc., or roadblocks, congestion, traffic control, etc.

[0053] If there is no road risk and communication with external base stations is impossible, the technical solution of this example can be implemented, and the current vehicle can update navigation through the temporary network topology of the current vehicle to avoid passing through areas / places that are not passable / have road risks. If there is a road risk and communication with external base stations is impossible, the technical solution of this example can be implemented to inform other vehicles that there is a road risk or other road conditions (such as roadblocks, congestion, traffic control and other emergencies) at the current vehicle's location.

[0054] Based on the above example, the vehicle temporary network topology can be constructed in the following way:

[0055] For each vehicle to be connected to the network, determine whether the vehicle to be connected to the network can communicate directly with each of its neighboring vehicles;

[0056] According to the vehicle to be connected to the network and each neighboring vehicle that can directly communicate with the vehicle to be connected to the network, a local network topology corresponding to the vehicle to be connected to the network is constructed;

[0057] According to the local network topology corresponding to each vehicle to be connected to the network, a temporary vehicle network topology is constructed.

[0058] Among them, the vehicles to be added to the network are the vehicles that join the temporary network topology of the vehicles. The neighbor vehicles are the vehicles within the direct communication range of the vehicles to be added to the network. It can be understood that the neighbor vehicles that can communicate directly can also be used as vehicles to be added to the network to build a local network topology. The local network topology is the network topology formed by the vehicles to be added to the network within the direct communication range and the neighbor vehicles that can communicate directly.

[0059] Specifically, for each vehicle to be networked, each vehicle within the direct communication range of the vehicle to be networked is regarded as a neighbor vehicle, and attempts are made to establish direct communication with the neighbor vehicles to determine whether the vehicle to be networked can communicate directly with each neighbor vehicle of the vehicle to be networked. A network is constructed between the vehicle to be networked and each neighbor vehicle that can directly communicate with the vehicle to be networked, and a local network topology corresponding to the vehicle to be networked is obtained. Furthermore, the local network topologies corresponding to each vehicle to be networked can be combined to obtain a temporary network topology for the vehicle. For example, a neighbor vehicle that can directly communicate with the vehicle to be networked can be regarded as a new vehicle to be networked, and a new local network topology for the vehicle to be networked is constructed until the network range reaches a preset range, or the number of vehicle nodes in the temporary network topology of the vehicle reaches a preset number of nodes.

[0060] Exemplarily, a chain network topology can be constructed. When a vehicle detects a road risk and finds that it cannot communicate directly with an external base station, the vehicle attempts to establish a direct communication connection with other nearby vehicles (the nearest neighbor vehicles). After a successful connection, the "relay" vehicle continues to try to establish a direct communication connection with the next closest vehicle until the communication distance of the chain network topology reaches a preset distance, or the number of vehicle nodes in the chain network topology reaches a preset number of nodes, thus forming a temporary communication chain composed of vehicles. If a vehicle node in the network can restore the network connection with the external base station, the construction of the vehicle's temporary network topology can be stopped directly. When constructing a temporary vehicle network topology, it is necessary to conduct preliminary screening based on the relative distance between vehicles and the direct communication range. Assume that the distance between vehicles i and j is d ij , the communication range is R, then the necessary condition for direct communication between vehicles i and j is expressed as: ij ≤R.

[0061] Based on the above example, the following methods can be used to determine whether the vehicle to be connected to the network can communicate directly with its neighboring vehicles:

[0062] For each neighbor vehicle corresponding to the vehicle to be connected to the network, determine the link success probability according to the link distance between the vehicle to be connected to the network and the neighbor vehicle and the current environmental factors, and determine the preset number of times according to the link success probability;

[0063] Sending preset information to neighboring vehicles, determining the current number of attempts, and judging whether feedback information corresponding to the preset information is received within a preset time;

[0064] If so, it is determined that the vehicle to be connected to the network can communicate directly with the neighboring vehicle;

[0065] If not, determine whether the connection termination condition is met;

[0066] If the conditions are met, it is determined that the vehicle to be connected to the network cannot communicate directly with the neighboring vehicle;

[0067] If not satisfied, return to the step of sending the preset information to the neighboring vehicle, determining the current number of attempts, and determining whether feedback information corresponding to the preset information is received within a preset time.

