Path positioning planning method and system based on Beidou navigation

Abstract

The invention relates to the technical field of Beidou navigation, and particularly discloses a path positioning planning method and system based on Beidou navigation, and the method comprises the steps: receiving an emergency rescue instruction, automatically planning an emergency rescue route and predicting the passing time, collecting the road condition information of the emergency rescue route, and transmitting the road condition information to a server; the method comprises the following steps: analyzing the influence of road conditions on passing time according to emergency rescue route road condition information, collecting emergency rescue route vehicle condition information, firstly analyzing whether a vehicle can avoid a passing distance for an emergency rescue vehicle according to the emergency rescue route vehicle condition information, and if the vehicle can avoid the passing distance, analyzing the influence of the vehicle condition on the passing time; the actual passing time is analyzed according to the influence of the road condition on the passing time and the influence of the vehicle condition on the passing time, and the emergency rescue route with the shortest actual passing time is screened out and recommended, so that the accuracy of predicting the emergency rescue passing time can be improved according to the influence of the road condition and the vehicle condition on the passing time, and the accuracy of predicting the emergency rescue passing time is improved. Therefore, the efficiency of emergency rescue route planning is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of Beidou navigation, and particularly to a path positioning and planning method and system based on Beidou navigation. Background Art

[0002] Emergency rescue path planning refers to planning the optimal path from the starting point to the accident site for rescue vehicles or personnel in case of emergency, so as to minimize the rescue time and improve the rescue efficiency. This kind of planning usually needs to consider various factors, including road conditions, traffic flow, distribution of rescue resources, etc. Emergency rescue path planning greatly affects the emergency rescue efficiency. Therefore, how to improve the accuracy of judging the emergency rescue passing time is particularly important;

[0003] In the prior art, the judgment of the emergency rescue passing time is mostly based on historical data and real-time traffic information to analyze the traffic conditions and predict the traffic conditions in a future period of time, so as to estimate the time for the rescue vehicle to reach the accident site. However, for the situation where there are obstacles blocking, it is impossible to analyze in time whether the vehicle can avoid a passing distance. As a result, in actual rescue, when the vehicle is too large, the road is too narrow or there are many obstacles, the vehicle avoidance time is prolonged, thus reducing the accuracy of predicting the emergency rescue passing time;

[0004] In view of the above problems, no effective solution has been proposed yet. Summary of the Invention

[0005] In view of the deficiencies of the prior art, the present invention proposes a path positioning and planning method and system based on Beidou navigation. The present invention automatically plans the emergency rescue route and predicts the passing time upon receiving an emergency rescue instruction, collects the road condition information of the emergency rescue route, analyzes the impact of the road condition on the passing time according to the road condition information of the emergency rescue route, collects the vehicle condition information of the emergency rescue route, first analyzes whether the vehicle can avoid a passing distance for the emergency rescue vehicle according to the vehicle condition information of the emergency rescue route. If it can avoid a passing distance, then analyzes the impact of the vehicle condition on the passing time, and comprehensively analyzes the actual passing time based on the impact of the road condition on the passing time and the impact of the vehicle condition on the passing time, and recommends the emergency rescue route with the shortest actual passing time. The present invention first analyzes whether the vehicle can avoid a passing distance according to the vehicle and the obstacles, and then analyzes the impact on the emergency rescue passing time according to the road condition and the vehicle condition, which can improve the accuracy of predicting the emergency rescue passing time, thereby improving the efficiency of emergency rescue route planning.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A path positioning and planning method based on Beidou navigation, comprising the following specific steps:

[0008] S1. Receive the emergency rescue instruction and automatically plan the emergency rescue route and predict the travel time;

[0009] S2. Collect the road condition information of the emergency rescue route, and analyze the impact of the road condition on the travel time according to the road condition information of the emergency rescue route;

[0010] S3. Collect the vehicle condition information of the emergency rescue route. First, analyze whether the vehicle can give way to the emergency rescue vehicle for a passing distance according to the vehicle condition information of the emergency rescue route. If it can give way to a passing distance, then analyze the impact of the vehicle condition on the travel time;

[0011] S4. Analyze the actual travel time by integrating the impact of road conditions on the travel time and the impact of vehicle conditions on the travel time;

[0012] S5. Screen out the emergency rescue route with the shortest actual travel time for recommendation.

