CN110296708A - Lines of operation planing method, device and storage medium - Google Patents
Lines of operation planing method, device and storage medium Download PDFInfo
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- CN110296708A CN110296708A CN201910586470.3A CN201910586470A CN110296708A CN 110296708 A CN110296708 A CN 110296708A CN 201910586470 A CN201910586470 A CN 201910586470A CN 110296708 A CN110296708 A CN 110296708A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/23—Updating
- G06F16/2379—Updates performed during online database operations; commit processing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
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Abstract
The present invention provides a kind of lines of operation planing method, device and storage medium, and the running data reported by obtaining multiple vehicles in use, running data includes anchor point and the corresponding signal strength of anchor point；Running data is updated on operation ability map；According to updated operation ability map, lines of operation adjusted are sent to each vehicle in use.Above-mentioned lines of operation planing method marks signal strength information on operation ability map in real time, to adjust the lines of operation of the vehicle in use travelled online, improves the efficiency of operation of vehicle in use entirety.
Description
Technical field
The present embodiments relate to the intelligent vehicles technology field more particularly to a kind of lines of operation planing method, device and
Storage medium.
Background technique
Vehicle in use is unpiloted intelligent automobile, also referred to as wheeled mobile robot, is relied primarily on interior in terms of
Intelligent driving system based on calculation machine system realizes unpiloted purpose.Vehicle in use is carried out according to preset lines of operation
Forwarding, forwarding include transporting courier packages, sending with charge free and take out order, registered mail, documents etc..
Operation map is different from commercial electronic map, mainly for unpiloted vehicle in use.Current existing operation
Map only has the roads essential information such as basic lane, building, station.According to existing operation map, the fortune of automatic Pilot
The problems such as vehicle frequently encounters congestion in road, network signal is poor is sought, causes efficiency of operation low.
Summary of the invention
The present invention provides a kind of lines of operation planing method, device and storage medium, improves the operation effect of vehicle in use
Rate.
First aspect present invention provides a kind of lines of operation planing method, comprising:
The running data that multiple vehicles in use report is obtained, the running data includes anchor point and the anchor point pair
The signal strength answered；
The running data is updated on operation ability map；
According to updated operation ability map, lines of operation adjusted are sent to each vehicle in use.
Optionally, the signal strength includes wireless LAN signal intensity, GPS signal strength, mobile network signals
At least one of intensity.
It is optionally, described that the running data is updated on operation ability map, comprising:
Determine that the first abnormal anchor point, the described first abnormal anchor point are signal strength lower than pre- according to the running data
If the anchor point of signal strength；
Described first abnormal anchor point is labeled on the operation ability map, with obtaining updated operation ability
Figure.
Optionally, described according to updated operation ability map, operation adjusted is sent to each vehicle in use
Route, comprising:
Judge each vehicle in use initial carrier route whether the first abnormal anchor point described in approach, if described in approach
First abnormal anchor point, then according to the current location and target position of updated operation ability map, the vehicle in use,
The initial carrier route is adjusted, and sends lines of operation adjusted to the vehicle in use.
Optionally, the method also includes:
The road abnormal data that the multiple vehicle in use reports is obtained, the road abnormal data includes second abnormal fixed
Site and the corresponding road Exception Type of the second exception anchor point.
Optionally, the road Exception Type includes that road environment light is abnormal, road barrier is abnormal, road visibility is different
Normal at least one.
Optionally, the method also includes:
Described second abnormal anchor point is labeled on the operation ability map, with obtaining updated operation ability
Figure.
Optionally, described according to updated operation ability map, operation adjusted is sent to each vehicle in use
Route, comprising:
Judge each vehicle in use initial carrier route whether the first abnormal anchor point described in approach and/or described the
Two abnormal anchor points, if the first abnormal anchor point described in approach and/or the second abnormal anchor point, according to updated fortune
The current location and target position for seeking competence map, the vehicle in use, adjust the initial carrier route, and to the fortune
It seeks vehicle and sends lines of operation adjusted.
Second aspect of the present invention provides a kind of lines of operation planing method, comprising:
Running data is sent to operation ability server, the running data includes that anchor point and the anchor point are corresponding
Signal strength so that the operation ability server determines the signal strength lower than preset signals according to the running data
The abnormal anchor point of the first of intensity, updates operation ability map, and adjust each institute in real time according to updated operation ability map
State the lines of operation of vehicle in use；
The lines of operation adjusted that the operation ability server is sent are received, and execute the operation road adjusted
Line.
