Route planning method and system based on roadside cooperation

Abstract

The invention belongs to the technical field of path planning, and discloses a path planning method and system based on roadside collaboration, and the method comprises the steps: coding the position of equipment in a planning region, recording the path information corresponding to the equipment according to a coding result, and generating a path information matrix based on the path information and a real-time updating mechanism; connecting the path information matrix to a data broadcast to generate a real-time path plan, and designing a path resource allocation scheme according to an equipment planning demand and a weight mechanism; and after receiving the path resource allocation scheme, the equipment implements return verification processing, executes a planning scheme according to a processing result, and monitors path information in a planning area in real time in the execution process to realize real-time update of allocation. According to the method, the path conflict is effectively avoided, and the efficient operation of the traffic flow is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of path planning, and in particular to a path planning method and system based on roadside collaboration. Background Art

[0002] Cellular communication is a wireless communication technology based on mobile networks. Its name comes from the layout of base stations that is similar to the structure of a beehive. In a cellular communication system, the geographical area is divided into many independent areas, each of which has a base station. The base station transmits wireless signals to terminal devices (such as mobile phones, tablets, etc.), and also receives signals from terminal devices and transmits them to the communication network. Therefore, in the field of traffic planning, it is widely used in the signal transmission process of path planning schemes.

[0003] However, in traditional static path planning, it is usually based on fixed map data and preset traffic rules, without considering real-time traffic conditions and emergencies. It cannot adapt to real-time changes in traffic flow, which may lead to non-optimal path selection, especially during peak hours or when traffic accidents occur. In the absence of a weighting mechanism, all devices are considered equally important in path planning, which may result in the inability to prioritize important tasks or emergency vehicle path requirements in emergency situations. Summary of the invention

[0004] The embodiments of the present invention provide a path planning method and system based on roadside collaboration to solve the problem in the prior art that path requirements of important tasks or emergency vehicles cannot be given priority.

[0005] In order to have a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not a general review, nor is it intended to identify key / important components or to describe the scope of protection of these embodiments. Its only purpose is to present some concepts in a simple form as a prelude to the detailed description that follows.

[0006] According to a first aspect of an embodiment of the present invention, a path planning method based on roadside collaboration is provided.

[0007] In one embodiment, a path planning method based on roadside collaboration includes: Encode the device locations in the planning area, record the path information corresponding to the devices according to the encoding results, and generate a path information matrix based on the path information and real-time update mechanism; Connect the path information matrix to the data broadcast to generate real-time path planning, and design the path resource allocation scheme according to the equipment planning requirements and weight mechanism; After receiving the path resource allocation plan, the device implements a return verification process, executes the planning plan according to the processing results, and monitors the path information in the planning area in real time during the execution process to achieve real-time updates of the allocation.

[0008] In one embodiment, encoding the device location in the planning area, recording the path information corresponding to the device according to the encoding result, and generating the path information matrix based on the path information and the real-time update mechanism include: Establish a unified coordinate system in the planning area, and use navigation equipment to obtain the longitude and latitude coordinates corresponding to the equipment, convert the longitude and latitude coordinates into character format and combine them with the unified coordinate system to generate the equipment location code; The monitoring data is obtained by using the monitoring equipment on the roadside of the planning area to record traffic data and equipment status information, and the monitoring data is matched and integrated based on the equipment location code and the recording timestamp; The integrated monitoring data is used to generate a path information matrix, and a real-time update mechanism is established to adjust the path information matrix to achieve real-time feedback of the monitoring data.

[0009] In one embodiment, the integrated monitoring data is used to generate a path information matrix, and a real-time update mechanism is established to adjust the path information matrix to achieve real-time feedback of the monitoring data, including: The integrated monitoring data is stored in a two-dimensional matrix, and the items and attributes of the monitoring data are represented by the rows and columns in the two-dimensional matrix to complete the generation of the path information matrix; Define to obtain the latest location and monitoring data of the equipment regularly within a preset interval to obtain real-time path information data, and perform preprocessing and integration operations on the path information data before storing it in the path information matrix; Define the triggering criteria of the real-time update mechanism according to the roadside collaborative events, and update the original monitoring data and equipment location into real-time path information data based on the triggering criteria; Use message queues to cache and distribute real-time path information data, and verify the consistency of real-time path information data update process based on the cache and distribution results.

[0010] In one embodiment, the path information matrix is ​​connected to the data broadcast to generate real-time path planning, and the path resource allocation scheme is designed according to the device planning requirements and the weight mechanism, including: Configure the broadcast server according to the preset selection rules, set the network communication mode and load status of the broadcast server, and optimize the network communication mode to reduce the packet loss rate during communication; Acquire real-time traffic data and equipment status information from the path information matrix, and encapsulate the real-time traffic data and equipment status information into broadcast messages; The broadcast server receives the broadcast message and sends it to the terminal device, which uses the terminal device to parse the broadcast message and apply it to real-time path planning and navigation; According to the equipment planning requirements, the occupancy status of the corresponding path segment in the path information matrix is ​​obtained, and the path resource allocation plan is designed based on the occupancy status and weight mechanism.

[0011] In one embodiment, obtaining the occupancy status of the corresponding path segment in the path information matrix according to the equipment planning requirements, and designing a path resource allocation scheme according to the occupancy status and the weight mechanism includes: Start the device according to the device planning requirements, connect the device to the broadcast server to receive and cache the real-time traffic data and device status information in the path information matrix; The device queries the path information matrix according to the planned path requirements, and uses the path information matrix to check the planned path requirements to determine the device occupancy status on the corresponding path segment; If the corresponding path segment is not occupied, a path request is submitted to the terminal device. The terminal device marks the status of the path segment in the path query matrix according to the path request and feeds back the status result to other devices. If the corresponding path segment is occupied, the weight mechanism is applied to analyze the weight attribute of the device and the path is replanned for the device based on the attribute analysis result.

[0012] In one embodiment, applying a weight mechanism to analyze a weight attribute of a device, and re-planning a path for the device according to the attribute analysis result includes: Predefine weight attribute values ​​for devices according to weight influencing factors, and define terminal devices to preferentially allocate paths to devices with higher weights according to the weight attribute values; When the device is in an emergency state, the device sends an emergency state signal to the terminal device. After the terminal device recognizes the state signal, it marks the device as an emergency device and adjusts the weight attribute value of the emergency device. The terminal device updates the path information matrix according to the weight attribute value adjustment result, allocates path resources to emergency devices first based on the update result, and re-plans paths for other non-emergency devices.

[0013] In one embodiment, the weight influencing factors include equipment type, equipment importance and equipment planning requirements.