[0068] Among them, the link distance is the distance between the vehicle to be connected to the network and the neighboring vehicle. Current environmental factors include obstacles, weather conditions, etc. The link success probability is the probability of successfully establishing direct communication in one time. The preset number of times is the maximum number of attempts for direct communication connection between the vehicle to be connected to the network and the neighboring vehicle. The preset information is the information sent when establishing a direct communication connection, which can be preset basic information or road information, etc. The current number of attempts is the number of attempts to establish direct communication between the vehicle to be connected to the network and the neighboring vehicle. The preset time is the maximum waiting time for a single time after the preset information is sent. Feedback information is information that the neighboring vehicle uses to feed back to the vehicle to be connected to confirm receipt of the preset information after receiving the preset information sent by the vehicle to be connected based on direct communication. The connection end condition is that the current number of attempts is equal to the preset number and / or the product of the current number of attempts and the preset time is greater than or equal to the target time. The target time is the preset maximum time for attempting to establish a direct connection.

[0069] Specifically, taking a vehicle to be connected to the network as an example, for each neighboring vehicle corresponding to the vehicle to be connected to the network, the link distance between the vehicle to be connected to the network and the neighboring vehicle is obtained through a vehicle sensor such as a radar, a camera, or a ranging sensor, and the current environmental factor is sensed based on the vehicle sensor. Then, the current communication quality parameter corresponding to the current environmental factor can be determined according to the correspondence between the pre-established environmental factor and the communication quality parameter. The current communication quality parameter can be the standard deviation of the establishment of a direct communication link, which is used to reflect the impact of environmental factors on communication quality. By comprehensively calculating the link distance and the current communication quality parameter, the link success probability can be obtained, and the preset number of times can be determined according to the link success probability, for example, the reciprocal of the link success probability is rounded up to obtain the preset number of times, or the corresponding relationship between the link success probability and the preset number of times can be established, for example: for example, the preset number of times corresponding to the link success probability of 90% is 2, the preset number of times corresponding to the link success probability of 50% is 2, the preset number of times corresponding to the link success probability of 40% is 3, the preset number of times corresponding to the link success probability of 20% is 5, and the preset number of times corresponding to the link success probability of less than 10% is 10, etc. The specific corresponding relationship can be set according to actual needs. Furthermore, the preset information is sent to the neighboring vehicle, the current number of attempts is determined, and it is determined whether feedback information corresponding to the preset information is received within the preset time, so as to determine whether the vehicle to be connected to the network can communicate directly with the neighboring vehicle. If so, it is determined that the vehicle to be connected to the network can communicate directly with the neighboring vehicle; if not, it is determined whether the connection termination condition is met. If so, it is determined that the vehicle to be connected to the network cannot communicate directly with the neighboring vehicle. If not, the process returns to the step of sending the preset information to the neighboring vehicle, determining the current number of attempts, and determining whether feedback information corresponding to the preset information is received within the preset time, and the next direct communication attempt is made.

[0070] The communication quality parameter is the standard deviation of the communication link establishment, which reflects the impact of environmental factors (magnetic field strength, signal strength, weather, etc.) on the communication quality. It can be obtained in the following ways:

[0071] Construct each sample environment according to various environmental factors;

[0072] For each sample environment, obtain the establishment time and number of attempts to establish a communication link between the two vehicles;

[0073] The standard deviation of the communication link establishment in the sample environment is determined based on the establishment time and the number of attempts.

[0074] It is understandable that when a communication link is established between two vehicles, the relative distance between the two vehicles is a preset vehicle spacing.

[0075] Exemplarily, the standard deviation of the communication link establishment in the sample environment can be determined according to the establishment time and the number of attempts by the following formula:

[0076]

[0077] in, The standard deviation established for the communication link, is the time it takes to establish a communication link between two vehicles each time, i is a positive integer less than or equal to n, n is the number of attempts, for The average value of .

[0078] It can be seen that in the sample environment composed of various environmental factors, the standard deviation of the corresponding communication link establishment, that is, the communication quality parameter, can be calculated in advance. Therefore, the corresponding relationship between environmental factors and communication quality parameters can be established, that is, different environmental factors correspond to different communication quality parameters, which is convenient for determining the current communication quality parameters under the current environmental factors.