[0013] Specifically, the S1 includes the following specific steps:

[0014] Receive the emergency rescue instruction, and the navigation module automatically plans the emergency rescue route and predicts the travel time according to the starting point and destination of the emergency rescue vehicle.

[0015] Specifically, the S2 includes the following specific steps:

[0016] S21. Collect the road condition information of the emergency rescue route, and the road condition information of the emergency rescue route includes road smoothness and road safety;

[0017] S22. Analyze the influence value of the road condition of the emergency rescue route on the travel time according to the road smoothness and road safety.

[0018] Specifically, the acquisition of the road smoothness and road safety in the S21 includes the following specific steps:

[0019] S211. Collect the pavement driving quality index, phase saturation flow, traffic signal data and historical accident occurrence frequency of the emergency rescue route. The traffic signal data includes green light duration, yellow light duration, start-up loss duration and signal cycle duration;

[0020] S212. Analyze the road smoothness according to the pavement driving quality index, phase saturation flow and traffic signal data of the emergency rescue route;

[0021] S213. Analyze the road safety according to the historical accident occurrence frequency of the emergency rescue route.

[0022] Specifically, the S3 includes the following specific steps:

[0023] S31. Collect the vehicle condition information of the emergency rescue route, where the vehicle condition information of the emergency rescue route includes the number of queuing vehicles, the turning radius of the vehicle, the vehicle length, the vehicle width, the lateral spacing between vehicles, the obstacle spacing, and the spacing behind the obstacle;

[0024] S32. Analyze the width occupied by the vehicle when turning according to the turning radius and width of the vehicle. Analyze whether the vehicle can enter the obstacle interval according to the width occupied by the vehicle when turning and the obstacle spacing. If the width occupied by the vehicle when turning is less than the obstacle spacing, the vehicle can enter the obstacle interval and proceed to step S33. If the width occupied by the vehicle when turning is greater than or equal to the obstacle spacing, the vehicle cannot enter the obstacle interval and remove this route;

[0025] S33. Analyze the length occupied by the vehicle when turning according to the turning radius and length of the vehicle. Obtain the vehicle avoidance distance by subtracting the spacing behind the obstacle from the length occupied by the vehicle when turning and then adding the lateral spacing between vehicles. Analyze whether the vehicle can provide a passing distance for the emergency rescue vehicle according to the width of the emergency rescue vehicle and the vehicle avoidance distance. If the width of the emergency rescue vehicle is less than the vehicle avoidance distance, the vehicle can provide a passing distance for the emergency rescue vehicle and proceed to step S34. If the width of the emergency rescue vehicle is greater than or equal to the vehicle avoidance distance, the vehicle cannot provide a passing distance for the emergency rescue vehicle and remove this route;

[0026] S34. Analyze the influence value of the vehicle condition of the emergency rescue route on the passing time according to the number of queuing vehicles.

[0027] Specifically, the S4 includes the following specific steps:

[0028] Analyze the actual passing time according to the influence value of the road condition of the emergency rescue route on the passing time and the influence value of the vehicle condition of the emergency rescue route on the passing time.

[0029] Specifically, the S5 includes the following specific steps:

[0030] Sort the actual passing times in ascending order, and screen and recommend the emergency rescue route corresponding to the shortest actual passing time.

[0031] A path positioning and planning system based on Beidou navigation, used to implement a path positioning and planning method based on Beidou navigation, includes: a path planning module, used to automatically plan the emergency rescue route and predict the passing time upon receiving an emergency rescue instruction;

[0032] A road condition analysis module, used to collect the road condition information of the emergency rescue route and analyze the influence of the road condition on the passing time according to the road condition information of the emergency rescue route;

[0033] The avoidance analysis module is used to collect the vehicle condition information of the emergency rescue route and analyze whether the vehicle can give way to the emergency rescue vehicle for a passing distance according to the vehicle condition information of the emergency rescue route;

[0034] The vehicle condition analysis module is used to analyze the influence of the vehicle condition of the route that can give way to a passing distance on the passing time;

[0035] The passing time analysis module is used to analyze the actual passing time by integrating the influence of road conditions on the passing time and the influence of vehicle conditions on the passing time;

[0036] The route recommendation module is used to screen and recommend the emergency rescue route with the shortest actual passing time.

