Real-time guiding method and system based on navigation dynamic information simulation

Abstract

The invention belongs to the technical field of navigation information processing, and particularly relates to a real-time guidance system and method based on navigation dynamic information simulation, and the system comprises a path planning scenario module, a maneuvering simulation control module, a dynamic information simulation and analysis calculation module, and a data visualization module. The method comprises the following steps: calculating route information based on path scenario parameters; selecting a route and carrying out maneuvering simulation; performing simulation setting on the N dynamic events; and carrying out influence level classification and regional influence degree analysis on the dynamic events. According to the invention, simulation setting can be carried out on various dynamic information, and simulation deduction is carried out in combination with various emergencies occurring in the navigation process, so that different execution schemes are formulated; real-time guidance and adjustment can be realized in maneuvering simulation, and an updated path result can be given according to the current navigation body space position, so that great convenience is brought to the use of a user; the guiding and adjusting system can facilitate simulation and emulation of a navigation process and can provide a certain navigation decision function for a user.

Description

Technical Field

[0001] The present invention relates to the technical field of navigation information processing, and in particular to a real-time guidance system and method based on navigation dynamic information simulation. Background Art

[0002] Navigation application software has developed quite maturely, such as Baidu Maps, Amap and other application software widely used in the market. However, in actual use, they are still planned in real time or autonomously in real time, such as planning routes according to parameters such as the starting point, passing area, and avoidance routes set by the user. After the user selects a route navigation, the measures for handling dynamic events that occur continuously in real time often perform poorly. For example, in the case of severe congestion caused by an accident, only the current user is reminded, but it is impossible to provide subsequent users with road replanning services in a timely manner based on the user's time and space location to reduce road congestion pressure. This puts forward new requirements for navigation applications with functions such as simulated events and autonomous replanning.

[0003] In addition, when implementing projects, people will pay more attention to generating backup plans in the event of special events. For this reason, before taking action, it is often necessary to simulate various situations to develop different execution plans, which is also a reflection of the importance of simulation.

[0004] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present invention, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0005] The purpose of the present invention is to solve the technical problems existing in the background technology. To this end, a real-time guidance system and method based on navigation dynamic information simulation is provided. During the path planning simulation process, the path planning results can be adjusted in real time by simulating and setting various dynamic event information.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] The real-time guidance method based on navigation dynamic information simulation includes the following steps:

[0008] Step S1: setting path assumption parameters according to the task assumptions, and then calculating the route information of multiple paths through a combination of path and no path algorithm based on the path assumption parameters;

[0009] Step S2: the navigation body selects one of the routes calculated in step S1 and performs maneuver simulation on the route;

[0010] Step S3: During the maneuver simulation of the navigation body, N dynamic events are simulated and set, where N≥0;

[0011] Step S4: The navigation body collects dynamic events in the route in real time, and classifies the collected dynamic events into impact levels and analyzes the regional impact degree;

[0012] Step S5: determining whether the area analyzed in step S4 intersects with the route of the navigation body;

[0013] If they do not intersect, the navigation body continues to maneuver along the existing route;

[0014] Step S6: If they intersect, determine whether the intersection area affects traffic;

[0015] If it does not affect traffic, the navigation body will continue to maneuver along the existing route and issue a warning for the corresponding dynamic event on the route;

[0016] If the traffic is affected, the navigation body determines to re-plan the route;

[0017] Step S7: After the navigation body determines to re-plan the route, steps S1-S6 are repeated.

[0018] The following is a technical solution further defined by the method in the present invention. The path assumption parameters include but are not limited to: start, pathPoint, end, startTime, weather, and navStrategy, wherein start represents the starting point, and its data type is Array; pathPoint represents the waypoint, and its data type is Object; end represents the end point, and its data type is Array; startTime represents the simulation start time, and its data type is String; weather represents the simulated weather, and its data type is String; navStrategy represents the navigation strategy, and its data type is String.

