CN109945880A

CN109945880A - Paths planning method, relevant device and readable storage medium storing program for executing

Info

Publication number: CN109945880A
Application number: CN201711389474.XA
Authority: CN
Inventors: 薛常亮; 温丰; 邵云峰
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2017-12-20
Filing date: 2017-12-20
Publication date: 2019-06-28
Anticipated expiration: 2037-12-20
Also published as: CN109945880B

Abstract

The embodiment of the present application provides a kind of paths planning method, relevant device and readable storage medium storing program for executing, this method comprises: more vehicles are divided at least two groups according to the driving path of planning by server, this first group is any one group in at least two groups；The server receives the traffic information that the first vehicle is sent, which is used to describe the position that the failure that first vehicle detection arrives occurs, which is any one vehicle in the more vehicles；The traffic information is sent to the second vehicle in the more vehicles by the server, to plan the driving path of second vehicle again according to the traffic information for second vehicle, or the server plans the driving path of second vehicle according to the traffic information again, and the driving path planned again is sent to second vehicle, second vehicle and first vehicle belong to identical group.Using the embodiment of the present application, path planning efficiency can be improved.

Description

Paths planning method, relevant device and readable storage medium storing program for executing

Technical field

This application involves unmanned technical field more particularly to a kind of paths planning method, relevant device and readable deposit Storage media.

Background technique

Unmanned technology is considered as the intelligentized mark of 21 century highway communication, and unmanned technology will fundamentally change Become the drive manner of the mankind, perhaps will overturn orthodox car industry comprehensively.By using advanced electronic technology, information technology, Pilotless automobile can not only liberate " four limbs " of people, but also can greatly reduce due to human operational error and occur Traffic accident, and energy-saving and emission-reduction are helped to realize, it reduces environmental pollution.Path planning is the important research in unmanned technology Content, the traveling initial position and destination for being mainly based upon pilotless automobile are planned, to obtain optimal traveling Path.How quickly to cook up enforceable driving path according to real-time traffic condition is that those skilled in the art is grinding The technical issues of studying carefully.

Summary of the invention

The embodiment of the present application discloses a kind of paths planning method, relevant device and readable storage medium storing program for executing, can be improved road Diameter planning efficiency.

The embodiment of the present application first aspect discloses a kind of paths planning method, and this method comprises the following steps: firstly, clothes More vehicles are divided at least two groups according to the driving path of planning by business device, the traveling of the planning of any two vehicles in first group Between path it is completely overlapped or this first group in any one vehicle planning driving path in advance be this first group It partly overlaps between the reference path of configuration, this first group is any one group in at least two groups；Then, which receives the The traffic information that one vehicle is sent, the traffic information are used to describe the position that the failure that first vehicle detection arrives occurs, this One vehicle is any one vehicle in the more vehicles；Then, which is sent to the more vehicles for the traffic information In the second vehicle, to plan the driving path of second vehicle again according to second vehicle of traffic information for this, or The server plans the driving path of second vehicle according to the traffic information again, and the driving path planned again is sent Second vehicle is given, second vehicle and first vehicle belong to identical group.

By executing above-mentioned steps, more vehicles are grouped by server according to the driving path of planning, subsequent to be somebody's turn to do When the first vehicle detection in more vehicles is to failure, selection needs to plan row again directly from group belonging to first vehicle Second vehicle in path is sailed, rather than chooses the second vehicle for needing to plan driving path again from the more vehicles, therefore The speed ratio for choosing the second vehicle is very fast, so that fault detection can be the second vehicle within the time short as far as possible after again Cook up driving path.

With reference to first aspect, in the first possible implementation of the first aspect, any one vehicle in this first group The driving path of planning include at least one section, in this first group the driving path of the planning of any one vehicle with Be in advance first group of configuration reference path between partly overlap include: overlapping section quantity be in advance first group of configuration The reference path section quantity that is included ratio not less than the first preset threshold, which is in this first group The quantity in the driving path of the planning of any one vehicle section Chong Die with first group of the reference path.It is understood that It is the similarity for the driving path and reference path that can embody the planning of vehicle according to overlapping section quantity, is overlapped section number It measures in vehicle operation and a comparison has the factor of reference value, be also easier to obtain, therefore based on overlapping road Grouping effect when segment number is grouped is more preferable.

With reference to first aspect or any of the above-described possible implementation of first aspect, at second of first aspect In possible implementation, if completely overlapped between the driving path of the planning of any two vehicles in this first group；The service More vehicles are divided into after at least two groups by device according to the driving path of planning, further includes: if the third vehicle in this first group Travelled according to the driving path of the planning of the third vehicle, if the third vehicle planning driving path more It changes, then the server deletes the third vehicle from this first group.It is understood that real-time eliminating falls shape in this first group State change and change after no longer meet assign to first group condition vehicle, can efficiently reduce and be referred in this first group It is worth lesser vehicle, avoids the subsequent unnecessary calculation amount of generation.

With reference to first aspect or any of the above-described possible implementation of first aspect, in the third of first aspect In possible implementation, if in this first group the driving path of the planning of any one vehicle be in advance that this first is assembled Partly overlap between the reference path set, the server by more vehicles according to the driving path of planning be divided at least two groups it Afterwards, further includes: if the third vehicle in this first group has been travelled according to the driving path of the planning of the third vehicle, Huo Zheruo The driving path of the planning of the third vehicle has been replaced, between the driving path and first group of the reference path after the replacement not Meet partly overlapping condition, then the server deletes the third vehicle from this first group.It is understood that picking in real time The vehicle for no longer meeting the condition for assigning to first group after state changes and changes in this first group is removed, can effectively be subtracted The lesser vehicle of reference value in this first group few avoids the subsequent unnecessary calculation amount of generation.

With reference to first aspect or any of the above-described possible implementation of first aspect, at the 4th kind of first aspect In possible implementation, if completely overlapped between the driving path of the planning of any two vehicles in this first group；The service More vehicles are divided into after at least two groups by device according to the driving path of planning, further includes: if new registration is into the server It is completely overlapped between the driving path of the planning of vehicle in the driving path of the planning of 4th vehicle and this first group, then the clothes 4th vehicle is added in this first group by business device.It is understood that meeting condition to increase in this first group in real time Vehicle will have more vehicles to share the failure detected in this first group in this way, be conducive in time as in first group Each vehicle plans driving path again.

With reference to first aspect or any of the above-described possible implementation of first aspect, at the 5th kind of first aspect In possible implementation, if in this first group the driving path of the planning of any one vehicle be in advance that this first is assembled It partly overlaps between the reference path set；The server by more vehicles according to the driving path of planning be divided at least two groups it Afterwards, further includes: if new registration to the 4th vehicle in the server planning driving path and first group of the reference path Between partly overlap, then the 4th vehicle is added in this first group by the server.It is understood that in real time to this first Increase the vehicle for the condition that meets in group, there will be more vehicles to share the failure detected in this first group in this way, have Conducive to planning driving path again in time for each vehicle in first group.

With reference to first aspect or any of the above-described possible implementation of first aspect, at the 6th kind of first aspect In possible implementation, the distance of second vehicle distances location of fault is greater than or equal to the second preset threshold；The clothes It is engaged in after the traffic information that device the first vehicle of reception is sent, further includes following steps: firstly, the server determines M the 5th vehicle , the 5th vehicle is vehicle of the distance apart from the location of fault less than second preset threshold, and M is just whole greater than 1 Number；Then, which calculates the priority scoring of each the 5th vehicle in this M the 5th vehicle, appoints in this M the 5th vehicle The calculation formula of the priority scoring U of one the 5th vehicle of meaning is as follows:

U=(d/v) * β

Wherein, d is the distance of this any one the 5th vehicle distances location of fault, and v is any one the 5th vehicle Travel speed, β be setting weight factor；Then, which is each the 5th vehicle planning in this M the 5th vehicle Driving path, and the driving path cooked up is sent to each the 5th vehicle, the 5th lower vehicle of priority scoring Driving path is more early to be planned and is sent.Show vehicle by the time used in location of fault it is understood that d/v is smaller It is shorter, therefore the server has the vehicle planning and send driving path for being limited to that priority scores low, so that location of fault Neighbouring vehicle can be crossed rapidly, to reduce traffic congestion and avoid the generation of some accidents.