[0014] In one embodiment, after receiving the path resource allocation plan, the device performs a backhaul verification process, executes the planning plan according to the processing result, and monitors the path information in the planning area in real time during the execution process to achieve real-time update of the allocation, including: After receiving the path resource allocation plan, the device verifies the integrity of the path information and compares the received data with the data in the path information matrix to analyze the synchronization of the data after the verification is completed; If the integrity and synchronization results do not meet the preset values, it means that the path resource allocation plan does not match the data in the path information matrix, then the terminal device refuses to execute the plan and notifies the device to re-update the path information; If the integrity and synchronization results meet the threshold, indicating that the path resource allocation plan has not changed during the backhaul process, the terminal device sends a confirmation signal, and the device executes the planning plan after receiving the confirmation signal; During the execution process, the location and status of the equipment are monitored regularly, and real-time updates and collaborative work are carried out during the regular monitoring process to monitor the path information within the planning area to achieve real-time updates of the allocation plan.

[0015] According to a second aspect of an embodiment of the present invention, a path planning system based on roadside collaboration is provided.

[0016] In one embodiment, a path planning system based on roadside collaboration includes: A path information matrix generating unit is used to encode the device location in the planning area, record the path information corresponding to the device according to the encoding result, and generate a path information matrix based on the path information and the real-time update mechanism; A path allocation scheme design unit is used to connect the path information matrix to the data broadcast to generate real-time path planning, and to design a path resource allocation scheme according to the equipment planning requirements and the weight mechanism; The scheme verification execution and update unit is used to implement the return verification processing after the device receives the path resource allocation plan, execute the planning plan according to the processing result, and monitor the path information in the planning area in real time during the execution process to realize the real-time update of the allocation.

[0017] In one embodiment, the path information matrix generating unit includes: The equipment location coding module is used to establish a unified coordinate system in the planning area, and use the navigation device to obtain the longitude and latitude coordinates corresponding to the equipment, convert the longitude and latitude coordinates into character format and combine them with the unified coordinate system to generate the equipment location code; The monitoring data matching module is used to obtain monitoring data by using the monitoring equipment on the roadside of the planning area to record traffic data and equipment status information, and to match and integrate the monitoring data based on the equipment location code and the recording timestamp; The information matrix establishment module is used to generate a path information matrix using the integrated monitoring data, and to establish a real-time update mechanism to adjust the path information matrix to achieve real-time feedback of the monitoring data.

[0018] According to a third aspect of an embodiment of the present invention, a computer device is provided.

[0019] In some embodiments, the computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0020] According to a fourth aspect of embodiments of the present invention, a computer-readable storage medium is provided.

[0021] In one embodiment, the computer-readable storage medium stores a computer program, and the computer program implements the steps of the above method when executed by a processor.

[0022] The technical solution provided by the embodiment of the present invention may have the following beneficial effects: (1) The present invention constructs a dynamic path planning matrix through position coding, time information and device status, which can accurately identify and locate the position of each device in a specific time and space, ensuring the real-time and dynamic nature of path planning and being able to adapt to rapid changes in traffic conditions. Thus, the dynamics of other devices can be taken into account when planning the path, effectively avoiding path conflicts and ensuring efficient operation of traffic flow.

[0023] (2) The present invention introduces a weight mechanism so that high-weight devices can be given priority in path planning. Especially in emergency situations, the weight level of the device can be quickly increased to ensure that emergency vehicles or equipment can obtain priority access to the path, thereby improving the emergency response capability of the entire system. It also stipulates that path information must be transmitted back from other terminals and cannot be executed until it has changed, ensuring the accuracy and reliability of path planning, avoiding planning errors caused by inaccurate or outdated information, and achieving efficient, safe, and intelligent path planning, which is of great significance for improving the operating efficiency and safety of the transportation system.

[0024] (3) The present invention ensures the consistency and accuracy of path information through strict data feedback verification, which can improve the accuracy and reliability of path planning and reduce planning errors caused by erroneous or outdated information. At the same time, it monitors traffic conditions and equipment status in real time, so that it can quickly adapt to changes in traffic flow and adjust path planning in time, thereby improving the real-time response capability of the system. By utilizing the collaborative work between devices and dynamic path planning, it can effectively avoid traffic congestion, optimize the utilization of road resources, and reduce energy consumption and environmental pollution.

[0025] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0027] Figure 1 is a flow chart of a path planning method based on roadside collaboration according to an exemplary embodiment; Figure 2 is a principle block diagram of a path planning method based on roadside collaboration according to an exemplary embodiment; Figure 3 The figure is a schematic diagram showing the structure of a computer device according to an exemplary embodiment. DETAILED DESCRIPTION

[0028] The following description and accompanying drawings fully illustrate the specific embodiments of this article so that those skilled in the art can practice them. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. The scope of the embodiments of this article includes the entire scope of the claims, as well as all available equivalents of the claims. Herein, the terms "first", "second", etc. are only used to distinguish one element from another, without requiring or implying any actual relationship or order between these elements. In fact, the first element can also be called the second element, and vice versa. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that the structure, device or equipment including a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also include elements inherent to such structure, device or equipment. In the absence of more restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the structure, device or equipment including the elements. Each embodiment is described in a progressive manner herein, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other.

[0029] The terms "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. in this document indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing this document 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 operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In the description of this document, unless otherwise specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a mechanical connection or an electrical connection, it can also be the internal communication of two elements, it can be a direct connection, or it can be an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0030] As used herein, the term "plurality" means two or more than two, unless otherwise specified.

[0031] In this document, the character " / " indicates that the preceding and following objects are in an "or" relationship. For example, A / B means: A or B.

[0032] In this article, the term "and / or" is a description of the association relationship between objects, indicating that three relationships may exist. For example, A and / or B means: A or B, or, A and B.

[0033] It should be understood that, although the various steps in the flow chart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the figure may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0034] Each module in the device or system of the present application can be implemented in whole or in part by software, hardware, or a combination thereof. The above modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to the above modules.

[0035] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0036] Figure 1 An embodiment of the path planning method based on roadside collaboration of the present invention is shown.

[0037] In this optional embodiment, the path planning method based on roadside collaboration includes: Step S101, encoding the device locations in the planning area, recording the path information corresponding to the devices according to the encoding results, and generating a path information matrix based on the path information and a real-time update mechanism; Step S103, connecting the path information matrix to the data broadcast to generate real-time path planning, and designing a path resource allocation scheme according to the equipment planning requirements and the weight mechanism; Step S105, after receiving the path resource allocation plan, the device performs a return verification process, executes the planning plan according to the processing result, and monitors the path information in the planning area in real time during the execution process to realize real-time update of the allocation.

