Single-lane navigation method, system and related equipment

Abstract

The invention provides a single-lane navigation method, a single-lane navigation system and related equipment. The method comprises the following steps: receiving navigation position information input by a user; generating a navigation path based on the navigation position information; acquiring lane information in the navigation path and judging whether a single lane exists or not; if a single lane exists, establishing communication connection with a single-lane navigation cloud service; position information and speed information of the vehicle are obtained in real time, and when the vehicle enters a time window where the vehicle is about to drive to the entrance of the single lane, a lane passing request is sent to the navigation cloud service; receiving passing planning information fed back by the navigation cloud service; driving into the single lane based on the traffic planning information and reporting vehicle driving-in information after driving into the single lane; the driving position of the vehicle in the single lane is obtained in real time, and vehicle driving-out information is reported when the vehicle drives out of the single lane. According to the invention, vehicle navigation is utilized and cloud service is matched to carry out single-lane meeting scheduling, and localized hardware does not need to be arranged on a single lane, so that the applicability of the scheme is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of single-lane passing, and in particular, to a single-lane navigation method, system and related devices. Background Art

[0002] Currently, some lanes in traffic are single lanes, which only support one vehicle to pass at the same time. Such roads are widely distributed in rural areas, towns and mountains. When encountering a single-lane passing scenario during driving, one party often needs to reverse to an open area and give way after reaching a section that supports multiple vehicles. During the reversing process, it is very easy to scrape against roadside obstacles or slide off the road shoulder. The position for giving way is generally very extreme, which is very likely to cause traffic accidents. The existing technology for single-lane passing basically uses a localized hardware solution to guide vehicles. There is a lack of a technical solution for realizing single-lane passing guidance based on navigation in the existing technology.

[0003] Therefore, the existing technology still needs to be improved and developed. Summary of the Invention

[0004] The present invention provides a single-lane navigation method, system and related devices. The main purpose of the present invention is to solve the technical problems mentioned in the background art of the existing technology.

[0005] The first aspect of the present invention provides a single-lane navigation method, including:

[0006] Receiving navigation position information input by a user;

[0007] Generating a navigation path based on the navigation position information;

[0008] Obtaining lane information in the navigation path and determining whether there is a single lane in the lane information;

[0009] If there is the single lane in the lane information, establishing a communication connection with a single-lane navigation cloud service;

[0010] Real-time obtaining the position information and speed information of the vehicle, and when the vehicle enters the time window approaching the single-lane entrance, sending a lane passing request to the single-lane navigation cloud service;

[0011] Receiving the passing planning information fed back by the single-lane navigation cloud service;

[0012] Driving into the single lane based on the passing planning information, and reporting vehicle entry information to the single-lane navigation cloud service after driving into the single lane;

[0013] Obtain the driving position of the vehicle in the single lane in real time. When the vehicle exits the single lane, report the vehicle exit information to the single lane navigation cloud service.

[0014] In an optional implementation manner of the first aspect of the present invention, obtaining the lane information in the navigation path and determining whether there is a single lane in the lane information includes:

[0015] Call the map service API, and obtain the detailed attributes of each section in the navigation path based on the map service API;

[0016] Analyze the detailed attributes of each section in the navigation path, and obtain the number of lanes and section marks of each section in the navigation path;

[0017] Determine whether there is a single lane in the lane information based on the number of lanes and the section marks.

[0018] In an optional implementation manner of the first aspect of the present invention, obtaining the position information and speed information of the vehicle in real time and sending a lane passing request to the single lane navigation cloud service when the vehicle enters the time window approaching the entrance of the single lane includes:

[0019] Obtain the position information and speed information of the vehicle in real time;

[0020] Based on the position information and the speed information, calculate the first time for the vehicle to travel to the entrance of the single lane;

[0021] Calculate the sum of the first time, the cloud response time of the single lane navigation cloud service, and the preset redundancy time;

[0022] Judge whether the sum of the times is greater than a preset threshold. If the sum of the times is less than or equal to the preset threshold, it is determined that the vehicle enters the time window approaching the entrance of the single lane, and a lane passing request is sent to the single lane navigation cloud service.