With reference to first aspect or any of the above-described possible implementation of first aspect, at the 7th kind of first aspect In possible implementation, which includes that at the first time, this is used for the time for describing to detect the failure at the first time； The vehicle of the server is registered in the preset time period that second vehicle belonged to before the first time.It is understood that It is that the second vehicle is the vehicle that server is registered in nearlyr a period of time, when the server just only need to be nearlyr one section in this way The interior vehicle planning driving path for being registered to server sends traffic information, reduces the load of the server, due to The vehicle for being registered to server before the time farther out is likely to not influenced by the failure, therefore this Some vehicles is generally also It is not necessary to by driving path is planned again.

Second aspect, the embodiment of the present application provide a kind of paths planning method, and this method comprises the following steps: firstly, the Two vehicles receive the traffic information that server is sent, which is used to describe the position that the failure that the first vehicle detection arrives occurs It sets, first vehicle and second vehicle belong to any two cars in identical group, first group in at least two groups divided in advance Planning driving path it is completely overlapped or this first group in any one vehicle planning driving path and in advance It partly overlaps between reference path for first group of configuration, this first group is any one group in at least two groups；Then, this Two vehicles plan the driving path of second vehicle according to the traffic information again.

In conjunction with second aspect, in the first possible implementation of the second aspect, any one vehicle in this first group The driving path of planning include at least one section, in this first group the driving path of the planning of any one vehicle with Be in advance first group of configuration reference path between partly overlap include: overlapping section quantity be in advance first group of configuration The reference path section quantity that is included ratio not less than the first preset threshold, which is in this first group The quantity in the driving path of the planning of any one vehicle section Chong Die with first group of the reference path.It is understood that It is the similarity for the driving path and reference path that can embody the planning of vehicle according to overlapping section quantity, is overlapped section number It measures in vehicle operation and a comparison has the factor of reference value, be also easier to obtain, therefore based on overlapping road Grouping effect when segment number is grouped is more preferable.

In conjunction with the possible implementation of any one of the above of second aspect or second aspect, the of second aspect In two kinds of possible implementations, which belongs to without the location of fault, but the driving trace planned includes The vehicle of the location of fault.It is understood that the second vehicle is to pass through but also without the vehicle of the location of fault, The server just need to only be reduced in this way to plan driving path by the vehicle of the location of fault or send traffic information The load of the server, due to having been subjected to or not influenced by the failure without the vehicle of the location of fault, This Some vehicles is generally also not necessarily to be planned driving path again.

In conjunction with the possible implementation of any one of the above of second aspect or second aspect, the of second aspect In three kinds of possible implementations, which includes that at the first time, this is used to describe at the first time to detect the failure Time；The server is registered in the preset time period that second vehicle belonged to before the first time.It is understood that Second vehicle is the vehicle that server is registered in nearlyr a period of time, and the server just only need to be in nearlyr a period of time in this way It is registered to the vehicle planning driving path of server or sends traffic information, reduce the load of the server, due to farther out The vehicle that server is registered to before time is likely to not influenced by the failure, therefore this Some vehicles does not have generally also Necessity is planned driving path again.

The embodiment of the present application third aspect discloses a kind of server, which includes processor, memory and communication Interface, the memory is for storing program instruction, and the processor is for calling the program instruction to perform the following operations: firstly, More vehicles are divided at least two groups according to the driving path of planning, the driving path of the planning of any two vehicles in first group Between it is completely overlapped or this first group in any one vehicle planning driving path in advance be first group of configuration Reference path between partly overlap, this first group is any one group in at least two groups；Then, it is received by the communication interface The traffic information that first vehicle is sent, the traffic information are used to describe the position that the failure that first vehicle detection arrives occurs, should First vehicle is any one vehicle in the more vehicles；Then, which is sent to by this by the communication interface The second vehicle in more vehicles, to plan the traveling road of second vehicle again according to the traffic information for second vehicle Diameter, or the driving path of second vehicle is planned according to the traffic information again, and the driving path planned again is sent Second vehicle is given, second vehicle and first vehicle belong to identical group.

By executing aforesaid operations, more vehicles are grouped by server according to the driving path of planning, subsequent to be somebody's turn to do When the first vehicle detection in more vehicles is to failure, selection needs to plan row again directly from group belonging to first vehicle Second vehicle in path is sailed, rather than chooses the second vehicle for needing to plan driving path again from the more vehicles, therefore The speed ratio for choosing the second vehicle is very fast, so that fault detection can be the second vehicle within the time short as far as possible after again Cook up driving path.

In conjunction with the third aspect, in the first possible implementation of the third aspect, any one vehicle in this first group The driving path of planning include at least one section, in this first group the driving path of the planning of any one vehicle with Be in advance first group of configuration reference path between partly overlap include: overlapping section quantity be in advance first group of configuration The reference path section quantity that is included ratio not less than the first preset threshold, which is in this first group The quantity in the driving path of the planning of any one vehicle section Chong Die with first group of the reference path.It is understood that It is the similarity for the driving path and reference path that can embody the planning of vehicle according to overlapping section quantity, is overlapped section number It measures in vehicle operation and a comparison has the factor of reference value, be also easier to obtain, therefore based on overlapping road Grouping effect when segment number is grouped is more preferable.

In conjunction with any of the above-described possible implementation of the third aspect or the third aspect, at second of the third aspect In possible implementation, if completely overlapped between the driving path of the planning of any two vehicles in this first group；The processing It after more vehicles are divided at least two groups according to the driving path of planning by device, is also used to: the third vehicle in this first group It has been travelled according to the driving path of the planning of the third vehicle or the driving path of the planning of the third vehicle has been replaced In the case of, then the third vehicle is deleted from this first group.It is sent out it is understood that real-time eliminating falls state in this first group It is raw change and no longer meet after changing assign to first group condition vehicle, reference value in this first group can be efficiently reduced Lesser vehicle avoids the subsequent unnecessary calculation amount of generation.

In conjunction with any of the above-described possible implementation of the third aspect or the third aspect, in the third of the third aspect In possible implementation, if in this first group the driving path of the planning of any one vehicle be in advance that this first is assembled Partly overlap between the reference path set, the processor by more vehicles according to the driving path of planning be divided at least two groups it Afterwards, be also used to: the third vehicle in this first group has been travelled according to the driving path of the planning of the third vehicle, or should In the case that the driving path of the planning of third vehicle has been replaced, then the third vehicle is deleted from this first group, the replacement Partly overlapping condition is unsatisfactory between rear driving path and first group of the reference path.It is understood that picking in real time The vehicle for no longer meeting the condition for assigning to first group after state changes and changes in this first group is removed, can effectively be subtracted The lesser vehicle of reference value in this first group few avoids the subsequent unnecessary calculation amount of generation.

In conjunction with any of the above-described possible implementation of the third aspect or the third aspect, at the 4th kind of the third aspect In possible implementation, if completely overlapped between the driving path of the planning of any two vehicles in this first group；The processing It after more vehicles are divided at least two groups according to the driving path of planning by device, is also used to: in new registration into the server Completely overlapped situation between the driving path of the planning of vehicle in the driving path of the planning of 4th vehicle and this first group Under, the 4th vehicle is added in this first group.It is understood that meeting the vehicle of condition to increase in this first group in real time , there will be more vehicles to share the failure detected in this first group in this way, is conducive in time be each in first group A vehicle plans driving path again.

In conjunction with any of the above-described possible implementation of the third aspect or the third aspect, at the 5th kind of the third aspect In possible implementation, if in this first group the driving path of the planning of any one vehicle be in advance that this first is assembled It partly overlaps between the reference path set；The processor by more vehicles according to the driving path of planning be divided at least two groups it Afterwards, it is also used to: driving path and first group of the reference path in the planning of new registration to the 4th vehicle in the server Between partly overlap in the case where, the 4th vehicle is added in this first group.It is understood that in real time to this first group Middle increase meets the vehicle of condition, will have more vehicles to share the failure detected in this first group in this way, favorably Driving path is planned again in time for each vehicle in first group.