Optionally, the signal strength includes wireless LAN signal intensity, GPS signal strength, mobile network signals
At least one of intensity.
Optionally, the method also includes:
Road abnormal data is sent to the operation ability server, the road abnormal data includes the second abnormal positioning
Point and the corresponding road Exception Type of the second exception anchor point.
Optionally, the road Exception Type includes that road environment light is abnormal, road barrier is abnormal, road visibility is different
Normal at least one.
It is optionally, described to send road abnormal data to the operation ability server, comprising:
Obtain the environmental data of each data acquisition device on vehicle in use；
The environmental data is judged with the presence or absence of exception, and exception, then send road to the operation ability server if it exists
Road abnormal data.
Optionally, the data acquisition device includes light sensor, binocular camera, infrared sensor, laser thunder
Up to sensor, millimeter wave sensor, ultrasonic sensor and visibility tester.
Third aspect present invention provides a kind of lines of operation device for planning, comprising:
Obtain module, the running data reported for obtaining multiple vehicles in use, the running data include anchor point with
And the corresponding signal strength of the anchor point；
Update module, for the running data to be updated to operation ability map；
Sending module, for sending fortune adjusted to each vehicle in use according to updated operation ability map
Seek route.
Fourth aspect present invention provides a kind of vehicle in use, comprising:
Sending module, for operation ability server send running data, the running data include anchor point and
The corresponding signal strength of the anchor point, so that the operation ability server determines that the signal is strong according to the running data
Degree updates operation ability map, and according to updated operation ability lower than the first abnormal anchor point of preset signal strength
Figure adjusts the lines of operation of each vehicle in use in real time；
Receiving module, the lines of operation adjusted sent for receiving the operation ability server；
Execution module, for executing the lines of operation adjusted.
Fifth aspect present invention provides a kind of lines of operation device for planning, comprising:
Memory；
Processor；And
Computer program；
Wherein, the computer program stores in the memory, and is configured as being executed by the processor with reality
Now such as the described in any item methods of first aspect present invention.
Sixth aspect present invention provides a kind of vehicle in use, comprising:
Memory；
Processor；And
Computer program；
Wherein, the computer program stores in the memory, and is configured as being executed by the processor with reality
Now such as the described in any item methods of second aspect of the present invention.
Seventh aspect present invention provides a kind of computer readable storage medium, is stored thereon with computer program, the meter
Calculation machine program is executed by processor to realize such as the described in any item methods of first aspect present invention.
Eighth aspect present invention provides a kind of computer readable storage medium, is stored thereon with computer program, the meter
Calculation machine program is executed by processor to realize such as the described in any item methods of second aspect of the present invention.
The embodiment of the present invention provides a kind of lines of operation planing method, device and storage medium, passes through and obtains multiple operations
The running data that vehicle reports, running data include anchor point and the corresponding signal strength of anchor point；Running data is updated
To operation ability map；According to updated operation ability map, lines of operation adjusted are sent to each vehicle in use.On
It states lines of operation planing method and marks signal strength information in real time on operation ability map, to adjust the operation vehicle travelled online
Lines of operation, improve the efficiency of operation of vehicle in use entirety.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is application scenarios schematic diagram provided in an embodiment of the present invention；
Fig. 2 is the flow diagram for the lines of operation planing method that one embodiment of the invention provides；
Fig. 3 a is the schematic diagram for the initial carrier route that one embodiment of the invention provides；
Fig. 3 b is the schematic diagram for the lines of operation adjusted that one embodiment of the invention provides；
Fig. 4 be another embodiment of the present invention provides lines of operation planing method flow diagram；
Fig. 5 a be another embodiment of the present invention provides initial carrier route schematic diagram；
Fig. 5 b be another embodiment of the present invention provides lines of operation adjusted schematic diagram；
Fig. 6 is the flow diagram for the lines of operation planing method that further embodiment of this invention provides；
Fig. 7 a is the structural schematic diagram for the lines of operation device for planning that one embodiment of the invention provides；
Fig. 7 b be another embodiment of the present invention provides lines of operation device for planning structural schematic diagram；
Fig. 8 is the hardware structural diagram for the lines of operation device for planning that one embodiment of the invention provides；
Fig. 9 a is the structural schematic diagram for the vehicle in use that one embodiment of the invention provides；
Fig. 9 b be another embodiment of the present invention provides vehicle in use structural schematic diagram；
Figure 10 is the hardware structural diagram for the vehicle in use that one embodiment of the invention provides.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistented with the present invention.On the contrary, they be only with it is such as appended
The example of device and method being described in detail in claims, some aspects of the invention are consistent.