[0037] The present invention also provides a computer device, including a processor and a memory for storing processor-executable instructions. When the processor executes the instructions, the steps of a path positioning and planning method based on Beidou navigation described in any of the above embodiments are implemented.

[0038] The present invention also provides a computer-readable storage medium, on which computer instructions are stored. When the instructions are executed, the steps of a path positioning and planning method based on Beidou navigation described in any of the above embodiments are implemented.

[0039] Compared with the prior art, the beneficial effects of the present invention are as follows: automatically planning an emergency rescue route and predicting the passing time upon receiving an emergency rescue instruction, collecting the road condition information of the emergency rescue route, analyzing the influence of road conditions on the passing time according to the road condition information of the emergency rescue route, collecting the vehicle condition information of the emergency rescue route, first analyzing whether the vehicle can give way to the emergency rescue vehicle for a passing distance according to the vehicle condition information of the emergency rescue route. If a passing distance can be given way, then analyzing the influence of vehicle conditions on the passing time, analyzing the actual passing time by integrating the influence of road conditions on the passing time and the influence of vehicle conditions on the passing time, and screening and recommending the emergency rescue route with the shortest actual passing time. The present invention first analyzes whether the vehicle can give way to a passing distance based on the vehicle and obstacles, and then analyzes the influence on the emergency rescue passing time according to road conditions and vehicle conditions, which can improve the accuracy of predicting the emergency rescue passing time and thus improve the efficiency of emergency rescue route planning. BRIEF DESCRIPTION OF THE DRAWINGS ]

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0041] Figure 1 It is a schematic flowchart of a path positioning and planning method based on Beidou navigation of the present invention;

[0042] Figure 2 This is a flow chart of a path positioning planning method S21 based on Beidou navigation according to the present invention;

[0043] Figure 3 This is a flow chart of a path positioning planning method S3 based on Beidou navigation of the present invention;

[0044] Figure 4 A schematic diagram of a vehicle avoidance scenario according to the present invention;

[0045] Figure 5 This is a schematic diagram of the structure of a path positioning planning system based on Beidou navigation in the present invention;

[0046] Figure 6 It is a schematic diagram of the computer device structure of the present invention. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of the present invention.

[0048] Example 1

[0049] See also Figure 1 The present invention provides an embodiment of a path positioning planning method based on Beidou navigation, which includes the following specific steps:

[0050] S1. Receive emergency rescue instructions and automatically plan emergency rescue routes and predict travel time;

[0051] In this embodiment, S1 includes the following specific steps:

[0052] After receiving emergency rescue instructions, the navigation module automatically plans the emergency rescue route and predicts the travel time based on the emergency rescue vehicle's departure point and destination.

[0053] S2. Collecting emergency rescue route traffic information and analyzing the impact of traffic conditions on travel time based on the emergency rescue route traffic information;

[0054] In this embodiment, S2 includes the following specific steps:

[0055] S21. Collecting emergency rescue route road condition information, where the emergency rescue route road condition information includes road smoothness and road safety;

[0056] S22. Analyze the influence value of the road conditions of the emergency rescue route on the travel time based on the road smoothness and road safety. In this embodiment, the influence value of the road conditions of the emergency rescue route on the travel time can be calculated through the road condition influence value calculation formula. Among them, the road condition influence value calculation formula is: In the formula, Sm is the road smoothness, Sf is the road safety, and exp is the exponential function with e as the base.