[0023] In an optional implementation manner of the first aspect of the present invention, receiving the passing plan information fed back by the single lane navigation cloud service includes:

[0024] Receive the passing plan information fed back by the single lane navigation cloud service;

[0025] Extract the number of vehicles driving in the single lane, the driving direction of the vehicles driving in the single lane, and the waiting time required to enter the single lane from the passing plan information;

[0026] Display the number of vehicles traveling in the single lane, the direction of the vehicles traveling in the single lane, and the waiting time required to enter the single lane in a preset information box of the navigation software.

[0027] In an optional implementation manner of the first aspect of the present invention, generating a navigation path based on the navigation position information includes:

[0028] Obtain the current real-time position of the vehicle based on multi-source fusion positioning technology;

[0029] Obtain the target position of the vehicle based on the navigation position information;

[0030] Construct a road network between the real-time position and the target position based on a node adjacency matrix;

[0031] Use Dijkstra to search for a feasible path in the road network to obtain a preliminary navigation path;

[0032] Obtain the real-time traffic condition information in the preliminary navigation path, and extract the congested sections in the preliminary navigation path;

[0033] For each congested section, obtain the two end points of the congested section, and obtain alternative section information based on the two end points of the congested section;

[0034] Obtain an alternative section from the alternative section information based on a multi-parameter weight adaptive algorithm;

[0035] Replace the congested section in the preliminary navigation path with the alternative section to obtain a target navigation path.

[0036] In an optional implementation manner of the first aspect of the present invention, every time the single-lane navigation cloud service receives the lane passing request, it obtains the vehicle condition data in the single lane and within a preset distance range on both sides of the single lane when the lane passing request is received, and performs vehicle passing planning for the single lane with the shortest time difference between the last vehicles on both sides of the single lane driving out of the single lane in the vehicle condition data.

[0037] In an optional implementation manner of the first aspect of the present invention, every time the single-lane navigation cloud service receives the vehicle entry information, it obtains the port where the vehicle enters from the vehicle entry information, obtains the driving direction of the vehicle based on the port where the vehicle enters, and adds 1 to the number of vehicles in the driving direction in the single lane;

[0038] Each time the single-lane navigation cloud service receives the vehicle departure information, it obtains the port from which the vehicle departs from the vehicle entry information, obtains the driving direction of the vehicle based on the port from which the vehicle departs, and subtracts 1 from the number of vehicles in the driving direction within the single lane.

[0039] A second aspect of the present invention provides a single-lane navigation system, and the single-lane navigation system includes:

[0040] A navigation information receiving module, configured to receive navigation position information input by a user;

[0041] A navigation path generation module, configured to generate a navigation path based on the navigation position information;

[0042] A lane information judgment module, configured to obtain lane information in the navigation path and judge whether there is a single lane in the lane information;

[0043] A communication connection module, configured to establish a communication connection with the single-lane navigation cloud service if there is the single lane in the lane information;

[0044] A request sending module, configured to obtain the position information and speed information of the vehicle in real time, and send a lane passage request to the single-lane navigation cloud service when the vehicle enters the time window approaching the single-lane entrance;

[0045] A feedback receiving module, configured to receive the passage planning information fed back by the single-lane navigation cloud service;

[0046] An entry reporting module, configured to drive into the single lane based on the passage planning information, and report vehicle entry information to the single-lane navigation cloud service after driving into the single lane;

[0047] An exit reporting module, configured to obtain the driving position of the vehicle in the single lane in real time, and report vehicle exit information to the single-lane navigation cloud service when the vehicle exits the single lane.

[0048] A third aspect of the present invention provides a single-lane navigation device, and the single-lane navigation device includes: a memory and at least one processor, instructions are stored in the memory, and the memory and the at least one processor are interconnected by a line;

[0049] The at least one processor calls the instructions in the memory to enable the single-lane navigation device to execute the single-lane navigation method according to any one of the above first aspects of the present invention.

[0050] In a fourth aspect of the present invention, there is provided a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the single-lane navigation method described in any one of the above first aspects of the present invention is implemented.