[0038] In this optional embodiment, when encoding the equipment position in the planning area, recording the path information corresponding to the equipment according to the encoding result, and generating a path information matrix based on the path information and the real-time update mechanism, a unified coordinate system can be established in the planning area, and the longitude and latitude coordinates corresponding to the equipment can be obtained by using a navigation device, and the longitude and latitude coordinates can be converted into character format and combined with the unified coordinate system to generate the equipment position code; the monitoring equipment on the roadside of the planning area can be used to record traffic data and equipment status information to obtain monitoring data, and the monitoring data can be matched and integrated based on the equipment location code and the recording timestamp; the integrated monitoring data can be used to generate a path information matrix, and a real-time update mechanism can be established to adjust the path information matrix to achieve real-time feedback of the monitoring data.

[0039] In this optional embodiment, when the integrated monitoring data is used to generate a path information matrix, and a real-time update mechanism is established to adjust the path information matrix to realize real-time feedback of the monitoring data, the integrated monitoring data can be stored in a two-dimensional matrix, and the rows and columns in the two-dimensional matrix are used to represent the entries and attributes of the monitoring data to complete the generation of the path information matrix; it is defined to regularly obtain the latest location and monitoring data of the equipment within a preset interval to obtain real-time path information data, and perform preprocessing and integration operations on the path information data and then store it in the path information matrix; the triggering criteria of the real-time update mechanism are defined according to the roadside collaborative event, and the original monitoring data and the equipment location are updated to the real-time path information data based on the triggering criteria; the real-time path information data is cached and distributed using a message queue, and the consistency of the real-time path information data update process is verified based on the cache and distribution results.

[0040] It should be explained that each location in the planning area is accurately encoded, including horizontal and vertical coordinates. The location code is used to identify and locate the specific location of each device. Specific path information is collected, including specific location codes, time periods, and device status. The path information is used to construct a dynamic path information matrix.

[0041] When performing location coding, a unified coordinate system is established in the planning area. The coordinate system is usually based on the Geographic Information System (GIS) and uses longitude and latitude or more sophisticated local coordinate systems, such as the UTM (Universal Transverse Mercator) coordinate system to define the precise coordinates of each location. Each location is uniquely identified by its horizontal and vertical coordinates to ensure that it can be accurately located and referenced in path planning.

[0042] The UTM coordinate system reduces the distortion error of map projection by partitioning, which is suitable for precise positioning in a smaller range. It also uses a plane rectangular coordinate system, making the calculation of distance and area simpler and more accurate.

[0043] Definition method: The surface of the earth is divided into 60 longitudinal zones, each with a width of 6° longitude. The zone number starts from 180° west longitude and increases eastward. A plane rectangular coordinate system is used in each projection zone, and the position is represented by the easting coordinate (Easting) and the northing coordinate (Northing). Usually, 500,000 meters is used as the assumed easting coordinate of the central meridian. It increases northward from the equator, starting from 0 meters in the northern hemisphere and 10,000,000 meters in the southern hemisphere.

[0044] Application scenarios: Local area path planning is suitable for path planning in local areas such as cities, parks, and factories. It uses software (such as ArcGIS and QGIS) to obtain and convert UTM coordinates.

[0045] When selecting and converting the coordinate system, you can choose a suitable coordinate system according to the scope of the planning area. For global scope, choose longitude and latitude, and for local high-precision scope, choose UTM. Choose a suitable coordinate system based on the accuracy requirements of path planning and the specific application scenario.

[0046] The conversion method can use a variety of GIS software and online conversion tools to achieve the conversion between longitude and latitude and UTM coordinates, or use geographic coordinate conversion formulas for manual calculations, such as the Vincenty formula, Projections conversion, etc.

[0047] Example 1: Use longitude and latitude for route planning: Use GPS to obtain the longitude and latitude coordinates of the device's current location (such as latitude: 34.052235, longitude: -118.243683), and record and broadcast the longitude and latitude coordinates to other devices, and plan the route based on the received locations of other devices.

[0048] Example 2: Use UTM for route planning: Use GIS software to obtain the UTM coordinates of the device's current location (such as East coordinate: 377299.19, North coordinate: 3762158.91), record and broadcast the UTM coordinates to other devices, and perform route planning based on the received locations of other devices.

[0049] Location code generation: For each location, a unique code is generated. This code usually combines the coordinate information of the location and possible other attributes (such as location type, road level, etc.). The design of the code needs to take into account easy processing and storage while ensuring uniqueness and scalability in the system. Some detailed steps and considerations for location code generation are as follows: (1) Coding design principles; Each location code must be unique to ensure that there is no confusion or conflict in the system. At the same time, the coding design should take into account possible future expansion needs, such as adding new locations, modifying location attributes, etc., and the coding should be designed in a format that is easy for computers to process and store, such as string, number or binary format. The coding should contain sufficient information to facilitate the identification of the location's coordinates and other relevant attributes.

[0050] (2) Code generation method: Latitude and longitude encoding: Convert longitude and latitude coordinates to string or numeric format, such as converting longitude and latitude to a fixed-length string (for example, latitude: 34.052235, longitude: -118.243683 is converted to 34052235-118243683).

[0051] UTM Coordinate Encoding: Convert UTM coordinates to string or numeric format, such as combining the easting and northing coordinates into one code (for example, Easting: 377299.19, Northing: 3762158.91 is converted to 37729919376215891).

[0052] Positional encoding combined with other attributes: Encode the location type (such as intersection, parking lot, building, etc.) as a prefix or suffix and add it to the coordinate-based code. Encode the road level (such as highway, main road, secondary road, etc.) as a prefix or suffix and add it to the coordinate-based code.

[0053] Example code: In the latitude and longitude + location type code, the latitude and longitude coordinates and the location type are combined into one code, such as "34052235-118243683-PARK" (indicating a parking lot location); The UTM+road grade code combines the UTM coordinates and the road grade into one code, such as "37729919376215891-HW", which indicates a highway location.

[0054] (3) Code generation process; Obtain the coordinate information and other attributes of the location from the GIS system or device, convert the coordinate information into a format suitable for encoding, combine the coordinate information and other attributes into a unique code, ensure that the generated code is unique in the system to avoid conflicts, store the generated code in the database, and use it in path planning and other related operations.

[0055] Coding example 1: Latitude and longitude + location type coding, assuming the location is a parking lot in Los Angeles; latitude and longitude: latitude is 34.052235, longitude is -118.243683; location type is parking lot (PARK); the code is "34052235-118243683-PARK"; Coding example 2: UTM+road grade coding. Assuming the location is a highway section, the UTM coordinates are the east coordinate: 377299.19 and the north coordinate: 3762158.91. The road grade is highway (HW). The code is "37729919376215891-HW".