[0019] The following is a technical solution further defined by the method of the present invention. During the maneuver simulation of the navigation body, the control function of the navigation movement and the simulation progress is realized. The control function includes deceleration, start, pause and acceleration of the navigation body movement, as well as restarting the simulation time control and the time progress bar.

[0020] The following is a technical solution further defined by the method of the present invention, and dynamic events include but are not limited to: obstacle areas, landslide areas, road and bridge damage areas, disaster-stricken areas, fire suppression areas, electromagnetic interference source impact areas, observation posts, regional rainfall, regional snowfall, regional snow depth, and regional visibility.

[0021] The following is a technical solution further defined by the method of the present invention, wherein the impact level classification includes a planar area direct avoidance class, a point impact range analysis class, and a planar impact analysis class;

[0022] Among them, obstacle areas, landslide areas, road and bridge damage areas, disaster-stricken areas, and fire suppression areas belong to the direct avoidance category of surface areas;

[0023] The influence area of ​​electromagnetic interference sources belongs to the point-shaped influence range analysis category;

[0024] Observation posts, regional rainfall, regional snowfall, regional snow depth, and regional visibility belong to the area impact analysis category.

[0025] The following is a technical solution further defined by the method in the present invention. For the direct avoidance type of the planar area, it is determined whether the planar area of ​​the planar area direct avoidance type dynamic event has an intersection with the currently simulated maneuvering route. If there is no intersection, there is no need to avoid and the existing route continues. If there is an intersection, the travel speed of the planar area is determined. If the travel speed is greater than a threshold, there is no need to avoid and the existing route continues. If the travel speed is less than a threshold, the path is replanned based on the current navigation body position and path assumption parameters to avoid the area.

[0026] The following is a technical solution further defined by the method in the present invention. For the point-like influence range analysis type, the influence level range interval is analyzed according to the point position and intensity of the interference source, and it is determined whether the influence level range interval of the dynamic event of the point-like influence range analysis type has an intersection with the currently simulated maneuvering route. If there is no intersection, there is no need to avoid and the existing route continues to be driven. If there is an intersection, it is determined that the maneuvering route is in a specific interval of the influence level range interval. If the maneuvering route is not within the threshold interval of the influence level range interval, there is no need to avoid and the existing route continues to be driven. If the maneuvering route is within the threshold interval of the influence level range interval, the path is replanned based on the current navigation body position and path assumption parameters to avoid the interval.

[0027] The following is a technical solution further defined by the method in the present invention. For the surface impact analysis class, the invisible area of ​​the surface impact analysis class dynamic event is analyzed and it is determined whether it has an intersection with the currently simulated maneuvering route. If there is no intersection, there is no need to avoid it and the existing route continues. If there is an intersection, the speed of the invisible area is determined. If the speed is greater than a threshold, there is no need to avoid it and the existing route continues. If the speed is less than a threshold, the path is replanned based on the current navigation body position and path assumption parameters to avoid the area.

[0028] A real-time guidance and control system based on navigation dynamic information simulation is used to implement the above-mentioned real-time guidance and control method, including a path planning scenario module, a maneuver simulation control module, a dynamic information simulation and analysis calculation module and a data visualization module;

[0029] The path planning module is used to set the path parameters according to the task assumptions. The path parameters include but are not limited to: start, pathPoint, end, startTime, weather, and navStrategy, where start represents the starting point, and its data type is Array; pathPoint represents the waypoint, and its data type is Object; end represents the end point, and its data type is Array; startTime represents the simulation start time, and its data type is String; weather represents the simulated weather, and its data type is String; navStrategy represents the navigation strategy, and its data type is String; then, based on the path parameters, the route information of multiple paths is calculated by combining the algorithm with and without roads, and the initial route information is obtained before the simulation deduction as the path input of the simulation deduction;

[0030] The maneuvering simulation control module is used to realize the control function of navigation movement and simulation deduction progress. The control function is manifested in the deceleration, start, pause and acceleration control buttons for the navigation body movement, as well as the restart button and time progress bar for deduction time control;

