CN115705057A - Emergency route planning method, device, equipment and computer storage medium - Google Patents

Abstract

The application provides an emergency path planning method, an emergency path planning device, an emergency path planning equipment and a computer storage medium; the emergency path planning method in the application comprises the following steps: acquiring a starting point position and a terminal point position of a vehicle to be planned; acquiring a conventional path between the starting point position and the end point position and a live-action image of each intersection in the conventional path; analyzing the live-action image of each intersection to obtain an emergency operation rule corresponding to each intersection; adjusting the conventional path according to the emergency operation rule corresponding to each intersection, and planning and generating an emergency path; in the embodiment of the application, the real-scene image of each intersection is analyzed to obtain the emergency operation rule corresponding to each intersection, and the conventional path is adjusted according to the emergency operation rule to form the emergency path, so that the path planning can meet the driving requirement under the emergency condition.

Description

Emergency route planning method, device, equipment and computer storage medium

technical field

The present application relates to the technical field of logistics, in particular to an emergency route planning method, device, equipment and computer storage medium.

Background technique

With the rapid development of society, the traffic road network is more and more developed, and more and more users travel by car; the popularity of electronic maps makes people travel without worrying about not knowing the way.

However, with the continuous increase of vehicles, the traffic congestion in various regions is becoming more and more serious. Each region usually sets up motor vehicle restriction rules for each road according to its own traffic control needs. These restriction rules include which road sections are not allowed and which vehicles are in which time travel.

In order to ensure that the user complies with the motor vehicle restriction rules during driving, the electronic map will contain vehicle route navigation information. This vehicle route planning method meets people's normal travel needs, but it cannot guarantee that they can reach their destination quickly in emergency situations. land.

Contents of the invention

The present application provides an emergency path planning method, device, equipment and computer storage medium, aiming to solve the technical problem that the current path planning method cannot meet the path planning needs of users in special scenarios.

On the one hand, the present application provides an emergency route planning method, the emergency route planning method comprising:

Obtain the start position and end position of the vehicle to be planned;

Acquiring a regular path between the starting point and the end point, and a real-scene image of each intersection in the regular path;

Analyzing the real scene image of each intersection to obtain emergency operation rules corresponding to each intersection;

The conventional path is adjusted according to the emergency operation rules corresponding to each intersection, and an emergency path is planned and generated.

In some embodiments of the present application, after the acquisition of the regular path between the start location and the end location, the method includes:

Obtain the vehicle model of the vehicle to be planned;

If the vehicle model is the target model, the real-scene image of each intersection in the regular route is acquired.

In some embodiments of the present application, after the acquisition of the regular path between the start location and the end location, the method includes:

Obtain the path planning mode of the vehicle to be planned;

If the route planning mode is an emergency route planning mode, the real-scene image of each intersection in the regular route is acquired.

In some embodiments of the present application, the real scene image of each intersection is analyzed to obtain the emergency operation rules corresponding to each intersection, including:

Input the real-scene image of each intersection into a preset image recognition model, perform feature object recognition through the preset image recognition model, and obtain vehicle running signs and road partition information;

Obtaining the initial operating rules corresponding to the vehicle operating signs at each intersection;

The initial operation rules are adjusted according to the road separation information of each intersection to generate emergency operation rules for each intersection.

In some implementations of the present application, the adjustment of the conventional path according to the emergency operation rules corresponding to each intersection, and the planning and generation of the emergency path include:

If the intersection corresponding to the emergency operation rule is a non-physically isolated target intersection, then set the target intersection as passable;

Connecting the passable target intersections to adjust the conventional path, planning and generating an emergency path.

In some embodiments of the present application, the regular route is adjusted according to the emergency operation rules corresponding to each intersection, and after planning and generating the emergency route, the method includes:

Dividing the emergency path by using intersections in the emergency path as nodes to form multiple road sections;

Obtaining the real-time traffic conditions of each of the road sections, and judging whether there is a congested road section in the emergency route according to the real-time traffic conditions of each of the road sections;

If there is a congested road section in the emergency route, then adjust the congested road section plan to generate a new emergency route.

In some embodiments of the present application, the regular route is adjusted according to the emergency operation rules corresponding to each intersection, and after planning and generating the emergency route, the method includes:

saving the emergency route to a preset route database;

After the acquisition of the start position and end position of the vehicle to be planned, the method includes:

Querying the preset route database to determine whether there is an emergency route corresponding to the start position and the end position;

If there is an emergency path corresponding to the start point and the end point, output the emergency path.

In some embodiments of the present application, after analyzing the real scene image of each intersection and obtaining the emergency operation rules corresponding to each intersection, the method includes:

saving the emergency operation rules to a preset rule database;

After said acquiring the regular path between the start location and the end location, the method includes:

Querying the preset rule database to obtain emergency operation rules corresponding to each intersection in the conventional route;

If there is no right-of-way prohibition order in the emergency operation rules, then adjust the conventional path to obtain the initial planning path;

If the initial planned route is the shortest distance, then set the initial planned route as an emergency route.