[0057] Please refer to Figure 2 , in this embodiment, the acquisition of the road smoothness and road safety in S21 includes the following specific steps:

[0058] S211. Collect the pavement ride quality index, phase saturation flow, traffic signal data, and historical accident occurrence frequency of the emergency rescue route. The traffic signal data includes green light duration, yellow light duration, start-up loss duration, and signal cycle duration. In this embodiment, the pavement ride quality index is used to quantify the flatness and ride quality of the road surface and can be calculated through the pavement ride quality index calculation formula. Among them, the pavement ride quality index calculation formula is: In the formula, IRI is the international road roughness index. When the measured road is a highway, x1 can take the value of 0.026, and x2 can take the value of 0.65. When the measured road is an urban road, x1 can take the value of 0.0185, and x2 can take the value of 0.58. IRI can be detected by the roughness detection device of the rapid road condition detection system. During the detection process, the vehicle travels at a constant speed of 60 km - 80 km / h along the road wheel path, the longitudinal sampling interval is 2 mm, the road longitudinal section and flatness are calculated in real time, and the IRI value is calculated every 100 m using the standard calculation program of IRI;

[0059] The phase saturation flow refers to the maximum traffic flow that a certain phase can pass through the intersection within a unit time in traffic signal control. The specific phase is obtained according to the path recommendation of the navigation system. The data of vehicles passing through the intersection can be collected in real time by installing monitoring equipment at the target intersection, and information such as vehicle passing time and traffic flow is extracted to determine the maximum flow that the continuous vehicle fleet on the approach lane can pass during the green light period;

[0060] The historical accident occurrence frequency is obtained by dividing the number of accidents occurred during the monitoring time by the monitoring time;

[0061] The traffic signal data is obtained through real-time monitoring by the navigation system. Among them, the start-up loss duration is calculated by monitoring the start-up behavior of the vehicle at the intersection, calculating the time required for the vehicle to start from a stationary state, and analyzing the average start-up loss duration;

[0062] S212. Analyze the road smoothness based on the pavement ride quality index, phase saturation flow, and traffic signal data of the emergency rescue route. In this embodiment, the road smoothness can be calculated through the road smoothness calculation formula. Among them, the road smoothness calculation formula is: In the formula, I is the number of monitored sections, and RQI i is the pavement ride quality index of the i-th monitored section, and RQI d is the standard pavement ride quality index. Among them, when RQI≥90, it indicates that the pavement condition is excellent and the driving comfort is extremely high; when 80≤RQI<90, it indicates that the pavement condition is good and the driving comfort is relatively high; when 70≤RQI<80, it indicates that the pavement condition is medium and the driving comfort is average; when 60≤RQI<70, it indicates that the pavement condition is poor and the driving comfort is relatively low; when RQI<60, it indicates that the pavement condition is extremely poor and the driving comfort is extremely low. In this embodiment, the value of the standard pavement ride quality index is 80, and T i gr is the green light duration of the i-th monitored section, and T i ye is the yellow light duration of the i-th monitored section, and T i ls is the start-up loss time of the i-th monitored section, and T i c is the signal cycle duration of the i-th monitored section, and S i is the phase saturation flow of the i-th monitored section, and S d is the standard phase saturation flow. Among them, the standard saturation flow value of the straight lane is 1329 pcu / h, the standard saturation flow value of the straight-right lane is 1329 pcu / h, and the standard saturation flow value of the left-turn lane is 1121 pcu / h. In this embodiment, by judge the traffic capacity of the emergency rescue route. If the traffic capacity of the emergency rescue route is higher, the road smoothness is higher;

[0063] S213. Analyze the road safety based on the historical accident occurrence frequency of the emergency rescue route. In this embodiment, the road safety can be calculated through the road safety calculation formula. Among them, the road safety calculation formula is: In the formula, G i is the historical accident occurrence frequency of the i-th monitored section, is the historical average accident occurrence frequency. If the value of is higher, the road safety is lower.