[0056] When collecting information, sensors, cameras or other monitoring equipment installed on the roadside can be used to collect real-time data such as traffic flow, speed, density, etc., as well as equipment status information, such as whether the equipment is available, working status, etc. For each device, its current location code, planned action time period (that is, from what time to what time it is in action) and device status are recorded. This information is the basic data for path planning. At the same time, path information also includes interaction information between devices, such as the relative positions of devices, possible conflict points, etc.

[0057] The collected location information, time information and equipment status are integrated into a dynamic path information matrix. This matrix is ​​a real-time updated database used to store and process all relevant path information. The data in the matrix needs to be updated regularly or in real time to reflect the latest traffic conditions and equipment status.

[0058] This precise location encoding and comprehensive information collection can provide a solid foundation for subsequent path planning, which not only improves the accuracy of path planning, but also enhances the system's ability to adapt to complex traffic conditions.

[0059] In the stage of building the path information matrix, a multidimensional matrix is ​​designed, which is usually a three-dimensional or higher-dimensional data structure. In the matrix, each dimension represents a different type of information: location (spatial dimension), time (time dimension), and device status (status dimension). For example, a three-dimensional matrix may contain location coordinates (x, y), timestamp (t), and device status (s). Each element (x, y, t, s) represents the device status (s) at a specific time (t) and location (x, y).

[0060] Integrate the data collected from various sensors and monitoring devices into the matrix, including detailed information on location codes, timestamps, and device status. During the integration process, it is necessary to ensure the accuracy and consistency of the data and handle possible data conflicts or inconsistencies. Data integration is a very important part of the path planning system. It ensures that the data collected from different sensors and monitoring devices can be processed and used consistently and accurately. The specific data integration process is as follows: (1) Key elements of data integration: The location code is a unique identifier for each data point, which is used to determine the specific location. The timestamp records the specific time of data collection to ensure the timeliness and traceability of the data. The equipment status includes the current operating status of the sensor or monitoring equipment and the specific data collected (such as temperature, humidity, speed, etc.).

[0061] (2) Data integration process: Collect data from various sensors and monitoring devices, including location codes, timestamps, and device status information. For example, GPS devices provide location codes and timestamps, and temperature sensors provide current temperature and status. Then clean the data, process missing values ​​and outliers, ensure data quality, remove obviously erroneous GPS coordinates or invalid sensor data, match and integrate the collected data according to location codes and timestamps. For example, merge multiple sensor data at the same location and time point into one data entry, and store the integrated data in a database or data matrix to ensure data persistence and accessibility. Specifically, a standard storage format such as CSV, JSON, or a database table structure should be used.

[0062] Data integration example 1: Data integration in traffic monitoring system; The GPS device is used to provide the vehicle's current location code (such as "37729919376215891-HW") and timestamp (such as "2023-10-01T12:00:00Z"), the speed sensor is used to provide the current vehicle speed (such as 60km / h), and the temperature sensor is used to provide the current exhaust temperature (such as 85°C).

[0063] Check whether the GPS coordinates are within a reasonable range, verify whether the timestamp format is correct after removing the abnormal points, and integrate the GPS data, speed data and temperature data at the same time point and location, and store the integrated data in the database. The data format is as follows: JSON{"locationCode":"37729919376215891-HW","timestamp":"2023-10-01T12:00:00Z","speed":"60km / h","exhausttemperature":"85°C"}; Data integration example 2: Data integration in environmental monitoring systems; The environmental sensor provides the current location code of the air quality monitoring point (such as "34052235-118243683-PARK") and the timestamp (such as "2023-10-01T12:15:00Z"), and the PM2.5 sensor provides the current PM2.5 concentration (such as 35µg / m ³), using temperature and humidity sensors to provide current temperature and humidity (such as 22°C, 60%RH).

[0064] Clean the sensor data, remove outliers (such as negative PM2.5 concentrations), and integrate the data at the same time point and the same monitoring point. Store the integrated data in the database. The data format is as follows: JSON{"location code":"34052235-118243683-PARK","timestamp":"2023-10-01T12:15:00Z","PM2.5 concentration":"35µg / m ³ ”, “temperature”: “22°C”, “humidity”: “60%RH”}.

[0065] (3) Data accuracy and consistency; Data verification is performed during the data collection and preprocessing stages to ensure data accuracy. Verification rules and algorithms, such as range checking and format verification, are used. When data conflicts are found, strategies need to be in place to handle them. For example, inconsistent data provided by multiple sensors can be resolved through weighted averaging, priority, and other methods. At the same time, the synchronization of data collection must be ensured. A unified time synchronization mechanism (such as NTP) is used to ensure that the timestamps of each sensor and device are consistent. The integrated data can be stored in a two-dimensional matrix, where each row represents a data entry and each column represents a data attribute. The data collected from each sensor and monitoring device can then be integrated into a unified matrix to ensure data accuracy and consistency, and provide reliable data support for path planning and other applications.

[0066] What needs to be explained is the real-time update mechanism, which ensures that the data in the matrix can reflect the latest traffic conditions and equipment status. It usually involves regular data refresh and event-driven data update. The real-time update mechanism needs to be efficient and reliable to support fast path planning and decision-making. The real-time update mechanism is a vital part of the path planning system, ensuring that the system can respond to changes in the external environment in a timely manner, thereby providing accurate and real-time path planning services.

[0067] The goal of the real-time update mechanism is to ensure that the data in the matrix can reflect the latest traffic conditions and equipment status, and to ensure that the updated data is accurate. At the same time, the update mechanism needs to be stable and reliable to avoid data loss or errors. The update process needs to be efficient to support fast path planning and decision-making.

[0068] The components of the real-time update mechanism include data source, data collection, data processing, data update and data synchronization. Specifically, the real-time data source includes various sensors (such as GPS, speed sensors, cameras, etc.) and monitoring equipment (such as traffic monitoring systems, environmental monitoring stations, etc.). Data collection is the collection of data from the data source in a periodic or event-driven manner. Data processing is the cleaning, verification and integration of the collected data. Data update is the updating of the processed data to the matrix. Data synchronization is to ensure data synchronization between various data sources and system components.

[0069] Implementation of real-time update mechanism: set fixed time intervals (such as every second, every minute) to refresh data, for example, obtain the latest location and speed data from the GPS device once a minute, trigger data updates based on specific events (such as traffic congestion, accidents, equipment status changes, etc.), for example, when the traffic monitoring system detects road congestion, immediately update the traffic condition data in the matrix, use data caching and queue mechanisms to manage real-time data updates, for example, use message queues (such as Kafka, RabbitMQ) to cache and distribute real-time data, and ensure concurrent control of data updates in multi-threaded or multi-process environments to avoid data conflicts and consistency issues.