Description and claims of this specification and term " first " in above-mentioned attached drawing, " second " etc. are for distinguishing
Similar object, without being used to describe a particular order or precedence order.It should be understood that the data used in this way are in appropriate feelings
It can be interchanged under condition, so that the embodiment of the present invention described herein can be other than those of illustrating or describing herein
Sequence implement.In addition, term " includes " and " having " and their any deformation, it is intended that cover non-exclusive packet
Contain, for example, what the process, method, system, product or equipment for containing a series of steps or units were not necessarily limited to be clearly listed
Those step or units, but may include be not clearly listed or it is intrinsic for these process, methods, product or equipment
Other step or units.
" embodiment " or " another embodiment " mentioned in the whole text in specification of the invention means related with embodiment
A particular feature, structure, or characteristic include at least one embodiment of the application.Therefore, occur everywhere in the whole instruction
" in the present embodiment " or " in some embodiments " not necessarily refer to identical embodiment.It should be noted that not rushing
In the case where prominent, the feature in embodiment and embodiment in the present invention be can be combined with each other.
Current existing operation ability map only has the roads essential information such as basic lane, building, station, runs vehicle
After completing route planning, forwarding is executed according to preset route, if encountering abnormal conditions, such as present road exists
Barrier, pedestrian, puddle etc., vehicle in use execute preset evacuation program, subsequently back into continuing to travel in original route.It is above-mentioned
Process causes the efficiency of operation of vehicle in use low.
In order to solve the above-mentioned technical problem, the embodiment of the invention provides a kind of lines of operation planing methods, to existing
Operation ability map is improved, and marks signal strength information and road exception information in real time on operation ability map,
To adjust the lines of operation of the vehicle in use travelled online, to improve the efficiency of operation of vehicle in use entirety.
Fig. 1 is application scenarios schematic diagram provided in an embodiment of the present invention, lines of operation planing method provided in this embodiment
Applied to unmanned operation system, as shown in Figure 1, the unmanned operation system of the present embodiment includes: operation ability service
Device 11 and the more vehicles in use travelled online, such as vehicle 12, vehicle 13, vehicle 14, vehicle 15.Each vehicle in use and fortune
It wirelessly communicates between battalion's capable server, can also be carried out wireless communication between vehicle.
Wherein, it is provided with car running computer or on board unit (On Board Unit, abbreviation OBU) in some vehicles in use, has
Equipped with user terminal in a little vehicles in use, such as mobile phone etc..Mobile phone, car running computer or OBU in vehicle can be with operation abilities
Server communication.
The vehicle in use of the present embodiment carries out forwarding according to the lines of operation of operation ability servers' layout, wherein
Forwarding includes transporting courier packages, sending with charge free and take out order, registered mail, documents etc..Vehicle in use is unpiloted
Intelligent automobile, also referred to as wheeled mobile robot rely primarily on the interior intelligent driving system based on computer system and come
Realize unpiloted purpose.Each vehicle in use is according to preset initial carrier route automatic running, in the process of moving, will be real
When the running data that obtains and environmental abnormality data report to operation ability server so that operation ability server is in real time more
New operation ability map, and the travel route of each vehicle in use travelled online according to the adjustment of updated operation ability map.
Technical solution of the present invention is described in detail with specific embodiment below.These specific implementations below
Example can be combined with each other, and the same or similar concept or process may be repeated no more in some embodiments.
Fig. 2 is the flow diagram for the lines of operation planing method that one embodiment of the invention provides, and Fig. 3 a is the present invention one
The schematic diagram for the initial carrier route that embodiment provides, Fig. 3 b are the lines of operation adjusted that one embodiment of the invention provides
Schematic diagram.
Method provided in this embodiment can be executed by arbitrarily executing the device of lines of operation planing method, such as Fig. 1
Shown in operation ability server, which can pass through software and or hardware realization.
As shown in Fig. 2, lines of operation planing method provided in this embodiment includes the following steps:
S201, the running data that multiple vehicles in use report is obtained, running data includes that anchor point and anchor point are corresponding
Signal strength；
Signal strength includes wireless LAN signal intensity, GPS signal strength, and at least the one of mobile network signals intensity
Kind.Wherein, wireless LAN signal includes wireless wifi signal, and mobile network signals include 3G or 4G signal.