[0064] S3. Collect the vehicle condition information of the emergency rescue route. First, analyze whether the vehicle can give way to the emergency rescue vehicle for a passing distance based on the vehicle condition information of the emergency rescue route. If it can give way to a passing distance, then analyze the impact of the vehicle condition on the passing time;

[0065] Please refer to Figure 3 , in this embodiment, S3 includes the following specific steps:

[0066] S31. Collect the vehicle condition information of the emergency rescue route. The vehicle condition information of the emergency rescue route includes the number of queuing vehicles, the turning radius of the vehicle, the vehicle length, the vehicle width, the lateral spacing between vehicles, the spacing between obstacles, and the spacing behind the obstacles. In this embodiment, the turning radius, vehicle length, and vehicle width of the vehicle are obtained through automotive technical parameters, the number of queuing vehicles and the lateral spacing between vehicles are obtained through radar or sensors, and the spacing between obstacles and the spacing behind the obstacles are obtained through the navigation system;

[0067] Please refer to Figure 4 , Figure 4 which is a schematic diagram of the vehicle avoidance scenario of the present invention. As can be seen from Figure 4 , when the vehicle avoids the emergency rescue vehicle, the route will change from the original straight line to a turn. The position of the side obstacles affects the vehicle avoidance. In the actual scenario, the obstacles can be trees, stone piers, warning signs, etc. The straight-line distance between the outer edges of two obstacles is the obstacle spacing, and the straight-line distance from the obstacle to the rear wall (represented by diagonal lines in this schematic diagram) is the spacing behind the obstacle. A diagonal line is drawn from the center point of the vehicle to the center point of the obstacle spacing as the vehicle avoidance path, and the angle at the bifurcation point of this avoidance path and the original path of the vehicle is the turning angle.

[0068] S32. Analyze the width occupied by the vehicle when turning according to the turning radius and width of the vehicle. In this embodiment, the width occupied by the vehicle when turning can be calculated through the vehicle turning width calculation formula. Among them, the vehicle turning width calculation formula is: In the formula, d0 is the vehicle width, R is the turning radius of the vehicle, θ is the turning angle. Analyze whether the vehicle can enter the obstacle interval according to the width occupied by the vehicle when turning and the obstacle spacing. If the width occupied by the vehicle when turning is less than the obstacle spacing, the vehicle can enter the obstacle interval and proceed to step S33. If the width occupied by the vehicle when turning is greater than or equal to the obstacle spacing, the vehicle cannot enter the obstacle interval and this route is removed;

[0069] S33. Analyze the length occupied by the vehicle when turning according to the turning radius and length of the vehicle. In this embodiment, the length occupied by the vehicle when turning can be calculated through the vehicle turning length calculation formula. Among them, the vehicle turning length calculation formula is: In the formula, d1 is the vehicle length. The vehicle avoidance distance is obtained by subtracting the distance behind the obstacle from the length occupied by the vehicle when turning and then adding the vehicle lateral distance. Based on the width of the emergency rescue vehicle and the vehicle avoidance distance, it is analyzed whether the vehicle can provide a passing distance for the emergency rescue vehicle. If the width of the emergency rescue vehicle is less than the vehicle avoidance distance, the vehicle can provide a passing distance for the emergency rescue vehicle, and step S34 is performed. If the width of the emergency rescue vehicle is greater than or equal to the vehicle avoidance distance, the vehicle cannot provide a passing distance for the emergency rescue vehicle and this route is removed.

[0070] S34. Analyze the influence value of the vehicle condition on the passing time of the emergency rescue route according to the number of queuing vehicles. In this embodiment, the influence value of the vehicle condition on the passing time of the emergency rescue route can be calculated by the vehicle condition influence value calculation formula. Among them, the vehicle condition influence value calculation formula is: In the formula, qi is the number of queuing vehicles in the i-th monitoring section, and qd is the standard number of queuing vehicles. Among them, the standard number of queuing vehicles is obtained by taking the average value of the number of queuing vehicles at the same historical time.

[0071] S4. Analyze the actual passing time by integrating the influence of the road condition on the passing time and the influence of the vehicle condition on the passing time;

[0072] In this embodiment, S4 includes the following specific steps:

[0073] Analyze the actual passing time according to the influence value of the road condition on the passing time of the emergency rescue route and the influence value of the vehicle condition on the passing time of the emergency rescue route. In this embodiment, the actual passing time can be calculated by the actual passing time calculation formula. Among them, the actual passing time calculation formula is: Tz = T0×(1 + exp(Lt + Ct)). In the formula, T0 is the predicted passing time, Lt is the road condition influence value, and Ct is the vehicle condition influence value.