[0079] Based on the above example, after the temporary vehicle network topology is constructed, the movement of the vehicle may cause changes in the communication path or the temporary vehicle network topology, which can be achieved in the following ways:

[0080] For each communication path in the temporary network topology of the vehicle, determining at least one backup path corresponding to the communication path;

[0081] If at least one evaluation indicator corresponding to the communication path does not meet the preset requirements, the communication path is replaced with a backup path;

[0082] Re-determine each vehicle to be connected to the network, and return to execute the step of determining, for each vehicle to be connected to the network, whether the vehicle to be connected to the network and each neighboring vehicle of the vehicle to be connected to the network can directly communicate with each other, so as to update the temporary vehicle network topology.

[0083] The communication path is the shortest path for communication between two vehicle nodes. The backup path is a path other than the communication path constructed between the starting node and the ending node in the communication path, and the communication distance of the backup path is greater than the communication path. The evaluation index is an index used to evaluate the communication quality, such as average delay, throughput, packet loss rate, etc. The preset requirement is the threshold data used to evaluate whether the communication path can continue to be used, which can be the threshold data corresponding to each evaluation index.

[0084] Specifically, for each communication path in the temporary network topology of the vehicle, at least one backup path corresponding to the communication path can be determined in the temporary network topology of the vehicle through a path detection algorithm, so that when the communication path cannot communicate, the backup path can be called to complete the information transmission. If at least one evaluation index corresponding to the communication path does not meet the preset requirements, it means that the communication path cannot meet the direct communication requirements, and the communication path needs to be replaced with a backup path. In this case, it means that there is a change in the original temporary network topology of the vehicle. Therefore, each vehicle to be connected to the network can be re-determined, and the step of determining whether the vehicle to be connected to the network and its neighboring vehicles can communicate directly with each other for each vehicle to be connected to the network can be returned to update the temporary network topology of the vehicle, so as to use the updated temporary network topology of the vehicle to redetermine each communication path for information transmission between vehicles.

[0085] For example, assuming that vehicle i attempts to establish a communication link with vehicle j (a communication link is established between a waiting vehicle and a neighboring vehicle), the link success probability P ij It can be determined based on the following formula:

[0086]

[0087] Among them, P ij is the link success probability, d ij is the link distance between vehicle i and vehicle j, It is the standard deviation of the communication link establishment and can be used as the current communication quality parameter, reflecting the impact of environmental factors on communication quality.

[0088] In order to ensure the reliability of information transmission, an ACK (Acknowledge character) confirmation mechanism can be used. When vehicle j successfully receives the information packet P (preset information) from vehicle i, it will send an ACK packet. ij (Feedback information). If vehicle i does not receive ACK within a certain period of time (preset time) ij , the packet P will be resent. Let the current number of attempts be C and the retransmission interval be , then the total waiting time W can be expressed as: W = C × .

[0089] After the temporary vehicle network topology is established, the road information captured by the starting node (such as roadblock type, location, severity, etc.) can be encapsulated into a standardized information package through data relay between vehicles, and transmitted vehicle by vehicle along each temporary link (each communication path). After receiving the standardized information package, each vehicle can not only continue to transmit it, but also perform simple confirmation and verification to ensure the accuracy and timeliness of the information.

[0090] A standardized information packet usually contains fields such as the start node identifier, the end node identifier, information content, sequence number, and timestamp. Suppose the size of the standardized information packet P is , the coding efficiency is , then the actual transmission size of the standardized information packet P It can be expressed as: In the standardized information packet transmission, the standardized information packet passes through a series of intermediate nodes from the starting node to the end node. The total transmission time of the standardized information packet can be the sum of the transmission time between two nodes that perform direct communication transmission during the transmission process.

[0091] Once the temporary network topology of the vehicle is established, it is necessary to determine the optimal path (communication path) for information from the source vehicle to each other vehicle. This can usually be achieved through the shortest path algorithm, such as the Dijkstra algorithm or the A* (A star) algorithm. When using the Dijkstra algorithm, the weight of each communication edge can be related to the communication parameters, such as communication distance, bandwidth, delay, etc.

[0092] In a dynamic environment, the movement of each vehicle will cause frequent changes in the temporary network topology of the vehicles. Therefore, a mechanism is needed to maintain the stability and fault tolerance of the network, such as introducing a backup path, that is, preparing at least one backup path, that is, a redundant path, for each communication path.