[0031] The dynamic information simulation and analysis calculation module is used to simulate the occurrence of dynamic events on the map during the maneuver simulation of the navigation body, collect dynamic events in the route in real time, and classify the collected dynamic events into impact levels and analyze the regional impact degree; dynamic events include: obstacle areas, landslide areas, road and bridge damage areas, disaster-stricken areas, fire suppression areas, electromagnetic interference source impact areas, observation posts, regional rainfall, regional snowfall, regional snow depth, and regional visibility; impact level classification includes surface area direct avoidance class, point impact range analysis class, and surface impact analysis class; regional impact degree analysis is based on comparison with the route and traffic conditions of the navigation body to determine whether the navigation body should re-plan the route;

[0032] The data visualization module is used for visualization of map data, navigation elements and routes. Navigation elements include the starting and ending points, waypoints, navigation bodies and their dynamic and static information of path planning. Map data visualization is to load tile image data and then overlay DEM data to form a three-dimensional map. Route visualization is to form linear elements close to the map ground based on longitude and latitude coordinates and overlay the elevation information of DEM data. Navigation element visualization is to load the corresponding three-dimensional model for visualization.

[0033] Compared with the prior art, the present invention has the following technical effects:

[0034] The present invention can simulate and set a variety of dynamic information, and simulate and deduce various emergencies that occur during the navigation process, so as to formulate different execution plans; it can achieve real-time guidance in the maneuver simulation, and can give updated path results according to the current spatial position of the navigation body, which will greatly facilitate user use; the guidance system can facilitate the simulation and simulation of the navigation process, and can provide users with certain navigation decision-making functions.

[0035] The present invention is further described below in conjunction with the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 It is a schematic flow chart of the method of the present invention;

[0038] Figure 2 It is a system block diagram of the present invention. DETAILED DESCRIPTION

[0039] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0040] like Figure 1 As shown, a real-time guidance method based on navigation dynamic information simulation is provided. Figure 2 As shown, a real-time guidance and control system based on navigation dynamic information simulation is provided.

[0041] like Figure 1As shown in the figure, the real-time guidance method based on the simulation of navigation dynamic information analyzes the impact area and the severity of trafficability according to the type and location of the simulated dynamic event information, and automatically determines whether the current navigation body continues to move forward or re-plans the path. The current position of the navigation body is recorded in real time on the web end. When encountering a re-path planning sign, the path planning parameter information is re-sent to obtain a new result. In addition, in order to obtain a better visualization effect, the high-precision map is three-dimensionalized using DEM (digital elevation model), and a three-dimensional navigation body and a variety of three-dimensional icons are used to simulate the dynamic event impact area.

[0042] The specific steps include:

[0043] Step S1: Set the path assumption parameters according to the task assumptions, and then calculate the route information of multiple paths based on the path assumption parameters through the combined algorithm of road and no road. The path assumption parameters include start, pathPoint, end, startTime, weather, navStrategy, etc. Among them, start represents the starting point, and its data type is Array; pathPoint represents the waypoint, and its data type is Object; end represents the end point, and its data type is Array; startTime represents the simulation start time, and its data type is String; weather represents the simulated weather, and its data type is String; navStrategy represents the navigation strategy, and its data type is String.

[0044] Step S2: The navigation body selects one of the routes calculated in step S1 and performs maneuver simulation on the route. It should be noted that maneuver simulation can be performed on all routes in step S1 at the same time, thereby increasing the simulation rate and providing the user with more route execution plans in a faster time.

[0045] Step S3: During the maneuver simulation of the navigation body, N dynamic events are simulated and set, where N ≥ 0. The control function of the navigation movement and the simulation progress is realized, and the control function includes deceleration, start, pause and acceleration of the navigation body movement, as well as restart and time progress bar of the simulation time control. Dynamic events include but are not limited to: obstacle area, landslide area, road and bridge damage area, disaster area, fire suppression area, electromagnetic interference source influence area, observation post, regional rainfall, regional snowfall, regional snow depth, and regional visibility.