[0074] S5. Screen out the emergency rescue route with the shortest actual passing time for recommendation.

[0075] In this embodiment, S5 includes the following specific steps:

[0076] Sort the actual passing times in ascending order, and screen out the emergency rescue route corresponding to the shortest actual passing time for recommendation.

[0077] Embodiment 2

[0078] Please refer to Figure 5 , a path positioning and planning system based on Beidou navigation, which is implemented based on the above-mentioned path positioning and planning method based on Beidou navigation, including: a path planning module, which is used to receive emergency rescue instructions and automatically plan emergency rescue routes and predict passing times;

[0079] A road condition analysis module, which is used to collect road condition information of the emergency rescue route and analyze the impact of the road condition on the travel time according to the road condition information of the emergency rescue route;

[0080] An avoidance analysis module, which is used to collect vehicle condition information of the emergency rescue route and analyze whether the vehicle can give way to the emergency rescue vehicle for a passing distance according to the vehicle condition information of the emergency rescue route;

[0081] A vehicle condition analysis module, which is used to analyze the impact of the vehicle condition of the route that can give way to a passing distance on the travel time;

[0082] A travel time analysis module, which is used to comprehensively analyze the impact of road conditions on travel time and the impact of vehicle conditions on travel time to analyze the actual travel time;

[0083] A route recommendation module, which is used to screen and recommend the emergency rescue route with the shortest actual travel time.

[0084] Each embodiment of the present invention is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. Specifically, reference can be made to the description of the relevant processing related embodiments above, and details will not be repeated here.

[0085] The above describes specific embodiments of the present invention. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve the desired results. Additionally, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0086] Embodiment 3

[0087] Please refer to Figure 6 , the embodiment of the present invention also provides a computer device, which may specifically include an input device, a processor, and a memory. Among them, the memory is used to store executable instructions of the processor. When the processor executes the instructions, the following steps of a path positioning and planning method based on Beidou navigation in any of the above embodiments are realized: receiving an emergency rescue instruction to automatically plan an emergency rescue route and predict the travel time, collecting road condition information of the emergency rescue route, analyzing the impact of the road condition on the travel time according to the road condition information of the emergency rescue route, collecting vehicle condition information of the emergency rescue route, first analyzing whether the vehicle can give way to the emergency rescue vehicle for a passing distance according to the vehicle condition information of the emergency rescue route. If a passing distance can be given way, then analyze the impact of the vehicle condition on the travel time, comprehensively analyze the impact of the road condition on the travel time and the impact of the vehicle condition on the travel time to analyze the actual travel time, and screen and recommend the emergency rescue route with the shortest actual travel time.

[0088] In this embodiment, the input device can specifically be one of the main devices for information exchange between the user and the computer system. The input device can include a keyboard, a mouse, a camera, a scanner, a handwriting input board, a voice input device, etc. The input device is used to input the original data and the programs for processing these data into the computer. The input device can also obtain and receive the data transmitted from other modules, units, and devices. The processor can be implemented in any suitable manner. For example, the processor can take the form of a microprocessor or a processor, a computer-readable medium storing computer-readable program code (such as software or firmware) executable by the microprocessor or the processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and a form embedded with a microcontroller, etc. The memory can specifically be a memory device used to store information in modern information technology. The memory can include multiple levels. In a digital system, anything that can store binary data can be a memory; in an integrated circuit, a circuit with a storage function without a physical form is also called a memory, such as RAM, FIFO, etc.; in a system, a storage device with a physical form is also called a memory, such as a memory module, a TF card, etc.

[0089] In this embodiment, the functions and effects specifically implemented by this computer device can be explained by comparison with other embodiments, and will not be elaborated here.

