Navigation path planning method and device and computer readable storage medium

Abstract

The invention provides a navigation path planning method and device and a computer readable storage medium, and the method comprises the steps: carrying out the path planning according to the departure place information and destination information of a vehicle, obtaining a basic navigation path, obtaining the historical data of other vehicles consistent with the diagnosis information of the vehicle and the basic navigation path, and carrying out the navigation path planning. By analyzing historical data, including fault information and normal operation state information, of other vehicles under the same or similar basic navigation route, predicted fault information possibly generated when the current vehicle runs according to the basic navigation route is predicted. And determining a service station for eliminating the fault according to the predicted fault information, taking the determined service station as a passing point to be incorporated into the basic navigation route to form a target navigation route, and enabling the route to be closer to the actual condition of the vehicle. Due to the fact that possible faults are considered and corresponding service sites are planned, the prospective design not only meets complex driving requirements of users, but also improves driving safety.

Description

Technical Field

[0001] The present application relates to the field of vehicle navigation technology, and in particular to a navigation path planning method, device and computer-readable storage medium. Background Art

[0002] In the field of modern transportation, whether it is a passenger car or a commercial vehicle, the navigation system is an important auxiliary tool in the vehicle's driving process. With the development of vehicle technology and the diversification of usage scenarios, the functional requirements for navigation systems are also increasing.

[0003] At present, the navigation technology solutions widely used in car computers of major manufacturers mainly focus on traditional route planning from the departure point to the destination. This single-mode navigation technology has obvious limitations. In actual driving, vehicles may face a variety of complex situations or failures, among which it is not uncommon for vehicles to get into trouble due to lack of fuel. For example, when driving long distances or in remote areas, if the driver fails to accurately estimate the relationship between the remaining fuel and the travel distance, it is easy for the vehicle to break down due to running out of fuel, which brings great inconvenience to the journey.

[0004] In summary, existing navigation technology urgently needs to be improved to meet complex actual driving needs and thus improve driving safety. Summary of the invention

[0005] To overcome the problems existing in the related art, this specification provides a navigation path planning method, device and computer-readable storage medium.

[0006] According to a first aspect of an embodiment of this specification, a navigation path planning method is provided, the method comprising:

[0007] Path planning is performed based on the vehicle's departure and destination information to obtain a basic navigation route;

[0008] Acquire historical data of other vehicles that are consistent with the diagnostic information of the vehicle and the basic navigation route; the diagnostic information includes information about faults that have occurred in the vehicle and status information of the vehicle in normal operation;

[0009] Predicting predicted fault information generated when the vehicle travels along the basic navigation route based on the diagnostic information and the historical data;

[0010] Determining a service site for eliminating the fault according to the predicted fault information;

[0011] The basic navigation route is updated by using the service site as a waypoint to obtain a target navigation route.

[0012] According to a navigation path planning method provided by the present application, determining a service site for eliminating a fault according to the predicted fault information includes:

[0013] Acquiring operation information of multiple service sites on the basic navigation route;

[0014] Determine a plurality of service sites to be selected according to the fault type corresponding to the predicted fault information and the service type information in the operation information;

[0015] Among the multiple service sites to be selected, the service site most suitable for eliminating the fault is matched according to the positional relationship between the service sites to be selected and the basic navigation route.

[0016] According to a navigation path planning method provided by the present application, the operation information also includes status information of the service site;

[0017] The method further comprises:

[0018] A plurality of service sites to be selected are determined according to the fault type corresponding to the predicted fault information and the service type and status information in the operation information.

[0019] According to a navigation path planning method provided by the present application, the method further includes:

[0020] Segmenting the basic navigation route to obtain multiple route segments;

[0021] The predicting, based on the diagnostic information and the historical data, predicted fault information generated when the vehicle travels along the basic navigation route includes:

[0022] Predicting predicted fault information generated when the vehicle travels along the current route based on data in the historical data that is consistent with the current route in the multiple routes;

[0023] The determining of a service site for eliminating the fault according to the predicted fault information includes:

[0024] Based on the predicted fault information corresponding to the current road section, a service station for eliminating the fault on the current road section is determined.

[0025] According to a navigation path planning method provided by the present application, the basic navigation route is segmented to obtain multiple route segments, including:

[0026] Using a map data processing algorithm, identifying all intersections on the basic navigation route;

[0027] For each intersection, a mark is made in the data structure of the basic navigation route, and the intersection is used as a segmentation point of a road segment to obtain a multi-segment route.

[0028] According to a navigation path planning method provided by the present application, the basic navigation route is segmented to obtain multiple route segments, including:

[0029] Acquiring information of the service site within a set range of the basic navigation route;

[0030] Taking a set distance interval as a unit length, calculating the density of the service sites within each unit length;

[0031] At least one road segment of unit length is used as a segmentation point, so that in the multiple route segments obtained after segmentation, the density of the service sites in each route segment is greater than a threshold.

[0032] According to a navigation path planning method provided by the present application, after the basic navigation route is updated by using the service site as a waypoint to obtain a target navigation route, the method further includes:

[0033] The target navigation route is sent to the vehicle, and when the vehicle is traveling along the target navigation route, current diagnostic information of the vehicle is obtained based on a set frequency;

[0034] Determining whether the current diagnostic information is consistent with the diagnostic information of the vehicle when it was traveling on the current road section;

[0035] In case of inconsistency, the current position of the vehicle is used as the departure information of the vehicle, and the path planning is performed according to the departure information and the destination information of the vehicle to obtain the basic navigation route, so as to update the target navigation route.

