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

Abstract

The present application belongs to the technical field of navigation information processing, and particularly relates to a real-time guiding system and method based on navigation dynamic information simulation, which comprises a path planning scenario module, a maneuver simulation control module, a dynamic information simulation and analysis calculation module and a data visualization module, and the method comprises the following steps: calculating route information based on path scenario parameters; selecting a route and performing maneuver simulation; setting N dynamic event simulations; classifying dynamic events according to influence levels and analyzing regional influence degrees. The present application can simulate and set various dynamic information, simulate and deduce various emergencies occurring in the navigation process, thereby formulating different execution schemes; real-time guiding can be achieved in maneuver simulation, and an updated path result can be given according to the current navigation space position, which greatly facilitates the use of users; the guiding system can facilitate the simulation and emulation of navigation processes, and can provide certain navigation decision functions for users.

Description

Technical Field

[0001] This invention relates to the field of navigation information processing technology, and in particular to a real-time guidance and control system and method based on navigation dynamic information simulation. Background Technology

[0002] Navigation applications are now quite mature, such as the widely used Baidu Maps and Gaode Maps. However, in actual use, they still rely on real-time or autonomous route planning, such as planning routes based on user-defined starting points, transit areas, and avoidance routes. Once a user selects a route, the handling of constantly occurring dynamic events is often inadequate. For example, in the event of severe traffic congestion caused by an accident, only the current user is alerted, but the system cannot combine the user's spatiotemporal location to provide subsequent users with replanned routes to alleviate traffic congestion. This creates a new demand for navigation applications to have functions such as event simulation and autonomous replanning.

[0003] Furthermore, people are paying more attention to generating backup plans in the event of unforeseen special circumstances when implementing projects. Therefore, various scenario simulations are often conducted before taking action to develop different execution plans, which demonstrates the importance of simulation and deduction.

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

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

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

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

[0008] Step S1: Set path scenario parameters according to the task assumptions, and then calculate the route information of multiple paths based on the path scenario parameters using a combination of path-based and pathless algorithms;

[0009] Step S2: The navigation body selects one of the routes calculated in step S1 and performs a maneuver simulation on that 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 system collects dynamic events along the route in real time and performs impact level classification and regional impact degree analysis on the collected dynamic events;

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

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

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

[0015] If it does not affect traffic, the navigation system will continue to maneuver along the existing route and issue warnings for corresponding dynamic events along the route.

[0016] If it affects traffic, the navigation system will determine to replan the route;

[0017] Step S7: After the navigation system determines the replanned route, repeat steps S1-S6.

[0018] The following is a further technical solution for the method in this invention. The path planning parameters include, but are not limited to: start, pathPoint, end, startTime, weather, and navStrategy. Here, start represents the starting point and its data type is Array; pathPoint represents the waypoint and its data type is Object; end represents the ending 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; and navStrategy represents the navigation strategy and its data type is String.

[0019] The following is a further technical solution of the method in this invention: during the maneuver simulation of the navigation body, the control function of navigation motion and simulation progress is realized. The control function includes deceleration, start, pause and acceleration of the navigation body motion, as well as restart of simulation time control and time progress bar.

[0020] The following are further technical solutions for the method in this invention. Dynamic events include, but are not limited to: obstacle areas, landslide areas, road and bridge damage areas, disaster areas, fire suppression areas, electromagnetic interference source affected areas, observation posts, regional rainfall, regional snowfall, regional snow depth, and regional visibility.

[0021] The following are further technical solutions for the method in this invention, and the impact level classification includes the direct avoidance of area, the point impact range analysis, and the area impact analysis.

[0022] Among them, obstacle areas, landslide areas, road and bridge damage areas, disaster areas, and fire suppression areas are classified as areas that can be directly avoided.

[0023] The area affected by electromagnetic interference sources falls under the category of point-like influence range analysis.