[0090] Embodiment 4

[0091] The present invention embodiment also provides a computer storage medium. The computer storage medium stores computer program instructions. When the computer program instructions are executed, the following steps of a path positioning and planning method based on Beidou navigation in any of the above embodiments are implemented: receiving an emergency rescue instruction to automatically plan an emergency rescue route and predict the travel time, collecting the road condition information of the emergency rescue route, analyzing the impact of the road condition on the travel time according to the road condition information of the emergency rescue route, collecting the vehicle condition information of the emergency rescue route, first analyzing whether the vehicle can give way to the emergency rescue vehicle for a passing distance according to the vehicle condition information of the emergency rescue route. If a passing distance can be given way, then analyzing the impact of the vehicle condition on the travel time, comprehensively analyzing the actual travel time based on the impact of the road condition on the travel time and the impact of the vehicle condition on the travel time, and screening the emergency rescue route with the shortest actual travel time for recommendation.

[0092] In this embodiment, the storage medium includes, but is not limited to, Random Access Memory (RAM), Read-Only Memory (ROM), Cache, Hard Disk Drive (HDD), or Memory Card. The memory can be used to store computer program instructions. The network communication unit can be set according to the standards specified by the communication protocol and is an interface for network connection communication.

[0093] In this embodiment, the functions and effects specifically implemented by the program instructions stored in the computer storage medium can be explained by comparison with other embodiments and will not be elaborated here.

[0094] Obviously, those skilled in the art should understand that the above-mentioned modules or steps of the embodiments of the present invention can be implemented by a general-purpose computing device. They can be concentrated on a single computing device or distributed on a network composed of multiple computing devices. Optionally, they can be implemented by program code executable by the computing device. Thus, they can be stored in the storage device and executed by the computing device. And in some cases, the steps shown or described can be executed in a different order than here, or they can be separately fabricated into individual integrated circuit modules, or multiple modules or steps among them can be fabricated into a single integrated circuit module for implementation. The embodiments of the present invention are not limited to any specific combination of hardware and software.

[0095] It should be understood that the above description is for illustrative purposes and not for limitation. By reading the above description, many embodiments and many applications other than the provided examples will be obvious to those skilled in the art. Therefore, the scope of this specification should not be determined with reference to the above description, but should be determined with reference to the full scope of the foregoing claims and the equivalents of these claims.

[0096] The above is only the preferred embodiment of the present invention and is not used to limit the present invention. For those skilled in the art, various changes and modifications can be made to the embodiments of this specification. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this specification shall be included within the protection scope of this specification.

Claims

1. A path positioning and planning method based on Beidou navigation, characterized in that It includes the following specific steps: S1. Receive the emergency rescue instruction, automatically plan the emergency rescue route and predict the travel time; S2. Collect the road condition information of the emergency rescue route, and analyze the impact of the road condition on the travel time according to the road condition information of the emergency rescue route; S3. Collect the vehicle condition information of the emergency rescue route. First, analyze whether the vehicle can give way to the emergency rescue vehicle for a passing distance according to the vehicle condition information of the emergency rescue route. If it can give way to a passing distance, then analyze the impact of the vehicle condition on the travel time; S4. Analyze the actual travel time by synthesizing the impact of the road condition on the travel time and the impact of the vehicle condition on the travel time; S5. Screen the emergency rescue route with the shortest actual travel time for recommendation.

2. The path positioning and planning method based on Beidou navigation according to claim 1, characterized in that The S1 includes the following specific steps: Receive the emergency rescue instruction, and the navigation module automatically plans the emergency rescue route and predicts the travel time according to the starting point and destination of the emergency rescue vehicle.

3. A path positioning and planning method based on Beidou navigation according to claim 2, characterized in that, The S2 includes the following specific steps: S21. Collect the road condition information of the emergency rescue route, and the road condition information of the emergency rescue route includes road smoothness and road safety; S22. Analyze the impact value of the road condition of the emergency rescue route on the travel time according to the road smoothness and road safety.