[0046] Step S4: The navigation body collects dynamic events in the route in real time, and classifies the collected dynamic events into impact levels and analyzes the regional impact degree. The impact level classification includes the direct avoidance class of the surface area, the point impact range analysis class and the surface impact analysis class; among them, the obstacle area, landslide area, road and bridge damage area, disaster area, and fire suppression area belong to the direct avoidance class of the surface area; the electromagnetic interference source impact area belongs to the point impact range analysis class; the observation post, regional rainfall, regional snowfall, regional snow depth, and regional visibility belong to the surface impact analysis class.

[0047] Step S5: determining whether the area analyzed in step S4 intersects with the route of the navigation body;

[0048] If they do not intersect, the navigation body continues to maneuver along the existing route;

[0049] Step S6: If they intersect, determine whether the intersection area affects traffic;

[0050] If it does not affect traffic, the navigation body will continue to maneuver along the existing route and issue a warning for the corresponding dynamic event on the route;

[0051] If the traffic is affected, the navigation body will determine to re-plan the route.

[0052] For the direct avoidance type of the surface area, determine whether the surface area of ​​the dynamic event of the direct avoidance type of the surface area has an intersection with the currently simulated maneuvering route. If there is no intersection, there is no need to avoid and the existing route continues. If there is an intersection, determine the speed of the surface area. If the speed is greater than the threshold, there is no need to avoid and the existing route continues. If the speed is less than the threshold, re-plan the path based on the current navigation body position and path assumption parameters to avoid the area.

[0053] For the point-like impact range analysis type, the impact level range interval is analyzed according to the point position and intensity of the interference source, and it is determined whether the impact level range interval of the dynamic event of the point-like impact range analysis type intersects with the currently simulated maneuvering route. If there is no intersection, there is no need to avoid and the existing route can be continued. If there is an intersection, it is determined that the maneuvering route is in a specific interval of the impact level range interval. If the maneuvering route is not within the threshold interval of the impact level range interval, there is no need to avoid and the existing route can be continued. If the maneuvering route is within the threshold interval of the impact level range interval, the path is replanned based on the current navigation body position and path assumption parameters to avoid the interval.

[0054] For the surface impact analysis type, analyze the invisible area of ​​the surface impact analysis type dynamic event and determine whether it has an intersection with the currently simulated maneuvering route. If there is no intersection, there is no need to avoid and continue driving on the existing route. If there is an intersection, determine the speed of the invisible area. If the speed is greater than the threshold, there is no need to avoid and continue driving on the existing route. If the speed is less than the threshold, re-plan the path based on the current navigation body position and path assumption parameters to avoid the area.

[0055] Step S7: After the navigation body determines to re-plan the route, steps S1-S6 are repeated, thereby maintaining the simulation in real time and formulating different execution plans for the user in a timely manner.

[0056] like Figure 2 As shown, the real-time guidance and control system based on navigation dynamic information simulation is used to implement the above-mentioned real-time guidance and control method, including a path planning module, a maneuver simulation control module, a dynamic information simulation and analysis calculation module and a data visualization module.

[0057] (1) Path planning scenario module

[0058] The path assumption parameters are set according to the task assumptions, and then the route information of multiple paths is calculated based on the path assumption parameters through a combination of path and no-path algorithms. The initial route information is obtained before the simulation and deduction as the path input for the simulation and deduction.

[0059] The path scenario parameters that need to be set are shown in Table 1:

[0060] Table 1

[0061] Parameter name Parameter Description Data Types start starting point Array pathPoint Waypoints Object end end Array startTime Simulation start time String weather Simulating weather String navStrategy Navigation strategy String

[0062] (2) Maneuvering simulation control module

[0063] During the maneuver simulation process, the navigation body can realize the control function of the navigation movement and the progress of the simulation. The control function is mainly reflected in the deceleration, start, pause and acceleration control buttons of the navigation body movement, as well as the restart button and time progress bar for the simulation time control.

