A Path Positioning Planning Method and System Based on BeiDou Navigation

Abstract

This invention relates to the field of BeiDou navigation technology, specifically disclosing a path positioning and planning method and system based on BeiDou navigation. The method includes: receiving emergency rescue instructions, automatically planning emergency rescue routes and predicting travel time; collecting road condition information for the emergency rescue routes; analyzing the impact of road conditions on travel time based on the road condition information; collecting vehicle condition information for the emergency rescue routes; firstly analyzing whether vehicles can make way for emergency rescue vehicles based on the vehicle condition information; if so, analyzing the impact of vehicle conditions on travel time; comprehensively analyzing the impact of road conditions and vehicle conditions on travel time to determine the actual travel time; and finally recommending the emergency rescue route with the shortest actual travel time. This invention improves the accuracy of emergency rescue travel time prediction by analyzing the impact of road conditions and vehicle conditions on travel time, thereby improving the efficiency of emergency rescue route planning.

Description

Technical Field

[0001] This invention relates to the field of BeiDou navigation technology, and in particular to a path positioning and planning method and system based on BeiDou navigation. Background Technology

[0002] Emergency rescue route planning refers to planning the optimal route from the starting point to the accident site for rescue vehicles or personnel in emergency situations, in order to minimize rescue time and improve rescue efficiency. This planning usually needs to consider a variety of factors, including road conditions, traffic flow, and the distribution of rescue resources. Emergency rescue route planning greatly affects emergency rescue efficiency. Therefore, it is particularly important to improve the accuracy of emergency rescue travel time assessment.

[0003] In existing technologies, the assessment of emergency rescue passage time is mostly based on analyzing traffic conditions using historical data and real-time traffic information to predict traffic conditions in the future, thereby estimating the time it takes for rescue vehicles to arrive at the accident scene. However, when there are obstacles blocking the way, it is impossible to analyze in a timely manner whether vehicles can make way. As a result, in actual rescue operations, when vehicles are too large, roads are too narrow, or there are many obstacles, the time for vehicles to make way is prolonged, thus reducing the accuracy of emergency rescue passage time prediction.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention proposes a path positioning and planning method and system based on BeiDou navigation. This invention receives emergency rescue commands, automatically plans emergency rescue routes and predicts travel time, collects road condition information for the emergency rescue routes, analyzes the impact of road conditions on travel time based on this information, and collects vehicle condition information for the emergency rescue routes. First, it analyzes whether vehicles can make way for the emergency rescue vehicle based on the vehicle condition information. If they can, it further analyzes the impact of vehicle conditions on travel time. Combining the impacts of road conditions and vehicle conditions on travel time, it analyzes the actual travel time and recommends the emergency rescue route with the shortest actual travel time. This invention first analyzes whether vehicles and obstacles can make way for them, and then analyzes the impact of road conditions and vehicle conditions on emergency rescue travel time, which can improve the accuracy of emergency rescue travel time prediction, thereby improving the efficiency of emergency rescue route planning.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A path positioning and planning method based on BeiDou navigation includes the following specific steps:

[0008] S1. Upon receiving emergency rescue instructions, automatically plan emergency rescue routes and predict travel time;

[0009] S2. Collect road condition information for emergency rescue routes and analyze the impact of road conditions on travel time based on the road condition information for emergency rescue routes;

[0010] S3. Collect vehicle condition information on emergency rescue routes. First, analyze whether vehicles can make way for emergency rescue vehicles based on the vehicle condition information on emergency rescue routes. If they can make way for emergency rescue vehicles, then analyze the impact of vehicle condition on travel time.

[0011] S4. Analysis of the impact of comprehensive road conditions and vehicle conditions on travel time: actual travel time.

[0012] S5. Recommend the emergency rescue route with the shortest actual travel time.

[0013] Specifically, S1 includes the following steps:

[0014] Upon 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 starting point and destination.

[0015] Specifically, S2 includes the following steps:

[0016] S21. Collect road condition information for emergency rescue routes, including road smoothness and road safety.

[0017] S22. Analyze the impact of road conditions on travel time of emergency rescue routes based on road flow and road safety.