In conjunction with any of the above-described possible implementation of the third aspect or the third aspect, at the 6th kind of the third aspect In possible implementation, the distance of second vehicle distances location of fault is greater than or equal to the second preset threshold；At this After managing the traffic information that device receives the transmission of the first vehicle by the communication interface, also the processor is also used to:

Determine that M the 5th vehicle, the 5th vehicle are that the distance apart from the location of fault is less than second preset threshold Vehicle, M is positive integer greater than 1；

The priority scoring for calculating each the 5th vehicle in this M the 5th vehicle, any one the in this M the 5th vehicle The calculation formula of the priority scoring U of five vehicles is as follows:

U=(d/v) * β

Wherein, d is the distance of this any one the 5th vehicle distances location of fault, and v is any one the 5th vehicle Travel speed, β be setting weight factor；

Driving path is planned for each the 5th vehicle in this M the 5th vehicle, and by the communication interface to this each the Five vehicles send the driving path cooked up, and the driving path of the 5th lower vehicle of priority scoring is more early to be planned and sent out It send.It is understood that d/v is smaller, to show vehicle shorter by the time used in location of fault, therefore the server has It is limited to the vehicle planning and send driving path that priority scores low, the vehicle near location of fault is rapidly sailed It crosses, to reduce traffic congestion and avoid the generation of some accidents.

In conjunction with any of the above-described possible implementation of the third aspect or the third aspect, at the 7th kind of the third aspect In possible implementation, which includes that at the first time, this is used for the time for describing to detect the failure at the first time； The vehicle of the server is registered in the preset time period that second vehicle belonged to before the first time.It is understood that It is that the second vehicle is the vehicle that server is registered in nearlyr a period of time, when the server just only need to be nearlyr one section in this way The interior vehicle planning driving path for being registered to server sends traffic information, reduces the load of the server, due to The vehicle for being registered to server before the time farther out is likely to not influenced by the failure, therefore this Some vehicles is generally also It is not necessary to by driving path is planned again.

Fourth aspect, the embodiment of the present application provide a kind of vehicle, which includes processor, memory and communication interface, The memory is for storing program instruction, and the processor is for calling the program instruction to perform the following operations: firstly, by should Communication interface receives the traffic information that server is sent, which is used to describe what the failure that the first vehicle detection arrives occurred Position, first vehicle and the vehicle belong to any two vehicles in identical group, first group in at least two groups divided in advance Planning driving path it is completely overlapped or this first group in any one vehicle planning driving path be in advance It partly overlaps between the reference path of first group of configuration, this first group is any one group in at least two groups；Then, according to this Traffic information plans the driving path of the vehicle again.

In conjunction with fourth aspect, in the first possible implementation of the fourth aspect, any one vehicle in this first group The driving path of planning include at least one section, in this first group the driving path of the planning of any one vehicle with Be in advance first group of configuration reference path between partly overlap include: overlapping section quantity be in advance first group of configuration The reference path section quantity that is included ratio not less than the first preset threshold, which is in this first group The quantity in the driving path of the planning of any one vehicle section Chong Die with first group of the reference path.It is understood that It is the similarity for the driving path and reference path that can embody the planning of vehicle according to overlapping section quantity, is overlapped section number It measures in vehicle operation and a comparison has the factor of reference value, be also easier to obtain, therefore based on overlapping road Grouping effect when segment number is grouped is more preferable.

In conjunction with the possible implementation of any one of the above of fourth aspect or fourth aspect, the of fourth aspect In two kinds of possible implementations, which belongs to without the location of fault, but the driving trace planned includes the event The vehicle of the position of barrier.It is understood that the second vehicle is to pass through but also without the vehicle of the location of fault, in this way The server just only need to reduce this to plan driving path by the vehicle of the location of fault or send traffic information The load of server, due to having been subjected to or not influenced by the failure without the vehicle of the location of fault, this portion Separating vehicles are generally also not necessarily to be planned driving path again.

In conjunction with the possible implementation of any one of the above of fourth aspect or fourth aspect, the of fourth aspect In three kinds of possible implementations, which includes that at the first time, this is used to describe at the first time to detect the failure Time；The server is registered in the preset time period that the vehicle belonged to before the first time.It is understood that second Vehicle is the vehicle that server is registered in nearlyr a period of time, and the server just only need to be registration in relatively close a period of time in this way Vehicle to server plans driving path or sends traffic information, reduces the load of the server, due to time farther out The vehicle for being registered to server before is likely to not influenced by the failure, therefore this Some vehicles is generally also not necessarily to Again driving path is planned.

5th aspect, the embodiment of the present application provides a kind of server, the server include for execute first aspect or The unit of step described in any possible implementation of first aspect.

6th aspect, the embodiment of the present application provide a kind of vehicle, which is the second vehicle, which includes for executing The unit of step described in any possible implementation of first aspect or first aspect.

7th aspect, the embodiment of the present application provide a kind of automatic driving vehicle operating system, which includes vehicle kimonos Business device, wherein the server is the third aspect perhaps any possible implementation of the third aspect or the 5th aspect institute The server of description；The vehicle is fourth aspect perhaps any possible implementation of fourth aspect or the 6th aspect institute The vehicle of description.

Eighth aspect, the embodiment of the present application provide a kind of computer readable storage medium, the computer readable storage medium In be stored with instruction, when it runs on a processor, realize in a first aspect, first aspect any possible realization side Formula perhaps method described in any possible implementation of second aspect or second aspect.

By implementing the embodiment of the present application, more vehicles are grouped by server according to the driving path of planning, subsequent When the first vehicle detection in the more vehicles is to failure, selection needs to advise again directly from group belonging to first vehicle The second vehicle of driving path is drawn, rather than chooses the second vehicle for needing to plan driving path again from the more vehicles, Therefore the speed ratio for choosing the second vehicle is very fast, so that fault detection can be second within the time short as far as possible after again Vehicle cooks up driving path.

Detailed description of the invention

The attached drawing that the embodiment of the present application is used is introduced below.

Fig. 1 is a kind of configuration diagram of automatic driving vehicle operating system provided by the embodiments of the present application；

Fig. 2 is a kind of flow diagram of paths planning method provided by the embodiments of the present application；

Fig. 3 is a kind of schematic diagram of a scenario of paths planning method provided by the embodiments of the present application；

Fig. 4 is a kind of flow diagram for detecting failure provided by the embodiments of the present application；

Fig. 5 is a kind of structural schematic diagram of server provided by the embodiments of the present application；

Fig. 6 is a kind of structural schematic diagram of vehicle provided by the embodiments of the present application.

Specific embodiment

The embodiment of the present application is described below with reference to the attached drawing in the embodiment of the present application.

Referring to Figure 1, Fig. 1 is a kind of framework signal of automatic driving vehicle operating system 10 provided by the embodiments of the present application Figure, the automatic driving vehicle operating system 10 include server 101 and automatic driving vehicle 102, wherein automatic driving vehicle 102 quantity is relatively more, and three automatic driving vehicles 102 are selectively illustrated in Fig. 1.The server 101 with it is unmanned It can be established and be communicated to connect by wireless network between vehicle 102.The wireless communication technique can be Generation Mobile Telecommunication System skill Art (The2nd-Generation, 2G), 3rd generation mobile communication technology (The 3rd-Generation, 3G), long term evolution (long term evolution, LTE), fourth generation mobile communication technology (the 4th Generation mobile Communication, 4G), the 5th third-generation mobile communication technology (the 5th-Generation, 5G), Wireless Fidelity The communication technology, etc. that (WIreless-Fidelity, WI-FI) technology, other existing communication technologys, follow-up study go out.

The required certain information used carry out unification when the server 101 is for working to the automatic driving vehicle 102 Management.Optionally, which may include data transmit-receive module 1011, path packet management module 1012, event Data management module 1013 and path planning module 1014, in which:

Data transmit-receive module 1011 is used to receive the traffic information for being used to describe failure of automatic driving vehicle transmission, and For receiving the information of the driving path of the planning of automatic driving vehicle, be also used to for traffic information being pushed to it is corresponding nobody drive Sail vehicle.

Path packet management module 1012 is used to be grouped vehicle according to the driving path of planning, safeguards the vehicle in every group Information；And belong to the nothing with group according to the information matches for the automatic driving vehicle for sending traffic information and the automatic driving vehicle People drives vehicle.

Event data management module 1013 is for safeguarding the traffic information that data transmit-receive module 1011 receives.Path planning Module 1014 is used to plan driving path for automatic driving vehicle.