For each vehicle in use according to preset initial traveling route running, the signal for acquiring different location in the process of moving is strong
Degree, reports to operation ability server.
S202, running data is updated on operation ability map；
The running data that operation ability server is reported according to each vehicle in use got determines the first abnormal positioning
Point, the first abnormal anchor point are the anchor point that signal strength is lower than preset signal strength；First abnormal anchor point is labeled in fortune
It seeks on competence map, obtains updated operation ability map.The operation ability map of the present embodiment includes signal strength information,
Anchor point especially weaker to signal strength has carried out dynamic label placement.
It should be pointed out that same anchor point may be identical in the signal strength of different moments, it is also possible to it is different, that is,
It says, the signal strength of same anchor point is dynamic change.Operation ability server is according to the row of each vehicle in use got
Sail the signal strength information of data real-time update operation ability map.
S203, according to updated operation ability map, send lines of operation adjusted to each vehicle in use.
Operation ability server judges that the initial carrier route of each vehicle in use is according to updated operation ability map
The abnormal anchor point of no approach first, if the abnormal anchor point of approach first, according to updated operation ability map, vehicle in use
Current location and target position, adjust initial carrier route, and send lines of operation adjusted to vehicle in use.
As shown in Figure 3a, vehicle in use A approach road 1, by the reporting signal strength on road 1 to operation ability service
Device, operation ability server determine that road 1 lower than preset signal strength, is then labeled as abnormal road by the signal strength on road 1
Road, and will be in the information update to operation ability map；Operation ability server knows the vehicle in use B currently travelled online i.e.
By approach road 1, then according to the current location and target position of updated operation ability map, vehicle in use B, adjustment is just
The route that vehicle in use B is not carried out in beginning lines of operation.As shown in Figure 3a, the initial carrier route approach road 1 of vehicle in use B
Target position is reached with road 2.Lines of operation approach road 3 and road 4 adjusted reach the target position of vehicle in use B,
As shown in Figure 3b.
Lines of operation planing method provided in an embodiment of the present invention, the traveling number reported by obtaining multiple vehicles in use
According to running data includes anchor point and the corresponding signal strength of anchor point；Running data is updated on operation ability map；
According to updated operation ability map, lines of operation adjusted are sent to each vehicle in use.Above-mentioned lines of operation planning side
Method marks signal strength information on operation ability map in real time, to adjust the lines of operation of the vehicle in use travelled online, mentions
The high efficiency of operation of vehicle in use entirety.
On the basis of the above embodiments, lines of operation planing method provided in this embodiment is gone back on operation ability map
It is labelled with road exception information, the further perfect real time data of operation ability map enhances operation ability server pair
The accuracy of the route adjustment of vehicle in use, further promotes the efficiency of operation of operation system.
Fig. 4 be another embodiment of the present invention provides lines of operation planing method flow diagram, Fig. 5 a be the present invention
The schematic diagram for the initial carrier route that another embodiment provides, Fig. 5 b be another embodiment of the present invention provides operation adjusted
The schematic diagram of route.
As shown in figure 4, lines of operation planing method provided in this embodiment includes the following steps:
S401, the running data that multiple vehicles in use report is obtained, running data includes that anchor point and anchor point are corresponding
Signal strength；
The S401 of this implementation and the S201 of above-described embodiment are identical, and referring specifically to above-described embodiment, details are not described herein again.
S402, the road abnormal data that multiple vehicles in use report is obtained；
Wherein, road abnormal data includes the second abnormal anchor point and the corresponding road exception class of the second exception anchor point
Type.
Road Exception Type includes road environment light is abnormal, road barrier is abnormal, road visibility is abnormal at least one
Kind.
In the present embodiment, the car body surrounding of each vehicle in use is provided with data acquisition device, and data acquisition device is for adopting
The environmental data of collection operation vehicle periphery.Environmental data includes ambient light intensity, road obstacle, road surface visibility etc..
Wherein, barrier includes movable obstruction and stationary obstruction, and movable obstruction has the vehicle of pedestrian, traveling
Deng stationary obstruction has building waste, road closed object etc..
Specifically, data acquisition device includes light sensor, binocular camera, infrared sensor, laser radar
Sensor, millimeter wave sensor, ultrasonic sensor and visibility tester.