In another aspect, the present application provides an emergency route planning device, the emergency route planning device comprising:

The first obtaining module is used to obtain the start position and end position of the vehicle to be planned;

A second acquisition module, configured to acquire a regular path between the starting point and the end point, and a real-scene image of each intersection in the regular path;

An analysis module, configured to analyze the real-scene image of each intersection to obtain the emergency operation rules corresponding to each intersection;

A planning module, configured to adjust the conventional path according to the emergency operation rules corresponding to each intersection, and plan and generate an emergency path.

On the other hand, the present application also provides an emergency route planning device, and the emergency route planning device includes:

one or more processors;

storage; and

One or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the processor to implement the emergency route planning method.

On the other hand, the present application also provides a computer storage medium, on which a computer program is stored, and the computer program is loaded by a processor to execute the steps in the emergency route planning method.

In the technical solution of the present application, obtain the start position and the end position of the vehicle to be planned; obtain the regular path between the start position and the end position, and the real scene image of each intersection in the regular path; for each intersection Analyze the real-scene images of each intersection to obtain the emergency operation rules corresponding to each intersection; adjust the conventional path according to the emergency operation rules corresponding to each intersection, and plan and generate an emergency path; in the embodiment of the present application, each The real-scene image of an intersection is analyzed to obtain the emergency operation rules corresponding to each intersection, and the conventional path is adjusted according to the emergency operation rules to form an emergency path, so that path planning can meet the needs of emergency conditions.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained based on these drawings without any creative effort.

FIG. 1 is a schematic diagram of a scenario of an emergency route planning method provided in an embodiment of the present application;

FIG. 2 is a schematic flow chart of an embodiment of emergency path planning in the emergency path planning method of the embodiment of the present application;

FIG. 3 is a schematic diagram of a real scene image in an emergency path planning method according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a specific scenario of emergency operation rules generated by adjusting initial operation rules in the emergency path planning method of the embodiment of the present application;

FIG. 5 is a schematic diagram of a scene of emergency operation rule configuration in the emergency path planning method provided in the embodiment of the present application;

FIG. 6 is a schematic flow diagram of an embodiment of determining whether to perform emergency path planning according to the vehicle model in the emergency path planning method of the embodiment of the present application;

7 is a schematic flow diagram of an embodiment of determining whether to perform emergency path planning according to the path planning mode in the emergency path planning method of the embodiment of the present application;

Fig. 8 is a schematic flow chart of an embodiment of route verification after emergency route planning in the emergency route planning method provided in the embodiment of the present application;

FIG. 9 is a schematic flow diagram of an embodiment of emergency route storage for later emergency route planning in the emergency route planning method provided in the embodiment of the present application;

FIG. 10 is a schematic flow diagram of an embodiment of saving emergency operation rules in the emergency path planning method provided in the embodiment of the present application for later emergency path planning;

Fig. 11 is a schematic structural diagram of an embodiment of the emergency path planning device involved in the embodiment of the present invention;

Fig. 12 is a schematic structural diagram of an emergency route planning device according to an embodiment of the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the scope of the present invention.

In the description of the present invention, it should be understood that the terms "first" and "second" are used for description purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of said features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

In this application, the word "exemplary" is used to mean "serving as an example, illustration or illustration". Any embodiment described in this application as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is given to enable any person skilled in the art to make and use the invention. In the following description, details are set forth for purposes of explanation. It should be understood that one of ordinary skill in the art would recognize that the present invention may be practiced without the use of these specific details. In other instances, well-known structures and procedures are not described in detail to avoid obscuring the description of the present invention with unnecessary detail. Thus, the present invention is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed in this application.

Embodiments of the present application provide an emergency path planning method, device, equipment, and computer storage medium, which will be described in detail below.

The emergency path planning method in the embodiment of the present invention is applied to the emergency path planning device, the emergency path planning device is set in the emergency path planning equipment, and the emergency path planning equipment is provided with one or more processors, memory, and one or more applications program, wherein one or more application programs are stored in the memory and configured to be executed by the processor to implement the emergency route planning method; the emergency route planning device can be a server or a terminal, such as a mobile phone, a tablet computer or a camera.

As shown in Figure 1, Figure 1 is a schematic diagram of the scene of the emergency path planning method in the embodiment of the present application. The emergency path planning scene in the embodiment of the present invention includes an emergency path planning device 100 (the emergency path planning device 100 is integrated with an emergency path planning device ), the computer storage medium corresponding to the emergency route planning is run in the emergency route planning device 100, so as to execute the steps of the emergency route planning method.

It can be understood that the emergency path planning equipment in the emergency path planning scenario shown in FIG. The number and type of equipment, or the number and type of devices contained in each equipment do not affect the overall realization of the technical solution in the embodiment of the present invention, and can be regarded as an equivalent replacement or derivative of the technical solution claimed in the embodiment of the present invention.