Automatic driving vehicle 102 is used to generate traffic information, and is travelled according to the driving path of planning.It is optional , which includes information acquisition module 1021, event recognition module 1022, data transmit-receive module 1023, the nothing People drives vehicle and is also possible that path planning module 1024, in which:

The information acquisition module 1021 is used for can to automatic driving vehicle traveling by sensor or the acquisition of other devices The influential factor of energy passes through vehicle-mounted pick-up such as by the distance between laser radar, millimetre-wave radar measurement and other vehicles Head acquisition road conditions are positioned by global positioning system (Global Positioning System, GPS), are passed through (Inertial measurement unit, IMU) measures acceleration, etc..

What event recognition module 1022 was used to be acquired according to information acquisition module 1021 travels automatic driving vehicle possible Influential factor generates traffic information, the traffic information be able to reflect automatic driving vehicle 102 itself state and/or nobody Drive the state of 102 local environment of vehicle.

Data transmit-receive module 1023 with server for being communicated, for example, traffic information is sent to server 101, It is also possible to that the driving path of the planning of the transmission of server 101 can be received.

Path planning module 1024 is used to plan driving path according to traffic information, it is also possible to the traveling that will be cooked up every time The information registerings such as the identity of the information in path and automatic driving vehicle 102 are to the server 101.

The first vehicle, the second vehicle, third vehicle, the 4th vehicle, the 5th vehicle of subsequent descriptions all have nothing herein The feature that people drives vehicle 102 only carries out Unify legislation in order to avoid repeating by taking automatic driving vehicle 102 as an example herein.

It is understood that above-mentioned modules are the functional modules gone out according to function division, in the concrete realization wherein Partial function block may be subdivided into more tiny functional modules, and partial function module may also be combined into a function mould Block, but no matter these functional modules segment or have been combined, and automatic driving vehicle is in the planning process of driving path Performed substantially process is identical.In general, each functional module, which is corresponding with respective program code, (or says that program refers to Enable), when the corresponding program code of these functional modules is run on a processor, so that functional module executes corresponding process To realize corresponding function.

Fig. 2 is referred to, Fig. 2 is a kind of paths planning method provided by the embodiments of the present application, and this method can be based on Fig. 1 institute The automatic driving vehicle operating system 10 shown is realized, can also be realized based on other frameworks, and Fig. 3 is in this method implementation process A kind of schematic diagram of a scenario, this method include but is not limited to following steps:

Step S201: more vehicles are divided at least two groups according to the driving path of planning by server.

Specifically, each vehicle has the driving path of planning in the more vehicles, each vehicle in the more vehicles The driving path of planning may be that each vehicle oneself planning obtains, it is also possible to what the servers' layout obtained, when this When the driving path of the planning of each vehicle is that each vehicle is planned to obtain, which can be also oneself planning by oneself Driving path be sent to the server, when the driving path of the planning of each vehicle be the servers' layout obtain when, should Server understands the driving path for oneself storing each vehicle.The server saves the record information of each vehicle, and this more The record information of any one vehicle includes that the information of the driving path of the planning of any one vehicle is any with this in vehicle The identity of one vehicle, the identity of each vehicle is different in the more vehicles.The server is to the more vehicles Record information be divided at least two groups, more vehicles are divided at least two groups to realize, also corresponding to should The driving path of more vehicles divides at least two groups, and in order to avoid obscuring, at least two groups of subsequent descriptions be should be understood as At least two groups vehicle, can any one group in at least two groups be referred to as first group, the rule of any two vehicles in this first group Draw driving path between it is completely overlapped or this first group in any one vehicle planning driving path be in advance It partly overlaps between the reference path of first group of configuration.

In a kind of optional scheme, the driving path of the planning of any one vehicle includes at least one in this first group Section, in this first group the driving path of the planning of any one vehicle in advance for the reference path of first group of configuration it Between to partly overlap include: to be overlapped the ratio for the section quantity that section quantity and the reference path include not less than the first default threshold Value, the overlapping section quantity are the driving path of the planning of any one vehicle and first group of reference path in this first group The quantity in the section of overlapping.It is understood that the driving path of the planning of vehicle would generally pass through some crossings, any two The direct path in adjacent crossing can be regarded as a section, for example, assuming that the driving path of the planning of certain vehicle Instruction will be successively by crossing A, crossing B, crossing C and crossing D, it is possible to think that the path between crossing A and crossing B is One section, the path between crossing B and crossing C are a section, and the path between crossing C and crossing D is a section, i.e., The driving path of the planning of this certain vehicle includes the section between section, crossing B and crossing C between crossing A and crossing B, And the section between crossing C and crossing D.Further assume that this certain vehicle belongs to this first group, and first group of the ginseng Examining path includes 4 sections of ways, and first group of the reference path in the section that the driving path of the planning of this certain vehicle includes and this includes Section have 2 sections of overlappings, i.e., calculated overlapping section quantity is equal to 2, then, the overlapping section quantity and the reference path packet The ratio of the section quantity contained is 2/4=0.5.In addition, the first preset threshold herein is pre-set for reference pair ratio Value, for example, first preset threshold can be set to the value between 0.6-1.It is understood that being referring to really with crossing Determining section is a kind of optional scheme, and some reference points can also be determined according to certain rules from the reference path, A section is formed between any two reference point.

In a kind of optional scheme, the driving path of the planning of any one vehicle is with preparatory for this in this first group Partly overlap the reference path for including: overlap length and being in advance first group of configuration between the reference path of first group of configuration Ratio be not less than the first preset threshold, the overlap length be this first group in any one vehicle planning driving path with should The length being overlapped between first group of reference path.For example, it is assumed that the total length of first group of the reference path is 5 kilometers, it should In first group the driving path of the planning of some vehicle be 6 kilometers, and in this first group the planning of some vehicle driving path Overlap length with first group of the reference path is 4 kilometers, then, the driving path of the planning based on some vehicle calculates Overlap length out and the ratio for the reference path for being in advance first group of configuration are 4/5=0.8.

Subsequent, the vehicle at least two groups which can also obtain division is safeguarded, in order to facilitate understanding together Sample is described for first group in at least two groups, specific as follows:

Optionally, if this first group meet condition be the planning of any two vehicles in this first group driving path it Between it is completely overlapped, then, if the third vehicle in first group has been travelled according to the driving path of the planning of the third vehicle, or If the driving path of the planning of person's third vehicle has been replaced, server deletes the third vehicle from this first group.Its In, third vehicle is any one vehicle in this first group.

Optionally, if the condition of first group of satisfaction is the driving path of the planning of any one vehicle in this first group Partly overlap between the reference path in advance for first group of configuration, then, if the third vehicle in this first group has been pressed It has been travelled according to the driving path of the planning of the third vehicle, then the server deletes the third vehicle from this first group；Or If the driving path of the planning of person's third vehicle has been replaced, and replace after driving path and first group of the reference path it Between be unsatisfactory for partly overlapping condition, then the server deletes the third vehicle from this first group.Optionally, if this One group of grouping condition is completely overlapped between the driving path of the planning of any two vehicles in this first group, then, if newly It is registered to the driving path of the planning of the vehicle in the driving path and this first group of the planning of the 4th vehicle in the server Between it is completely overlapped, then the 4th vehicle is added in this first group by the server.I.e. the server mark off it is above-mentioned at least After two groups, if there are also vehicle registrations into the server, which can also incite somebody to action according to the driving path of the planning of the vehicle The vehicle is divided into corresponding group.

The S202: the first vehicle of step generates traffic information.

Specifically, which belongs to any one vehicle in the more vehicles, the road conditions which generates Information is used to describe the position that the failure that first vehicle detection arrives occurs, first vehicle detection to failure may include this The failure that the failure and/or first vehicle itself occurred on road surface where first vehicle occurs, wherein first vehicle passes through Camera, laser radar, millimetre-wave radar, positioning device are (for example, global positioning system (Global Positioning System, GPS), BEI-DOU position system, GALILEO positioning system, etc.), Inertial Measurement Unit (Inertial Measurement unit, IMU) etc. devices obtain the environmental information of first vehicle periphery, then environmental information is divided To obtain first vehicle periphery, there are failures for analysis, for example, first vehicle periphery may include first vehicle there are failure There is traffic congestion situation in surrounding, which may include that first vehicle periphery traffic accident occurs there are failure, should There are the more serious damages of road surface appearance, etc. that failure includes that first vehicle is travelled for first vehicle periphery；In addition, this first Vehicle can also be monitored the failure so that it is determined that itself appearance to the working condition of itself in real time, for example, monitoring itself In the process of moving whether accident extinguishing, the tire for monitoring itself there is situation, etc. of blowing out to engine.First vehicle The position that the failure detected occurs can be first vehicle by positioning device (for example, GPS, BEI-DOU position system, Jia Li Slightly positioning system) positioning obtains.