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

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

[0020] S212. Analyze road flow based on road surface driving quality index, phase saturation flow, and traffic light data of emergency rescue routes;

[0021] S213. Analyze road safety based on the historical accident frequency of emergency rescue routes.

[0022] Specifically, S3 includes the following steps:

[0023] S31. Collect vehicle condition information for emergency rescue routes, including the number of vehicles in queue, vehicle turning radius, vehicle length, vehicle width, lateral spacing between vehicles, distance between obstacles, and distance behind obstacles.

[0024] S32. Analyze the width occupied by the vehicle when turning based on the vehicle's turning radius and width. Analyze whether the vehicle can enter the obstacle interval based on the width occupied by the vehicle when turning and the distance between obstacles. If the width occupied by the vehicle when turning is less than the distance between obstacles, 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 distance between obstacles, the vehicle cannot enter the obstacle interval and the route is removed.

[0025] S33. Analyze the length occupied by the vehicle when turning based on the vehicle's turning radius and vehicle length. Subtract the distance behind the obstacle from the length occupied by the vehicle when turning and add the lateral distance of the vehicle to obtain the vehicle's avoidance distance. Analyze whether the vehicle can make way for the emergency rescue vehicle based on the width of the emergency rescue vehicle and the vehicle's avoidance distance. If the width of the emergency rescue vehicle is less than the vehicle's avoidance distance, then the vehicle can make way 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's avoidance distance, then the vehicle cannot make way for the emergency rescue vehicle and the route is removed.

[0026] S34. Analyze the impact of vehicle conditions on travel time on emergency rescue routes based on the number of vehicles in the queue.

[0027] Specifically, S4 includes the following steps:

[0028] The actual travel time is analyzed based on the impact of road conditions and vehicle conditions on the emergency rescue route.

[0029] Specifically, S5 includes the following steps:

[0030] The actual travel times are sorted in ascending order, and the emergency rescue routes corresponding to the shortest actual travel times are recommended.

[0031] A path positioning and planning system based on BeiDou navigation is used to implement a path positioning and planning method based on BeiDou navigation, including: a path planning module, used to receive emergency rescue instructions and automatically plan emergency rescue routes and predict travel time;

[0032] The traffic analysis module is used to collect traffic information on emergency rescue routes and analyze the impact of traffic conditions on travel time based on the traffic information.

[0033] The obstacle avoidance analysis module is used to collect vehicle condition information on emergency rescue routes and analyze whether vehicles can give way to emergency rescue vehicles based on the vehicle condition information.

[0034] The vehicle condition analysis module is used to analyze the impact of vehicle conditions on travel time on routes where travel distance can be avoided;

[0035] The travel time analysis module is used to analyze the actual travel time by comprehensively considering the impact of road conditions and vehicle conditions on travel time.

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

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

[0038] The present invention also provides a computer-readable storage medium storing computer instructions thereon, which, when executed, implement the steps of the path positioning and planning method based on BeiDou navigation described in any of the above embodiments.

[0039] Compared with existing technologies, the beneficial effects of this invention are: upon receiving emergency rescue instructions, it automatically plans emergency rescue routes and predicts travel time; it collects road condition information for emergency rescue routes; it analyzes the impact of road conditions on travel time based on this information; it collects vehicle condition information for emergency rescue routes; it first analyzes whether vehicles can make way for emergency rescue vehicles based on this information; if so, it analyzes the impact of vehicle conditions on travel time; it combines the impacts of road conditions and vehicle conditions on travel time to analyze the actual travel time; and it recommends the emergency rescue route with the shortest actual travel time. This invention first analyzes whether vehicles can make way for obstacles based on the vehicles and obstacles, and then analyzes the impact of road conditions and vehicle conditions on emergency rescue travel time, which can improve the accuracy of emergency rescue travel time prediction and thus improve the efficiency of emergency rescue route planning. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of the path positioning and planning method based on BeiDou navigation according to the present invention.

[0042] Figure 2 This is a schematic diagram of the S21 process of a path positioning and planning method based on BeiDou navigation according to the present invention.

[0043] Figure 3 This is a schematic diagram of the S3 process of a path positioning and planning method based on BeiDou navigation according to the present invention.