In the embodiment of the present invention, the emergency route planning device 100 is mainly used to: obtain the start position and end position of the vehicle to be planned; obtain the regular route between the start position and the end position, and each intersection in the regular route The real-scene image of each intersection is analyzed; the emergency operation rules corresponding to each intersection are obtained by analyzing the real-scene image; the conventional path is adjusted according to the emergency operation rules corresponding to each intersection, and the emergency path is planned and generated.

In the embodiment of the present invention, the emergency route planning device 100 may be an independent emergency route planning device, or an emergency route planning device network or emergency route planning device cluster composed of emergency route planning devices, for example, the emergency route planning device cluster described in the embodiment of the present invention The emergency path planning device 100 includes, but is not limited to, a computer, a network host, a single network emergency path planning device, a set of multiple network emergency path planning devices, or a cloud emergency path planning device composed of multiple emergency path planning devices. Wherein, the cloud emergency path planning equipment is composed of a large number of computers or network emergency path planning equipment based on cloud computing (Cloud Computing).

Those skilled in the art can understand that the application environment shown in Figure 1 is only an application scenario related to the solution of this application, and does not constitute a limitation on the application scenario of the solution of this application. Show more or fewer emergency path planning devices, or the network connection relationship of emergency path planning devices, for example, only one emergency path planning device is shown in Figure 1, it can be understood that the scene of emergency path planning may also include one or A plurality of other emergency route planning devices, which are not specifically limited here; the emergency route planning device 100 may further include a memory for storing data, for example, storing real-scene images obtained by shooting and the like.

In addition, in the scenario of emergency route planning in this application, the emergency route planning device 100 may be equipped with a display device, or the emergency route planning device 100 may not be provided with a display device to communicate with an external display device 200, and the display device 200 is used to output the emergency route planning device. The results of the implementation of the emergency path planning method in . The emergency route planning device 100 can access the background database 300 (the background database can be in the local memory of the emergency route planning device, and the background database can also be set in the cloud), and the background database 300 stores information related to emergency route planning, for example, the background database Real scene images are stored in 300 .

It should be noted that the scene schematic diagram of the emergency path planning method shown in FIG. Restrictions on the technical solutions provided by the embodiments of the present invention.

As shown in FIG. 2 , FIG. 2 is a schematic flowchart of an embodiment of emergency route planning in the emergency route planning method of the embodiment of the present application.

The emergency path planning method in this embodiment includes:

201. Obtain the start position and end position of the vehicle to be planned.

In this embodiment, the emergency path planning method is applied to emergency path planning equipment, and the type of emergency path planning equipment is not specifically limited. For example, the emergency path planning equipment can be a mobile phone terminal, a vehicle terminal or a server. In this embodiment, a vehicle terminal is used as an example To illustrate, an application program for executing the emergency route planning method is installed in the vehicle-mounted terminal.

The vehicle-mounted terminal receives the emergency route planning request, and the triggering method of the emergency route planning request is not specifically limited, that is, the emergency route planning request can be manually triggered by the user, for example, the user enters the destination position in the vehicle-mounted terminal and clicks the navigation button to trigger the emergency route planning request; in addition, the emergency route planning request can also be automatically triggered by the vehicle-mounted terminal, for example, the vehicle-mounted terminal is reproduced on the emergency vehicle, and the vehicle-mounted terminal is set to automatically trigger the emergency route planning request when the vehicle is detected to move.

After the vehicle-mounted terminal receives the emergency route planning request, the vehicle-mounted terminal obtains the start position and the end position of the vehicle to be planned. The start position can be input by the user, and the start position can also be the current position of the vehicle terminal; the end position can be manually input by the user. Or the vehicle-mounted terminal determines according to the historical driving records.

202. Acquire a regular route between the starting point and the end point, and a real-scene image of each intersection in the regular route.

The vehicle-mounted terminal obtains the regular path between the starting point and the ending point. The regular path refers to the path planned by the existing GPS (full name in Chinese: Global Positioning System; full name in English: Global Positioning System). The regular path is based on the vehicle running logo and Vehicle operation rules in the area, conforming to the path of most vehicles.

The vehicle-mounted terminal obtains the real-scene images of each intersection in the conventional route; the real-scene images can be collected by the intersection cameras in real time and then sent, or the real-scene images can also be pre-associated and saved on the conventional routes; the format and quantity of the real-scene images are not specifically limited, and the real-scene images It needs to contain the intersection identification information and the information of the isolation items at the intersection.

203. Analyze the real-scene image of each intersection to obtain emergency operation rules corresponding to each intersection.

The vehicle-mounted terminal analyzes the real-scene image of each intersection to determine whether to adjust the initial operation rules of each intersection to obtain emergency operation rules, that is, the vehicle-mounted terminal analyzes the real-scene image to obtain the vehicle operation signs and road partitions information, among which, the vehicle operation identification refers to the vehicle operation identification, which refers to the identification information that uniquely indicates the vehicle operation, for example, the no-turn sign on the road, the no-turn sign, the height limit sign, etc., and the road partition information refers to the guardrail in the road, Location information of flower beds etc.