The present embodiment can obtain the ambient light intensity of vehicle in use current driving environment, light level by light sensor
Collected ambient light intensity is sent to the vehicle-mounted data analytical equipment on vehicle in use by device.Correspondingly, vehicle-mounted data is analyzed
Equipment judges whether ambient light intensity is less than default ambient light intensity, if being less than, reports road different to operation ability server
Regular data, the road environment light that road abnormal data is used to indicate current anchor point are abnormal.
The present embodiment is by binocular camera, infrared sensor, laser radar sensor, millimeter wave sensor and surpasses
Sonic sensor would know that the road obstacle information on vehicle in use periphery under varying environment, if vehicle-mounted data analytical equipment according to
Road obstacle information judges road barrier with the presence or absence of abnormal, and if it exists, then reports road different to operation ability server
Regular data, the road barrier that road abnormal data is used to indicate current anchor point are abnormal.
Specifically, if road obstacle is movable obstruction, such as pedestrian, vehicle-mounted data analytical equipment is according to image
Processing Algorithm would know that pedestrian's quantity of current road, if pedestrian's quantity is more than preset value, report to operation ability server
Road abnormal data, the flow of the people that road abnormal data is used to indicate current anchor point are intensive.Likewise, movable obstruction is
Other vehicles report road abnormal data, road abnormal data to operation ability server if vehicle fleet size is more than preset value
The vehicle flowrate for being used to indicate current anchor point is intensive.
If road obstacle is stationary obstruction, vehicle-mounted data analytical equipment would know that the lateral dimension of road obstacle,
If the lateral dimension of barrier is greater than the width of present road, road abnormal data, road are reported to operation ability server
It is obstructed that road abnormal data is used to indicate current anchor point road.
Specifically, infrared sensor can acquire the infrared ray of the sending of pedestrian, by measurement human surface temperature to
The position for determining pedestrian, after vehicle-mounted data analytical equipment receives the temperature of some pedestrian, it can be determined that the position of the pedestrian,
It can also further determine the travel speed of the pedestrian.
Laser radar sensor can provide the three dimensional spatial map of vehicle in use ambient enviroment, so that vehicle-mounted data analysis is set
Fully feel and knows the distance between vehicle in use and barrier, the driving direction of vehicle in use, the travel speed of barrier, barrier
The form parameter of driving direction and barrier.
The characteristics of millimeter wave sensor has penetrating fog, cigarette, the ability of dust strong, strong antijamming capability, in hazy weather
In, millimeter wave sensor can also be used to the distance between travel speed, vehicle in use and barrier of acquisition barrier etc..It can
Choosing, millimeter wave sensor is mounted in the rear bumper of vehicle in use, is for monitoring the lane of vehicle in use rear two sides
It is no to have vehicle, lane change be carried out.The problem of millimeter wave sensor, is that due to wavelength, detection range is very limited, can not
Perceive pedestrian.
The distance between the detectable vehicle in use of ultrasonic sensor and barrier are occurred using the ultrasonic wave in sensor
Device generates ultrasonic wave, then is received by receiving transducer through the reflected ultrasonic wave of barrier, and vehicle-mounted data analytical equipment can root
The distance between barrier is calculated according to the ultrasonic reflections received time difference.Cost is relatively low for ultrasonic sensor, detection away from
It is high from nearly precision, and do not influenced by light condition.
The present embodiment would know that the visibility of vehicle in use current road by visibility tester, correspondingly, Vehicular data
Judge whether the visibility of current road is less than default visibility according to analytical equipment, if being less than, on operation ability server
Report road abnormal data, the road visibility that road abnormal data is used to indicate current anchor point is abnormal.
S403, running data and road abnormal data are updated on operation ability map；
Specifically, the running data and road abnormal data that are reported according to each vehicle in use, strong by signal in running data
Degree is labeled on operation ability map lower than the first abnormal anchor point of preset signal strength, meanwhile, the difference that S402 is determined
The corresponding second abnormal anchor point of road Exception Type is labeled on operation ability map, with obtaining updated operation ability
Figure.The operation ability map of the present embodiment includes signal strength information and road exception information, to signal strength compared with the road Ruo Qie
There are the anchor points of unusual condition to have carried out dynamic label placement on road.
It should be pointed out that the signal strength of same anchor point is dynamic change, road unusual condition is also that dynamic becomes
Change.Operation ability server is transported according to the running data and road abnormal data real-time update of each vehicle in use got
Seek the abnormal anchor point of competence map.