4. The path positioning and planning method based on Beidou navigation according to claim 3, characterized in that The S21 includes the following specific steps: S211. Collect the pavement driving quality index, phase saturation flow, traffic signal data and historical accident occurrence frequency of the emergency rescue route. The traffic signal data includes green light duration, yellow light duration, start-up loss duration and signal cycle duration; S212. Analyze the road smoothness according to the pavement driving quality index, phase saturation flow and traffic signal data of the emergency rescue route; S213. Analyze the road safety according to the historical accident occurrence frequency of the emergency rescue route.

5. The path positioning and planning method based on Beidou navigation according to claim 4, characterized in that, The S3 includes the following specific steps: S31. Collect the vehicle condition information of the emergency rescue route, and the vehicle condition information of the emergency rescue route includes the number of queuing vehicles, vehicle turning radius, vehicle length, vehicle width, vehicle lateral spacing, obstacle spacing and distance behind the obstacle; S32. Analyze the width occupied when the vehicle turns according to the vehicle turning radius and vehicle width, and analyze whether the vehicle can enter the obstacle interval according to the width occupied when the vehicle turns and the obstacle spacing. If the width occupied when the vehicle turns is less than the obstacle spacing, the vehicle can enter the obstacle interval and proceed to step S33. If the width occupied when the vehicle turns is greater than or equal to the obstacle spacing, the vehicle cannot enter the obstacle interval and remove this route; S33. Analyze the length occupied when the vehicle turns according to the vehicle turning radius and vehicle length, obtain the vehicle avoidance distance by subtracting the distance behind the obstacle from the length occupied when the vehicle turns and adding the vehicle lateral spacing, and analyze whether the vehicle can give way to the emergency rescue vehicle for a passing distance according to the width of the emergency rescue vehicle and the vehicle avoidance distance. If the width of the emergency rescue vehicle is less than the vehicle avoidance distance, the vehicle can give way to the emergency rescue vehicle for a passing distance and proceed to step S34. If the width of the emergency rescue vehicle is greater than or equal to the vehicle avoidance distance, the vehicle cannot give way to the emergency rescue vehicle for a passing distance and remove this route; S34. Analyze the impact value of the vehicle condition of the emergency rescue route on the travel time according to the number of queuing vehicles.

6. A path positioning and planning method based on Beidou navigation according to claim 5, characterized in that, The said S4 includes the following specific steps: Analyze the actual travel time based on the influence value of the road conditions of the emergency rescue route on the travel time and the influence value of the vehicle conditions of the emergency rescue route on the travel time.

7. The path positioning and planning method based on Beidou navigation according to claim 6, characterized in that The said S5 includes the following specific steps: Sort the actual travel times in ascending order, and screen and recommend the emergency rescue route corresponding to the shortest actual travel time.

8. A path positioning and planning system based on Beidou navigation, which is used to implement the path positioning and planning method based on Beidou navigation according to any one of claims 1 to 7, characterized in that, It includes: A path planning module, which is used to automatically plan an emergency rescue route and predict the travel time upon receiving an emergency rescue instruction; A road condition analysis module, which is used to collect road condition information of the emergency rescue route and analyze the influence of the road conditions on the travel time according to the road condition information of the emergency rescue route; An avoidance analysis module, which is used to collect vehicle condition information of the emergency rescue route and analyze whether the vehicle can give way to the emergency rescue vehicle for a passing distance according to the vehicle condition information of the emergency rescue route; A vehicle condition analysis module, which is used to analyze the influence of the vehicle conditions of the route that can give way to a passing distance on the travel time; A travel time analysis module, which is used to comprehensively analyze the actual travel time based on the influence of road conditions on the travel time and the influence of vehicle conditions on the travel time; A route recommendation module, which is used to screen and recommend the emergency rescue route with the shortest actual travel time.

9. A computer device, characterized in that, It includes a processor and a memory for storing instructions executable by the processor. When the processor executes the instructions, it implements the steps of the method for path positioning and planning based on Beidou navigation according to any one of claims 1 to 7.

10. A computer-readable storage medium having computer instructions stored thereon, characterized in that, When the instructions are executed by the processor, it implements the steps of the method for path positioning and planning based on Beidou navigation according to any one of claims 1 to 7.

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