[0024] The observation posts, regional rainfall, regional snowfall, regional snow depth, and regional visibility belong to the category of areal impact analysis.

[0025] The following is a further technical solution for the method of the present invention: For the type of direct avoidance of planar areas, it is determined whether the planar area of ​​the dynamic event of direct avoidance of planar areas intersects with the currently simulated maneuver 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 planar area is determined. If the speed of ...

[0026] The following is a further technical solution for the method of this invention. For point-like impact range analysis, the impact level range is analyzed based on the point location and intensity of the interference source. It is then determined whether the impact level range of the dynamic event in the point-like impact range analysis class intersects with the currently simulated maneuver route. If there is no intersection, there is no need to avoid it and the existing route continues. If there is an intersection, it is determined whether the maneuver route is within the specific range of the impact level range. If the maneuver route is not within the threshold range of the impact level range, there is no need to avoid it and the existing route continues. If the maneuver route is within the threshold range of the impact level range, the route is replanned based on the current navigation body position and path planning parameters to avoid the range.

[0027] The following is a further technical solution for the method of this invention: For the area impact analysis class, the invisible area of ​​the dynamic event of the area impact analysis class is analyzed and it is determined whether there is an intersection with the current simulated maneuver route. If there is no intersection, there is no need to avoid it and the existing route is continued. If there is an intersection, the speed of the invisible area is determined. If the speed of ...

[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 scenario module is used to set path scenario parameters based on task assumptions. Path scenario parameters include, but are not limited to: start, pathPoint, end, startTime, weather, and navStrategy. Here, start represents the starting point and its data type is Array; pathPoint represents a waypoint and its data type is Object; end represents the ending 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; and navStrategy represents the navigation strategy and its data type is String. Based on the path scenario parameters, a multi-path route information is calculated using a combination of on-path and off-path algorithms. The initial route information is obtained before the simulation and extrapolation as the path input for the simulation.

[0030] The motion simulation control module is used to control the navigation motion and the simulation progress. The control functions are manifested in the deceleration, start, pause and acceleration control buttons for the navigation body motion, as well as the restart button and time progress bar for simulation time control.

[0031] The dynamic information simulation and analysis module is used to simulate dynamic events on a map during navigation vehicle maneuver simulation. It collects dynamic events along the route in real time and performs impact level classification and regional impact degree analysis on the collected events. Dynamic events include: obstacle areas, landslide areas, road and bridge damage areas, disaster 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 areas for direct avoidance, point-based impact range analysis, and area-based impact analysis. Regional impact degree analysis is based on comparison with the navigation vehicle's route and traffic conditions to determine whether the navigation vehicle needs to replan its route.

[0032] The data visualization module is used for visualizing map data, navigation elements, and routes. Navigation elements include the start and end points of the route plan, waypoints, navigation bodies, and their dynamic and static information. Map data visualization involves loading tile imagery data and overlaying it with DEM data to create a 3D map. Route visualization uses latitude and longitude coordinates, overlaid with elevation information from DEM data, to create linear elements that closely follow the map's surface. Navigation element visualization involves loading and displaying the corresponding 3D models.

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

[0034] This invention can simulate and set various dynamic information, and combine various emergencies that occur during navigation to simulate and deduce different execution plans; it can provide real-time guidance in maneuver simulation and provide updated path results based on the current spatial position of the navigation body, which will greatly facilitate the use of users; the guidance system can facilitate the simulation and simulation of the navigation process and provide users with certain navigation decision-making functions.

[0035] The present invention will be further described below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used 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 those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram of the method flow of the present invention;

[0038] Figure 2 This is a system block diagram of the present invention. Detailed Implementation

[0039] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0040] like Figure 1 As shown, a real-time guidance and control 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, the real-time guidance method based on navigation dynamic information simulation analyzes the impact area and severity of trafficability for various simulated dynamic events according to their type and location, automatically determining whether the current navigation vehicle should continue or replan its route. The current position of the navigation vehicle is recorded in real time on the web interface. When a replanning marker is encountered, the route planning parameters are resent to obtain a new result. Furthermore, to achieve better visualization, a high-precision 3D map is created using a DEM (Digital Elevation Model), and a 3D navigation vehicle and various 3D icons are used to simulate the impact area of ​​dynamic events.