[0051] Beneficial effects: The present invention provides a single-lane navigation method, system and related devices. The method includes receiving navigation position information input by a user; generating a navigation path based on the navigation position information; obtaining lane information in the navigation path and determining whether there is a single lane; if there is a single lane, establishing a communication connection with a single-lane navigation cloud service; obtaining the position information and speed information of the vehicle in real time, and when the vehicle enters the time window approaching the single-lane entrance, sending a lane passing request to the navigation cloud service; receiving the passing planning information fed back by the navigation cloud service; driving into the single lane based on the passing planning information and reporting the vehicle entry information after driving into the single lane; obtaining the driving position of the vehicle in the single lane in real time and reporting the vehicle exit information when the vehicle exits the single lane. The present invention utilizes vehicle navigation and cooperates with cloud services for single-lane passing scheduling, without the need to set up local hardware in the single lane, improving the applicability of the solution. Description of the Drawings

[0052] Figure 1 It is a schematic diagram of an embodiment of the main method steps of a single-lane navigation method of the present invention;

[0053] Figure 2 It is a schematic diagram of an embodiment of a single-lane navigation system of the present invention;

[0054] Figure 3 It is a schematic diagram of an embodiment of a single-lane navigation device of the present invention. Detailed Embodiments

[0055] The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of the present invention are used to distinguish similar objects and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" or "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0056] For ease of understanding, the specific processes of the embodiments of the present invention are described below. Please refer to Figure 1, the first aspect of the present invention provides a single-lane navigation method, including:

[0057] S100. Receive the navigation position information input by the user; in the present invention, the device for receiving the navigation position information input by the user can be the user's mobile terminal or the in-vehicle central control. The way for the user to input the navigation position information can be input by the input method or voice input. In an exemplary scenario of the present invention, for example, the user can wake up the voice assistant of the in-vehicle central control by voice and then input "I want to go to XXX, navigate to XXX" by voice, and the voice assistant then opens the in-vehicle navigation software to plan the navigation path.

[0058] S200. Generate a navigation path based on the navigation position information; in the present invention, after the navigation software obtains the navigation position information input by the customer, it will plan the navigation route. It should be noted that the navigation software in the present invention can plan the navigation path based on the processing ability of the local terminal or based on the cloud.

[0059] In an optional implementation manner of step S200 of the present invention, the generating a navigation path based on the navigation position information includes:

[0060] S201. Obtain the current real-time position of the vehicle based on the multi-source fusion positioning technology; in this step of the present invention, the real-time longitude and latitude of the vehicle can be obtained through the GNSS / IMU fusion positioning technology, and combined with the high-precision map for lane-level positioning correction, with an accuracy of within 0.5 meters. If there is satellite signal occlusion, the positioning information can also be supplemented through the V2X roadside unit or visual SLAM.

[0061] S202. Obtain the target position of the vehicle based on the navigation position information; in this step, the effective position information is extracted from the navigation position information input by the user. For example, if the user inputs "I want to navigate to XXX", the effective position information of "XXX" is extracted in this step.

[0062] S203. Construct a road network between the real-time position and the target position based on the node adjacency matrix; in this step of the present invention, a road network is constructed based on the node adjacency matrix. Among them, the nodes in the road network include road intersections, starting points, and ending points, and the edges represent the passing information (length, direction, speed limit, etc.) of the road segments. And the complex areas (such as intersections, roundabouts) are segmented into subgraphs to reduce the calculation complexity.

[0063] S204. Use Dijkstra's algorithm to search for feasible paths in the road network and obtain a preliminary navigation path. In the present invention, when generating a path, based on the starting point and the ending point, Dijkstra's algorithm (Dijkstra algorithm) can be used to search for feasible paths in the topological network, and historical high-frequency trajectories are preferentially screened. Dijkstra's algorithm is an algorithm for finding the shortest paths from a single source point to all other points in a graph. It can handle directed or undirected graphs with non-negative weights, starting from the starting point and gradually expanding the shortest path to reach the ending point.

[0064] S205. Obtain the real-time traffic conditions information in the preliminary navigation path and extract the congested sections in the preliminary navigation path. In this step of the present invention, after obtaining the preliminary navigation path, the present invention will continue to obtain the congestion information (such as the color displayed by the section) of each section in the preliminary navigation path from the map API interface, and obtain the sections displayed in red from the preliminary navigation path.