[0070] An example of a real-time update mechanism is as follows: Example 1: Real-time update of traffic monitoring system; The latest location and speed data of the vehicle are obtained from the GPS device every minute. When the traffic monitoring camera detects an accident, the relevant data is immediately obtained. After cleaning and verifying the collected data, the data is integrated into a unified data format after removing outliers. The processed data is updated to the matrix to replace the old data. The time synchronization mechanism (such as NTP) is used to ensure the consistency of time among various devices and system components.

[0071] Example 2: Real-time update of environmental monitoring system; Air quality and meteorological data are obtained from environmental monitoring stations every minute. When a monitoring station detects an abnormal environmental event (such as excessive PM2.5 concentration), relevant data is obtained immediately. After cleaning and verifying the collected data, the data is integrated into a unified data format after removing outliers. The processed data is updated to the matrix to replace the old data. A time synchronization mechanism (such as NTP) is used to ensure the consistency of time among various devices and system components.

[0072] Optimization of real-time update mechanism: Use efficient data structures and algorithms to improve data processing performance. For example, use in-memory databases (such as Redis) to speed up data access and updates. Design fault-tolerant mechanisms such as data backup, error recovery, and retry mechanisms to ensure system stability and reliability. Implement monitoring and logging to promptly identify and resolve problems in the system. For example, use monitoring tools (such as Prometheus) and log systems (such as ELK Stack) to monitor system status and record logs.

[0073] Through the design and implementation of the above-mentioned real-time update mechanism, it can be ensured that the data in the path planning system is always kept up to date, thereby supporting fast and accurate path planning and decision-making. This mechanism needs to be efficient, reliable and have good scalability to adapt to changing application requirements and environmental conditions.

[0074] In this optional embodiment, when the path information matrix is ​​connected to the data broadcast to generate real-time path planning, and the path resource allocation plan is designed according to the equipment planning requirements and the weight mechanism, the broadcast server can be configured according to the preset selection rules, the network communication mode and load status of the broadcast server can be set, and the network communication mode can be optimized to reduce the packet loss rate during communication; real-time traffic data and equipment status information are obtained from the path information matrix, and the real-time traffic data and equipment status information are encapsulated as broadcast messages; the broadcast server receives the broadcast message and sends it to the terminal device, and the terminal device is used to parse the broadcast message and apply it to real-time path planning and navigation; the occupancy status of the corresponding path segment in the path information matrix is ​​obtained according to the equipment planning requirements, and the path resource allocation plan is designed according to the occupancy status and the weight mechanism.

[0075] In this optional embodiment, when obtaining the occupancy status of the corresponding path segment in the path information matrix according to the device planning requirements and designing the path resource allocation plan according to the occupancy status and the weight mechanism, the device can be started according to the device planning requirements, and the device can be connected to the broadcast server to receive and cache the real-time traffic data and device status information in the path information matrix; the device queries the path information matrix according to the planned path requirements, and uses the path information matrix to check the planned path requirements to determine the device occupancy status on the corresponding path segment; if the corresponding path segment is not occupied, a path request is submitted to the terminal device, and the terminal device marks the status of the path segment in the path query matrix according to the path request, and feeds back the status result to the remaining devices; if the corresponding path segment is occupied, the weight mechanism is applied to analyze the weight attribute of the device, and the path is replanned for the device according to the attribute analysis result.

[0076] In this optional embodiment, when applying a weight mechanism to analyze the weight attributes of a device and re-planning a path for the device based on the attribute analysis results, weight attribute values ​​can be pre-defined for the device based on weight influencing factors, and the terminal device can be defined to preferentially allocate paths to devices with higher weights based on the weight attribute values; when the device is in an emergency state, the device sends an emergency state signal to the terminal device, and the terminal device marks the device as an emergency device after identifying the state signal, and adjusts the weight attribute value of the emergency device; the terminal device updates the path information matrix based on the weight attribute value adjustment result, preferentially allocates path resources to emergency devices based on the update result, and re-plans paths for remaining non-emergency devices.

[0077] It should be explained that the data broadcasting system is used to send the data in the path information matrix to all relevant devices in real time. It can be achieved through wireless communication networks (such as 4G / 5G, Wi-Fi or dedicated communication networks). The broadcasting system needs to have high reliability and coverage to ensure that all devices can receive the latest path information.

[0078] The goal of the data broadcast system is to ensure that path information can be sent to all relevant devices in real time while ensuring that data is not lost, adapt to different communication networks (such as 4G / 5G, Wi-Fi, and dedicated communication networks), support a large number of devices to receive data simultaneously, and adapt to future expansion needs.

[0079] The components of the data broadcasting system are as follows: Data source: the data source of the path information matrix, including real-time traffic conditions and path planning data; data processing: data cleaning and formatting to ensure that the data is ready before broadcasting; communication network: wireless communication network (such as 4G / 5G, Wi-Fi) or dedicated communication network for data transmission; broadcast server: responsible for broadcasting data to various devices, with high concurrent processing capabilities and reliability; receiving device: various terminal devices, such as vehicle navigation systems, traffic monitoring equipment, etc., can receive and process broadcast data.

[0080] The implementation steps of the data broadcasting system are: (1) Obtain the latest route and traffic data from the route information matrix, clean and format the collected data to ensure that the data meets the broadcast requirements, for example, convert the route information into JSON or XML format.

[0081] (2) Configure a high-performance broadcast server to ensure that it can handle a large number of concurrent connections. For example, you can use NGINX or other efficient Web servers as the broadcast server. At the same time, implement load balancing to ensure that the server can still run stably under high load. You can use HAProxy load balancer and configure fault tolerance mechanism and automatic recovery function to ensure the reliability of the broadcast system. For example, use redundant servers and data backup strategies.

[0082] (3) Select a suitable wireless communication network, such as 4G / 5G, Wi-Fi or dedicated communication network, to ensure that the network has wide coverage and high bandwidth, can support real-time data transmission, and optimize the network to reduce latency and packet loss. Specifically, appropriate network protocols and transmission optimization technologies can be used.

[0083] (4) After the processed path information data is encapsulated into a broadcast message, the MQTT or WebSocket protocol is used for data transmission. The broadcast message is sent to all relevant devices through the communication network to ensure that the broadcast message is transmitted to each device in a timely and accurate manner.

[0084] (5) Configure the terminal device to ensure that it can receive and process broadcast data. For example, the vehicle navigation system is configured to receive MQTT messages. The terminal device parses the received broadcast data and applies it to actual path planning and navigation.

[0085] Examples of data broadcasting systems are as follows: Example 1: Data broadcasting of traffic navigation system; Get the latest traffic data (such as road congestion) from the path information matrix, format the data into JSON format, and use NGINX to configure the broadcast server to support high concurrent connections. At the same time, implement HAProxy load balancing to ensure the stability of the server under high load.