[0064] (3) Dynamic information simulation and analysis calculation module

[0065] During the maneuver simulation of the navigation body, the occurrence of dynamic events is simulated on the map, and the dynamic events in the route are collected in real time. The collected dynamic events are classified into impact levels and regional impact degree analysis is performed; the regional impact degree analysis is based on the comparison with the route and traffic conditions of the navigation body, so as to determine whether the navigation body should re-plan the route;

[0066] The simulated dynamic event information types are mainly divided into three categories, namely, the surface area direct avoidance type, the point impact range analysis type, and the surface impact analysis type. The details are shown in Table 2:

[0067] Table 2

[0068]

[0069] (4) Data visualization module

[0070] Visualization is one of the important modules in simulation, mainly including visualization of map data, visualization of navigation elements and visualization of routes. Navigation elements include the starting and ending points, waypoints, navigation bodies and their dynamic and static information of path planning. Visualization of map data is to load tile image data and then overlay DEM data to form a three-dimensional map; visualization of routes is to form linear elements close to the map ground based on longitude and latitude coordinate points and overlay the elevation information of DEM data; visualization of navigation elements is to load the corresponding three-dimensional model for visualization display.

[0071] The above is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the above disclosed methods and technical contents without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, all equivalent changes made according to the shape, structure and principle of the present invention without departing from the content of the technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. A real-time guidance method based on navigation dynamic information simulation, characterized in that: The following steps are involved: Step S1: setting path assumption parameters according to the task assumptions, and then calculating the route information of multiple paths through a combination of path and no path algorithm based on the path assumption parameters; Step S2: the navigation body selects one of the routes calculated in step S1 and performs maneuver simulation on the route; Step S3: During the maneuver simulation of the navigation body, N dynamic events are simulated and set, where N≥0; Step S4: The navigation body collects dynamic events in the route in real time, and classifies the collected dynamic events into impact levels and analyzes the regional impact degree; Step S5: determining whether the area analyzed in step S4 intersects with the route of the navigation body; If they do not intersect, the navigation body continues to maneuver along the existing route; Step S6: If they intersect, determine whether the intersection area affects traffic; If it does not affect traffic, the navigation body will continue to maneuver along the existing route and issue a warning for the corresponding dynamic event on the route; If the traffic is affected, the navigation body determines to re-plan the route; Step S7: After the navigation body determines to re-plan the route, steps S1-S6 are repeated.

2. The real-time guidance method based on navigation dynamic information simulation according to claim 1, characterized in that: The path assumption parameters include but are not limited to: start, pathPoint, end, startTime, weather, and navStrategy, where start represents the starting point and its data type is Array; pathPoint represents the waypoint and its data type is Object; end represents the end point and its data type is Array; startTime represents the simulation start time and its data type is String; weather represents the simulated weather and its data type is String; navStrategy represents the navigation strategy and its data type is String.

3. The real-time guidance method based on navigation dynamic information simulation according to claim 1, characterized in that: During the maneuver simulation of the navigation body, the control functions of the navigation movement and the simulation progress are realized. The control functions include deceleration, start, pause and acceleration of the navigation body movement, as well as restart and time progress bar of the simulation time control.

4. The real-time guidance method based on navigation dynamic information simulation according to claim 1, characterized in that: Dynamic events include, but are not limited to: obstacle areas, landslide areas, road and bridge damage areas, disaster-stricken areas, fire suppression areas, electromagnetic interference source impact areas, observation posts, regional rainfall, regional snowfall, regional snow depth, and regional visibility.

5. The real-time guidance method based on navigation dynamic information simulation according to claim 4, characterized in that: Impact level classification includes area direct avoidance, point impact range analysis, and area impact analysis; Among them, obstacle areas, landslide areas, road and bridge damage areas, disaster-stricken areas, and fire suppression areas belong to the direct avoidance category of surface areas; The influence area of ​​electromagnetic interference sources belongs to the point-shaped influence range analysis category; Observation posts, regional rainfall, regional snowfall, regional snow depth, and regional visibility belong to the area impact analysis category.