[0065] S206. For each congested section, obtain the two end points of the congested section, and obtain alternative section information based on the two end points of the congested section. In this step of the present invention, after obtaining the red sections in the preliminary navigation path, the present invention will then continue to obtain the end points of the red sections, and then obtain other passable sections between the two end points of the red section from the road network as alternative sections.

[0066] S207. Obtain an alternative section from the alternative section information based on the multi-parameter weight adaptive algorithm. In the present invention, for alternative sections, in an optional implementation manner, a preliminary screening may be first performed based on the color displayed by the alternative section to obtain effective alternative sections. Then, for the effective alternative sections, a scoring is performed on the effective alternative sections through a weight adaptive algorithm based on parameters such as section length, section grade, section type, and user preferences. Then, the alternative section with the highest score is obtained as the alternative section.

[0067] S208. Replace the congested section in the preliminary navigation path with the alternative section to obtain a target navigation path. In the present invention, after obtaining the alternative section corresponding to each congested section, replace the alternative section in the preliminary navigation path, and then the target navigation path can be obtained. The target navigation path is pushed to the user for navigation.

[0068] S300. Obtain the lane information in the navigation path and determine whether there is a single lane in the lane information. After obtaining the navigation path in the present invention, it is necessary to confirm whether there is a single lane in the navigation path, so as to prepare in advance whether to enable the function of single-lane navigation (that is, whether to access the single-lane navigation cloud service interface). In an optional embodiment of the present invention, the presentation mode of the single-lane navigation cloud service interface in the navigation program can be a functional component. If there is a single lane in the navigation path, the functional component of the single-lane navigation cloud service will be enabled.

[0069] In an optional embodiment of step S300 of the present invention, the obtaining the lane information in the navigation path and determining whether there is a single lane in the lane information includes:

[0070] S301. Invoke the map service API and obtain the detailed attributes of each section in the navigation path based on the map service API. In this step, use the map service API to obtain the detailed attributes of each section in the path. The request parameters can specify that road type information needs to be returned. For example, AVOID_HIGHWAY in the policy parameter can assist in filtering non-main roads.

[0071] S302. Analyze the detailed attributes of each section in the navigation path and obtain the number of lanes and section markers of each section in the navigation path. In the present invention, the restriction field in the API return result may contain traffic restriction information. If a section marker is "no entry" or "one-way", it can be determined as a single lane. The section data returned by the API usually also includes road grades (such as main roads, feeder roads) and lane number information. If the number of lanes in a section is 1 or it is marked as "one-way road", it can be directly determined as a single lane.

[0072] S303. Determine whether there is a single lane in the lane information based on the number of lanes and the section marker. In the present invention, in this step, the lanes with a lane number of 1 and a section marker of one-way road in the navigation path are obtained.

[0073] S400. If the single lane exists in the lane information, establish a communication connection with the single-lane navigation cloud service; in the present invention, after determining that the single lane exists in the lane information, the single-lane navigation function in the navigation program will be enabled (available in the navigation software of each manufacturer in the form of a function widget to increase universality) and a communication connection with the single-lane navigation cloud service will be established. It should be noted that the situations applicable to the method of the present invention are mainly single-lane roads with low traffic volume (such as non-urban roads). By accessing the navigation cloud service based on the navigation path during navigation, not only can the meeting vehicle scheduling at the single-lane position rely on the navigation cloud service, but also the navigation cloud service can predict the traffic volume at the meeting location when planning the navigation path.

[0074] S500. Real-time obtain the position information and speed information of the vehicle. When the vehicle enters the time window approaching the single-lane entrance, send a lane passage request to the single-lane navigation cloud service; in the present invention, when the vehicle approaches the single-lane entrance, a lane passage request will be sent to the single-lane navigation cloud service first to obtain the scheduling plan issued by the cloud service. Each time the single-lane navigation cloud service receives the lane passage request, it will obtain the vehicle condition data within the single lane and within the preset distance range on both sides of the single lane when the lane passage request is received, and plan the vehicle passage in the single lane with the shortest time difference between the last vehicles on both sides of the single lane driving out of the single lane in the vehicle condition data.