[0086] Select 4G / 5G network for data broadcasting to ensure wide coverage and high-speed data transmission. Use MQTT protocol to encapsulate formatted traffic data into broadcast messages, and then send the broadcast messages to all configured navigation devices through 4G / 5G network. The vehicle navigation system is configured to receive MQTT messages, parse the broadcast data, update the navigation path, and prompt the driver to avoid congested sections.

[0087] Example 2: Data broadcasting of environmental monitoring system; Obtain the latest environmental monitoring data (such as air quality index) from the path information matrix and format the data into XML format. At the same time, use high-performance servers to configure broadcast services, support the connection of environmental monitoring equipment, implement fault-tolerant mechanisms, ensure the reliability of data broadcasting, and select Wi-Fi networks for data broadcasting to ensure efficient data transmission in local areas.

[0088] The formatted environmental data is encapsulated into a broadcast message using the WebSocket protocol, and the broadcast message is sent to all configured monitoring devices via the Wi-Fi network. The environmental monitoring devices are configured to receive WebSocket messages and parse the broadcast data to display the latest air quality information in real time and trigger the early warning mechanism.

[0089] By building a dynamic path information matrix and updating and distributing information in real time through a data broadcast system, it can be ensured that all devices can obtain the latest path information, thereby achieving efficient and coordinated path planning, which not only improves the operating efficiency of the transportation system, but also enhances the flexibility and responsiveness of the system.

[0090] When a device needs to plan a path, it will first monitor whether the corresponding path segment in the path information matrix has been occupied by other devices. If the path segment has been occupied, the device will not be able to add a new path request; if the path segment is not occupied, the device can add a new path request.

[0091] During the device startup and path monitoring phase, when the device starts, it first performs system initialization and status checks to ensure that all necessary hardware and software components are operating normally. The device confirms that key components such as its communication module, sensor, and processor are functioning properly through a self-test program. At the same time, the device attempts to connect to the data broadcast system to receive the latest path information matrix. After the connection is successful, the device begins to receive and cache data in the path information matrix to prepare for path planning.

[0092] When a device needs to plan a path, it queries the path information matrix to check whether each path segment on its planned path has been occupied by other devices. This specifically involves querying the data at a specific time point and location in the matrix (real-time traffic data and device status information) to determine whether the status of the location is "occupied".

[0093] If the path segment is not occupied, the device can submit a new path request to the system. The request includes the device's target location, estimated departure time and required path segment. After receiving the request, the system will mark these path segments as "about to be occupied" in the path information matrix and notify other devices.

[0094] If a path segment is occupied, the device needs to re-plan the path or wait for the path segment to be free. The device may try to find an alternative path or adjust its departure time to avoid conflicts. In some cases, the system may need to intervene to coordinate path requests between different devices to ensure smooth overall traffic flow.

[0095] This device startup and path monitoring mechanism can effectively manage path planning between devices, reduce traffic congestion and device conflicts, and improve the operating efficiency and safety of the entire system. This mechanism also allows the system to dynamically adjust path planning to adapt to changing traffic conditions and equipment requirements.

[0096] At the same time, the weight mechanism is applied to analyze the weight attributes of the equipment. When the path is re-planned for the equipment based on the attribute analysis results, each device has a preset weight attribute. When planning the path, the device with a higher weight can replace the device with a lower weight to use the path. When the device is in an emergency state, its weight level will increase to ensure priority use of the path in an emergency.

[0097] Each device in the system has a preset weight attribute, which may be set based on factors such as the type of device, the urgency of the task, and the importance of the device. The weight value is usually a numerical value, and the higher the numerical value, the higher the priority of the device.

[0098] During the path planning process, the system takes into account the weight attributes of each device. When multiple devices request the same path segment, the system prioritizes allocating paths to devices with higher weights. This mechanism ensures that high-priority tasks or important devices have priority in obtaining path usage rights, thereby improving the efficiency and responsiveness of the entire system.

[0099] Specifically, when a device enters an emergency state (such as medical first aid, fire rescue, etc.), the device will send an emergency state signal to the system. After receiving the signal, the system will immediately identify the device as an emergency state and adjust its weight level accordingly. In an emergency state, the weight level of the device will increase significantly, usually exceeding all non-emergency state devices. The increase in weight ensures that devices in emergency states can obtain priority path use rights and respond quickly to emergencies. The system will then instantly update the path information matrix, mark the request of the emergency state device as the highest priority, and quickly reallocate path resources. Other non-emergency state devices may be required to re-plan the path or wait temporarily to ensure that the path of the emergency device is unobstructed.

[0100] The application of the weight mechanism not only optimizes the allocation of path resources, but also ensures a quick and effective response in emergency situations, improving the overall safety and reliability of the system.

[0101] In this optional embodiment, after the device receives the path resource allocation plan, a feedback verification process is implemented, the planning plan is executed according to the processing result, and the path information in the planning area is monitored in real time during the execution process to realize real-time update of the allocation. After the device receives the path resource allocation plan, the integrity of the path information is verified, and after the verification is completed, the received data is compared with the data in the path information matrix to analyze the synchronization of the data; if the integrity and synchronization results do not meet the preset value, indicating that the path resource allocation plan does not match the data in the path information matrix, the terminal device refuses to execute the plan and notifies the device to re-update the path information; if the integrity and synchronization results meet the threshold, indicating that the path resource allocation plan has not changed during the feedback process, the terminal device sends a confirmation signal, and the device executes the planning plan after receiving the confirmation signal; during the execution process, the position and status of the device are regularly monitored, and real-time updates and collaborative work are carried out during the regular monitoring process to monitor the path information in the planning area to realize real-time update of the allocation plan.

[0102] It should be explained that the path information sent by the device needs to be verified by other terminals. Only when the path information does not change during the feedback process can the device execute the path planning. This mechanism ensures the accuracy and reliability of path planning and prevents planning errors caused by incorrect or outdated information.

[0103] During the data feedback and path execution stages, the accuracy and reliability of path planning are ensured by implementing an information verification mechanism. When the device completes path planning, it will send path information to the system and other related terminals, including key data such as path segments, schedules, and device status. This information is sent through secure communication channels to ensure data integrity and confidentiality. The terminal that receives the path information will verify the information. The verification process includes checking the integrity, accuracy, and timeliness of the information. The terminal will compare the data with the path information matrix to confirm whether the path information is consistent with the records in the matrix. The path information feedback verification process is an important step in the integrity, accuracy, and timeliness of the data received by the terminal device.