In this embodiment, the way in which the vehicle-mounted terminal analyzes the real-scene image is not specifically limited. For example, implementation mode 1: an image analysis algorithm is set in the vehicle-mounted terminal, and the real-scene image is recognized by the image analysis algorithm to obtain vehicle running signs and road partition information; Or the second implementation: the vehicle-mounted terminal sends the real-scene image to the server, the server analyzes the real-scene image to obtain the vehicle running logo and road partition information, and the server sends the vehicle running logo and road partition information to the vehicle-mounted terminal.

Based on the vehicle running signs and road partition information, the vehicle-mounted terminal judges whether there is physical isolation at the intersection, the vehicle height limit and vehicle width limit operation instructions, and further obtains whether the vehicle can pass, thereby forming emergency operation rules.

In this embodiment, the way in which the vehicle-mounted terminal obtains the emergency operation rules corresponding to each intersection by analyzing the real-scene image is not limited. In this embodiment, a method is provided to analyze the real-scene image of each intersection to obtain A specific implementation of the emergency operation rules corresponding to the intersection includes:

(1), the real-scene image of each crossing is input to the preset image recognition model, and the characteristic object recognition is carried out by the preset image recognition model, and the vehicle running sign and road partition information are obtained;

(2), obtaining the initial operation rules corresponding to the vehicle operation signs at each intersection;

(3) Adjust the initial operation rules according to the road partition information of each intersection, and generate emergency operation rules for each intersection.

That is, in this embodiment, the preset image recognition model in the vehicle-mounted terminal refers to an image recognition algorithm trained by a deep neural network. The image samples of the partition information are trained, and the image recognition model is mainly used to recognize the vehicle running signs and road partition information contained in the real scene images.

The vehicle-mounted terminal inputs the real-scene image of each intersection to the preset image recognition model, and performs feature object recognition through the preset image recognition model to obtain vehicle running signs and road partition information. Referring to FIG. 3 , FIG. 3 is a schematic diagram of a real-scene image in an emergency route planning method according to an embodiment of the present application.

The vehicle-mounted terminal obtains the initial operation rules corresponding to the vehicle operation signs of each intersection; the vehicle-mounted terminal adjusts the initial operation rules according to the road partition information of each intersection, and generates the emergency operation rules of each intersection, referring to Figure 4, which is the implementation of this application For example, in the emergency path planning method, the initial operation rule adjustment generates a schematic diagram of the specific scenario of the emergency operation rule; for example, for a non-physically isolated T-shaped intersection, the initial U-turn prohibition rule is adjusted to the U-turn emergency operation rule.

In addition, in some scenarios, users can set emergency operation rules. Referring to FIG. 5, FIG. Run the rules, and send the emergency operation rules for review. After the review is passed, you can plan the emergency path according to the configured emergency operation rules.

204. Adjust the regular path according to the emergency operation rules corresponding to each intersection, and plan and generate an emergency path.

In this embodiment, the vehicle-mounted terminal adjusts the conventional path according to the emergency operation rules of each intersection, and plans to generate an emergency path, which can shorten the running distance of the vehicle and further reduce the running time of the vehicle. In this embodiment, the conventional path is adjusted according to the emergency operation rules. The vehicle can not only meet the necessary operating rules such as height limit and weight limit, but also selectively ignore some operating rules that have little influence, making the emergency path more reasonable.

This embodiment provides a specific implementation method of adjusting the conventional route according to the emergency operation rules corresponding to each intersection, and planning and generating the emergency route, including:

(1) If the intersection corresponding to the emergency operation rules is a non-physically isolated target intersection, set the target intersection as passable;

(2) Connecting the passable target intersections to adjust the conventional path, planning and generating an emergency path.

That is, the vehicle-mounted terminal judges whether the intersection corresponding to the emergency rule is a non-physically isolated target intersection, and if the intersection corresponding to the emergency operation rule is a non-physically isolated target intersection, the vehicle-mounted terminal sets the target intersection as passable; The target intersection is connected to adjust the conventional path, and the emergency path is planned and generated.

It is understandable that different emergency operation rules adjust the conventional route in different ways. The vehicle-mounted terminal adjusts the operation of each intersection in the conventional route according to the emergency operation rules of each intersection to obtain the emergency route, so that the emergency route can be quickly reach the end position.

In the technical solution of the present application, obtain the start position and the end position of the vehicle to be planned; obtain the regular path between the start position and the end position, and the real scene image of each intersection in the regular path; for each intersection Analyze the real-scene images of each intersection to obtain the emergency operation rules corresponding to each intersection; adjust the conventional path according to the emergency operation rules corresponding to each intersection, and plan and generate an emergency path; in the embodiment of the present application, each The real-scene image of an intersection is analyzed to obtain the emergency operation rules corresponding to each intersection, and the conventional path is adjusted according to the emergency operation rules to form an emergency path, so that path planning can meet the needs of emergency conditions.

As shown in FIG. 6 , FIG. 6 is a flowchart of an embodiment of determining whether to perform emergency route planning according to the vehicle model in the emergency route planning method of the embodiment of the present application.