Fig. 4 is a kind of flow diagram for detection failure that the embodiment of the present application illustratively provides, the first vehicle root The speed in period T of the first vehicle is determined according to the GPS data and IMU data that obtain in period T.

If the speed of the first vehicle is 0 always, the vehicle where first vehicle is determined according to GPS data and map Road continues through GPS data and IMU that GPS and IMU obtains vehicle if the first vehicle is travelled on normal lane Data.If the first vehicle is travelled on normal lane, the traffic information is generated.

If it is 0 that the speed of the first vehicle is not always, according to vehicle-mounted camera, the laser thunder on first vehicle Reach, the sensors such as millimetre-wave radar acquire the information of the first vehicle periphery, the information for then acquiring each sensor carries out comprehensive Analysis is closed, to analyze the first vehicle periphery with the presence or absence of failure, failure then generates traffic information if it exists.

Step S203: traffic information is sent to server by first vehicle.

Step S204: the server receives the traffic information that the first vehicle is sent.

In the embodiment of the present application, the process after step S204 at least there is a situation where two kinds it is possible, wherein the first Possible situation is step S205-S207, wherein second of possible situation is step S208-210, is described in detail below:

The first possible situation:

Step S205: the traffic information is sent to the second vehicle in the more vehicles by the server.

Specifically, since the traffic information is sent by the first vehicle, the first vehicle is carried in the traffic information Identity, which can determine group belonging to first vehicle according to the identity of first vehicle, then The second vehicle is determined according to the group determined, the second vehicle determined and first vehicle belong to identical group, determine The quantity of second vehicle may also may be multiple for one.

Optionally, which includes that at the first time, this is used for the time for describing to detect the failure at the first time；It should The vehicle of the server is registered in the preset time period that second vehicle belonged to before the first time.Correspondingly, the service Device can parse the first time in the traffic information, and the preset time period is also saved in the server, therefore, the server After determining group belonging to first vehicle, according to this at the first time with preset time period in group belonging to first vehicle Vehicle does further screening, to obtain the second vehicle.For example, if the failure that arrives of first vehicle detection occur when Between be 15:00, which is 30 minutes, then, which belongs to registration in 14:30-15:00 this period To the vehicle of the service.I.e. in this optinal plan, and the not all vehicle for belonging to identical group with first vehicle is the Two vehicles, but belong to identical group with first vehicle and be registered to the vehicle of the server within the proximal segment time.

Optionally, which belongs to without the location of fault, but the driving trace planned includes the failure Position vehicle.Specifically, the location information which can respectively be reported with each vehicle of real-time reception, then basis The location information determines which vehicle have passed through the location of fault, which vehicle is final to determine without the location of fault The second vehicle to get off belongs to without the location of fault, but the driving trace planned includes the vehicle of the location of fault ?.

The foregoing describe the multinomial constraint condition to the second vehicle, it can choose wherein at least one in practical applications and come It is constrained, to filter out the second vehicle of the condition of satisfaction.The service will the traffic information after the second vehicle has been determined It is sent to second vehicle.

Step S206: second vehicle receives the traffic information that server is sent.

Step S207: second vehicle plans the driving path of second vehicle according to the traffic information again.

It is understood that since second vehicle and first vehicle belong to identical group, first vehicle with should Overlap proportion between the driving path of the planning of second vehicle is not less than the first preset threshold, if first vehicle is according to planning Driving path detect failure when driving, then driving path of second vehicle according to the existing planning of the second vehicle Traveling may be subjected to the adverse effect for the failure that first vehicle detection arrives, in order to avoid the adverse effect, second vehicle Plan the driving path of second vehicle again according to the traffic information, which specifically uses when planning driving path again The position occurred to the failure that first vehicle detection arrives described in the traffic information, specifically, the second vehicle meeting Weigh the position whether driving path newly cooked up also needs to occur by the failure, enumerate several possible schemes below:

Scheme one, second vehicle cook up the driving path of the position occurred without the failure as far as possible, are planning not The driving path for the position that planning occurs by the failure is just attempted when haveing the driving path of the position occurred without the failure.

Scheme two, the traffic information are also used to describe the type for the failure that first vehicle detection has.

If the type of failure described in traffic information show the failure occur position within a preset period of time (e.g., compared with In long a period of time) it is completely impassable, then the second vehicle cooks up the traveling road of the position occurred without the failure as far as possible Diameter just attempts the position that planning occurs by the failure when can not plan the driving path of the position occurred without the failure Driving path.

If the type of failure described in traffic information shows the position P Passable that the failure occurs, but passage speed Relatively slowly, then the second vehicle can be considered when second vehicle plans the driving path of second vehicle again and arrive at the destination institute The time needed, so that second vehicle is short as far as possible the time spent in traveling according to the driving path cooked up again.

Subsequent, which just travels according to the driving path planned again.

Fig. 3 is the corresponding schematic diagram of a scenario of step S201-S207, and the small box in Fig. 3 represents vehicle,

Second of possible situation:

Step S208: the server plans the driving path of second vehicle according to the traffic information again.

It is understood that since second vehicle and first vehicle belong to identical group, first vehicle with should Overlap proportion between the driving path of the planning of second vehicle is not less than the first preset threshold, if first vehicle is according to planning Driving path detect failure when driving, then driving path of second vehicle according to the existing planning of the second vehicle Traveling may be subjected to the adverse effect for the failure that first vehicle detection arrives, in order to avoid the adverse effect, the server root Plan the driving path of second vehicle again according to the traffic information, which specifically uses when planning driving path again The position that the failure that first vehicle detection arrives described in the traffic information occurs, specifically, which, which can weigh, is Whether the driving path that second vehicle is newly cooked up also needs the position occurred by the failure, enumerates several possibility sides below Case:

Scheme one, the server are the driving path that the second vehicle cooks up the position occurred without the failure as far as possible, It just attempts to be that the planning of the second vehicle is sent out by the failure when can not plan the driving path of the position occurred without the failure The driving path of raw position.

If the type of failure described in traffic information show the failure occur position within a preset period of time (e.g., compared with In long a period of time) it is completely impassable, then server is that second vehicle cooks up the position occurred without the failure as far as possible The driving path set just is attempted to be that second vehicle is advised when can not plan the driving path of the position occurred without the failure Draw the driving path of the position occurred by the failure.

If the type of failure described in traffic information shows the position P Passable that the failure occurs, but passage speed Relatively slowly, then it can be considered when the server plans the driving path of second vehicle again needed for the second vehicle arrives at the destination Time so that second vehicle is short as far as possible the time spent in traveling according to the driving path cooked up again.

Step S209: the driving path planned again is sent to second vehicle by the server.

Step S210: it is the driving path that second vehicle is planned again that second vehicle, which receives server transmission,.

Subsequent, second vehicle is just according to planning volume driving path traveling again.

In the embodiment of the present application, there is likely to be following situations for this method: the vehicle i.e. near the failure is by the service Device United Dispatching, so that the overall situation is measured, to guarantee that the traffic efficiency of the vehicle near the failure is higher, specifically at this After server receives the traffic information that the first vehicle is sent, perform the following operations:

Firstly, the server determines M the 5th vehicle, the 5th vehicle is distance apart from the location of fault less than the The vehicle (distance of the above-mentioned second vehicle distances location of fault is greater than or equal to the second preset threshold) of two preset thresholds, should Second preset threshold is the value compared for reference being pre-configured in the server, it is to be understood that the server can be real When receive the location information that each vehicle is respectively sent in above-mentioned more vehicles, the position then respectively sent according to each vehicle Confidence ceases the distance for determining each vehicle to the location of fault, and then is filtered out in the more vehicles according to the distance determined It is less than the vehicle of preset threshold apart from the location of fault, and as the 5th vehicle；In addition, M is the positive integer greater than 1.