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

[0045] Figure 5 This is a schematic diagram of the path positioning and planning system based on BeiDou navigation according to the present invention.

[0046] Figure 6 This is a schematic diagram of the computer device structure of the present invention. Detailed Implementation

[0047] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0048] Example 1

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

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

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

[0052] Upon 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 starting point and destination.

[0053] S2. Collect road condition information for emergency rescue routes and analyze the impact of road conditions on travel time based on the road condition information for emergency rescue routes;

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

[0055] S21. Collect road condition information for emergency rescue routes, including road smoothness and road safety.

[0056] S22. Analyze the impact of road conditions on travel time of emergency rescue routes based on road flowability and road safety. In this embodiment, the impact of road conditions on travel time of emergency rescue routes can be calculated using the road condition impact value calculation formula, which is: In the formula, Sm represents road smoothness, Sf represents road safety, and exp represents an exponential function with base e.

[0057] Please see Figure 2 In this embodiment, obtaining road smoothness and road safety in S21 includes the following specific steps:

[0058] S211. Collect road surface quality index, phase saturation flow, traffic light data, and historical accident frequency for the emergency rescue route. Traffic light data includes green light duration, yellow light duration, start-up loss duration, and traffic light cycle duration. In this embodiment, the road surface quality index is used to quantify the smoothness and driving quality of the road surface. It can be calculated using the road surface quality index calculation formula, which is: In the formula, IRI is the International Road Smoothness Index. When the measured road is a highway, x1 can be 0.026 and x2 can be 0.65. When the measured road is an urban road, x1 can be 0.0185 and x2 can be 0.58. IRI can be detected using the smoothness detection device of a rapid road condition detection system. During the detection process, the vehicle travels at a constant speed of 60-80 km / h along the road wheel track, with a longitudinal sampling interval of 2 mm. The longitudinal profile and smoothness of the road surface are calculated in real time. The IRI value is calculated using the standard IRI calculation program for every 100m calculation interval.

[0059] Phase saturation flow refers to the maximum traffic flow that can pass through an intersection in a unit of time for a certain phase in traffic signal control. The specific phase is obtained based on the route recommendation of the navigation system. It can be achieved by installing monitoring equipment at the target intersection to collect data on vehicles passing through the intersection in real time, extracting information such as vehicle passage time and traffic flow, and determining the maximum flow that a continuous platoon can pass through on the approach lane during the green light period.

[0060] The historical accident frequency is obtained by dividing the number of accidents during the monitoring period by the monitoring time.

[0061] Traffic signal data is acquired in real time through the navigation system. The start-up loss time is calculated by monitoring the starting behavior of vehicles at intersections, calculating the time required for a vehicle to start from a standstill, and analyzing the average start-up loss time.

[0062] S212. Based on the road surface driving quality index, phase saturation flow, and traffic light data of the emergency rescue route, the road smoothness is analyzed. In this embodiment, the road smoothness can be calculated using the road smoothness calculation formula, which is: In the formula, I represents the number of monitored road segments, and RQI... i RQI is the road surface driving quality index for the i-th monitored road segment. d RQI is the standard road surface ride quality index. When RQI ≥ 90, it indicates excellent road surface conditions and extremely high driving comfort; when 80 ≤ RQI < 90, it indicates good road surface conditions and relatively high driving comfort; when 70 ≤ RQI < 80, it indicates moderate road surface conditions and average driving comfort; when 60 ≤ RQI < 70, it indicates poor road surface conditions and low driving comfort; and when RQI < 60, it indicates extremely poor road surface conditions and extremely low driving comfort. In this embodiment, the standard road surface ride quality index is set to 80. i gr Let T be the green light duration for the i-th monitored road segment. i ye Let T be the duration of the yellow light for the i-th monitored road segment. i ls Let T be the startup loss time for the i-th monitored road segment. i c S is the duration of the traffic light cycle for the i-th monitored road segment. i S is the phase saturation flow rate of the i-th monitored road segment. d The standard phase saturation flow rate is defined as follows: 1329 pcu / h for the straight-ahead lane, 1329 pcu / h for the straight-right lane, and 1121 pcu / h for the left-turn lane. This embodiment uses... Assess the traffic capacity of emergency rescue routes; the higher the traffic capacity of emergency rescue routes, the smoother the road traffic.