In the above-mentioned embodiments, the vehicle-mounted terminal will execute emergency route planning according to the emergency route planning method, which cannot guarantee traffic order. include:

301. Obtain the vehicle model of the vehicle to be planned;

302. If the vehicle model is a target model, acquire a real-scene image of each intersection in the regular route.

The vehicle-mounted terminal obtains the vehicle model of the vehicle to be planned. The vehicle model includes cars, minivans, buses, taxis, fire trucks, police cars, etc. After the vehicle-mounted terminal obtains the vehicle model, the vehicle-mounted terminal judges whether the vehicle model is the target model. The target model refers to the model set in the vehicle terminal that can drive in an emergency, and the target model includes fire trucks, police cars, ambulances, etc.

The vehicle-mounted terminal determines that the vehicle to be planned is not the target model, and the vehicle-mounted terminal performs vehicle navigation according to the conventional route.

The vehicle-mounted terminal determines that the vehicle to be planned is the target model, and the vehicle-mounted terminal obtains the real-scene images of each intersection in the conventional route for emergency route planning. In this embodiment, the vehicle-mounted terminal determines whether to perform emergency route planning according to the vehicle model, so that special vehicles can take the shortest route according to special application scenarios, without manual judgment of the vehicle driver, making emergency route planning more reasonable.

Referring to FIG. 7 , FIG. 7 is a schematic flowchart of an embodiment of determining whether to perform emergency route planning according to the route planning mode in the emergency route planning method provided in the embodiment of the present application.

In some embodiments of the present application, after the vehicle-mounted terminal obtains the conventional path between the starting point and the ending point, the emergency path planning method further includes the following steps:

401. Obtain the path planning mode of the vehicle to be planned;

402. If the route planning mode is an emergency route planning mode, acquire a real-scene image of each intersection in the regular route.

The vehicle-mounted terminal obtains the route planning mode of the vehicle to be planned, and the vehicle-mounted terminal judges whether the current route planning mode is the emergency route planning mode; if the route planning mode is not the emergency route planning mode, the vehicle-mounted terminal performs vehicle navigation according to the conventional route; if the route planning mode is In the emergency route planning mode, the vehicle-mounted terminal obtains real-scene images of each intersection in the conventional route for emergency route planning.

In this embodiment, when the vehicle-mounted terminal turns on the emergency route planning mode of the vehicle to be planned, the vehicle-mounted terminal can perform emergency route planning, so that ordinary vehicles can perform emergency route planning in special application scenarios to quickly reach the end position without the need for vehicle driving The manual judgment of personnel makes the emergency path planning more reasonable.

Referring to FIG. 8 , FIG. 8 is a schematic flowchart of an embodiment of route verification after emergency route planning in the emergency route planning method provided in the embodiment of the present application.

Since the purpose of emergency route planning is to reduce the distance traveled by the vehicle so that the vehicle can quickly reach the end position, in order to prevent the emergency route from being unable to achieve the above purpose, the emergency route planning method in this embodiment checks the emergency route, including:

501. Divide the emergency path by using intersections in the emergency path as nodes to form multiple road sections.

After the vehicle-mounted terminal completes the planning of the emergency route, the vehicle-mounted terminal segments the emergency route, that is, the vehicle-mounted terminal uses each intersection in the emergency route as a dividing node, and divides the emergency route into multiple sections.

502. Acquire real-time vehicle conditions of each road section, and judge whether there is a congested road section in the emergency route according to the real-time vehicle conditions of each road section.

503. If there is a congested road section in the emergency route, adjust the congested road section plan to generate a new emergency route.

The vehicle-mounted terminal obtains the real-time vehicle conditions of each road section, and the vehicle-mounted terminal judges whether there is a congested road section in the emergency route according to the real-time vehicle conditions of each road section; Route driving; if there is a congested road section in the emergency route, the vehicle-mounted terminal will adjust the congested road section planning to generate a new emergency route.

After the emergency path trajectory in this embodiment, the vehicle-mounted terminal monitors the real-time status of each road section in the emergency path to avoid congested road sections in the emergency path, so that the vehicle can quickly reach the end position according to the emergency path to meet the needs of users in emergency situations. State usage requirements.

Referring to FIG. 9 , FIG. 9 is a schematic flow chart of an embodiment of emergency route storage for later emergency route planning in the emergency route planning method provided in the embodiment of the present application.

Specifically, the emergency path planning method in this embodiment includes:

601. Save the emergency route to a preset route database.

The vehicle-mounted terminal saves the historically planned emergency route and the start and end positions of the route in association with the preset route database, wherein the preset route database can be set locally on the vehicle-mounted terminal or in the cloud.

602. Query the preset route database, and determine whether there is an emergency route corresponding to the start position and the end position.

After the vehicle-mounted terminal obtains the start position and the end position of the vehicle to be planned, the vehicle-mounted terminal queries the preset route database, and the vehicle-mounted terminal determines whether there is an emergency route corresponding to the start position and the end position.