[0075] In the present invention, the vehicle will send a request to the single-lane navigation cloud service only after entering the time window, so as to obtain more effective vehicle scheduling data. And when the feedback from the cloud service is that it can pass directly, the vehicle can enter the single lane more smoothly. In an optional implementation manner of step S500 in the present invention, the real-time obtain the position information and speed information of the vehicle. When the vehicle enters the time window approaching the single-lane entrance, send a lane passage request to the single-lane navigation cloud service includes:

[0076] S501. Real-time obtain the position information and speed information of the vehicle; in the present invention, the method of obtaining the position information of the vehicle can also adopt the multi-source fusion positioning technology, and the speed information of the vehicle can be obtained based on the vehicle speed data obtained by the sensors on the vehicle.

[0077] S502. Based on the position information and the speed information, calculate the first time for the vehicle to travel to the single-lane entrance; after obtaining the position information of the vehicle, the distance between the vehicle and the single-lane entrance can be determined, and then combined with the vehicle speed, the first time for the vehicle to travel to the single-lane entrance can be obtained.

[0078] S503. Calculate the sum of the obtained first time, the cloud response time of the single-lane navigation cloud service, and the preset redundancy time; in the present invention, relying solely on the data of the first time cannot achieve smooth passage of the vehicle into the single lane. It is also necessary to add the cloud response time (empirical value or average value obtained based on historical data) after sending the request and the redundancy time. The role of the redundancy time is to take into account the speed fluctuation and ensure that the vehicle has sufficient braking waiting time.

[0079] S504. Determine whether the sum of the times is greater than a preset threshold. If the sum of the times is less than or equal to the preset threshold, it is determined that the vehicle has entered the time window approaching the single-lane entrance, and a lane passage request is sent to the single-lane navigation cloud service. In the present invention, when the sum of the first time, the cloud response time, and the redundancy time is less than or equal to the preset threshold, it is determined that the vehicle has entered the time window, and a lane passage scheduling request can be sent to the cloud service.

[0080] S600. Receive the traffic planning information fed back by the single-lane navigation cloud service; in an optional implementation manner of step S600 in the present invention, the receiving the traffic planning information fed back by the single-lane navigation cloud service includes: receiving the traffic planning information fed back by the single-lane navigation cloud service; extracting from the traffic planning information the number of vehicles traveling in the single lane, the direction of the vehicles traveling in the single lane, and the waiting time required to enter the single lane; and displaying the number of vehicles traveling in the single lane, the direction of the vehicles traveling in the single lane, and the waiting time required to enter the single lane in the preset information box of the navigation software. In another optional implementation manner of the present invention, the traffic planning information can also be broadcast by using the hardware of the terminal or the in-vehicle central control to further improve the convenience of single-lane traffic.

[0081] S700. Enter the single lane based on the traffic planning information, and report the vehicle entry information to the single-lane navigation cloud service after entering the single lane; in the present invention, each time the single-lane navigation cloud service receives the vehicle entry information, it obtains the port where the vehicle enters from the vehicle entry information, obtains the driving direction of the vehicle based on the port where the vehicle enters, and increments the number of vehicles in the driving direction in the single lane by 1.

[0082] S800. Real-time obtain the driving position of the vehicle in the single lane. When the vehicle exits the single lane, report the vehicle exit information to the single-lane navigation cloud service. Each time the single-lane navigation cloud service receives the vehicle exit information, it obtains the port where the vehicle exits from the vehicle entry information, obtains the driving direction of the vehicle based on the port where the vehicle exits, and decrements the number of vehicles in the driving direction in the single lane by 1.

[0083] Briefly speaking, the technical idea of the technical solution of the present invention can be summarized as follows:

[0084] 1. The user initiates navigation path planning and accesses the single-lane navigation cloud service based on the navigation path situation.

[0085] 2. When the user is about to enter the single-lane road for driving, obtain the number of vehicles driving in the lane from the cloud service. When the number of oncoming vehicles > 0, the user can be prompted through the interface and / or voice navigation that they are about to enter the single lane, and there are already vehicles driving in the oncoming direction. It is recommended to wait at the entrance until the oncoming vehicles have passed before entering to avoid reversing after meeting.

