An offline navigation path planning method associated with weather

Abstract

The application discloses a kind of weather-related offline navigation path planning method, it is related to navigation path planning technical field, comprising: the environment of power station is surveyed, constructs power station road network topology;Utilize power station road network topology to set road attribute, construct power station road database;According to power station road database in combination with current weather state, obtain the road traffic information base of current weather state;Based on the road traffic information base of current weather state in combination with power station road database carries out path planning, obtains offline navigation path planning result.The application does not depend on wireless communication signal, can satisfy wind and light power station and the like navigation demand of weak signal area that wireless communication signal is not covered or signal, can automatically avoid impassable or poor road, plans optimal path, effectively avoids vehicle to be trapped, run off and the like problem, improves power station personnel travel safety and work efficiency, saves expenditure cost, improves user experience.

Claims

1. A weather-related offline navigation route planning method, characterized in that, include: S1. Map the power station environment and construct the power station road network topology; S2. Use the power station road network topology to set road attributes and construct a power station road database; S3. Based on the power station road database and the current weather conditions, obtain the road traffic information database for the current weather conditions; S4. Based on the current weather conditions and road traffic information database, combined with the power station road database, perform route planning to obtain offline navigation route planning results.

2. The weather-related offline navigation route planning method according to claim 1, characterized in that, S1. Conduct environmental mapping of the power station and construct the road network topology of the power station, including: The power station environment was mapped using positioning equipment to obtain the location coordinates of the power station equipment and roads; The location coordinates of the power station equipment are used to determine the equipment site and equipment access point, and the location coordinates of the equipment site and equipment access point are obtained; Based on the location coordinates of the road, the road coordinate points are divided into nodes and waypoints, and the location coordinates of the road nodes and waypoints are obtained. The power station road network topology is obtained based on the location coordinates of the power station equipment and roads, the location coordinates of the equipment sites and equipment access points, and the location coordinates of the road nodes and waypoints.

3. The weather-related offline navigation route planning method according to claim 1, characterized in that, S2. Using the power station road network topology, set road attributes and construct a power station road database, including: Based on the power station road network topology and actual road conditions, road passability is determined. Road passability includes roads that are impassable in both rain and snow, impassable in rain but passable in snow, impassable in snow but passable in rain, and passable in both rain and snow. Based on the road passability, road attributes are obtained in array form; The power station road network topology is associated and matched with the road attributes to construct a power station road database.

4. The weather-related offline navigation route planning method according to claim 3, characterized in that, The road attributes are: R={Class,Th rain ,Th snow } Where R represents road attributes, Class represents road classification, and Th rain The threshold rainfall amount at which a road is passable, Th snow The snowfall threshold indicating when a road is passable; The road classification criteria are as follows: Class=1 represents national highways, Class=2 represents provincial highways, Class=3 represents county roads, Class=4 represents township roads, Class=5 represents village roads, and Class=6 represents self-built simple roads.

5. The weather-related offline navigation route planning method according to claim 1, characterized in that, S3. Based on the power station road database and the current weather conditions, obtain a road traffic information database for the current weather conditions, including: The current weather status is defined using a structured array; Based on the power station road database and the current weather conditions, obtain the road attributes, basic road identification information and corresponding road distance data associated with the current weather conditions as the road information for the current weather conditions. Based on the road information under the current weather conditions, the power station road database is used to match the matched road attribute dimensions. Based on the matched road attribute dimensions and the current weather status combined with the road traffic judgment rules, the road traffic status result for the current weather status is obtained. The road traffic status results under the current weather conditions are annotated to obtain road traffic information; Using the current weather conditions, the road information under the current weather conditions, and the road traffic information, a road traffic information database under the current weather conditions is obtained.