[0093] The vehicle temporary network topology has intelligent routing selection capabilities (information transmission path selection capabilities), and can dynamically adjust the optimal transmission path according to the vehicle's driving direction, communication quality and link stability. If a vehicle node in the vehicle temporary network topology fails or the link between two vehicle nodes fails, the system can automatically detect and switch to the backup path to ensure the continuity of information transmission.

[0094] In the vehicle temporary network topology, the failure of a link or node may cause the communication path to be interrupted. The preset fault detection time is T f , the fault recovery time is T r , then the information transmission delay during the fault is T d It can be expressed as T d =T f +T r When the communication path is disconnected for a period of time T d When the communication path fails, it can be determined that the backup path needs to be switched.

[0095] In order to improve the robustness of the network, multiple paths from the starting node to the ending node are usually pre-calculated as backup paths for the communication path. Let the communication path be P0, and the backup path set be B = P1, P2, ..., P k, where k is the number of backup paths corresponding to the communication path. When the communication path P0 fails, a backup path P can be selected. b ∈B to switch.

[0096] In a dynamic network, the temporary network topology of vehicles may change over time. Assuming the connection status of each link is S(t), the dynamic routing algorithm needs to update the routing table R regularly or when the connection status changes: R(t+1) =UpdateRouting(R(t), S(t+1)), R(t+1) is the routing table at time t+1, R(t) is the routing table at time t, S(t+1) is the connection status of each link at time t+1, and UpdateRouting() is the instruction to update the routing table.

[0097] The performance of intelligent routing and failover mechanisms can be evaluated using multiple metrics (evaluation indicators), including average latency, throughput, packet loss rate, etc.

[0098] S120: Determine a first path and a second path according to preset navigation information and a traffic status and a relative position corresponding to each vehicle node.

[0099] The preset navigation information is navigation information set on the current vehicle before the communication is disconnected. The first path is the shortest path that can be passed between the starting position and the end position in the preset navigation information. The second path is a backup redundant path of the first path, and the path length of the second path is greater than the path length of the first path.

[0100] Specifically, the starting position and the end position are determined according to the preset navigation information. Between the starting position and the end position, a road traffic network is constructed according to the traffic status and relative position corresponding to each vehicle node. Further, each passing vehicle node is used to search for a path between the starting position and the end position, and the shortest path obtained is the first path. In order to ensure the robustness of navigation, at least one second path is configured for the first path as a backup redundancy.

[0101] S130: Drive along the first path, and if there is at least one vehicle node whose traffic status is blocked in the first path, drive along the second path.

[0102] Specifically, controlling the vehicle to travel along the first path can ensure the shortest driving distance. In the process of traveling along the first path, each vehicle node passed by the first path and the traffic status of each vehicle node are updated. If at least one of the traffic status of each vehicle node passed by the part of the first path that the vehicle has not yet traveled is blocked, it means that the vehicle cannot continue to travel according to the plan of the first path. Therefore, the second path can be called as a backup path and the vehicle can be controlled to travel along the second path.

[0103] The navigation method based on temporary communication provided in the embodiment of the present application obtains a pre-constructed temporary vehicle network topology when communication with an external base station is impossible, and receives the traffic status corresponding to each vehicle node in the temporary vehicle network topology and the relative position with the current vehicle, and then determines the first path and the second path according to the preset navigation information and the traffic status and relative position corresponding to each vehicle node, so as to re-plan the vehicle's travel path and redundant alternative paths, and travels along the first path. If there is at least one vehicle node in the first path whose traffic status is blocked, travels along the second path to avoid the situation where the first path becomes impassable when the traffic status corresponding to the vehicle node changes, thereby achieving the effect of re-planning the path when the current vehicle cannot communicate with an external base station and avoiding the risk of impassability in advance. Compared with the prior art, the present application avoids the problems of driving path interruption and poor driving safety caused by driving according to preset navigation information, effectively improves the overall road transportation efficiency, and strengthens the coordination and cooperation between vehicles.

[0104] Figure 2 FIG. 1 is a flowchart of another navigation method based on temporary communication provided by an embodiment of the present application. Based on the above embodiments, the process of determining the first path and the second path is exemplarily described. Figure 2 , the navigation method based on temporary communication specifically includes:

[0105] S210. In the case where communication with an external base station is impossible, a pre-constructed temporary vehicle network topology is obtained, and a traffic status corresponding to each vehicle node in the temporary vehicle network topology and a relative position between the node and the current vehicle are received.