[0086] 3. When the user enters the single lane, report it to the navigation cloud service, and the cloud service increments the number of single-lane vehicles in the driving direction of this side by 1; when the user leaves the single lane, report it to the navigation cloud service, and the cloud service decrements the number of single-lane vehicles in the driving direction of this side by 1.

[0087] 4. When the user has not entered the single lane and is waiting at the entrance, when the number of oncoming passing vehicles changes, prompt the user how many vehicles are still passing, and according to the navigation planning situation of the last vehicle on the oncoming side, prompt the user of the estimated waiting duration to improve the experience; when there is a new vehicle entering on the oncoming side, then prompt the user that there is a new vehicle entering and how long it is expected to wait further to improve the experience.

[0088] See Figure 2 , in the second aspect of the present invention, a single-lane navigation system is provided, and the single-lane navigation system includes:

[0089] A navigation information receiving module 10, configured to receive navigation position information input by the user;

[0090] A navigation path generating module 20, configured to generate a navigation path based on the navigation position information;

[0091] A lane information judging module 30, configured to obtain lane information in the navigation path and judge whether there is a single lane in the lane information;

[0092] A communication connection module 40, configured to establish a communication connection with the single-lane navigation cloud service if there is the single lane in the lane information;

[0093] A request sending module 50, configured to obtain the position information and speed information of the vehicle in real time, and send a lane passing request to the single-lane navigation cloud service when the vehicle enters the time window approaching the single-lane entrance;

[0094] A feedback receiving module 60, configured to receive the passing planning information fed back by the single-lane navigation cloud service;

[0095] The driving-in reporting module 70 is configured to drive into the single lane based on the traffic planning information, and report vehicle driving-in information to the single-lane navigation cloud service after driving into the single lane;

[0096] The driving-out reporting module 80 is configured to obtain the driving position of the vehicle in the single lane in real time, and report vehicle driving-out information to the single-lane navigation cloud service when the vehicle drives out of the single lane.

[0097] In an optional implementation manner of the second aspect of the present invention, the lane information judgment module includes:

[0098] The API call unit is configured to call the map service API, and obtain the detailed attributes of each section in the navigation path based on the map service API;

[0099] The lane attribute parsing unit is configured to parse the detailed attributes of each section in the navigation path, and obtain the number of lanes and section marks of each section in the navigation path;

[0100] The single-lane determination unit is configured to determine whether there is a single lane in the lane information based on the number of lanes and the section marks.

[0101] In an optional implementation manner of the second aspect of the present invention, the request sending module includes:

[0102] The vehicle information real-time acquisition unit is configured to acquire the position information and speed information of the vehicle in real time;

[0103] The time calculation unit is configured to calculate the first time for the vehicle to drive to the entrance of the single lane based on the position information and the speed information;

[0104] The time sum calculation unit is configured to calculate the sum of the first time, the cloud response time of the single-lane navigation cloud service, and a preset redundancy time;

[0105] The threshold judgment unit is configured to judge whether the time sum is greater than a preset threshold. If the time sum is less than or equal to the preset threshold, it is determined that the vehicle enters the time window of approaching the entrance of the single lane, and a lane traffic request is sent to the single-lane navigation cloud service.

[0106] In an optional implementation manner of the second aspect of the present invention, the feedback receiving module includes:

[0107] The information receiving unit is configured to receive the traffic planning information fed back by the single-lane navigation cloud service;

[0108] An information extraction unit for extracting the number of vehicles traveling in the single lane, the direction of the vehicles traveling in the single lane, and the waiting time required to enter the single lane from the traffic planning information;

[0109] An information display unit for displaying the number of vehicles traveling in the single lane, the direction of the vehicles traveling in the single lane, and the waiting time required to enter the single lane in a preset information box of the navigation software.