6. The weather-related offline navigation route planning method according to claim 5, characterized in that, The current weather condition is as follows: W={Condition,Precipitation} Where W represents the current weather condition, Condition represents the weather situation, and Precipitation represents the amount of rainfall or snowfall; The weather conditions include non-rainy / snowy weather, rainy days, and snowy days. When Condition=0, it indicates non-rainy / snowy weather, and Precipitation=0. When Condition=1, it indicates rainy days, and Precipitation is precipitation. When Condition=2, it indicates snowy days, and Precipitation is snowfall.

7. The weather-related offline navigation route planning method according to claim 5, characterized in that, The road traffic access determination rule is as follows: When R[W[0]]>W[1], the road is passable, and the corresponding distance is the passable distance; If R[W[0]]≤W[1], the road is impassable and the corresponding distance is the impassable distance. Where W[0]=Condition represents the weather condition, W[1]=Precipitation represents the amount of rainfall or snowfall, and R[W[0]]=R[Condition] represents the specific rainfall / snowfall value of the current weather condition.

8. The weather-related offline navigation route planning method according to claim 1, characterized in that, S4. Based on the current weather conditions and road traffic information database combined with the power station road database, perform route planning to obtain offline navigation route planning results, including: Based on the power station road database and the current location information, the starting access point and the target access point are obtained; Based on the current weather conditions, the road traffic information database and the power station road database are combined with the starting access point and the target access point to obtain the adjacent node information table; Based on the adjacent node information table, the starting access point, and the target access point, a path optimization algorithm is used to plan the path and obtain the offline navigation path planning result.

9. The weather-related offline navigation route planning method according to claim 8, characterized in that, Based on the current weather conditions, the road traffic information database and the power station road database, combined with the starting access point and the target access point, an adjacent node information table is obtained, including: Determine whether the power station road database contains the road traffic information database for the current weather conditions. If so, obtain the power station road database as the fused power station road database. Otherwise, update the power station road database using the road traffic information database for the current weather conditions and obtain the fused power station road database. Based on the starting access point and the target access point, combined with the integrated power station road database, adjacent nodes are obtained; Based on the adjacent nodes, the adjacent node information table is obtained using the integrated power station road database.

10. The weather-related offline navigation route planning method according to claim 8, characterized in that, Based on the adjacent node information table, the starting access point, and the target access point, a path optimization algorithm is used to plan the path and obtain the offline navigation path planning result, including: Starting from the starting point and the target point as the target node, initialize the inaccessible route, accessible route, priority queue and path record array; Determine whether the priority queue is empty. If it is, use the priority queue to obtain the offline navigation path planning result. Otherwise, based on the priority queue, use the route priority standard to obtain the initial node and perform the first operation. The route priority standard is to traverse all paths between the starting access point and the target access point, take the impassable path as the first standard, and the traversable path as the second standard. The first operation is as follows: determine whether the initial node is the target node. If it is, perform path backtracking based on the initial node and obtain the offline navigation path planning result by combining the adjacent node information table. Otherwise, perform the second operation. The second operation is: based on the initial node, using the adjacent node information table, obtain the adjacent nodes of the initial node, and then perform the third operation; The third operation is: determine whether the adjacent nodes of the initial node are in the priority queue. If so, obtain the new routes that are impassable and traversable based on the adjacent nodes of the initial node, and perform the fourth operation. Otherwise, perform the second operation based on the adjacent nodes of the initial node. The fourth operation is as follows: Based on the new impassable and drivable routes combined with the target route, determine whether the route update conditions are met. If so, obtain the new path record array, the new impassable routes, and the new drivable routes, update the priority queue, and execute the fifth operation; otherwise, directly execute the fifth operation. The fifth operation is to determine whether all the adjacent nodes of the initial node have been processed. If so, the sixth operation is performed based on the priority queue; otherwise, the second operation is performed based on the adjacent nodes of the initial node. The sixth operation is to determine whether the priority queue is empty. If it is, the offline navigation path planning result is obtained using the priority queue. Otherwise, the initial node is obtained based on the route priority standard using the priority queue, and the first operation is executed.

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