[0106] S220, determining a vehicle node whose traffic status is passable as a node to be selected; and determining each path to be selected and the path length of each path to be selected according to preset navigation information and the relative position of each node to be selected.

[0107] Among them, the candidate node is a vehicle node with a traffic status of pass. The candidate path is each path obtained by searching the candidate node paths between the starting position and the end position of the preset navigation position. The path length is the length of each candidate path, which can be calculated based on the relative position of each candidate node.

[0108] Specifically, the vehicle nodes with the traffic status of pass are determined as candidate nodes for subsequent construction of candidate paths. The starting position and the end position of the preset navigation position are obtained, and the distance between each candidate node is determined according to the relative position of each candidate node. Then, between the starting position and the end position, a path search is performed for each candidate node to obtain each candidate path, and the path length of each candidate path is calculated according to the distance between each node.

[0109] Based on the above example, each candidate path and the path length of each candidate path may be determined according to the preset navigation information and the relative position of each candidate node in the following manner:

[0110] Through a preset path algorithm, based on the relative position of each candidate node, each candidate path between the starting position in the preset navigation information and the end position in the preset navigation information and the path length of each candidate path are determined.

[0111] The preset path algorithm is a predetermined path search algorithm, such as a Dijkstra algorithm or an A* algorithm.

[0112] Specifically, according to the relative position of each candidate node, the distance between each node can be determined, and then, between the starting position and the end position, a preset path algorithm is used to search for the shortest path to obtain a candidate path and the path length of the candidate path, and further, the second shortest candidate path and the path length of the candidate path are determined, until all candidate paths and the path length of each candidate path are searched or a preset number of candidate paths and the path length of each candidate path are obtained. The preset number of paths is set according to demand and is not specifically limited here.

[0113] S230: taking the shortest path among the candidate paths as the first path, and deleting the first path from the candidate paths to obtain candidate paths.

[0114] The candidate paths are all the candidate paths except the first path.

[0115] Specifically, the shortest path among the candidate paths is used as the first path to be selected as the optimal path for the current vehicle, and the other candidate paths except the first path among the candidate paths are used as candidate paths.

[0116] S240: Determine at least one second path according to the path lengths of the candidate paths.

[0117] Specifically, the path lengths of the candidate paths are sorted from small to large, and the candidate paths with the preset second path number that are ranked first are selected as the second paths. The preset second path number is a preset number of second paths, which can be determined according to actual needs.

[0118] Based on the above example, at least one second path may be determined according to the path lengths of the candidate paths in the following manner:

[0119] Sort the candidate paths in ascending order according to their length, use the candidate path ranked first as the newly added reference path, and delete the newly added reference path from the candidate paths;

[0120] Determine a diversity evaluation value according to the path length of each benchmark path and the number of benchmark paths;

[0121] Determine whether the diversity assessment value is less than a preset assessment value;

[0122] If so, each reference path is determined as the second path;

[0123] If not, determine whether there is an alternative path;

[0124] If so, return to the step of sorting the candidate paths in ascending order of path length, taking the candidate path with the first sorting position as the newly added reference path, and deleting the newly added reference path from the candidate paths, until all the reference paths are determined as the second path;

[0125] If not, each reference path is determined as the second path.

[0126] The reference path is the candidate path used in the evaluation process. It can also be understood that the final added reference path is the second path, which can be considered as a path set and can contain multiple paths. The diversity evaluation value is an evaluation value used to evaluate the effectiveness of the number of second paths. The preset evaluation value is a pre-set evaluation value used to end the addition of the new reference path, that is, the second path.

[0127] Specifically, the reference path can be cleared first, so that the reference path is empty, so that the reference path can be gradually added later. Then, the candidate paths are sorted from small to large according to the path length, and the candidate path with the first sorting position is used as the newly added reference path, and the newly added reference path is deleted from the candidate path, so that the newly added reference path can be selected later. Furthermore, according to the preset calculation method, the path length of each reference path and the number of reference paths are calculated to obtain a diversity evaluation value. It is determined whether the diversity evaluation value is less than the preset evaluation value to determine whether the newly added reference path can be ended, that is, the second path determination is completed. If so, each reference path is determined as the second path, indicating that the second path determination is completed. If not, determine whether there are still alternative paths that can be selected; if so, return to execute the steps of sorting the alternative paths from small to large according to the path length, taking the alternative path with the first sorting position as the newly added reference path, and deleting the newly added reference path from the alternative paths until each reference path is determined as the second path. If not, it means that there are no alternative paths to continue to add and calculate, so the current reference paths are determined as the second path.