603. If there is an emergency path corresponding to the start location and the end location, output the emergency path.

If there is an emergency path corresponding to the start position and the end position in the preset route database, the vehicle-mounted terminal outputs the emergency route so that the vehicle can drive according to the emergency route; The terminal executes the step of acquiring a regular route between the start point and the end point, and a real-scene image of each intersection in the regular route, so as to perform real-time emergency route planning.

In this embodiment, the vehicle-mounted terminal saves the emergency route planned in real time, and can directly use it later, which can improve the speed of emergency route planning.

Referring to FIG. 10 , FIG. 10 is a schematic flowchart of an embodiment of saving emergency operation rules in the emergency route planning method provided in the embodiment of the present application for later emergency route planning.

Specifically, the emergency path planning method in this embodiment performs emergency path planning according to the saved emergency operation rules, including:

701. Save the emergency operation rules to a preset rule database.

The vehicle-mounted terminal analyzes the real-scene image of each intersection, and after obtaining the emergency operation rules corresponding to each intersection, the vehicle-mounted terminal associates the emergency operation rules with the location information of each intersection and saves them in the preset rule database.

In this embodiment, after the vehicle-mounted terminal acquires the regular path between the starting point and the end point, the method includes:

702. Query the preset rule database, and obtain emergency operation rules corresponding to each intersection in the conventional route;

703. If there is no right-of-way prohibition order in the emergency operation rules, adjust the conventional route to obtain an initial planned route;

704. If the initial planning route is the shortest distance, set the initial planning route as an emergency route.

The vehicle-mounted terminal queries the preset rule database to obtain the emergency operation rules corresponding to each intersection in the conventional route; the vehicle-mounted terminal judges whether there is a right-of-way prohibition in the emergency operation rules, and if there is a right-of-way prohibition in the emergency operation rules, the vehicle-mounted terminal does not adjust The path corresponding to the intersection; if there is no right-of-way prohibition order in the emergency operation rules, the vehicle-mounted terminal adjusts the conventional path to obtain the initial planning path; the vehicle-mounted terminal judges whether the initial planning path is the shortest distance, if the initial planning path is not the shortest distance, the vehicle-mounted terminal Then reduce some road sections; if the initial planning path is the shortest distance, then set the initial planning path as an emergency path.

In this embodiment, the vehicle-mounted terminal associates and saves the emergency operation rules of each path and the location information of the intersection. When the vehicle-mounted terminal performs emergency route planning, the vehicle-mounted terminal directly obtains the emergency operation rules, and performs path planning according to the emergency operation rules, which improves emergency response. Path planning efficiency.

In order to better implement the emergency path planning method in the embodiment of this application, on the basis of the emergency path planning method, an emergency path planning device is also provided in the embodiment of this application, as shown in Figure 11, which is an emergency path planning device A structural schematic diagram of an embodiment; the emergency path planning device includes:

The first obtaining module 801 is used to obtain the start position and end position of the vehicle to be planned;

The second acquisition module 802 is configured to acquire a regular path between the starting point and the end point, and a real-scene image of each intersection in the regular path;

An analysis module 803, configured to analyze the real-scene image of each intersection to obtain emergency operation rules corresponding to each intersection;

The planning module 804 is configured to adjust the conventional route according to the emergency operating rules corresponding to each intersection, and plan and generate an emergency route.

In some embodiments of the present application, the emergency path planning device includes:

Obtain the vehicle model of the vehicle to be planned;

If the vehicle model is the target model, the real-scene image of each intersection in the regular route is acquired.

In some embodiments of the present application, the emergency path planning device includes:

Obtain the path planning mode of the vehicle to be planned;

If the route planning mode is an emergency route planning mode, the real-scene image of each intersection in the regular route is acquired.

In some embodiments of the present application, the parsing module 803 includes:

Input the real-scene image of each intersection into a preset image recognition model, perform feature object recognition through the preset image recognition model, and obtain vehicle running signs and road partition information;

Obtaining the initial operating rules corresponding to the vehicle operating signs at each intersection;

The initial operation rules are adjusted according to the road separation information of each intersection to generate emergency operation rules for each intersection.

In some embodiments of the present application, the planning module 804 includes:

If the intersection corresponding to the emergency operation rule is a non-physically isolated target intersection, then set the target intersection as passable;

Connecting the passable target intersections to adjust the conventional path, planning and generating an emergency path.

In some embodiments of the present application, the emergency path planning device includes:

Dividing the emergency path by using intersections in the emergency path as nodes to form multiple road sections;

Obtaining the real-time traffic conditions of each of the road sections, and judging whether there is a congested road section in the emergency route according to the real-time traffic conditions of each of the road sections;

If there is a congested road section in the emergency route, then adjust the congested road section plan to generate a new emergency route.

In some embodiments of the present application, the emergency path planning device includes:

saving the emergency route to a preset route database;

After the emergency path planning device executes the step of obtaining the starting position and the ending position of the vehicle to be planned, it includes:

Querying the preset route database to determine whether there is an emergency route corresponding to the start position and the end position;

If there is an emergency path corresponding to the start point and the end point, output the emergency path.