[0110] In an alternative embodiment of the second aspect of the present invention, the navigation path generation module includes:

[0111] A fusion positioning unit for obtaining the current real-time position of the vehicle based on multi-source fusion positioning technology;

[0112] A target position acquisition unit for acquiring the target position of the vehicle based on the navigation position information;

[0113] A road network construction unit for constructing a road network between the real-time position and the target position based on a node adjacency matrix;

[0114] A preliminary path acquisition unit for searching for a feasible path in the road network using Dijkstra to obtain a preliminary navigation path;

[0115] A congested section acquisition unit for acquiring real-time traffic condition information in the preliminary navigation path and extracting the congested sections in the preliminary navigation path;

[0116] An alternative section acquisition unit for, for each of the congested sections, acquiring the two end points of the congested section and obtaining alternative section information based on the two end points of the congested section;

[0117] A replacement section determination unit for obtaining a replacement section from the alternative section information based on a multi-parameter weight adaptive algorithm;

[0118] A target path acquisition unit for replacing the congested section in the preliminary navigation path with the replacement section to obtain a target navigation path.

[0119] In an alternative embodiment of the second aspect of the present invention, each time the single-lane navigation cloud service receives the lane traffic request, it acquires the vehicle condition data within the single lane and within a preset distance range on both sides of the single lane when the lane traffic request is received, and performs vehicle traffic planning for the single lane with the shortest time difference between the last vehicles on both sides of the single lane driving out of the single lane in the vehicle condition data.

[0120] In an alternative embodiment of the second aspect of the present invention, each time the single-lane navigation cloud service receives the vehicle entry information, it obtains the port where the vehicle enters from the vehicle entry information, obtains the driving direction of the vehicle based on the port where the vehicle enters, and increments the number of vehicles in the driving direction within the single lane by 1;

[0121] Each time the single-lane navigation cloud service receives the vehicle exit information, it obtains the port where the vehicle exits from the vehicle entry information, obtains the driving direction of the vehicle based on the port where the vehicle exits, and decrements the number of vehicles in the driving direction within the single lane by 1.

[0122] Figure 3 FIG. is a schematic structural diagram of a single-lane navigation device provided by an embodiment of the present invention. The single-lane navigation device may vary greatly due to configuration or performance differences, and may include one or more processors 90 (central processing units, CPUs) (for example, one or more processors) and a memory 100, and one or more storage media 110 for storing application programs or data (for example, one or more mass storage devices). Among them, the memory and the storage media may be transient storage or persistent storage. The program stored in the storage media may include one or more modules (not shown in the figure), and each module may include a series of instruction operations on the single-lane navigation device. Further, the processor may be configured to communicate with the storage media and execute a series of instruction operations in the storage media on the single-lane navigation device.

[0123] The single-lane navigation device of the present invention may further include one or more power supplies 120, one or more wired or wireless network interfaces 130, one or more input / output interfaces 140, and / or one or more operating systems, such as Windows Serve, Mac OS X, Unix, Linux, FreeBSD, and so on. Those skilled in the art can understand that Figure 3 The shown structure of the single-lane navigation device does not limit the single-lane navigation device, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0124] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium, and when the instructions are run on a computer, the computer is caused to execute the steps of the single-lane navigation method.

[0125] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems or system and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0126] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The foregoing storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0127] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments or equivalently replace some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A single lane navigation method, characterized in that: include: Receive navigation location information input by the user; generating a navigation path based on the navigation location information; Acquire lane information in the navigation path, and determine whether there is a single lane in the lane information; If the lane information includes the single lane, establishing a communication connection with the single lane navigation cloud service; Acquire the position information and speed information of the vehicle in real time, and send a lane pass request to the single lane navigation cloud service when the vehicle enters a time window of the single lane entrance; Receiving traffic planning information fed back by the single-lane navigation cloud service; Entering the single lane based on the traffic planning information, and reporting vehicle entry information to the single lane navigation cloud service after entering the single lane; The driving position of the vehicle in the single lane is obtained in real time, and when the vehicle exits the single lane, the vehicle exit information is reported to the single lane navigation cloud service.

2. The single lane navigation method according to claim 1, characterized in that: The acquiring lane information in the navigation path and determining whether the lane information contains a single lane comprises: Calling a map service API, and obtaining detailed attributes of each road segment in the navigation path based on the map service API; Parsing the detailed attributes of each road section in the navigation path to obtain the number of lanes and road section marks of each road section in the navigation path; It is determined whether there is a single lane in the lane information based on the number of lanes and the road section mark.