6. The real-time guidance method based on navigation dynamic information simulation according to claim 5, characterized in that: For the direct avoidance type of the surface area, determine whether the surface area of ​​the dynamic event of the direct avoidance type of the surface area has an intersection with the currently simulated maneuvering route. If there is no intersection, there is no need to avoid and the existing route continues. If there is an intersection, determine the speed of the surface area. If the speed is greater than the threshold, there is no need to avoid and the existing route continues. If the speed is less than the threshold, re-plan the path based on the current navigation body position and path assumption parameters to avoid the area.

7. The real-time guidance method based on navigation dynamic information simulation according to claim 5, characterized in that: For the point-like impact range analysis type, the impact level range interval is analyzed according to the point position and intensity of the interference source, and it is determined whether the impact level range interval of the dynamic event of the point-like impact range analysis type intersects with the currently simulated maneuvering route. If there is no intersection, there is no need to avoid and the existing route can be continued. If there is an intersection, it is determined that the maneuvering route is in a specific interval of the impact level range interval. If the maneuvering route is not within the threshold interval of the impact level range interval, there is no need to avoid and the existing route can be continued. If the maneuvering route is within the threshold interval of the impact level range interval, the path is replanned based on the current navigation body position and path assumption parameters to avoid the interval.

8. The real-time guidance method based on navigation dynamic information simulation according to claim 5, characterized in that: For the surface impact analysis type, analyze the invisible area of ​​the surface impact analysis type dynamic event and determine whether it has an intersection with the currently simulated maneuvering route. If there is no intersection, there is no need to avoid and continue driving on the existing route. If there is an intersection, determine the speed of the invisible area. If the speed is greater than the threshold, there is no need to avoid and continue driving on the existing route. If the speed is less than the threshold, re-plan the path based on the current navigation body position and path assumption parameters to avoid the area.

9. A real-time guidance and control system based on navigation dynamic information simulation, used to implement the real-time guidance and control method according to any one of claims 1 to 8, characterized in that: It includes path planning module, maneuver simulation control module, dynamic information simulation and analysis calculation module and data visualization module; The path planning module is used to set the path parameters according to the task assumptions. The path parameters include but are not limited to: start, pathPoint, end, startTime, weather, and navStrategy, where start represents the starting point, and its data type is Array; pathPoint represents the waypoint, and its data type is Object; end represents the end point, and its data type is Array; startTime represents the simulation start time, and its data type is String; weather represents the simulated weather, and its data type is String; navStrategy represents the navigation strategy, and its data type is String; then, based on the path parameters, the route information of multiple paths is calculated by combining the algorithm with and without roads, and the initial route information is obtained before the simulation deduction as the path input of the simulation deduction; The maneuvering simulation control module is used to realize the control function of navigation movement and simulation deduction progress. The control function is manifested in the deceleration, start, pause and acceleration control buttons for the navigation body movement, as well as the restart button and time progress bar for deduction time control; The dynamic information simulation and analysis calculation module is used to simulate the occurrence of dynamic events on the map during the maneuver simulation of the navigation body, collect dynamic events in the route in real time, and classify the collected dynamic events into impact levels and analyze the regional impact degree; dynamic events include: obstacle areas, landslide areas, road and bridge damage areas, disaster-stricken areas, fire suppression areas, electromagnetic interference source impact areas, observation posts, regional rainfall, regional snowfall, regional snow depth, and regional visibility; impact level classification includes surface area direct avoidance class, point impact range analysis class, and surface impact analysis class; regional impact degree analysis is based on comparison with the route and traffic conditions of the navigation body to determine whether the navigation body should re-plan the route; The data visualization module is used for visualization of map data, visualization of navigation elements and visualization of routes. Navigation elements include the starting and ending points, waypoints, navigation bodies and their dynamic and static information of path planning; visualization of map data is to load tile image data and then overlay DEM data to form a three-dimensional map; route visualization is to form linear elements close to the map ground based on longitude and latitude coordinates and overlay the elevation information of DEM data; visualization of navigation elements is to load the corresponding three-dimensional model for visualization display.

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