In some embodiments of the present application, the emergency path planning device includes:

saving the emergency operation rules to a preset rule database;

After the emergency path planning device executes the acquisition of the regular path between the starting point and the end point, it includes:

Querying the preset rule database to obtain emergency operation rules corresponding to each intersection in the conventional route;

If there is no right-of-way prohibition order in the emergency operation rules, then adjust the conventional path to obtain the initial planning path;

If the initial planned route is the shortest distance, then set the initial planned route as an emergency route.

Emergency path planning device in this embodiment: obtain the start position and end position of the vehicle to be planned; obtain the regular path between the start position and the end position, and the real scene image of each intersection in the regular path; Analyze the real scene image of each intersection to obtain the emergency operation rules corresponding to each intersection; adjust the conventional path according to the emergency operation rules corresponding to each intersection, and plan and generate an emergency path; in the embodiments of the present application By analyzing the real scene image of each intersection, the emergency operation rules corresponding to each intersection are obtained, and the conventional path is adjusted according to the emergency operation rules to form an emergency path, so that the path planning can meet the needs under emergency conditions.

The embodiment of the present invention also provides an emergency route planning device, as shown in FIG. 12 , which shows a schematic structural diagram of the emergency route planning device involved in the embodiment of the present invention.

The emergency path planning equipment integrates any emergency path planning device provided in the embodiments of the present invention, and the emergency path planning equipment includes:

one or more processors;

storage; and

One or more application programs, wherein the one or more application programs are stored in the memory, and are configured to be executed by the processor according to any one of the above-mentioned emergency path planning method embodiments. Steps in the path planning method.

Specifically, the emergency path planning device may include one or more processors 901 of processing cores, one or more memories 902 of computer storage media, power sources 903 , input units 904 and other components. Those skilled in the art can understand that the structure of the emergency path planning equipment shown in Figure 12 does not constitute a limitation to the emergency path planning equipment, and may include more or less components than those shown in the illustration, or combine certain components, or be different layout of the components. in:

The processor 901 is the control center of the emergency path planning equipment, and uses various interfaces and lines to connect various parts of the entire emergency path planning equipment, by running or executing the software programs and/or modules stored in the memory 902, and calling the stored in The data in the memory 902 executes various functions of the emergency route planning device and processes data, so as to monitor the emergency route planning device as a whole. Optionally, the processor 901 may include one or more processing cores; preferably, the processor 901 may integrate an application processor and a modem processor, wherein the application processor mainly processes operating systems, user interfaces, and application programs, etc. , the modem processor mainly handles wireless communications. It can be understood that the foregoing modem processor may not be integrated into the processor 901 .

The memory 902 can be used to store software programs and modules, and the processor 901 executes various functional applications and data processing by running the software programs and modules stored in the memory 902 . The memory 902 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application program required by a function (such as a sound playback function, an image playback function, etc.); Data created using emergency route planning equipment, etc. In addition, the memory 902 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage devices. Correspondingly, the memory 902 may further include a memory controller to provide the processor 901 with access to the memory 902 .

The emergency route planning device also includes a power supply 903 for supplying power to each component. Preferably, the power supply 903 can be logically connected to the processor 901 through the power management system, so as to realize the functions of managing charging, discharging, and power consumption management through the power management system. The power supply 903 may also include one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, power status indicators and other arbitrary components.

The emergency route planning device can also include an input unit 904, which can be used to receive input digital or character information, and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

Although not shown, the emergency route planning device may also include a display unit, etc., which will not be repeated here. Specifically, in this embodiment, the processor 901 in the emergency path planning device loads the executable file corresponding to the process of one or more application programs into the memory 902 according to the following instructions, and the processor 901 executes the The application programs stored in the memory 902, thereby realizing various functions, are as follows:

Obtain the start position and end position of the vehicle to be planned;

Acquiring a regular path between the starting point and the end point, and a real-scene image of each intersection in the regular path;

Analyzing the real scene image of each intersection to obtain emergency operation rules corresponding to each intersection;

The conventional path is adjusted according to the emergency operation rules corresponding to each intersection, and an emergency path is planned and generated.

Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above-mentioned embodiments can be completed by instructions, or by instructions controlling related hardware, and the instructions can be stored in a computer storage medium and executed by processor for loading and execution.

To this end, an embodiment of the present invention provides a computer storage medium, and the computer storage medium may include: a read only memory (ROM, Read Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and the like. A computer program is stored thereon, and the computer program is loaded by a processor to execute the steps in any emergency route planning method provided by the embodiments of the present invention. For example, the computer program being loaded by the processor may perform the following steps:

Obtain the start position and end position of the vehicle to be planned;

Acquiring a regular path between the starting point and the end point, and a real-scene image of each intersection in the regular path;

Analyzing the real scene image of each intersection to obtain emergency operation rules corresponding to each intersection;

The conventional path is adjusted according to the emergency operation rules corresponding to each intersection, and an emergency path is planned and generated.