[0128] For example, From the vehicle node To vehicle node No. If there are 3 baseline paths, the diversity evaluation value can be defined as:

[0129]

[0130] in, is the diversity evaluation value, K is the number of benchmark paths, It is The path lengths of the benchmark paths, k=1, 2, …, K.

[0131] S250: Drive along the first path, and if there is at least one vehicle node whose traffic status is blocked in the first path, drive along the second path.

[0132] Based on the above example, if one or more vehicle nodes in the temporary vehicle network topology resume communication with the external base station, the transmission of road risk information and the acquisition of various demand information can be carried out in the following ways:

[0133] In the case where at least one vehicle node in the vehicle temporary network topology resumes communication with an external base station, the vehicle node that resumes communication with the external base station is used as a target node;

[0134] The road risk information is sent to the target node through the temporary network topology of the vehicle, so that the road risk information is sent to the external base station through the target node; and / or, the information request is sent to the target node through the temporary network topology of the vehicle, so that the response information corresponding to the information request is obtained from the external base station through the target node.

[0135] Among them, the target node is the vehicle node in the temporary vehicle network topology that restores communication with the external base station. Road risk information is the road conditions around the current vehicle obtained by the current vehicle, which may include traffic conditions, environmental damage conditions, congestion conditions, traffic control conditions, etc., and may also include risk assessment conditions obtained through comprehensive analysis. Information request is a request to obtain certain information from an external base station. Response information is an information reply to an information request.

[0136] Specifically, each vehicle node in the temporary network topology of the vehicle can periodically attempt to communicate with an external base station. If at least one vehicle node in the temporary network topology of the vehicle resumes communication with the external base station, it means that the entire temporary network topology of the vehicle can communicate with the external base station. Therefore, the vehicle node that resumes communication with the external base station can be used as the target node. Road risk information can be transmitted to the outside world through the target node, and demand information can also be obtained from the outside world through the target node. Transmitting road risk information to the outside world through the target node can be: the current vehicle can obtain road risk information, and determine the communication path between the vehicle node of the current vehicle and the target node in the temporary network topology of the vehicle, and then send the road risk information to the target node through the communication path between the vehicle node of the current vehicle and the target node. When the target node receives the road risk information, it can forward it to the external base station. Obtaining demand information from the outside world through the target node can be: determining the communication path between the vehicle node of the current vehicle and the target node in the temporary network topology of the vehicle, the current vehicle can send an information request corresponding to the demand information to the target node through the communication path between the vehicle node of the current vehicle and the target node, the target node can send the information request to an external base station, and receive response information from the external base station to the information request, the response information includes the demand information of the current vehicle, and the target node can return the response information to the current vehicle after receiving the response information of the information request.

[0137] Optionally, the target node may send each road risk information with a timestamp after restoring communication with the external base station to the external base station, so that the outside world can understand the road conditions during the disconnection time.

[0138] For example, once the road risk information is transmitted to the vehicle node (target node) with network connection through the vehicle temporary network topology, the target node can upload the accumulated road risk information to the road risk management system (external base station) through the cloud interface. The road risk management system can then integrate the road risk information to facilitate the update of road condition information in the area, so as to quickly publish it to the relevant platform, APP (Application) and the navigation system of subsequent driving vehicles, so as to achieve the wide dissemination of risk warnings. In order to reduce the bandwidth requirements for data transmission, the road risk information can be compressed. Assume that the data size of the road risk information is , the compression ratio is , then the data size of the compressed road risk information is for: In the process of information transmission, data encoding is also very important, which affects the data transmission efficiency and decoding accuracy. Suppose the encoding efficiency is , then the data size of the encoded and compressed road risk information is for: The process of uploading a road risk information data from the target node to the central platform (external base station) can be regarded as a transmission task. Assume that the transmission rate is , the transmission time is , then the data size of the encoded and compressed road risk information is It can be expressed as: , from which we can know the data transmission time. On the central platform, the received data can be integrated and analyzed. Suppose the data set composed of the received data , then data fusion can be expressed as:

[0139]

[0140] in, is the result of data fusion, n is the number of data in the data set, is the i-th data in the data set. The data fusion process may involve preprocessing steps such as data cleaning, deduplication, and normalization to ensure the consistency and accuracy of the data.