[0042] Specifically, the following steps are included:

[0043] Step S1: Set path scenario parameters based on the task assumptions, and then calculate the route information of multiple paths using a combination of on-path and off-path algorithms based on the path scenario parameters. Path scenario 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 ending 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 system selects one of the routes calculated in Step S1 and performs a maneuver simulation on that route. It should be noted that maneuver simulations can be performed on all routes in Step S1 simultaneously, thereby increasing the simulation rate and providing the user with more route execution options in a faster time.

[0045] Step S3: During the navigation vehicle's maneuver simulation, N dynamic events are simulated and set, where N≥0. This implements control functions for the navigation vehicle's motion and simulation progress. These control functions include deceleration, start, pause, and acceleration of the navigation vehicle's motion, as well as restarting the simulation time control and managing the time progress bar. Dynamic events include, but are not limited to: obstacle zones, landslide zones, road and bridge damage zones, disaster zones, fire suppression zones, electromagnetic interference source influence zones, observation posts, regional rainfall, regional snowfall, regional snow depth, and regional visibility.

[0046] Step S4: The navigation system collects dynamic events along the route in real time and performs impact level classification and regional impact degree analysis on the collected dynamic events. The impact level classification includes area-based direct avoidance, point-based impact range analysis, and area-based impact analysis. Among them, obstacle areas, landslide areas, road and bridge damage areas, disaster areas, and fire suppression areas belong to the area-based direct avoidance category; electromagnetic interference source impact areas belong to the point-based impact range analysis category; observation posts, regional rainfall, regional snowfall, regional snow depth, and regional visibility belong to the area-based impact analysis category.

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

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

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

[0050] If it does not affect traffic, the navigation system will continue to maneuver along the existing route and issue warnings for corresponding dynamic events along the route.

[0051] If it affects traffic, the navigation system will determine to replan the route.

[0052] For the type of direct avoidance of planar areas, it is determined whether the planar area of ​​the dynamic event intersects with the currently simulated maneuver route. If there is no intersection, no avoidance is required and the existing route continues. If there is an intersection, the speed of the planar area is determined. If the speed is greater than a threshold, no avoidance is required and the existing route continues. If the speed is less than a threshold, the route is replanned based on the current position of the navigation body and the path concept parameters to avoid the area.

[0053] For point-based impact range analysis, the impact level range is determined based on the location and intensity of the interference source. It is then determined whether the impact level range of the dynamic event in the point-based impact range analysis intersects with the currently simulated maneuver route. If there is no intersection, no avoidance is required and the existing route continues. If there is an intersection, the specific range of the impact level range is determined. If the maneuver route is not within the threshold range of the impact level range, no avoidance is required and the existing route continues. If the maneuver route is within the threshold range of the impact level range, the route is replanned based on the current navigation body position and path planning parameters to avoid that range.

[0054] For area-based impact analysis, the invisible areas of dynamic events are analyzed, and it is determined whether they intersect with the currently simulated maneuver route. If there is no intersection, no avoidance is required, 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, no avoidance is required, and the existing route continues. If the speed is less than a threshold, the route is replanned based on the current navigation body position and path parameters to avoid the area.

[0055] Step S7: After the navigation system determines the replanned route, repeat steps S1-S6 to maintain the simulation in real time, so as to provide users with different execution plans 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 scenario module, a maneuver simulation control module, a dynamic information simulation and analysis calculation module, and a data visualization module.

[0057] (1) Path planning and scenario module

[0058] The path assumption parameters are set according to the task assumptions, and then the route information of multiple paths is calculated by combining the path assumption parameters with and without paths. The initial route information is obtained as the path input for the simulation before the simulation.