[0104] Integrity is to ensure that the received path information is not truncated or damaged, accuracy is to ensure that the received path information is consistent with the records in the path information matrix, and timeliness is to ensure that the received path information is the latest and can reflect the current actual situation.

[0105] When performing backhaul verification, the terminal device receives the path information broadcast data through the network interface (such as Wi-Fi, 4G / 5G), uses the appropriate communication protocol (such as MQTT, WebSocket) to receive the data, and uses a checksum or hash algorithm (such as SHA-256) to check the integrity of the data to ensure that the data is not truncated or damaged. At the same time, it checks whether the data format and content are as expected, for example, whether the key-value pairs in the JSON format are complete and correct, and compares the received data with the data in the path information matrix to confirm the consistency of the information. The comparison includes checking the occupancy status of the path segment, timestamp and other information.

[0106] If the comparison results are consistent, update the status of the path information matrix to ensure data synchronization. If the comparison results are inconsistent, decide whether to update the path information matrix or take other measures according to the situation. Real-time synchronization ensures that the data of the terminal device and the path information matrix are synchronized in real time to avoid data inconsistency. At the same time, version control can be performed on the update of path information to ensure data consistency and traceability.

[0107] Through the backhaul verification process, the terminal device can ensure the integrity, accuracy and timeliness of the received path information, thereby supporting efficient and accurate path planning and decision-making. If the path information has not changed during the backhaul process, that is, it is consistent with the data in the path information matrix, the terminal will confirm the validity of the path information and send a confirmation signal to the device. If the path information has changed or is inconsistent with the matrix data, the terminal will refuse to confirm and notify the device to recheck and update the path information.

[0108] After receiving the confirmation signal, the device will conduct a final system check to ensure that all system components are ready to execute path planning, including checking whether the device's navigation system, power system, communication system, etc. are working properly. After confirmation, the device begins to move along the planned path. During the execution process, the device will continuously monitor its position and status to ensure that it follows the established path. At the same time, the device will regularly report its position and status to the system so that the system can perform real-time monitoring and necessary adjustments.

[0109] During the path execution process, the system will continuously monitor the status and location of all devices to ensure that they move according to the planned path and handle any abnormal situations in a timely manner. If unforeseen situations (such as traffic jams, equipment failures, etc.) occur, the system will guide the equipment to adjust the path or take other emergency measures.

[0110] This data feedback and path execution mechanism ensures the accuracy and reliability of path planning, effectively preventing planning errors caused by incorrect or outdated information.

[0111] Specifically, when continuously monitoring traffic conditions and equipment status and updating the path information matrix in real time, it is necessary to achieve collaborative work between devices and optimize path planning based on changes in traffic flow. During the real-time update and collaborative work stage, continuous monitoring and dynamic adjustment are used to ensure that the system can adapt to the changing traffic conditions and equipment status, thereby optimizing path planning and promoting collaborative work between devices.

[0112] In specific applications, various sensors and data sources (such as traffic cameras, radars, GPS, etc.) can be integrated to monitor key information such as road traffic flow, speed, congestion, etc. in real time, and the data can be transmitted to the central processing system in real time through a high-speed communication network. The system also monitors the status of all equipment involved in path planning, including the location, speed, energy level, health status, etc. of the equipment. It is crucial to use information data to ensure that the equipment can move safely and efficiently along the planned path.

[0113] At the same time, based on the collected real-time data, the path information matrix is ​​continuously updated, including key parameters such as the availability of path segments, estimated travel time, priority, etc. The updated path information matrix will be immediately reflected in the path planning of all relevant equipment to ensure the real-time and accuracy of path planning. Then, by analyzing real-time data, the path allocation between devices is optimized to ensure that the devices can move efficiently without conflict. When it is detected that a path is about to be congested, the path of the affected equipment is replanned to avoid congestion and reduce delays.

[0114] Dynamically adjust route planning based on real-time traffic conditions and equipment status, which may include changing route segments, adjusting equipment speeds or reallocating priorities, to quickly respond to traffic changes and improve overall route efficiency. Advanced algorithms and machine learning models can also be used to analyze large amounts of real-time data, predict traffic trends and equipment behavior, and provide optimization suggestions for route planning. Predictive capabilities enable decisions to be made in advance, further improving the efficiency and accuracy of route planning.

[0115] This real-time update and collaborative working mechanism not only improves the flexibility and adaptability of path planning, but also enhances the collaborative efficiency between devices, ensuring the efficient operation of the entire system in a complex and changing traffic environment.

[0116] Figure 2 An embodiment of a path planning system based on roadside collaboration of the present invention is shown.

[0117] In this optional embodiment, the path planning system based on roadside collaboration includes: The path information matrix generating unit 201 is used to encode the device position in the planning area, record the path information corresponding to the device according to the encoding result, and generate the path information matrix based on the path information and the real-time update mechanism; A path allocation scheme design unit 203 is used to connect the path information matrix to the data broadcast to generate a real-time path plan, and to design a path resource allocation scheme according to the device planning requirements and the weight mechanism; The scheme verification execution and updating unit 205 is used to implement a return verification process after the device receives the path resource allocation scheme, execute the planning scheme according to the processing result, and monitor the path information in the planning area in real time during the execution process to realize real-time update of the allocation.

[0118] In this optional embodiment, the path information matrix generating unit 201 includes: The equipment location coding module is used to establish a unified coordinate system in the planning area, and use the navigation device to obtain the longitude and latitude coordinates corresponding to the equipment, convert the longitude and latitude coordinates into character format and combine them with the unified coordinate system to generate the equipment location code; The monitoring data matching module is used to obtain monitoring data by using the monitoring equipment on the roadside of the planning area to record traffic data and equipment status information, and to match and integrate the monitoring data based on the equipment location code and the recording timestamp; The information matrix establishment module is used to generate a path information matrix using the integrated monitoring data, and to establish a real-time update mechanism to adjust the path information matrix to achieve real-time feedback of the monitoring data.

[0119] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 3 As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store static information and dynamic information data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the steps in the above method embodiment are implemented.

[0120] Those skilled in the art will understand that Figure 3 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present invention, and does not constitute a limitation on the computer device to which the solution of the present invention is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0121] In addition, the present invention also provides a computer device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiment when executing the computer program.

[0122] In addition, the present invention further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps in the above method embodiment are implemented.

[0123] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0124] The present invention is not limited to the structures which have been described above and shown in the drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A path planning method based on roadside collaboration, characterized in that: The path planning method includes: Encode the device locations in the planning area, record the path information corresponding to the devices according to the encoding results, and generate a path information matrix based on the path information and real-time update mechanism; Connect the path information matrix to the data broadcast to generate real-time path planning, and design the path resource allocation scheme according to the equipment planning requirements and weight mechanism; After receiving the path resource allocation plan, the device implements a return verification process, executes the planning plan according to the processing results, and monitors the path information in the planning area in real time during the execution process to achieve real-time updates of the allocation.