In the above-mentioned embodiments, the descriptions of each embodiment have their own emphases. For the part that is not described in detail in a certain embodiment, refer to the detailed description of other embodiments above, and will not be repeated here.

During specific implementation, each of the above units or structures can be implemented as an independent entity, or can be combined arbitrarily as the same or several entities. For the specific implementation of each of the above units or structures, please refer to the previous method embodiments, here No longer.

For the specific implementation of the above operations, reference may be made to the foregoing embodiments, and details are not repeated here.

The above is a detailed introduction to an emergency path planning method provided by the embodiment of the present application. In this paper, specific examples are used to illustrate the principle and implementation of the present invention. The description of the above embodiment is only used to help understand the present invention. method and its core idea; at the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific implementation and application scope. limits.

Claims (11)

1. An emergency path planning method is characterized by comprising the following steps:

acquiring a starting point position and a terminal point position of a vehicle to be planned;

acquiring a conventional path between the starting point position and the end point position and a live-action image of each intersection in the conventional path;

analyzing the live-action image of each intersection to obtain an emergency operation rule corresponding to each intersection;

and adjusting the conventional path according to the emergency operation rule corresponding to each intersection, and planning and generating an emergency path.

2. The emergency path planning method according to claim 1, wherein after the obtaining of the regular path between the start position and the end position, the method comprises:

acquiring the vehicle model of a vehicle to be planned;

and if the vehicle model is a target model, acquiring a real-scene image of each intersection in the conventional path.

3. The emergency path planning method according to claim 1, wherein after the obtaining of the regular path between the start position and the end position, the method comprises:

acquiring a path planning mode of a vehicle to be planned;

and if the path planning mode is an emergency path planning mode, acquiring a live-action image of each intersection in the conventional path.

4. The emergency path planning method according to claim 1, wherein the analyzing the live-action image of each intersection to obtain the emergency operation rule corresponding to each intersection includes:

inputting the live-action image of each intersection into a preset image recognition model, and performing characteristic object recognition through the preset image recognition model to obtain a vehicle operation identifier and road partition information;

acquiring an initial operation rule corresponding to the vehicle operation identification of each intersection;

and adjusting the initial operation rule according to the road partition information of each intersection to generate an emergency operation rule of each intersection.

5. The emergency path planning method according to claim 1, wherein the adjusting the regular path according to the emergency operation rule corresponding to each intersection to plan and generate an emergency path includes:

if the intersection corresponding to the emergency operation rule is a non-physically-isolated target intersection, setting the target intersection as passable;

and communicating the passable target intersections to adjust the conventional path, and planning to generate an emergency path.

6. The emergency path planning method according to claim 1, wherein the regular path is adjusted according to the emergency operation rule corresponding to each intersection, and after an emergency path is planned and generated, the method includes:

dividing the emergency path by taking intersections in the emergency path as nodes to form a plurality of road sections;

acquiring real-time vehicle conditions of all road sections, and judging whether a jammed road section exists in the emergency path according to the real-time vehicle conditions of all the road sections;

and if the emergency path has a congested road section, adjusting the congested road section to plan and generate a new emergency path.

7. The emergency path planning method according to claim 1, wherein the regular path is adjusted according to the emergency operation rule corresponding to each intersection, and after an emergency path is planned and generated, the method includes:

storing the emergency path to a preset path database;

after the obtaining of the starting point position and the end point position of the vehicle to be planned, the method comprises:

inquiring the preset path database, and determining whether an emergency path corresponding to the starting position and the end position exists;

and if the emergency path corresponding to the starting position and the end position exists, outputting the emergency path.

8. The emergency path planning method according to any one of claims 1 to 7, wherein after the live-action image of each intersection is analyzed to obtain the emergency operation rule corresponding to each intersection, the method includes:

storing the emergency operation rule to a preset rule database;

after the obtaining of the regular path between the start position and the end position, the method includes:

inquiring the preset rule database to obtain emergency operation rules corresponding to all the interfaces in the conventional path;

if no traffic right prohibition order exists in the emergency operation rule, adjusting the conventional path to obtain an initial planned path;

and if the initial planned path is the shortest route, setting the initial planned path as an emergency path.

9. An emergency path planning apparatus, comprising:

the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring a starting point position and an end point position of a vehicle to be planned;

the second acquisition module is used for acquiring a conventional path between the starting point position and the end point position and a live-action image of each intersection in the conventional path;

the analysis module is used for analyzing the live-action images of each intersection to obtain an emergency operation rule corresponding to each intersection;

and the planning module is used for adjusting the conventional path according to the emergency operation rule corresponding to each intersection and planning and generating an emergency path.

10. An emergency path planning apparatus, comprising:

one or more processors;

a memory; and

one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the steps in the emergency path planning method of any of claims 1 to 8.

11. A computer storage medium having a computer program stored thereon, the computer program being loaded by a processor to perform the steps in the emergency path planning method according to any of claims 1 to 8.

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