Then, which is that each the 5th vehicle plans driving path in this M the 5th vehicle, and to this each the 5th Vehicle sends the driving path cooked up.Optionally, the driving path of the 5th lower vehicle of priority scoring is more early is advised It draws and sends.It is of course also possible to the no stringent sequencing limitation of the planning of the driving path of this M the 5th vehicle, but it is excellent The driving path of the 5th lower vehicle of first grade scoring is more early to be sent.Optionally, any one the 5th in this M the 5th vehicle The calculation formula of the priority scoring U of vehicle is as follows:

U=(d/v) * β

Wherein, d is the distance of this any one the 5th vehicle distances location of fault, and v is any one the 5th vehicle Travel speed, β be setting weight factor.It is understood that d/v is smaller, show that vehicle faster can pass through the failure Position, therefore the 5th vehicle for preferentially scoring low to priority sends the driving path after planning, so that the near failure Five vehicles can pass through as early as possible.

In the method depicted in fig. 2, more vehicles are grouped by server according to the driving path of planning, subsequent to work as When the first vehicle detection in the more vehicles is to failure, selection needs to plan again directly from group belonging to first vehicle Second vehicle of driving path, rather than the second vehicle for needing to plan driving path again is chosen from the more vehicles, because The speed ratio that this chooses the second vehicle is very fast, so that fault detection can be the second vehicle within the time short as far as possible after again Cook up driving path.

It is above-mentioned to illustrate the method for the embodiment of the present application, the device of the embodiment of the present application is provided below.

Referring to FIG. 5, Fig. 5 shows a kind of vehicle 50 provided by the embodiments of the present application, vehicle 50 includes one or more Processor 501, memory 502 and communication interface 503, these components can be connected by bus or other means, and Fig. 5 is by total Illustrate for line connection, modules are simply introduced below.

Processor 501 may be embodied as one or more central processing units (Central Processing Unit, CPU) Chip, core (for example, multi-core processor), field programmable gate array (Field Programmable Gate Array, FPGA), specific integrated circuit (Application Specific Integrated Circuit, ASIC), and/or number letter Number processor (Digital Signal Processor, DSP), and/or can be a part of one or more ASIC.

Memory 502 is coupled with terminal device processor 501, for storing various software programs and/or multiple groups instruction, is deposited Reservoir 402 may include additional storage, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access Memory, RAM).

Additional storage generally includes one or more disc drivers or tape drive, for the non-volatile of data Storage, and if the off-capacity of RAM is to store all working data, additional storage if, is used as the storage of overflow data Device.Additional storage can be used for storing program, and when selection executes these programs, described program will be loaded into RAM. ROM is for being stored in the instruction read and the data that may be read during program executes.ROM is non-volatile memory device, Its memory capacity is usually smaller for the larger storage capacity of additional storage.RAM is for storing volatile data, also It is possibly used for store instruction.The access for usually comparing additional storage to the access of both ROM and RAM is fast.

Communication interface 503 can be used for being communicated with other communication equipments.Communication interface 503 can include: wireline interface, example Such as multiple twin line interface.In addition, communication interface 503 can be configured with wireless interface, such as global system for mobile communications (Global System for Mobile Communication, GSM) (2G) communication interface, wideband code division multiple access (Wideband Code Division Multiple Access, WCDMA) (3G) communication interface and long term evolution (Long Term Evolution, LTE) one or more of (4G) communication interface etc. is also possible to 5G or the following communication interface newly eated dishes without rice or wine.

Other than communication component shown in fig. 5, vehicle 50 may also include other communication components, such as bluetooth (Bluetooth) module, Wireless Fidelity (Wireless Fidelity, Wi-Fi) module etc..In practical application, vehicle 50 It can also include more or fewer components, here with no restriction.

Processor 501 in the server 50 executes following behaviour for reading the program code stored in memory 502 Make:

Firstly, more vehicles are divided at least two groups according to the driving path of planning, any two vehicles in first group Between the driving path of planning it is completely overlapped or this first group in any one vehicle planning driving path and in advance It partly overlaps between reference path for first group of configuration, this first group is any one group in at least two groups；Then, pass through The communication interface 503 receives the traffic information that the first vehicle is sent, and the traffic information is for describing what first vehicle detection arrived The position that failure occurs, first vehicle are any one vehicle in the more vehicles；Then, pass through the communication interface 503 The traffic information is sent to the second vehicle in the more vehicles, to advise again for second vehicle according to the traffic information The driving path of second vehicle is drawn, or plans the driving path of second vehicle again according to the traffic information, and will weigh The driving path newly planned is sent to second vehicle, and second vehicle and first vehicle belong to identical group.

In a kind of optional scheme, the driving path of the planning of any one vehicle includes at least one in this first group Section, in this first group the driving path of the planning of any one vehicle in advance for the reference path of first group of configuration it Between to partly overlap include: the ratio for being overlapped section quantity with the section quantity that is included in advance for the reference path of first group of configuration Value be not less than the first preset threshold, the overlapping section quantity be this first group in any one vehicle planning driving path with The quantity in the section of first group of reference path overlapping.It is understood that vehicle can be embodied according to overlapping section quantity Planning driving path and reference path similarity, be overlapped section quantity in vehicle operation be also a comparison Grouping effect when having the factor of reference value, be also easier to obtain, therefore being grouped based on overlapping section quantity is more preferable.

In another optional scheme, in the second possible implementation of the third aspect, if in this first group It is completely overlapped between the driving path of the planning of any two vehicles；The processor 501 is by more vehicles according to the traveling of planning Path is divided into after at least two groups, is also used to: the third vehicle in this first group is according to the row of the planning of the third vehicle Sail in the case that route is complete or the driving path of the planning of the third vehicle has been replaced, then by the third vehicle from this It is deleted in first group.Divide it is understood that real-time eliminating falls no longer to meet after state changes and changes in this first group To the vehicle of first group of condition, the lesser vehicle of reference value in this first group can be efficiently reduced, subsequent generation is avoided Unnecessary calculation amount.

In another optional scheme, if the driving path of the planning of any one vehicle is and in advance in this first group It partly overlaps between reference path for first group of configuration, the processor 501 is by more vehicles according to the driving path of planning Be divided into after at least two groups, be also used to: the third vehicle in this first group is according to the traveling road of the planning of the third vehicle In the case that diameter has travelled or the driving path of the planning of the third vehicle has been replaced, then by the third vehicle from this first It is deleted in group, is unsatisfactory for partly overlapping condition between the driving path and first group of the reference path after the replacement.It can be with Understand, real-time eliminating falls no longer to meet after state changes and changes in this first group the vehicle for the condition for assigning to first group , the lesser vehicle of reference value in this first group can be efficiently reduced, the subsequent unnecessary calculation amount of generation is avoided.

In another optional scheme, if in this first group between the driving path of the planning of any two vehicles completely Overlapping；After more vehicles are divided at least two groups according to the driving path of planning by the processor 501, it is also used to: in new registration To between the driving path of the planning of the vehicle in the driving path and this first group of the planning of the 4th vehicle in the server In the case where completely overlapped, the 4th vehicle is added in this first group.It is understood that in real time to increasing in this first group Fill it up with the vehicle of sufficient condition, will there are more vehicles to share the failure detected in this first group in this way, be conducive to and When for each vehicle in first group plan driving path again.

In another optional scheme, if the driving path of the planning of any one vehicle is and in advance in this first group It partly overlaps between reference path for first group of configuration；The processor 501 is by more vehicles according to the driving path of planning Be divided into after at least two groups, be also used to: the planning of fourth vehicle of the new registration into the server driving path and this In the case where partly overlapping between one group of reference path, the 4th vehicle is added in this first group.It is understood that Meet the vehicle of condition to increase in this first group in real time, there will be more vehicles to the failure detected in this first group in this way It is shared, is conducive in time be that each vehicle plans driving path again in first group.

In another optional scheme, it is pre- that the distance of second vehicle distances location of fault is greater than or equal to second If threshold value；After the processor 501 receives the traffic information that the first vehicle is sent by the communication interface 503, the also processor 501 are also used to:

U=(d/v) * β

Driving path is planned for each the 5th vehicle in this M the 5th vehicle, and by the communication interface 503 to this each 5th vehicle sends the driving path cooked up, priority score the 5th lower vehicle driving path it is more early by planning and It sends.It is understood that d/v is smaller to show that vehicle is shorter by the time used in location of fault, therefore the server Have the vehicle planning and send driving path for being limited to that priority scores low, enable vehicle near location of fault rapidly It crosses, to reduce traffic congestion and avoid the generation of some accidents.