[0036] According to a navigation path planning method provided by the present application, determining a service site for eliminating a fault according to the predicted fault information includes:

[0037] When there are multiple faults corresponding to the predicted fault information, evaluating the impact of each fault on the normal driving of the vehicle and determining the fault priority of each fault;

[0038] A service site for eliminating the fault is determined according to the fault priority level of each fault.

[0039] The present application also provides a navigation path planning device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the navigation path planning method described above is implemented.

[0040] The present application also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the navigation path planning method as described in any one of the above is implemented.

[0041] The navigation path planning method, device and computer-readable storage medium in the embodiments of this specification are compared with the current navigation technology that is difficult to meet the complex actual driving needs. The path planning is carried out according to the departure information and destination information of the vehicle to obtain the basic navigation route, and the historical data of other vehicles consistent with the vehicle's diagnostic information and the basic navigation route are obtained. By analyzing the historical data of other vehicles under the same or similar basic navigation routes, including fault information and normal operating status information, the predicted fault information that may be generated when the current vehicle is driving according to the basic navigation route is predicted. Incorporating the driving demand of fault warning into the path planning and predicting faults in advance can enable the driver to go to the service station for maintenance before the fault occurs to eliminate the fault and avoid safety accidents during driving. According to the predicted fault information, the service station for eliminating the fault is determined, and the determined service station is included in the basic navigation route as a waypoint to form a target navigation route, so that the route is more in line with the actual situation of the vehicle. Since possible faults are taken into consideration and the corresponding service stations are planned, this forward-looking design improves the user's driving experience. The vehicle does not need to temporarily find a repair location after the fault occurs, which reduces unnecessary delays, meets the user's complex driving needs, and improves driving safety.

[0042] 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 present specification. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the specification and, together with the description, serve to explain the principles of the specification.

[0044] Figure 1 is a framework diagram of a navigation path planning system according to an exemplary embodiment of the present specification;

[0045] Figure 2 is a flowchart of a navigation path planning method according to an exemplary embodiment of the present specification;

[0046] Figure 3 is a timing diagram of a navigation path planning method according to an exemplary embodiment of the present specification;

[0047] Figure 4 is a diagram showing an example of a mapping table according to an exemplary embodiment of the present specification;

[0048] Figure 5is a service site information table shown in this specification according to an exemplary embodiment;

[0049] Figure 6 is a fault prediction logic diagram shown in this specification according to an exemplary embodiment;

[0050] Figure 7 is a fault prediction information table shown in this specification according to an exemplary embodiment;

[0051] Figure 8 It is a schematic block diagram of a navigation path planning device according to an exemplary embodiment of the present specification. DETAILED DESCRIPTION

[0052] Here, the technical solutions in the embodiments (or "implementations") of the present application will be described clearly and completely in conjunction with the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0053] If there are terms involving directional indications or positional relationships in the embodiments of the present application (such as up, down, left, right, front, back, inside, outside, top, bottom, center, vertical, horizontal, longitudinal, transverse, length, width, counterclockwise, clockwise, axial, radial, circumferential, etc.), such terms are only used to explain the relative positional relationship, movement, etc. between the components under a certain specific posture (as shown in the accompanying drawings); if the specific posture changes, the directional indication or positional relationship will also change accordingly. In addition, the terms "first", "second", etc. involved in the embodiments of the present application are only used for the purpose of convenience of description and cannot be understood as indicating or implying relative importance.

[0054] The present application provides a navigation path planning method, device and computer readable storage medium. The present application is described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the features of the following embodiments and implementations can be combined with each other.

[0055] At present, the navigation technology solutions widely used in car computers of major manufacturers mainly focus on traditional route planning from the departure point to the destination. This single-mode navigation technology has obvious limitations. In actual driving, vehicles may face a variety of complex situations, among which it is not uncommon for vehicles to get into trouble due to lack of fuel. For example, when driving long distances or in remote areas, if the driver fails to accurately estimate the relationship between the remaining fuel and the travel distance, it is easy for the vehicle to break down due to running out of fuel, which will cause great inconvenience to the journey.

[0056] In order to solve the above technical problems, this specification provides a navigation path planning method.

[0057] It aims to combine the vehicle's diagnostic information when planning the vehicle's route, predict in advance the possible failures that may occur during the vehicle's driving, and match the corresponding service stations according to the failures, so as to avoid the situation where the vehicle may get into trouble due to various adverse conditions and meet the different driving needs of the vehicle.

[0058] It should be noted that the navigation path planning solution in this article is applied to any device or system in terminals, vehicles, independent servers, server clusters, cloud, vehicle network platforms, Internet of Things platforms, etc.

[0059] As an example, the navigation path planning solution is applied to the cloud, referring to Figure 1 As shown, Figure 1 Framework diagram of the navigation path planning system.

[0060] The system includes a vehicle side and a cloud side. On the vehicle side, a navigation request is sent to the cloud side, and information for navigation route planning is uploaded at the same time, and the information may be, but is not limited to, departure information, destination information, and vehicle diagnostic information.

[0061] After receiving the navigation request from the vehicle, the cloud responds to the request. The cloud includes a traditional route planning module, an AI intelligent fault pre-checking module, a vehicle diagnostic information and service station capability matching module, and a route re-optimization module.