[0059] The required path parameters 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 Simulated Weather String navStrategy Navigation strategy String

[0062] (2) Motion Simulation Control Module

[0063] During the maneuver simulation, the navigation body can control the navigation motion and the progress of the simulation. The control functions are mainly manifested in the deceleration, start, pause and acceleration control buttons for the navigation body's motion, as well as the restart button and time progress bar for controlling the simulation time.

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

[0065] During the navigation vehicle maneuver simulation, dynamic events are simulated on the map, and dynamic events along the route are collected in real time. The collected dynamic events are then classified into impact levels and analyzed for regional impact. The regional impact analysis is based on a comparison with the navigation vehicle's route and traffic conditions to determine whether the navigation vehicle needs to replan its route.

[0066] The simulated dynamic event information mainly falls into three categories: direct avoidance of area-like events, analysis of point-like impact ranges, and analysis of area-like impacts. Details are shown in Table 2.

[0067] Table 2

[0068]

[0069] (4) Data visualization module

[0070] Visualization is a crucial module in simulation and deduction, primarily encompassing the visualization of map data, navigation elements, and routes. Navigation elements include the start and end points of the route plan, waypoints, navigation bodies, and their dynamic and static information. Map data visualization involves loading tile imagery data and overlaying it with DEM data to create a 3D map. Route visualization uses latitude and longitude coordinates, overlaid with elevation information from DEM data, to create linear elements closely aligned with the map's surface. Navigation element visualization involves loading and displaying the corresponding 3D models.

[0071] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any person skilled in the art can make many possible variations and modifications to the technical solution of the present invention, or modify it into equivalent embodiments, without departing from the scope of the present invention's technical solution. Therefore, all equivalent changes made based on the shape, structure, and principle of the present invention without departing from the scope of the present invention's technical solution should be covered within the protection scope of the present invention.

Claims

1. A real-time navigation method based on dynamic information simulation, characterized in that, The method comprises the following steps: Step S1: setting path assumption parameters according to task assumptions, and calculating route information of multiple paths based on the path assumption parameters through a combination algorithm of roads and no roads; Step S2: selecting one of the routes calculated in step S1 by the navigation body, and performing maneuver simulation on the route; Step S3: setting N dynamic events during maneuver simulation of the navigation body, wherein N≥0; Step S4: collecting dynamic events in the route by the navigation body in real time, and performing influence level classification and regional influence degree analysis on the collected dynamic events; Step S5: judging whether the region analyzed in step S4 intersects with the route of the navigation body; If not, the navigation body continues to maintain the existing route for maneuver; Step S6: if intersecting, judging whether the intersecting region affects traffic; If not, the navigation body continues to maintain the existing route for maneuver, and gives a warning of the corresponding dynamic event on the route; If affecting traffic, the navigation body determines to re-plan the route; Step S7: after the navigation body determines to re-plan the route, repeating steps S1-S6; The influence level classification comprises a planar region direct avoidance class, a point-like influence range analysis class, and a planar influence analysis class; The obstacle area, landslide area, road and bridge damage area, disaster area, and fire suppression area belong to the planar region direct avoidance class; The electromagnetic interference source influence area belongs to the point-like influence range analysis class; The observation post, regional rainfall, regional snowfall, regional snow depth, and regional visibility belong to the planar influence analysis class; For the planar region direct avoidance class, it is judged whether the planar region of the planar region direct avoidance class dynamic event intersects with the currently simulated maneuver route, if there is no intersection, the planar region does not need to be avoided and the existing route is continued to travel, if there is an intersection, the traffic speed of the planar region is judged, if the traffic speed is greater than a threshold value, the planar region does not need to be avoided and the existing route is continued to travel, if the traffic speed is less than the threshold value, the path is re-planned based on the current navigation body position and path assumption parameters to avoid the region; For the point-like influence range analysis class, the influence level range interval of the point-like influence range analysis class dynamic event is analyzed according to the point position and intensity of the interference source, it is judged whether the influence level range interval of the point-like influence range analysis class dynamic event intersects with the currently simulated maneuver route, if there is no intersection, the point-like influence range analysis class does not need to be avoided and the existing route is continued to travel, if there is an intersection, it is judged whether the maneuver route is in a specific interval of the influence level range interval, if the maneuver route is not in a threshold interval of the influence level range interval, the point-like influence range analysis class does not need to be avoided and the existing route is continued to travel, if the maneuver route is in the threshold interval of the influence level range interval, the path is re-planned based on the current navigation body position and path assumption parameters to avoid the interval; For the planar influence analysis class, the invisible area of the planar influence analysis class dynamic event is analyzed, and it is judged whether there is an intersection with the current simulated maneuver route. If there is no intersection, there is no need to avoid and continue to drive on the existing route. If there is an intersection, the passing speed of the invisible area is judged. If the passing speed is greater than the threshold, there is no need to avoid and continue to drive on the existing route. If the passing speed is less than the threshold, the path is re-planned based on the current navigation body position and path planning parameters to avoid the area.