Optionally, vehicle in use in the process of moving, acquires in real time according to updated operation ability map and vehicle
Environmental data, running data, when determining that the signal strength of exception anchor point is restored or road releases extremely, then to operation ability
Server sends more new data, so that the operation ability server update exception anchor point.
S404, according to updated operation ability map, send lines of operation adjusted to each vehicle in use.
Operation ability server judges that the initial carrier route of each vehicle in use is according to updated operation ability map
The abnormal anchor point of no approach first and/or the second abnormal anchor point, if the abnormal anchor point of approach first and/or the second abnormal positioning
Point adjusts initial carrier road then according to the current location and target position of updated operation ability map, vehicle in use
Line, and lines of operation adjusted are sent to vehicle in use.
As shown in Figure 5 a, vehicle in use A approach road 1, by the reporting signal strength on road 1 to operation ability service
Device, operation ability server determine that road 1 lower than preset signal strength, is labeled as abnormal road by the signal strength on road 1,
And it will be in the information update to operation ability map；In synchronization vehicle in use C approach road 4, to operation ability server
Report road abnormal data, such as road is obstructed, road 4 is labeled as abnormal road and updates operation energy by operation ability server
Power map.Operation ability server knows the vehicle in use B currently travelled online i.e. by approach road 1, then according to updated
The current location and target position of operation ability map, vehicle in use B adjust vehicle in use B in initial carrier route and do not hold
Capable route.As shown in Figure 5 b, lines of operation approach road 3 adjusted, road 5 and road 2 reach the mesh of vehicle in use B
Cursor position.
Lines of operation planing method provided in an embodiment of the present invention, the running data reported by obtaining multiple vehicles in use
And road abnormal data, it determines the first abnormal anchor point and the second abnormal anchor point, updates operation ability map accordingly；Root
Real-time routes tune is sent to the vehicle in use of the first anchor point of approach and/or the second anchor point according to updated operation ability map
It is whole.Congestion in road is avoided by the above process, the problems such as network signal is poor, improve the efficiency of operation of vehicle in use entirety.
Fig. 6 is the flow diagram for the lines of operation planing method that further embodiment of this invention provides, the present embodiment provides
Method can be executed by any mobile device, which can pass through software and or hardware realization, the fortune of example as shown in figure 1
Vehicle is sought, communication equipment is provided on the vehicle in use, realizes the wireless communication with operation ability server.
As shown in fig. 6, operating line planing method provided in this embodiment includes the following steps:
S601, running data is sent to operation ability server, running data includes that anchor point and anchor point are corresponding
Signal strength；
In the present embodiment, each vehicle in use is according to preset initial traveling route running, and acquisition is different in the process of moving
The signal strength of position sends to operation ability server to running data, so that operation ability server is according to receiving
Running data determines first abnormal anchor point of the signal strength lower than preset signal strength, updates operation ability map, and according to
Updated operation ability map adjusts the lines of operation of each vehicle in use in real time；
Wherein, signal strength includes wireless LAN signal intensity, GPS signal strength, mobile network signals intensity
It is at least one.Wherein, wireless LAN signal includes wireless wifi signal, and mobile network signals include 3G or 4G signal.
S602, the lines of operation adjusted that operation ability server is sent are received；
S603, lines of operation adjusted are executed.
Lines of operation planing method provided in an embodiment of the present invention, by sending running data to operation ability server,
Running data includes anchor point and the corresponding signal strength of anchor point, so that operation ability server is determined according to running data
First abnormal anchor point, updates operation ability map；If the abnormal anchor point of vehicle in use approach first, can receive operation energy
The lines of operation adjusted that power server is sent, according to lines of operation automatic running adjusted.Procedure described above avoid fortune
Battalion's vehicle, which drives into the weaker road of signal strength, to be caused to go offline for a long time, promotes the driving safety and efficiency of operation of vehicle in use.
Optionally, on the basis of the above embodiments, each vehicle in use obtains the environmental data of vehicle carried data collecting device,
Determine that road is deposited when abnormal according to environmental data, Xiang Suoshu operation ability server sends road abnormal data.
Environmental data includes ambient light intensity, road obstacle, road surface visibility etc..
Road abnormal data includes the second abnormal anchor point and the corresponding road Exception Type of the second exception anchor point.
Wherein, road Exception Type includes that road environment light is abnormal, road barrier is abnormal, road visibility is abnormal extremely
Few one kind.