[0063] S213. Analyze road safety based on the historical accident frequency of emergency rescue routes. In this embodiment, road safety can be calculated using the road safety calculation formula, which is: In the formula, G i Let be the historical accident frequency of the i-th monitored road segment. The historical average frequency of accidents, if The higher the value, the lower the road safety level.

[0064] S3. Collect vehicle condition information on emergency rescue routes. First, analyze whether vehicles can make way for emergency rescue vehicles based on the vehicle condition information on emergency rescue routes. If they can make way for emergency rescue vehicles, then analyze the impact of vehicle condition on travel time.

[0065] Please see Figure 3 In this embodiment, S3 includes the following specific steps:

[0066] S31. Collect vehicle condition information for emergency rescue routes. The vehicle condition information for emergency rescue routes includes the number of vehicles in queue, vehicle turning radius, vehicle length, vehicle width, lateral spacing between vehicles, obstacle spacing, and obstacle rear spacing. In this embodiment, the vehicle turning radius, vehicle length, and vehicle width are obtained through vehicle technical parameters, the number of vehicles in queue and the lateral spacing between vehicles are obtained through radar or sensors, and the obstacle spacing and obstacle rear spacing are obtained through a navigation system.

[0067] Please see Figure 4 , Figure 4 This is a schematic diagram of a vehicle avoidance scenario according to the present invention. Figure 4 As can be seen, when a vehicle avoids an emergency rescue vehicle, its route changes from a straight line to a turn. The position of the side obstacle affects the vehicle's avoidance. In actual scenarios, obstacles can be trees, stone blocks, 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 a diagonal line in this diagram) is the obstacle rear spacing. A diagonal line is drawn from the center point of the vehicle and the center point of the obstacle spacing to form the vehicle's avoidance path. The angle at the bifurcation point between this avoidance path and the vehicle's original path is the turning angle.

[0068] S32. Analyze the width occupied by the vehicle when turning based on the vehicle's turning radius and width. In this embodiment, the width occupied by the vehicle when turning can be calculated using the vehicle turning width calculation formula, which is: In the formula, d0 is the vehicle width, R is the vehicle turning radius, and θ is the turning angle. The system analyzes whether the vehicle can enter the obstacle interval based on the width occupied by the vehicle when turning and the distance between obstacles. If the width occupied by the vehicle when turning is less than the distance between obstacles, 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 distance between obstacles, the vehicle cannot enter the obstacle interval and the route is removed.

[0069] S33. Analyze the length occupied by the vehicle during turning based on the vehicle's turning radius and vehicle length. In this embodiment, the length occupied by the vehicle during turning can be calculated using the vehicle turning length calculation formula, which 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 adding the lateral distance of the vehicle. Based on the width of the emergency rescue vehicle and the vehicle avoidance distance, it is analyzed whether the vehicle can make way for the emergency rescue vehicle. If the width of the emergency rescue vehicle is less than the vehicle avoidance distance, the vehicle can make way 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 make way for the emergency rescue vehicle and the route is removed.

[0070] S34. Analyze the impact of vehicle conditions on travel time along the emergency rescue route based on the number of vehicles in the queue. In this embodiment, the impact of vehicle conditions on travel time along the emergency rescue route can be calculated using the vehicle condition impact value calculation formula, which is as follows: In the formula, qi is the number of vehicles queuing in the i-th monitored road segment, and qd is the standard number of vehicles queuing. The standard number of vehicles queuing is obtained by averaging the number of vehicles queuing at the same time in history.

[0071] S4. Analysis of the impact of comprehensive road conditions and vehicle conditions on travel time: actual travel time.

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

[0073] The actual travel time is analyzed based on the impact of road conditions and vehicle conditions on the emergency rescue route. In this embodiment, the actual travel time can be calculated using the actual travel time calculation formula: Tz=T0×(1+exp(Lt+Ct)), where T0 is the predicted travel time, Lt is the impact of road conditions, and Ct is the impact of vehicle conditions.

[0074] S5. Recommend the emergency rescue route with the shortest actual travel time.