In another optional scheme, which includes that at the first time, this is used to describe at the first time to detect The time of the failure；The vehicle of the server is registered in the preset time period that second vehicle belonged to before the first time ?.It is understood that the second vehicle is the vehicle for being registered to server in nearlyr a period of time, the server is just only needed in this way Driving path or transmission traffic information are planned to be registered to the vehicle of server in nearlyr a period of time, reduce the server Load, the vehicle due to being registered to server before time farther out is likely to not influenced by the failure, this portion Separating vehicles are generally also not necessarily to be planned driving path again.

It should be noted that realizing for each operation can also be retouched to should refer to the corresponding of embodiment of the method shown in Fig. 2 It states.

In the server 50 described in Fig. 5, more vehicles are grouped by server according to the driving path of planning, after It is continuous when the first vehicle detection in the more vehicles arrives failure, selection needs are again directly from group belonging to first vehicle It plans the second vehicle of driving path, rather than chooses the second vehicle for needing to plan driving path again from the more vehicles , therefore the speed ratio for choosing the second vehicle is very fast, so that fault detection can be again within the time short as far as possible after Second vehicle cooks up driving path.

Referring to FIG. 6, Fig. 6 shows a kind of vehicle 60 provided by the embodiments of the present application, vehicle 60 includes one or more Processor 601, memory 602, communication interface 603 and input/output (Input/Output, I/O) equipment 604, these components It can be connected by bus or other means, Fig. 6 is illustrated for being connected by bus, is simply situated between to modules below It continues.

Processor 601 may be embodied as one or more central processing units (Central Processing Unit, CPU) Chip, core (for example, multi-core processor), field programmable gate array (Field Programmable Gate Array, FPGA), specific integrated circuit (Application Specific Integrated Circuit, ASIC), and/or number letter Number processor (Digital Signal Processor, DSP), and/or can be a part of one or more ASIC.

Memory 602 is coupled with terminal device processor 601, for storing various software programs and/or multiple groups instruction, is deposited Reservoir 402 may include additional storage, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access Memory, RAM).

I/O equipment 604 may include video monitor, liquid crystal display (Liquid Crystal Display, LCD), touching Panel type display or other types of display or other well known input equipment.

Communication interface 603 can be used for being communicated with other communication equipments.Communication interface 603 can include: wireline interface, example Such as multiple twin line interface.In addition, communication interface 603 can be configured with wireless interface, such as global system for mobile communications (Global System for Mobile Communication, GSM) (2G) communication interface, wideband code division multiple access (Wideband Code Division Multiple Access, WCDMA) (3G) communication interface and long term evolution (Long Term Evolution, LTE) one or more of (4G) communication interface etc. is also possible to 5G or the following communication interface newly eated dishes without rice or wine.

Other than communication component shown in fig. 6, vehicle 60 may also include other communication components, such as bluetooth (Bluetooth) module, Wireless Fidelity (Wireless Fidelity, Wi-Fi) module etc..In practical application, vehicle 60 It can also include more or fewer components, here with no restriction.

Processor 601 in the vehicle 60 executes following behaviour for reading the program code stored in the memory 602 Make:

Firstly, receiving the traffic information that server is sent by the communication interface 603, the traffic information is for describing first The position that the failure that vehicle detection arrives occurs, first vehicle and the vehicle belong to identical in at least two groups divided in advance Group, in first group the driving path of the planning of any two vehicles it is completely overlapped or this first group in any one vehicle The driving path of planning partly overlaps between the reference path in advance for first group of configuration, this first group for this at least two Any one group in group；Then, the driving path of the vehicle is planned again according to the traffic information.

In another optional scheme, the driving path of the planning of any one vehicle includes at least one in this first group A section, in this first group the driving path of the planning of any one vehicle be in advance the reference path of first group of configuration Between to partly overlap include: to be overlapped section quantity and the section quantity that is included in advance for the reference path of first group of configuration Ratio is not less than the first preset threshold, which is the driving path of the planning of any one vehicle in this first group The quantity in the section Chong Die with first group of the reference path.It is understood that can be embodied according to overlapping section quantity The driving path of the planning of vehicle and the similarity of reference path, being overlapped section quantity is also a ratio in vehicle operation Grouping effect when relatively having the factor of reference value, be also easier to obtain, therefore being grouped based on overlapping section quantity is more It is good.

In another optional scheme, which belongs to without the location of fault, but the driving trace planned Vehicle comprising the location of fault.It is understood that the second vehicle is to pass through but also without the location of fault Vehicle, the in this way server just only need to be to plan driving path by the vehicle of the location of fault or send road conditions letter Breath, reduce the load of the server, due to have been subjected to or without the location of fault vehicle not by the shadow of the failure It rings, therefore this Some vehicles is generally also not necessarily to be planned driving path again.

In another optional scheme, which includes that at the first time, this is used to describe at the first time to detect The time of the failure；The server is registered in the preset time period that the vehicle belonged to before the first time.It is understood that , the second vehicle is the vehicle that server is registered in nearlyr a period of time, and the server just only need to be nearlyr one section in this way It is registered to the vehicle planning driving path of server in time or sends traffic information, reduces the load of the server, by The vehicle that server is registered to before the time farther out is likely to not influenced by the failure, therefore this Some vehicles is usual Also It is not necessary to by driving path is planned again.

It should be noted that realizing for each operation can also be retouched to should refer to the corresponding of embodiment of the method shown in Fig. 2 It states, wherein the vehicle in embodiment illustrated in fig. 6 can be the second vehicle in embodiment illustrated in fig. 2.

In the vehicle 60 described in Fig. 6, more vehicles are grouped by server according to the driving path of planning, subsequent When the first vehicle detection in the more vehicles is to failure, selection needs to advise again directly from group belonging to first vehicle The second vehicle of driving path is drawn, rather than chooses the second vehicle for needing to plan driving path again from the more vehicles, Therefore the speed ratio for choosing the second vehicle is very fast, so that fault detection can be second within the time short as far as possible after again Vehicle cooks up driving path.

The embodiment of the present application also provides a kind of chip system, and the chip system includes at least one processor, memory And interface circuit, the memory, the communication interface and at least one described processor are interconnected by route, described at least one Instruction is stored in a memory；When described instruction is executed by the processor, method flow shown in Fig. 2 is realized.

The embodiment of the present application also provides a kind of computer readable storage medium, stores in the computer readable storage medium There is instruction, when it runs on a processor, realizes method flow shown in Fig. 2.

The embodiment of the present application also provides a kind of computer program product, when the computer program product is transported on a processor When row, method flow shown in Fig. 2 is realized.

In conclusion by implementing the embodiment of the present application, server carries out more vehicles according to the driving path of planning Grouping is directly selected from group belonging to first vehicle when subsequent the first vehicle detection when in the more vehicles is to failure It needs to plan the second vehicle of driving path again, rather than is chosen from the more vehicles and need to plan driving path again Second vehicle, therefore the speed ratio for choosing the second vehicle is very fast, so that fault detection can be within the time short as far as possible after Again driving path is cooked up for the second vehicle.

Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, the process Relevant hardware can be instructed to complete by computer program, which can be stored in computer-readable storage medium, should Program is when being executed, it may include such as the process of above-mentioned each method embodiment.And storage medium above-mentioned includes: ROM or deposits at random Store up the medium of the various program storage codes such as memory body RAM, magnetic or disk.

Claims

1. a kind of paths planning method characterized by comprising

More vehicles are divided at least two groups according to the driving path of planning by server, the planning of any two vehicles in first group Driving path between it is completely overlapped or first group described in any one vehicle planning driving path be in advance It partly overlaps between the reference path of first group of configuration, described first group is any one group in at least two groups；

The server receives the traffic information that the first vehicle is sent, and the traffic information is for describing first vehicle detection The position that the failure arrived occurs, first vehicle are any one vehicle in the more vehicles；

The traffic information is sent to the second vehicle in the more vehicles by the server, to be used for second vehicle The driving path or the server for planning second vehicle again according to the traffic information are according to the traffic information Again it plans the driving path of second vehicle, and the driving path planned again is sent to second vehicle, it is described Second vehicle and first vehicle belong to identical group.