2. The real-time pilot method based on navigation dynamic information simulation as claimed in claim 1, wherein, The path planning parameters include but are not limited to: start, pathPoint, end, startTime, weather, navStrategy, wherein start represents the starting point, and its data type is Array; pathPoint represents the way point, 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 simulation weather, and its data type is String; navStrategy represents the navigation strategy, and its data type is String.

3. The real-time pilot method based on navigation dynamic information simulation as claimed in claim 1, wherein, In the process of maneuver simulation of the navigation body, the control function of navigation movement and simulation deduction progress is realized, including the deceleration, start, pause and acceleration control buttons of the navigation body movement, and the restart button and time progress bar of the simulation deduction time control.

4. The real-time pilot method based on navigation dynamic information simulation as claimed in claim 1, wherein, The dynamic event includes but is 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.

5. A real-time guidance system based on simulation of dynamic information of navigation for implementing the real-time guidance method according to any one of claims 1 to 4, characterized in that, It includes a path planning assumption module, a maneuver simulation control module, a dynamic information simulation and analysis calculation module, and a data visualization module. The path planning assumption module is used to set the path planning parameters according to the task assumption. The path planning parameters include but are not limited to: start, pathPoint, end, startTime, weather, navStrategy, wherein start represents the starting point, and its data type is Array; pathPoint represents the way point, 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 simulation weather, and its data type is String; navStrategy represents the navigation strategy, and its data type is String; and then the route information of multiple paths is calculated based on the path planning parameters through the algorithm combining with and without roads, and the initial route information is obtained as the path input of simulation simulation deduction before simulation simulation deduction; The maneuver simulation control module is used to realize the control function of navigation movement and simulation deduction progress, which is reflected in the deceleration, start, pause and acceleration control buttons of the navigation body movement, and the restart button and time progress bar of the deduction time control. The dynamic information simulation and analysis calculation module is used for simulating setting of dynamic event occurrence on the map during the navigation body maneuver simulation, collecting dynamic events in the route in real time, and performing influence level classification and regional influence degree analysis on the collected dynamic events; the dynamic events include 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; the influence level classification includes direct avoidance of planar area, point-shaped influence range analysis, and planar influence analysis; the regional influence degree analysis is based on comparison with the route and traffic condition of the navigation body, so as to determine whether the navigation body re-plans the route; The data visualization module is used for visualization of map data, navigation elements, and route, wherein the navigation elements include start and end points, way points, navigation body and its dynamic and static information of route planning; the visualization of map data is a three-dimensional map formed by loading tile image data and then superimposing DEM data; the visualization of route is a linear element formed by superimposing elevation information of DEM data according to latitude and longitude coordinate points; and the visualization of navigation elements is visualization display of corresponding three-dimensional models.

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