[0141] Optionally, to ensure the security and privacy of data during the communication process (including the communication process between vehicles and the communication process between the target node and the external base station), encryption technology can be used to encapsulate the transmitted information to ensure that only legal participating vehicles can decrypt and process the information, while preventing data from being tampered with or illegally accessed. In order to protect the security and privacy of communications, encryption algorithms and digital signature technologies can be used. For example, the AES (Advanced Encryption Standard) algorithm is used for data encryption, and the encryption process can be expressed as: ,in is plain text, is the key, is the encryption process, At the same time, the RSA (Rivest-Shamir-Adleman, asymmetric encryption) algorithm is used for digital signature to ensure the integrity of the information and the authenticity of the source.

[0142] Through the above examples, emergency response capabilities can be enhanced. Even in remote areas or disaster scenarios, important road risk information can be effectively transmitted to help subsequent vehicles avoid the risk of being unable to pass in advance. It can also improve traffic efficiency. Timely information dissemination in the region helps prevent traffic congestion, reduce accidents, and improve overall road transportation efficiency. In addition, it can promote the intelligent transportation ecosystem, strengthen the collaboration between vehicles, and provide a technical foundation for information sharing and collaborative decision-making in an autonomous driving environment.

[0143] The navigation method based on temporary communication provided in the embodiment of the present application determines the vehicle node with a traffic status of pass as the candidate node, determines the candidate paths and the path length of each candidate path according to the preset navigation information and the relative position of each candidate node, takes the path with the shortest path length as the first path, deletes the first path from each candidate path to obtain each candidate path, and determines at least one second path according to the path length of each candidate path, so as to realize the re-planning of the path through the pre-constructed temporary vehicle network topology and add the alternative second path to enhance the robustness of navigation and effectively improve the traffic efficiency of the vehicle.

[0144] Figure 3 Schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 3 As shown, the electronic device 300 includes one or more processors 301 and a memory 302 .

[0145] The processor 301 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 300 to perform desired functions.

[0146] The memory 302 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 301 may run the program instructions to implement the navigation method based on temporary communication and / or other desired functions of any embodiment of the present application described above. Various contents such as initial external parameters, thresholds, etc. may also be stored in the computer-readable storage medium.

[0147] In one example, the electronic device 300 may further include: an input device 303 and an output device 304, which are interconnected via a bus system and / or other forms of connection mechanisms (not shown). The input device 303 may include, for example, a keyboard, a mouse, etc. The output device 304 may output various information to the outside, including early warning prompt information, braking force, etc. The output device 304 may include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, etc.

[0148] Of course, to simplify, Figure 3 Only some of the components related to the present application in the electronic device 300 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device 300 may also include any other appropriate components.

[0149] In addition to the above methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the temporary communication-based navigation method provided by any embodiment of the present application.

[0150] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0151] In addition, an embodiment of the present application may also be a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, enables the processor to execute the steps of the temporary communication-based navigation method provided in any embodiment of the present application.

[0152] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0153] It should be noted that the terms used in this application are only for describing specific embodiments, rather than limiting the scope of this application. As shown in the specification and claims of this application, unless the context clearly indicates an exception, the words "one", "a", "a kind of" and / or "the" do not specifically refer to the singular, but may also include the plural. The terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method or device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the presence of other identical elements in the process, method or device including the elements.

[0154] It should also be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0155] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and its core ideas of this application. The above is only the preferred implementation method of this application. It should be pointed out that due to the limitations of textual expression and the objective existence of infinite specific structures, ordinary technicians in this technical field can make several improvements, modifications or changes without departing from the principles of the present invention, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the inventive concept and technical solution to other occasions without improvement, should be regarded as the scope of protection of this application.