2. the method according to claim 1, wherein in described first group the planning of any one vehicle traveling Path includes at least one section, in described first group the driving path of the planning of any one vehicle be in advance described the Partly overlapping between the reference path of one group of configuration includes: the reference arm for being overlapped section quantity with being in advance first group of configuration The ratio for the section quantity that diameter is included is not less than the first preset threshold, and the overlapping section quantity is any in described first group The quantity in the driving path of the planning of the one vehicle section Chong Die with described first group of the reference path.

3. method according to claim 1 or 2, which is characterized in that if in described first group any two vehicles planning Driving path between it is completely overlapped；The server by more vehicles according to the driving path of planning be divided at least two groups it Afterwards, further includes:

If the third vehicle in described first group has been travelled according to the driving path of the planning of the third vehicle,

If the driving path of the planning of the third vehicle has been replaced,

Then the server deletes the third vehicle from described first group.

4. method according to claim 1 or 2, which is characterized in that if in described first group any one vehicle planning Driving path partly overlap between the reference path in advance for first group of configuration, the server is by more vehicles It is divided into after at least two groups according to the driving path of planning, further includes:

If the driving path of the planning of the third vehicle has been replaced, the driving path after the replacement with described first group Reference path between be unsatisfactory for partly overlapping condition,

Then the server deletes the third vehicle from described first group.

5. method according to claim 1-3, which is characterized in that if any two vehicles in described first group Planning driving path between it is completely overlapped；More vehicles are divided at least two according to the driving path of planning by the server After group, further includes:

If new registration to the 4th vehicle in the server planning driving path with described first group in vehicle rule Completely overlapped between the driving path drawn, then the 4th vehicle is added in described first group by the server.

6. method according to claim 1 or 2 or 4, which is characterized in that if in described first group any one vehicle rule The driving path drawn partly overlaps between the reference path in advance for first group of configuration；The server is by more vehicles It is divided into after at least two groups according to the driving path of planning, further includes:

If new registration to the 4th vehicle in the server planning driving path and first group of the reference path it Between partly overlap, then the 4th vehicle is added in described first group by the server.

7. method according to claim 1-6, which is characterized in that failure described in second vehicle distances The distance of position is greater than or equal to the second preset threshold；After the server receives the traffic information that the first vehicle is sent, also Include:

The server determines that M the 5th vehicle, the 5th vehicle are described in the distance apart from the location of fault is less than The vehicle of second preset threshold, M are the positive integer greater than 1；

The priority that the server calculates each the 5th vehicle in M the 5th vehicle scores, in M the 5th vehicle The calculation formula of the priority scoring U of any one the 5th vehicle is as follows:

U=(d/v) * β

Wherein, d is the distance of location of fault described in any one the 5th vehicle distances, and v is described any one the 5th The travel speed of vehicle, β are the weight factor of setting；

The server is that each the 5th vehicle plans driving path in M the 5th vehicle, and to each described the 5th vehicle Send the driving path cooked up, the score driving path of lower the 5th vehicle of priority more early planned and sent out It send.

8. method according to claim 1-7, it is characterised in that:

The traffic information includes that at the first time, the first time is used to describe to detect the time of the failure；Described The vehicle of the server is registered in the preset time period that two vehicles belonged to before the first time.

9. a kind of paths planning method characterized by comprising

Second vehicle receives the traffic information that server is sent, and the traffic information is for describing the failure that the first vehicle detection arrives The position of generation, first vehicle and second vehicle belong to identical group, first group in at least two groups divided in advance In any two vehicles planning driving path it is completely overlapped or first group described in any one vehicle planning row It sails path to partly overlap between the reference path in advance for first group of configuration, described first group is at least two groups In any one group；

Second vehicle plans the driving path of second vehicle according to the traffic information again.

10. a kind of server, which is characterized in that the server includes processor, memory and communication interface, the memory For storing program instruction, the processor is for calling described program instruction to perform the following operations:

More vehicles are divided at least two groups according to the driving path of planning, the traveling of the planning of any two vehicles in first group Between path it is completely overlapped or first group described in any one vehicle planning driving path be in advance described the It partly overlaps between the reference path of one group of configuration, described first group is any one group in at least two groups；

The traffic information that the first vehicle is sent is received by the communication interface, the traffic information is for describing first vehicle The position that the failure detected occurs, first vehicle are any one vehicle in the more vehicles；

The traffic information is sent to the second vehicle in the more vehicles by the communication interface, for described the Two vehicles plan the driving path of second vehicle according to the traffic information again, or again according to the traffic information It plans the driving path of second vehicle, and the driving path planned again is sent to second vehicle, described second Vehicle and first vehicle belong to identical group.

11. server according to claim 10, which is characterized in that the planning of any one vehicle in described first group Driving path includes at least one section, in described first group the driving path of the planning of any one vehicle be in advance institute State the ginseng for partly overlapping between the reference path of first group of configuration and including: overlapping section quantity and being in advance first group of configuration The ratio for the section quantity that path is included is examined not less than the first preset threshold, the overlapping section quantity is in described first group The quantity in the driving path of the planning of any one vehicle section Chong Die with described first group of the reference path.

12. server described in 0 or 11 according to claim 1, which is characterized in that if any two vehicles in described first group It is completely overlapped between the driving path of planning；More vehicles are divided at least two groups according to the driving path of planning by the processor Later, it is also used to:

Third vehicle in described first group has been travelled according to the driving path of the planning of the third vehicle,

Or in the case that the driving path of the planning of the third vehicle has been replaced,

Then the third vehicle is deleted from described first group.

13. server described in 0 or 11 according to claim 1, which is characterized in that if any one vehicle in described first group The driving path of planning partly overlaps between the reference path in advance for first group of configuration, and the processor is by more After vehicle is divided at least two groups according to the driving path of planning, it is also used to:

Then the third vehicle is deleted from described first group, the driving path after the replacement and first group of the reference Partly overlapping condition is unsatisfactory between path.

14. the described in any item servers of 0-12 according to claim 1, which is characterized in that if any two in described first group It is completely overlapped between the driving path of the planning of vehicle；The processor by more vehicles according to the driving path of planning be divided into After two groups few, it is also used to:

The rule of vehicle in the driving path of the planning of new registration to the 4th vehicle in the server and described first group Draw driving path between it is completely overlapped in the case where, the 4th vehicle is added in described first group.

15. server described in 0 or 11 or 13 according to claim 1, which is characterized in that if any one vehicle in described first group The driving path of planning partly overlap between the reference path in advance for first group of configuration；The processor will After more vehicles are divided at least two groups according to the driving path of planning, it is also used to:

New registration to the 4th vehicle in the server planning driving path and first group of the reference path it Between partly overlap in the case where, the 4th vehicle is added in described first group.

16. the described in any item servers of 0-15 according to claim 1, which is characterized in that event described in second vehicle distances The distance of the position of barrier is greater than or equal to the second preset threshold；The processor receives the first vehicle hair by the communication interface After the traffic information sent, the also described processor is also used to:

Determine that M the 5th vehicle, the 5th vehicle are that the distance apart from the location of fault is less than the described second default threshold The vehicle of value, M are the positive integer greater than 1；

The priority scoring for calculating each the 5th vehicle in M the 5th vehicle, any one the in described M the 5th vehicle The calculation formula of the priority scoring U of five vehicles is as follows:

U=(d/v) * β

For in M the 5th vehicle each the 5th vehicle plan driving path, and by the communication interface to it is described each 5th vehicle sends the driving path cooked up, and the driving path of lower the 5th vehicle of priority scoring is more early to be planned And transmission.

17. the described in any item servers of 0-16 according to claim 1, it is characterised in that:

18. a kind of vehicle, which is characterized in that the vehicle includes processor, memory and communication interface, and the memory is used for Program instruction is stored, the processor is for calling described program instruction to perform the following operations:

The traffic information that server is sent is received by the communication interface, the traffic information is for describing the first vehicle detection The position that the failure that arrives occurs, first vehicle and the vehicle belong to identical group in at least two groups divided in advance, the In one group the driving path of the planning of any two vehicles it is completely overlapped or first group described in any one vehicle planning Driving path partly overlap between the reference path in advance for first group of configuration, described first group for it is described at least Any one group in two groups；

Plan the driving path of the vehicle again according to the traffic information.

19. a kind of computer readable storage medium, which is characterized in that instruction is stored in the computer readable storage medium, When it runs on a processor, any method of claim 1-9 is realized.