3. The single lane navigation method according to claim 2, characterized in that: The real-time acquisition of the vehicle's position information and speed information, and when the vehicle enters a time window of the single lane entrance, sending a lane pass request to the single lane navigation cloud service comprises: Obtain vehicle location and speed information in real time; Based on the position information and the speed information, calculating a first time for the vehicle to travel to the single lane entrance; Calculate and obtain the first time, the cloud response time of the single lane navigation cloud service, and the time sum of the preset redundancy time; Determine whether the time and the sum are greater than a preset threshold; if the time and the sum are less than or equal to the preset threshold, determine that the vehicle is entering a time window of the single lane entrance, and send a lane pass request to the single lane navigation cloud service.

4. The single lane navigation method according to claim 2, characterized in that: The receiving of the traffic planning information fed back by the single lane navigation cloud service includes: Receiving traffic planning information fed back by the single-lane navigation cloud service; Extracting the number of vehicles traveling in the single lane, the direction of vehicles traveling in the single lane, and the waiting time required to enter the single lane from the traffic planning information; The number of vehicles traveling in the single lane, the direction of the vehicles traveling in the single lane, and the waiting time required to enter the single lane are displayed in a preset information box of the navigation software.

5. The single lane navigation method according to claim 1, characterized in that: Generating a navigation path based on the navigation position information includes: Based on multi-source fusion positioning technology, the current real-time position of the vehicle is obtained; Acquire a target position of the vehicle based on the navigation position information; Constructing a road network between the real-time location and the target location based on a node adjacency matrix; Using Dijkstra to search for a feasible path in the road network to obtain a preliminary navigation path; Acquiring real-time traffic information in the preliminary navigation route, and extracting congested sections in the preliminary navigation route; For each of the congested road sections, two end points of the congested road section are obtained, and candidate road section information is obtained based on the two end points of the congested road section; Acquire a substitute road section from the candidate road section information based on a multi-parameter weight adaptive algorithm; The congested road section in the preliminary navigation path is replaced by the substitute road section to obtain a target navigation path.

6. The single lane navigation method according to claim 1, characterized in that: Each time the single-lane navigation cloud service receives a lane passing request, it obtains the vehicle status data in the single lane and within a preset distance range on both sides of the single lane when the lane passing request is received, and performs vehicle passage planning for the single lane based on the shortest time difference between the last vehicles on both sides of the single lane leaving the single lane in the vehicle status data.

7. The single lane navigation method according to claim 1, characterized in that: Each time the single lane navigation cloud service receives the vehicle entry information, it obtains the port where the vehicle enters from the vehicle entry information, obtains the driving direction of the vehicle based on the port where the vehicle enters, and adds 1 to the number of vehicles in the driving direction in the single lane; Each time the single-lane navigation cloud service receives the vehicle exit information, it obtains the vehicle exit port from the vehicle entry information, obtains the vehicle's driving direction based on the vehicle exit port, and subtracts 1 from the number of vehicles in the driving direction in the single lane.

8. A single lane navigation system, characterized in that: The single lane navigation system comprises: A navigation information receiving module, used for receiving navigation location information input by a user; A navigation path generating module, used for generating a navigation path based on the navigation position information; A lane information determination module, used to obtain lane information in the navigation path and determine whether there is a single lane in the lane information; a communication connection module, configured to establish a communication connection with a single lane navigation cloud service if the lane information contains the single lane; A request sending module, used for acquiring the position information and speed information of the vehicle in real time, and sending a lane passing request to the single lane navigation cloud service when the vehicle enters a time window of the single lane entrance; A feedback receiving module, used to receive the traffic planning information fed back by the single lane navigation cloud service; An entry reporting module, used for entering the single lane based on the traffic planning information, and reporting vehicle entry information to the single lane navigation cloud service after entering the single lane; The exit reporting module is used to obtain the driving position of the vehicle in the single lane in real time, and when the vehicle exits the single lane, report the vehicle exit information to the single lane navigation cloud service.

9. A single lane navigation device, characterized in that: The single lane navigation device comprises: a memory and at least one processor, the memory stores instructions, and the memory and the at least one processor are interconnected via a line; The at least one processor calls the instructions in the memory to enable the single-lane navigation device to execute the single-lane navigation method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the single-lane navigation method according to any one of claims 1 to 7 is implemented.

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