2. The path planning method based on roadside collaboration according to claim 1, characterized in that: The encoding of the device positions in the planning area, recording the path information corresponding to the devices according to the encoding results, and generating the path information matrix based on the path information and the real-time update mechanism include: Establish a unified coordinate system in the planning area, and use navigation equipment to obtain the longitude and latitude coordinates corresponding to the equipment. Convert the longitude and latitude coordinates into character format and combine them with the unified coordinate system to generate the equipment location code. The monitoring data is obtained by using the monitoring equipment on the roadside of the planning area to record traffic data and equipment status information, and the monitoring data is matched and integrated based on the equipment location code and the recording timestamp; The integrated monitoring data is used to generate a path information matrix, and a real-time update mechanism is established to adjust the path information matrix to achieve real-time feedback of the monitoring data.

3. The path planning method based on roadside collaboration according to claim 2 is characterized in that: The method of generating a path information matrix using the integrated monitoring data and establishing a real-time update mechanism to adjust the path information matrix to achieve real-time feedback of the monitoring data includes: The integrated monitoring data is stored in a two-dimensional matrix, and the items and attributes of the monitoring data are represented by the rows and columns in the two-dimensional matrix to complete the generation of the path information matrix; Define to obtain the latest location and monitoring data of the equipment regularly within a preset interval to obtain real-time path information data, and perform preprocessing and integration operations on the path information data before storing it in the path information matrix; Define the triggering criteria of the real-time update mechanism according to the roadside collaborative events, and update the original monitoring data and equipment location into real-time path information data based on the triggering criteria; Use message queues to cache and distribute real-time path information data, and verify the consistency of real-time path information data update process based on the cache and distribution results.

4. The path planning method based on roadside collaboration according to claim 1, characterized in that: The method of connecting the path information matrix to the data broadcast to generate real-time path planning, and designing a path resource allocation scheme according to the device planning requirements and the weight mechanism includes: Configure the broadcast server according to the preset selection rules, set the network communication mode and load status of the broadcast server, and optimize the network communication mode to reduce the packet loss rate during communication; Acquire real-time traffic data and equipment status information from the path information matrix, and encapsulate the real-time traffic data and equipment status information into broadcast messages; The broadcast server receives the broadcast message and sends it to the terminal device, which uses the terminal device to parse the broadcast message and apply it to real-time path planning and navigation; According to the equipment planning requirements, the occupancy status of the corresponding path segment in the path information matrix is ​​obtained, and the path resource allocation plan is designed based on the occupancy status and weight mechanism.

5. The path planning method based on roadside collaboration according to claim 4 is characterized in that: The obtaining of the occupancy status of the corresponding path segment in the path information matrix according to the equipment planning requirements, and designing a path resource allocation scheme according to the occupancy status and the weight mechanism includes: Start the device according to the device planning requirements, connect the device to the broadcast server to receive and cache the real-time traffic data and device status information in the path information matrix; The device queries the path information matrix according to the planned path requirements, and uses the path information matrix to check the planned path requirements to determine the device occupancy status on the corresponding path segment; If the corresponding path segment is not occupied, a path request is submitted to the terminal device. The terminal device marks the status of the path segment in the path query matrix according to the path request and feeds back the status result to other devices. If the corresponding path segment is occupied, the weight mechanism is applied to analyze the weight attribute of the device and the path is replanned for the device based on the attribute analysis result.

6. The path planning method based on roadside collaboration according to claim 5, characterized in that: The applying a weight mechanism to analyze the weight attributes of the device and replanning a path for the device according to the attribute analysis result includes: Predefine weight attribute values ​​for devices according to weight influencing factors, and define terminal devices to preferentially allocate paths to devices with higher weights according to the weight attribute values; When the device is in an emergency state, the device sends an emergency state signal to the terminal device. After the terminal device recognizes the state signal, it marks the device as an emergency device and adjusts the weight attribute value of the emergency device. The terminal device updates the path information matrix according to the weight attribute value adjustment result, allocates path resources to emergency devices first based on the update result, and re-plans paths for other non-emergency devices.

7. The path planning method based on roadside collaboration according to claim 6, characterized in that: The weight influencing factors include equipment type, equipment importance and equipment planning requirements.

8. The path planning method based on roadside collaboration according to claim 1, characterized in that: After receiving the path resource allocation plan, the device performs a return verification process, executes the planning plan according to the processing result, and monitors the path information in the planning area in real time during the execution process to realize the real-time update of the allocation, including: After receiving the path resource allocation plan, the device verifies the integrity of the path information and compares the received data with the data in the path information matrix to analyze the synchronization of the data after the verification is completed; If the integrity and synchronization results do not meet the preset values, it means that the path resource allocation plan does not match the data in the path information matrix, then the terminal device refuses to execute the plan and notifies the device to re-update the path information; If the integrity and synchronization results meet the threshold, indicating that the path resource allocation plan has not changed during the backhaul process, the terminal device sends a confirmation signal, and the device executes the planning plan after receiving the confirmation signal; During the execution process, the location and status of the equipment are monitored regularly, and real-time updates and collaborative work are carried out during the regular monitoring process to monitor the path information within the planning area to achieve real-time updates of the allocation plan.

9. A path planning system based on roadside collaboration, characterized in that: The path planning system includes: A path information matrix generating unit is used to encode the device location in the planning area, record the path information corresponding to the device according to the encoding result, and generate a path information matrix based on the path information and the real-time update mechanism; A path allocation scheme design unit is used to connect the path information matrix to the data broadcast to generate real-time path planning, and to design a path resource allocation scheme according to the equipment planning requirements and the weight mechanism; The scheme verification execution and update unit is used to implement the return verification processing after the device receives the path resource allocation plan, execute the planning plan according to the processing result, and monitor the path information in the planning area in real time during the execution process to realize the real-time update of the allocation.

10. The path planning system based on roadside collaboration according to claim 9, characterized in that: The path information matrix generating unit comprises: The equipment location coding module is used to establish a unified coordinate system in the planning area, and use the navigation device to obtain the longitude and latitude coordinates corresponding to the equipment, convert the longitude and latitude coordinates into character format and combine them with the unified coordinate system to generate the equipment location code; The monitoring data matching module is used to obtain monitoring data by using the monitoring equipment on the roadside of the planning area to record traffic data and equipment status information, and to match and integrate the monitoring data based on the equipment location code and the recording timestamp; The information matrix establishment module is used to generate a path information matrix using the integrated monitoring data, and to establish a real-time update mechanism to adjust the path information matrix to achieve real-time feedback of the monitoring data.

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