[0062] Among them, the traditional route planning module is used to plan the path according to the departure information and destination information uploaded by the vehicle to obtain a basic navigation route.

[0063] The AI ​​intelligent fault pre-check module is used to obtain historical data of other vehicles that are consistent with the vehicle's diagnostic information and basic navigation route; the diagnostic information includes information about faults that have occurred in the vehicle and status information of the vehicle in normal operation. The AI ​​intelligent fault pre-check module is also used to predict predicted fault information generated when the vehicle travels along the basic navigation route based on historical data.

[0064] The vehicle diagnostic information and service station capability matching module is used to determine a service station for eliminating the fault according to the predicted fault information.

[0065] The route re-optimization module is used to update the basic navigation route using the service site as a waypoint to obtain a target navigation route.

[0066] After responding to the navigation request in the cloud and obtaining the target navigation route, the target navigation route is sent to the vehicle-side navigation so that the vehicle can travel based on the target navigation route to meet the complex driving needs of the vehicle during the driving process.

[0067] Reference Figure 2 and Figure 3 , Figure 2 is a flowchart of a navigation path planning method provided in an embodiment of this specification. Figure 3 1 is a timing diagram of a navigation path planning method provided in an embodiment of this specification. The first embodiment of the navigation path planning method includes the following specific steps:

[0068] Step 100, performing path planning based on the departure information and destination information of the vehicle to obtain a basic navigation route.

[0069] Based on map data and specific algorithms, one or more basic navigation routes from the departure point to the destination are planned for the vehicle when the departure point and destination are known. The basic navigation route refers to the route initially planned, which only considers the geographical connection between the departure point and the destination, and does not consider other factors such as the vehicle's own status and possible problems. It is the basis for further optimization of the navigation route.

[0070] Step 200, obtaining historical data of other vehicles that are consistent with the diagnostic information of the vehicle and the basic navigation route.

[0071] The diagnostic information includes the fault information that has occurred in the vehicle and the status information of the vehicle in normal operation. The fault corresponding to the fault information of the vehicle may be, but is not limited to, related to the engine, transmission system, braking system, electrical system, etc. For example, engine fault information may include ignition failure, fuel injection abnormality, etc., and this information is usually stored in the vehicle's ECU in the form of fault codes.

[0072] The status information of the vehicle in normal operation includes the parameters of various systems and components in the vehicle, such as the vehicle energy type, fuel remaining, transmission status, engine status, etc. These parameters can reflect the health of the vehicle, and through continuous monitoring of these parameters, potential problems can be discovered in advance.

[0073] In this embodiment, historical data of vehicles under the same conditions as the current vehicle is obtained. Historical data refers to data accumulated by other vehicles during past driving. Among them, the same conditions include the same vehicle model, the historical driving route is the same as the navigation route, and the diagnostic information when driving on the basic navigation route is the same as the diagnostic information of the current vehicle (usually, the same means completely the same and similar within a certain range). That is, from the big database in the cloud containing all driving data of all vehicles, historical data under the conditions of the same vehicle model as the current vehicle, driving on the same basic navigation route, and the vehicle status reflected by the diagnostic information is similar. The historical data includes fault data that has occurred when the vehicle is driving on the basic navigation route.

[0074] This historical data is used to subsequently predict road sections and body failure points where problems may occur when the current vehicle is traveling on the basic navigation route, so as to plan corresponding service stations in advance to eliminate failures and avoid the vehicle getting into trouble. This part will be explained in detail in subsequent chapters.

[0075] Step 300: predicting predicted fault information generated when the vehicle travels along the basic navigation route based on the diagnostic information and the historical data.

[0076] The cloud uses data mining and machine learning technologies to analyze the acquired historical data. For example, a classification algorithm can be used to build a model based on historical fault data and related driving conditions (such as navigation routes), and then the current vehicle diagnostic information and basic navigation routes are used as input to predict possible faults on this route.

[0077] This predicted fault information can be the probability of a certain vehicle component failing after a certain mileage or time, or the possibility of a certain system failing on a specific road section. For example, based on historical data, it is found that after a certain vehicle model passes through a specific bumpy road section (the basic navigation route includes this section) and the vehicle mileage reaches a certain value, the probability of the suspension system failing is higher. Then, the risk of suspension system failure of the current vehicle when driving on this road section can be predicted.

[0078] It should be clear that when predicting possible vehicle failures, the basic navigation route is used as input information, and this input information is compatible with the road conditions of each section (covering bumpy roads, asphalt roads, etc.). In this way, there is no need to obtain road condition data for each section to analyze vehicle failure conditions. By using the probability of a vehicle failure when passing through a specific section (this probability already includes road condition factors) for prediction, it can produce beneficial effects both in the collection of road condition data and in the calculation process of the fault prediction algorithm. Specifically, in terms of data collection, it can reduce the workload of collecting road condition data; at the algorithm calculation level, it can improve the efficiency of fault prediction and reduce the complexity of calculations.

[0079] Step 400: Determine a service site for eliminating the fault based on the predicted fault information.

[0080] The service stations mentioned in this article refer to places that can provide repair, maintenance, refueling, gas filling and other services for vehicles, including automobile 4S stores, repair shops, gas stations, gas stations, etc. These service stations usually have specific service capabilities and equipment and can handle different types of vehicle failures and needs.