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

[0076] The actual travel times are sorted in ascending order, and the emergency rescue routes corresponding to the shortest actual travel times are recommended.

[0077] Example 2

[0078] Please see Figure 5 A path positioning and planning system based on BeiDou navigation, implemented based on the aforementioned path positioning and planning method based on BeiDou navigation, includes: a path planning module, used to receive emergency rescue instructions and automatically plan emergency rescue routes and predict travel time;

[0079] The traffic analysis module is used to collect traffic information on emergency rescue routes and analyze the impact of traffic conditions on travel time based on the traffic information.

[0080] The obstacle avoidance analysis module is used to collect vehicle condition information on emergency rescue routes and analyze whether vehicles can give way to emergency rescue vehicles based on the vehicle condition information.

[0081] The vehicle condition analysis module is used to analyze the impact of vehicle conditions on travel time on routes where travel distance can be avoided;

[0082] The travel time analysis module is used to analyze the actual travel time by comprehensively considering the impact of road conditions and vehicle conditions on travel time.

[0083] The route recommendation module is used to filter and recommend emergency rescue routes with the shortest actual travel time.

[0084] The various embodiments of the present invention are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments. For details, please refer to the description of the related processing and related embodiments above. They will not be repeated here.

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

[0086] Example 3

[0087] Please see Figure 6 This invention also provides a computer device, which may specifically include an input device, a processor, and a memory. The memory stores executable instructions for the processor. When the processor executes the instructions, it implements the following steps of a BeiDou navigation-based path positioning and planning method in any of the above embodiments: receiving an emergency rescue command, automatically planning an emergency rescue route and predicting travel time; collecting road condition information for the emergency rescue route; analyzing the impact of road conditions on travel time based on the road condition information; collecting vehicle condition information for the emergency rescue route; firstly analyzing whether vehicles can make way for the emergency rescue vehicle based on the vehicle condition information; if they can make way, then analyzing the impact of vehicle conditions on travel time; combining the impact of road conditions on travel time and the impact of vehicle conditions on travel time to analyze the actual travel time; and finally recommending 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, mouse, camera, scanner, handwriting input tablet, voice input device, etc. The input device is used to input raw data and the program that processes these data into the computer. The input device can also receive 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 processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) that can be executed by the microprocessor or processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers, etc. The memory can specifically be a memory device used to store information in modern information technology. The memory can include multiple layers. In digital systems, anything that can store binary data can be a memory. In integrated circuits, a circuit with storage function but no 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 stick, TF card, etc.

[0089] In this embodiment, the specific functions and effects implemented by the computer device can be explained in comparison with other implementation methods, and will not be repeated here.

[0090] Example 4

[0091] This invention also provides a computer storage medium storing computer program instructions. When the computer program instructions are executed, the following steps of a BeiDou navigation-based path positioning and planning method in any of the above embodiments are implemented: receiving emergency rescue instructions, automatically planning emergency rescue routes and predicting travel time; collecting road condition information of emergency rescue routes; analyzing the impact of road conditions on travel time based on the road condition information of emergency rescue routes; collecting vehicle condition information of emergency rescue routes; firstly analyzing whether vehicles can give way to emergency rescue vehicles based on the vehicle condition information of emergency rescue routes; if they can give way, then analyzing the impact of vehicle conditions on travel time; comprehensively analyzing the impact of road conditions on travel time and the impact of vehicle conditions on travel time to determine the actual travel time; and finally recommending the emergency rescue route with the shortest actual travel time.

[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, and the network communication unit can be an interface for network connection communication set according to the standard specified in the communication protocol.

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

[0094] Obviously, those skilled in the art should understand that the modules or steps of the above-described embodiments of the present invention can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby storing them in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. The embodiments of the present invention are not limited to any particular combination of hardware and software.

[0095] It should be understood that the above description is for illustrative purposes and not for limitation. Many implementations and applications beyond the examples provided will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of this specification should not be determined by reference to the above description, but rather by reference to the foregoing claims and the full scope of their equivalents.

[0096] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the embodiments of this specification can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the protection scope of this specification.