Claims

1. A navigation method based on temporary communication, characterized in that: include: In the case where communication with an external base station is impossible, a pre-built temporary vehicle network topology is obtained, and the traffic status corresponding to each vehicle node in the temporary vehicle network topology and the relative position between the node and the current vehicle are received; Determine the vehicle node whose traffic status is traffic as a node to be selected; Determine each to-be-selected path and the path length of each to-be-selected path according to the preset navigation information and the relative position of each to-be-selected node; Taking the shortest path among the candidate paths as the first path, and deleting the first path from the candidate paths to obtain candidate paths; Sort the candidate paths in ascending order according to their length, use the candidate path ranked first as a newly added reference path, and delete the newly added reference path from the candidate paths; According to the path length of each of the reference paths and the number of reference paths, a diversity evaluation value is determined; wherein the diversity evaluation value is determined based on the following formula: in, is the diversity evaluation value, K is the number of benchmark paths, It is The path length of the reference path, and is a vehicle node, k=1, 2,…, K; Determining whether the diversity evaluation value is less than a preset evaluation value; If yes, then determining each of the reference paths as the second path; If not, determining whether the alternative path exists; If so, return to the step of sorting the candidate paths in ascending order of path length, taking the candidate path with the first sorting position as the newly added reference path, and deleting the newly added reference path from the candidate paths, until the reference paths are determined as the second paths; If not, each of the reference paths is determined as the second path; The vehicle travels along the first path, and if there is at least one vehicle node whose traffic status is blocked in the first path that has not been traveled, the vehicle travels along the second path.

2. The method according to claim 1, characterized in that The determining of each to-be-selected path and the path length of each to-be-selected path according to the preset navigation information and the relative position of each to-be-selected node includes: Through a preset path algorithm, based on the relative position of each of the candidate nodes, each of the candidate paths between the starting position in the preset navigation information and the end position in the preset navigation information and the path length of each of the candidate paths are determined.

3. The method according to claim 1, characterized in that The temporary vehicle network topology is constructed based on the following method: For each vehicle to be connected to the network, determining whether the vehicle to be connected to the network can communicate directly with each neighboring vehicle of the vehicle to be connected to the network; Constructing a local network topology corresponding to the vehicle to be networked according to the vehicle to be networked and neighboring vehicles that can directly communicate with the vehicle to be networked; A temporary vehicle network topology is constructed according to the local network topology corresponding to each of the vehicles to be connected to the network.

4. The method according to claim 3, characterized in that The determining whether the vehicle to be connected to the network can communicate directly with neighboring vehicles of the vehicle to be connected to the network, includes: For each neighbor vehicle corresponding to the vehicle to be connected to the network, determine the link success probability according to the link distance between the vehicle to be connected to the network and the neighbor vehicle and the current environmental factors, and determine the preset number of times according to the link success probability; Sending preset information to the neighboring vehicle, determining the current number of attempts, and judging whether feedback information corresponding to the preset information is received within a preset time; If yes, it is determined that the vehicle to be connected to the network can communicate directly with the neighboring vehicle; If not, determine whether the connection termination condition is met; wherein the connection termination condition is that the current number of attempts is equal to the preset number and / or the product of the current number of attempts and the preset time is greater than or equal to the target time; If the conditions are met, it is determined that the vehicle to be connected to the network cannot communicate directly with the neighboring vehicle; If not satisfied, return to the step of sending the preset information to the neighboring vehicle, determining the current number of attempts, and determining whether feedback information corresponding to the preset information is received within a preset time.

5. The method according to claim 3, characterized in that: After the temporary vehicle network topology is constructed, the method further includes: For each communication path in the temporary vehicle network topology, determining at least one backup path corresponding to the communication path; If at least one evaluation indicator corresponding to the communication path does not meet the preset requirements, the communication path is replaced with a backup path; Re-determine each vehicle to be connected to the network, and return to execute the step of determining, for each vehicle to be connected to the network, whether the vehicle to be connected to the network and each neighboring vehicle of the vehicle to be connected to the network can directly communicate with each other, so as to update the temporary vehicle network topology.

6. The method according to claim 1, characterized in that Also includes: In the case where at least one vehicle node in the vehicle temporary network topology resumes communication with the external base station, taking the vehicle node that resumes communication with the external base station as a target node; The road risk information is sent to the target node through the temporary network topology of the vehicle, so that the road risk information is sent to the external base station through the target node; and / or, an information request is sent to the target node through the temporary network topology of the vehicle, so that response information corresponding to the information request is obtained from the external base station through the target node.

7. An electronic device, characterized in that: The electronic device comprises: Processor and memory; The processor is used to execute the steps of the temporary communication-based navigation method as described in any one of claims 1 to 6 by calling the program or instruction stored in the memory.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program or an instruction, wherein the program or the instruction enables a computer to execute the steps of the temporary communication-based navigation method according to any one of claims 1 to 6.

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