[0081] Match the corresponding service station according to the vehicle's predicted fault information and plan a reasonable vehicle route in advance.

[0082] In some embodiments, step 400 may specifically include the following steps:

[0083] Step 410, obtaining operation information of multiple service sites on the basic navigation route;

[0084] Step 420, determining a plurality of service sites to be selected according to the fault type corresponding to the predicted fault information and the service type information in the operation information;

[0085] Step 430, among the multiple service sites to be selected, the service site that is most suitable for eliminating the fault is matched according to the positional relationship between the service sites to be selected and the basic navigation route.

[0086] The cloud performs classification screening based on the diagnostic information uploaded by the current vehicle, which can be but not limited to fuel abnormality, brake disc abnormality, headlight abnormality, etc. This classification screening can provide accurate input information for subsequent fault prediction and matching of service sites.

[0087] According to the diagnostic information, the predicted fault information generated when the vehicle travels along the basic navigation route is predicted according to the historical data to obtain the predicted fault information. In order to deal with the fault in a targeted manner, the predicted fault information is further marked according to the fault type, and different types of faults are matched with service stations of different service types.

[0088] It can be understood that insufficient fuel belongs to the fuel supply system failure type; brake disc failure belongs to the brake system failure type; fog lamp failure belongs to the vehicle electrical lighting system failure type. These failure types have clear classifications, and each type requires specific maintenance or replenishment methods to resolve. Therefore, the types of services that the service station can provide are obtained, such as the vehicle systems that can be repaired by the repair shop (engine repair, chassis repair, electrical system repair, etc.), the level of maintenance technology possessed (such as whether it can handle complex engine electronic control system failures), the range of repairable vehicle models, etc.; the fuel type of the gas station (gasoline grade, diesel grade, etc.); the gas type of the gas station (natural gas, hydrogen, etc.).

[0089] According to the fault type, the service site operation information is searched for the service site corresponding to the service type that can handle the fault. For example, a mapping table is established according to the fault type and the type of the service site, such as Figure 4As shown. Therefore, according to the fault type corresponding to the predicted fault information, multiple candidate service sites that can handle the corresponding faults are matched from the mapping table. For example, for a fuel shortage fault, it is necessary to find a gas station or gas station that provides the corresponding fuel type; for a brake disc failure fault, it is necessary to match a repair shop or 4S shop with brake system maintenance capabilities (including professional maintenance tools and qualified maintenance personnel); for a fog lamp fault, it is necessary to find a service site that can perform electrical system maintenance, especially lighting system maintenance. Through this matching method, multiple candidate service sites that can handle the corresponding faults are screened out.

[0090] For multiple candidate service sites that can handle the same fault, it is necessary to select the service site that best matches the basic navigation route and the vehicle status. Exemplarily, the service site that is ultimately used to eliminate the fault is matched based on the positional relationship between the candidate service site and the basic navigation route. The positional relationship between the candidate service site and the basic navigation route is an important basis for determining the final service site, which includes distance factors and accessibility factors.

[0091] It is understandable that the straight-line distance or road travel distance between the selected service station and the current position of the vehicle or the estimated position of the fault point on the basic navigation route is calculated. Generally speaking, a service station that is closer is more conducive to the vehicle arriving in time for fault handling, reducing travel delays caused by the fault. For example, if the vehicle is traveling on a highway and it is predicted that the brake disc may fail, choosing a maintenance station in the highway service area closest to the current position of the vehicle (if it has brake maintenance capabilities) will be a priority option.

[0092] In addition to distance, the road conditions and traffic convenience to reach the service station must also be considered. This involves the type of road (highway, urban road, rural road, etc.), traffic flow, whether there is road construction or control, etc. Even if a service station is close to the vehicle, it may not be the best choice if it requires a road with complex road conditions and traffic congestion to reach. For example, there are two repair shops to be selected, one is 5 kilometers away from the vehicle but needs to go through congested city center roads, and the other is 8 kilometers away but has a smooth expressway to reach directly. At this time, the latter may be selected as the final service station.

[0093] In other embodiments, the operation information of the service site may include, but is not limited to, the location information, service items, technician qualifications, parts inventory, etc. of each service site. While matching the service site according to the fault type and the service type in the operation information, other operation information is comprehensively referenced to select the most suitable final service site from multiple candidate service sites.

[0094] For example, if it is predicted that the vehicle may have an engine failure, it is necessary to find a service station that can repair the engine. It may be preferred to choose a 4S shop or a large repair shop that is close to the current vehicle and has professional engine repair equipment and experienced technicians.

[0095] In other embodiments, the operation information further includes status information of the service site. According to the fault type corresponding to the predicted fault information and the service type and status information in the operation information, a plurality of service sites to be selected are determined.

[0096] As an example, the status information of the service site may be, but is not limited to, an idle state, a waiting state (further involving busyness, a specific waiting time, the number of queues, and other states).

[0097] Reference Figure 5 Based on the stations that provide corresponding services matched with the fault type and the service type in the operation information, further screening is performed based on the status information. Priority is given to service stations whose business hours meet the vehicle arrival time requirements, are less busy, and have good equipment availability, so as to determine multiple qualified candidate service stations. These candidate service stations will serve as the basis for further screening of the final service stations to ensure that the vehicle can solve possible faults in a timely and efficient manner.