Claims

1. A path positioning and planning method based on BeiDou navigation, characterized in that, The specific steps include the following: S1. Upon receiving emergency rescue instructions, automatically plan emergency rescue routes and predict travel time; S2. Collect road condition information for emergency rescue routes and analyze the impact of road conditions on travel time based on the road condition information for emergency rescue routes; S3. Collect vehicle condition information on emergency rescue routes. First, analyze whether vehicles can make way for emergency rescue vehicles based on the vehicle condition information on emergency rescue routes. If they can make way for emergency rescue vehicles, then analyze the impact of vehicle condition on travel time. S4. Analysis of the impact of comprehensive road conditions and vehicle conditions on travel time: actual travel time. S5. Recommend emergency rescue routes with the shortest actual travel time; S3 includes the following specific steps: S31. Collect vehicle condition information for emergency rescue routes, including the number of vehicles in queue, vehicle turning radius, vehicle length, vehicle width, lateral spacing between vehicles, distance between obstacles, and distance behind obstacles. S32. Analyze the width occupied by the vehicle when turning based on the vehicle's turning radius and width. Analyze whether the vehicle can enter the obstacle interval based on the width occupied by the vehicle when turning and the distance between obstacles. If the width occupied by the vehicle when turning is less than the distance between obstacles, 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 distance between obstacles, the vehicle cannot enter the obstacle interval and the route is removed. S33. Analyze the length occupied by the vehicle when turning based on the vehicle's turning radius and vehicle length. Subtract the distance behind the obstacle from the length occupied by the vehicle when turning and add the lateral distance of the vehicle to obtain the vehicle's avoidance distance. Analyze whether the vehicle can make way for the emergency rescue vehicle based on the width of the emergency rescue vehicle and the vehicle's avoidance distance. If the width of the emergency rescue vehicle is less than the vehicle's avoidance distance, then the vehicle can make way 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's avoidance distance, then the vehicle cannot make way for the emergency rescue vehicle and the route is removed. S34. Analyze the impact of vehicle conditions on travel time on emergency rescue routes based on the number of vehicles in the queue.

2. The path positioning and planning method based on BeiDou navigation as described in claim 1, characterized in that, S1 includes the following specific steps: Upon 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 starting point and destination.

3. The path positioning and planning method based on BeiDou navigation as described in claim 2, characterized in that, S2 includes the following specific steps: S21. Collect road condition information for emergency rescue routes, including road smoothness and road safety. S22. Analyze the impact of road conditions on travel time of emergency rescue routes based on road flow and road safety.

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

5. The path positioning and planning method based on BeiDou navigation as described in claim 4, characterized in that, S4 includes the following specific steps: The actual travel time is analyzed based on the impact of road conditions and vehicle conditions on the emergency rescue route.

6. The path positioning and planning method based on BeiDou navigation as described in claim 5, characterized in that, S5 includes the following specific steps: The actual travel times are sorted in ascending order, and the emergency rescue routes corresponding to the shortest actual travel times are recommended.

7. A path positioning and planning system based on BeiDou navigation, used to implement the path positioning and planning method based on BeiDou navigation as described in any one of claims 1 to 6, characterized in that, include: The route planning module is used to receive emergency rescue instructions and automatically plan emergency rescue routes and predict travel time; The traffic analysis module is used to collect traffic information on emergency rescue routes and analyze the impact of traffic conditions on travel time based on the traffic information. The obstacle avoidance analysis module is used to collect vehicle condition information on emergency rescue routes and analyze whether vehicles can give way to emergency rescue vehicles based on the vehicle condition information. The vehicle condition analysis module is used to analyze the impact of vehicle conditions on travel time on routes where travel distance can be avoided; The travel time analysis module is used to analyze the actual travel time by comprehensively considering the impact of road conditions and vehicle conditions on travel time. The route recommendation module is used to filter and recommend emergency rescue routes with the shortest actual travel time.

8. A computer device, characterized in that, It includes a processor and a memory for storing processor-executable instructions, wherein the processor, when executing the instructions, implements the steps of the path positioning and planning method based on BeiDou navigation as described in any one of claims 1 to 6.

9. A computer-readable storage medium storing computer instructions thereon, characterized in that, When the instruction is executed by the processor, it implements the steps of the path positioning and planning method based on BeiDou navigation as described in any one of claims 1 to 6.

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