[0098] For example, the current busyness of the service station can be obtained. The busyness will affect the waiting time after the vehicle arrives at the service station. If a repair shop already has a large number of vehicles waiting in line for repair, even if it has the ability to handle faults, it may not be the best choice because the long waiting time may further delay the trip. Therefore, the screening range of the factor of the time requirement for vehicle arrival is further expanded to find service stations that are idle.

[0099] In other embodiments, when multiple faults are predicted, if there is no reasonable mechanism to determine the processing order and the corresponding service stations, it is easy to cause the vehicle to be repaired in time, affecting driving safety and efficiency, and even causing serious accidents due to the failure to prioritize the critical faults. Therefore, by evaluating the priority of the faults, giving priority to the faults that pose a great threat to vehicle safety, such as braking and steering problems, it is possible to match the service stations capable of repairing them in time, thereby reducing the risk of accidents.

[0100] Exemplarily, determining a service site for eliminating the fault according to the predicted fault information includes:

[0101] When there are multiple faults corresponding to the predicted fault information, evaluating the impact of each fault on the normal driving of the vehicle and determining the fault priority of each fault;

[0102] A service site for eliminating the fault is determined according to the fault priority level of each fault.

[0103] Evaluation indicators are set according to driving needs, and a comprehensive evaluation is conducted on the predicted multiple faults to evaluate the impact of each fault on the normal driving of the vehicle. Evaluation indicators can be set according to driving needs, but are not limited to safety factors, driving ability factors, comfort factors, potential influencing factors, etc. For example, failures involving key vehicle safety systems, such as braking system failures (such as brake failure or a significant decrease in braking efficiency), steering system failures (such as loss of steering control or sudden failure of steering assistance), etc., directly threaten the driving safety of the vehicle. Once they occur, they are very likely to cause serious traffic accidents, so they should be at the highest level in priority assessment.

[0104] According to the fault priority of each fault, service stations for eliminating the fault are arranged in order, and the matching service stations are added to the basic navigation route in order to avoid maintenance confusion, enable the vehicle to receive appropriate maintenance more quickly, reduce travel delays caused by the fault, and meet different and complex driving needs.

[0105] In this embodiment, the service site for eliminating the fault is determined according to the fault priority of each fault, ensuring that high-priority faults get priority access to high-quality maintenance resources, making service site resource allocation more scientific and avoiding resource waste due to unreasonable arrangements.

[0106] Through the above four embodiments, the most suitable final service site is selected from multiple candidate service sites by comprehensively considering factors such as the operation information of the service site and the fault type corresponding to the predicted fault information, so as to ensure that the vehicle can obtain the required services efficiently and conveniently when a fault occurs, thereby ensuring driving safety and smooth journey.

[0107] Step 500, updating the basic navigation route by using the service site as a waypoint to obtain a target navigation route.

[0108] In navigation, waypoints refer to the intermediate points that need to be passed between the departure point and the destination. By setting the determined service stations as waypoints, the navigation system will re-plan the route so that the vehicle passes through these service stations during driving. In this way, when the vehicle has a predicted failure, it can be repaired in time at the service station along the way, reducing travel delays and safety risks caused by the failure.

[0109] For example, if the vehicle's remaining fuel level is insufficient for the entire trip, the route planning will include the recommended route plan for the corresponding fuel filling station based on the vehicle's fuel type; if the vehicle's engine has a fault code, the recommended route plan for the corresponding vehicle model repair station will be included.

[0110] In this embodiment, on the basis of the basic navigation route, possible vehicle failures are taken into consideration and the corresponding service stations are used as waypoints to obtain the final target navigation route, which can not only guide the vehicle from the departure point to the destination, but also avoid failure risks and ensure the safety and maintainability of the vehicle during driving.

[0111] Based on the above first embodiment, a second embodiment of a navigation path planning method is proposed.

[0112] Combination Figure 6 As shown, the navigation path planning method may specifically include the following steps:

[0113] Step a1, performing path planning based on the vehicle's departure information and destination information to obtain a basic navigation route.

[0114] Based on map data and specific algorithms, when the departure and destination are known, one or more basic navigation routes from the departure point to the destination are planned for the vehicle.

[0115] Step a2, segmenting the basic navigation route to obtain multiple route segments.

[0116] When processing vehicle route information in big data, the matching method based on the complete route has shortcomings. Due to the diversity and complexity of vehicle routes, the complete route matching requires extremely high similarity, and it is difficult to achieve a high hit rate in actual situations. For example, even if different vehicles travel roughly the same path, they may not be accurately matched due to minor deviations (such as temporary detours, different choices at intersections, etc.). In addition, the calculation amount of complete route matching is huge, the data processing resources are high, and the efficiency is low.

[0117] To solve the above problems, the basic navigation route of the vehicle is segmented, and the complex route is split into multiple relatively independent and characteristic small segments. When performing route matching, these small segments are used as units for comparison and matching, which greatly improves the flexibility of matching.

[0118] In some embodiments, step a2 may specifically include the following steps:

[0119] Step a21, using a map data processing algorithm to identify all intersections on the basic navigation route;

[0120] Step a22, for each intersection, mark it in the data structure of the basic navigation route, use the intersection as a segmentation point of the section, and obtain multiple routes.

[0121] Obtain high-precision map data, which contains detailed road network information, especially the coordinates and types of intersections (such as crossroads, T-junctions, etc.) and the connection relationship between intersections. This data will serve as one of the important bases for basic navigation route segmentation.

[0122] Using the map data processing algorithm, all intersections on the basic navigation route are identified. For each intersection, it is marked in the data structure of the basic navigation route, and the intersection is used as a segmentation point to obtain multiple routes. For example, when the navigation route starts from one intersection and ends at the next intersection, it is determined as an independent segment.

[0123] In some other embodiments, the step a2 may further specifically include the following steps:

[0124] Step a23, obtaining information of the service sites within the set range of the basic navigation route;

[0125] Step a24, taking the set distance interval as the unit length, calculating the density of the service sites within each unit length;

[0126] Step a25, using at least one unit length of road segment as a segmentation point, so that in the multiple route segments obtained after segmentation, the density of the service sites in each route segment is greater than a threshold.

[0127] Get the service station information within a certain range around the basic navigation route, including the coordinate location of the service station, service type (such as maintenance, refueling, gas, etc.), business status, etc. This data can be obtained by connecting to the service station information platform, map data update service or third-party data providers. Along the basic navigation route, with a certain set distance interval (such as every 10 kilometers) as the unit length, calculate the number of service stations within each unit length to determine the density of the service stations.

[0128] For a unit length whose density of service stations is greater than or equal to a threshold, the two end points of the unit length are used as potential segmentation points for subsequent segmentation processing of the basic navigation segment.

[0129] This involves processing road sections per unit length where the density of service stations is less than a threshold.

[0130] As an example, for areas with a low density of service stations, the road section is further subdivided. Specifically, when the density of service stations in a certain unit length of a road section is lower than the set threshold (such as less than 2 service stations per 10 kilometers), find a suitable subdivision point in the road section. The subdivision point can be a certain identifying location on the road (such as the entrance and exit of a large bridge or tunnel, etc.) or a point divided proportionally according to the road distance. The original road section is divided into multiple sub-sections at the subdivision point to ensure that each sub-section has a selectable service station.

[0131] The two end points of multiple sub-segments are used as potential segmentation points, which are combined with the segmentation points of the two end points of the unit length whose density of service stations is greater than or equal to the threshold, and the basic navigation segment is segmented to obtain multiple routes. After completing the segmentation adjustment based on the density of service stations, the relevant information of each segment is updated, including the new starting point, end point, segment length, and service station to which it belongs, so as to quickly select the appropriate service station from the service stations for rescue or repair according to the predicted fault information.

[0132] As another example, for areas with low service station density, they are merged with adjacent sections. Specifically, when a section of a certain unit length has only one service station (density is less than a threshold), its previous adjacent 5-kilometer section has three service stations (density is greater than a threshold), and its next adjacent 5-kilometer section has four service stations (density is greater than a threshold), then this section with low density can be merged with one of the adjacent sections with high density. The specific merging method can be determined according to some rules, such as giving priority to merging with adjacent sections in the direction of closer distance and more convenient traffic.

[0133] The two endpoints of the merged unit length section are used as potential segmentation points, which are combined with the segmentation points formed by the two endpoints of the unit length with a density of service stations greater than or equal to the threshold, and the basic navigation section is segmented to obtain multiple routes. According to the new segment division results, the information of each section is updated, including the starting point, end point, length, included service stations, etc. of the section, so as to quickly select suitable service stations from the service stations for rescue or repair according to the predicted fault information.

[0134] In this way, the road section division is continuously adjusted so that the final road section division is more conducive to coping with sudden vehicle failure problems and ensures that each road section has enough service stations to choose from within a reasonable range.

[0135] Through the above examples, the segmented route segments are relatively simple and clear, which reduces the difficulty of matching. Even if there are differences in certain sections of the road, in the case of node segmentation, as long as most of the nodes correspond to the same section, matching can be achieved, thereby significantly improving the hit rate of route matching. At the same time, compared with the complete route matching, processing the segmented route improves data processing efficiency, greatly reduces the amount of calculation, and saves computing resources.

[0136] Step a3, obtaining historical data of other vehicles that are consistent with the diagnostic information of the vehicle and the basic navigation route; the diagnostic information includes fault information that has occurred in the vehicle and status information of the vehicle in normal operating state.

[0137] The historical data involved here is a collection of data accumulated by a large number of other vehicles during their past driving, including various situation records of these vehicles when driving on different roads, such as vehicle status information, whether a fault occurs, and the type of fault.

[0138] Step a4, predicting the predicted fault information generated when the vehicle travels along the current route based on the data in the historical data that is consistent with the current route in the multiple routes.

[0139] Filter out the vehicle data that has traveled on the road section with the same or similar characteristics as the road section that the current vehicle is about to travel. For example, if the basic navigation route is divided into 3 sections, find out the vehicle data that has also traveled on the first section and has the same or similar vehicle diagnostic information as the current vehicle when traveling on the first section from the historical data.

[0140] Through in-depth analysis of the historical data that matches the current road section, data mining, statistical analysis and other related technical means are used to predict the possible fault information that may occur when the current vehicle is driving along the current road section. Figure 7 As shown, the cloud performs classification screening of diagnostic information based on the diagnostic information uploaded by the current vehicle, matches the route information based on the basic navigation route information planned by the current vehicle, and outputs the predicted fault information through matching.

[0141] It should be noted that in the fault prediction process for multiple routes obtained after segmentation, a feasible way is to independently carry out predictive diagnostic information work for each route. After completing the predictive diagnostic information for each route, accurate screening is performed from the massive historical data based on this information. The fault modes and rules related to the current section are extracted from the screened historical data, and then the possible faults that may occur when the vehicle is driving on this section are accurately predicted. This method can conduct a comprehensive fault prediction assessment on each section of the entire journey before the vehicle departs, providing sufficient basis for subsequent service site planning and other work.

[0142] Another feasible approach is to adopt a progressive strategy on a road section by road section basis. First, at the beginning of the vehicle's journey, fault prediction is performed only on the first section of the route. When the vehicle successfully completes the first section of the route, the fault prediction process is started for the second section of the route. This road section by road section progressive fault prediction method can fully combine the real-time status changes of the vehicle, dynamically adjust the predicted fault results of subsequent sections, make the prediction more in line with the actual driving conditions of the vehicle, reduce the prediction error caused by uncertain factors in the journey, provide more targeted safeguards for the safe driving of the vehicle on each road section, and also be more flexible in responding to new situations that may arise along the way.

[0143] Step a5: determining a service station on the current road section for eliminating the fault according to the predicted fault information corresponding to the current road section.

[0144] Continue to refer to Figure 4 and Figure 5 , according to the predicted fault information of the vehicle, the corresponding service station is matched, and the recommended routes of these urgently needed service stations for solving vehicle faults are planned in advance, and the vehicle may avoid getting into trouble due to various bad conditions through reasonable vehicle driving routes. This part of the content is basically the same as the specific embodiment of determining the service station for eliminating the fault on the current road section according to the predicted fault information corresponding to the current road section in the above-mentioned first embodiment, and will not be repeated here.

[0145] During the driving process, the actual situation of the vehicle may change due to various factors, and the original target navigation route may no longer be the optimal path to the destination. It is necessary to detect the actual situation of the vehicle and make timely adjustments to meet different or complex driving needs.

[0146] In some embodiments, after step 500, the method further includes:

[0147] Step b1, sending the target navigation route to the vehicle, and obtaining the current diagnostic information of the vehicle based on a set frequency while the vehicle is traveling along the target navigation route.

[0148] When the target navigation route is generated, the system will send the route information to the vehicle's navigation system through a suitable communication method (such as the Internet of Vehicles communication protocol). The vehicle will then start driving according to the received target navigation route, which has taken into account possible faults and set the corresponding service stations as waypoints.

[0149] During vehicle driving, in order to monitor the vehicle status in real time, it is necessary to obtain the vehicle's current diagnostic information at a set frequency.

[0150] Step b2, determining whether the current diagnostic information is consistent with the diagnostic information when the vehicle is traveling on the current road section.

[0151] The acquired current diagnostic information is compared with the diagnostic information predicted for the current road section when the target navigation route was previously planned to determine whether there is a difference between the two sets of diagnostic information.

[0152] It can be understood that for the unsegmented target navigation route, the diagnostic information during path planning and the current diagnostic information when the vehicle executes the target navigation route are obtained. If the difference between the two is within the allowable range, it means that the vehicle has not undergone major changes during path planning, then the planned target navigation path can continue to be used and it fits the actual situation of the vehicle.

[0153] For the target navigation route after segment processing, when performing fault prediction in segments, the first segment uses the diagnostic information diagnosed by the actual state of the vehicle, while the second and third segments use the diagnostic information predicted based on the actual state of the vehicle, and the diagnostic information of the vehicle at the starting position of the second and third segments is predicted, and then the fault prediction of the second and third segments is performed based on the predicted diagnostic information. Therefore, when the vehicle actually drives to the second segment, the actual diagnostic information of the vehicle is obtained in real time. When the actual diagnostic information is the same or similar to the aforementioned diagnostic information used for fault prediction, it means that there is no significant difference between the two, and the vehicle continues to drive according to the current route in the target navigation route. If there is a significant difference between the two, it is necessary to re-plan the path of the current segment to ensure that the vehicle drives to the destination accurately and safely.

[0154] Step b3, in case of inconsistency, takes the current position of the vehicle as the departure information of the vehicle, re-executes the path planning based on the departure information and destination information of the vehicle, and obtains the step of the basic navigation route to update the target navigation route.

[0155] When the current diagnostic information is found to be inconsistent with the expected diagnostic information, it means that the actual state of the vehicle is different from the expected state during planning, and the original target navigation route may no longer be the best choice. At this time, the current position of the vehicle is used as the new departure information and the path planning process is restarted.

[0156] Re-execute the path planning steps to obtain a new basic navigation route. This new basic navigation route will be re-planned based on the vehicle's current location and remaining destination information, combined with the latest route information and the vehicle's actual status. Then, based on the new basic navigation route and the latest vehicle diagnostic information (including predictions of possible new faults), the service sites used to eliminate the faults are re-determined, and these service sites are updated as waypoints to the new basic navigation route, thereby obtaining an updated target navigation route to guide the vehicle to continue driving.

[0157] This dynamic adjustment mechanism can promptly respond to emergencies that occur during vehicle driving, ensuring that the vehicle can continue to drive to its destination safely and efficiently.

[0158] The present application provides a navigation path planning method, device and computer-readable storage medium. Compared with the current navigation technology that is difficult to meet the complex actual driving needs, the path planning is carried out according to the departure information and destination information of the vehicle, the basic navigation route is obtained, and the historical data of other vehicles consistent with the vehicle's diagnostic information and the basic navigation route are obtained. By analyzing the historical data of other vehicles under the same or similar basic navigation routes, including fault information and normal operating status information, the predicted fault information that may be generated when the current vehicle is driving according to the basic navigation route is predicted. Incorporating the driving demand of fault warning into the path planning and predicting faults in advance can enable the driver to go to the service station for maintenance before the fault occurs to eliminate the fault and avoid safety accidents during driving. Determine the service station for eliminating the fault according to the predicted fault information, and include the determined service station as a waypoint in the basic navigation route to form a target navigation route, so that the route is more in line with the actual situation of the vehicle. Since possible faults are taken into consideration and the corresponding service stations are planned, this forward-looking design improves the user's driving experience. The vehicle does not need to temporarily find a repair location after the fault occurs, which reduces unnecessary delays, meets the user's complex driving needs, and improves driving safety.

[0159] Figure 8 An example of a physical structure diagram of a navigation path planning device is shown below. Figure 8 As shown, the navigation path planning device may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820 and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the navigation path planning method.

[0160] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0161] On the other hand, the present application also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the navigation path planning methods provided by the above methods.

[0162] On the other hand, the present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the navigation path planning method provided by the above-mentioned methods.

[0163] It should be noted that the technical solutions or technical features described in the above embodiments can be combined or supplemented with each other without causing conflicts. The scope of protection of this application is not limited to the precise structures described in the above embodiments and shown in the drawings; all modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this application should be included in the scope of protection of this application.

Claims

1. A navigation path planning method, characterized in that: The method comprises: Path planning is performed based on the vehicle's departure and destination information to obtain a basic navigation route; Acquire historical data of other vehicles that are consistent with the diagnostic information of the vehicle and the basic navigation route; the diagnostic information includes information about faults that have occurred in the vehicle and status information of the vehicle in normal operation; Predicting predicted fault information generated when the vehicle travels along the basic navigation route based on the diagnostic information and the historical data; Determining a service site for eliminating the fault according to the predicted fault information; The basic navigation route is updated by using the service site as a waypoint to obtain a target navigation route.

2. The navigation path planning method according to claim 1, characterized in that: The determining of a service site for eliminating the fault according to the predicted fault information includes: Acquiring operation information of multiple service sites on the basic navigation route; Determine a plurality of service sites to be selected according to the fault type corresponding to the predicted fault information and the service type information in the operation information; Among the multiple service sites to be selected, the service site most suitable for eliminating the fault is matched according to the positional relationship between the service sites to be selected and the basic navigation route.

3. The navigation path planning method according to claim 2, characterized in that: The operation information also includes status information of the service site; The method further comprises: A plurality of service sites to be selected are determined according to the fault type corresponding to the predicted fault information and the service type and status information in the operation information.

4. The navigation path planning method according to claim 1, characterized in that: The method further comprises: Segmenting the basic navigation route to obtain multiple route segments; The predicting, based on the diagnostic information and the historical data, predicted fault information generated when the vehicle travels along the basic navigation route includes: Predicting predicted fault information generated when the vehicle travels along the current route based on data in the historical data that is consistent with the current route in the multiple routes; The determining of a service site for eliminating the fault according to the predicted fault information includes: Based on the predicted fault information corresponding to the current road section, a service station for eliminating the fault on the current road section is determined.

5. The navigation path planning method according to claim 4, characterized in that: The basic navigation route is segmented to obtain multiple routes, including: Using a map data processing algorithm, identifying all intersections on the basic navigation route; For each intersection, a mark is made in the data structure of the basic navigation route, and the intersection is used as a segmentation point of a road segment to obtain a multi-segment route.

6. The navigation path planning method according to claim 4, characterized in that: The basic navigation route is segmented to obtain multiple routes, including: Acquiring information of the service site within a set range of the basic navigation route; Taking a set distance interval as a unit length, calculating the density of the service sites within each unit length; At least one road segment of unit length is used as a segmentation point, so that in the multiple route segments obtained after segmentation, the density of the service sites in each route segment is greater than a threshold.

7. The navigation path planning method according to claim 1, characterized in that: After the basic navigation route is updated by using the service site as a waypoint to obtain a target navigation route, the method further includes: The target navigation route is sent to the vehicle, and when the vehicle is traveling along the target navigation route, current diagnostic information of the vehicle is obtained based on a set frequency; Determining whether the current diagnostic information is consistent with the diagnostic information of the vehicle when it was traveling on the current road section; In case of inconsistency, the current position of the vehicle is used as the departure information of the vehicle, and the path planning is performed according to the departure information and the destination information of the vehicle to obtain the basic navigation route, so as to update the target navigation route.

8. The navigation path planning method according to claim 1, characterized in that: The determining of a service site for eliminating the fault according to the predicted fault information includes: When there are multiple faults corresponding to the predicted fault information, evaluating the impact of each fault on the normal driving of the vehicle and determining the fault priority of each fault; A service site for eliminating the fault is determined according to the fault priority level of each fault.

9. A navigation path planning device, characterized in that: It includes a memory, a processor, and a navigation path planning program stored in the memory and executable on the processor, and when the processor executes the navigation path planning program, the steps of the navigation path planning method as described in any one of claims 1 to 8 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a navigation path planning program, which, when executed, implements the steps of the navigation path planning method according to any one of claims 1 to 8.

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