Data acquisition device in the present embodiment includes light sensor, binocular camera, infrared sensor, laser thunder
Up to sensor, millimeter wave sensor, ultrasonic sensor and visibility tester.
The implementing principle and technical effect of each data acquisition device are same as the previously described embodiments in the present embodiment, can specifically join
See the S402 of above-described embodiment, details are not described herein again.
Fig. 7 a is the structural schematic diagram for the lines of operation device for planning that one embodiment of the invention provides, as shown in Figure 7a, this
The lines of operation device for planning 70 that embodiment provides, comprising:
Module 71 is obtained, the running data reported for obtaining multiple vehicles in use, the running data includes anchor point
And the corresponding signal strength of the anchor point；
Update module 72, for the running data to be updated to operation ability map；
Sending module 73, for being sent to each vehicle in use adjusted according to updated operation ability map
Lines of operation.
Optionally, the signal strength includes wireless LAN signal intensity, GPS signal strength, mobile network signals
At least one of intensity.
Optionally, the update module 72, is specifically used for: determining the first abnormal anchor point, institute according to the running data
Stating the first abnormal anchor point is the anchor point that signal strength is lower than preset signal strength；
Described first abnormal anchor point is labeled on the operation ability map, with obtaining updated operation ability
Figure.
Fig. 7 b be another embodiment of the present invention provides lines of operation device for planning structural schematic diagram, shown in Fig. 7 a fill
On the basis of setting, referring to Fig. 7 b, the lines of operation device for planning 70 of the present embodiment further include: route planning module 74.
The route planning module 74, for judging the initial carrier route of each vehicle in use whether described in approach
One abnormal anchor point, if the first abnormal anchor point described in approach, according to updated operation ability map, the vehicle in use
Current location and target position, adjust the initial carrier route；The sending module 73 is used for the vehicle in use
Send lines of operation adjusted.
Optionally, the acquisition module 71 is also used to obtain the road abnormal data that the multiple vehicle in use reports, institute
Stating road abnormal data includes the second abnormal anchor point and the corresponding road Exception Type of the second exception anchor point.
Optionally, the road Exception Type includes that road environment light is abnormal, road barrier is abnormal, road visibility is different
Normal at least one.
Optionally, the update module 72 is also used to the described second abnormal anchor point with being labeled in the operation ability
On figure, updated operation ability map is obtained.
Optionally, the route planning module 74, be also used to judge each vehicle in use initial carrier route whether
First abnormal anchor point described in approach and/or the second abnormal anchor point, if the first abnormal anchor point and/or institute described in approach
The second abnormal anchor point is stated, then according to the current location and target position of updated operation ability map, the vehicle in use
It sets, adjusts the initial carrier route；The sending module 73, for sending operation road adjusted to the vehicle in use
Line.
Lines of operation device for planning provided in this embodiment, can execute the technical solution of above method embodiment, in fact
Existing principle is similar with technical effect, and details are not described herein again.
The embodiment of the present invention also provides a kind of lines of operation device for planning, and shown in Figure 8, the embodiment of the present invention is only to scheme
It is illustrated for 8, is not offered as that present invention is limited only to this.
Fig. 8 is the hardware structural diagram for the lines of operation device for planning that one embodiment of the invention provides, as shown in figure 8,
Lines of operation device for planning 80 provided in this embodiment includes:
Memory 81；
Processor 82；And
Computer program；
Wherein, computer program is stored in memory 81, and is configured as being executed by processor 82 to realize as aforementioned
The technical solution of any one embodiment of the method, it is similar that the realization principle and technical effect are similar, and details are not described herein again.
Optionally, memory 81 can also be integrated with processor 82 either independent.
When device except memory 81 is independently of processor 82, lines of operation device for planning 80 further include:
Bus 83, for connecting memory 81 and processor 82.
The embodiment of the present invention also provides a kind of computer readable storage medium, is stored thereon with computer program, computer
Program is executed by processor 82 to realize each step performed by lines of operation device for planning 80 in embodiment of the method as above.
Fig. 9 a is the structural schematic diagram for the vehicle in use that one embodiment of the invention provides, and as illustrated in fig. 9, the present embodiment mentions
The vehicle in use 90 of confession, comprising:
Sending module 91, for sending running data to operation ability server, the running data include anchor point with
And the corresponding signal strength of the anchor point, so that the operation ability server determines the signal according to the running data
Intensity updates operation ability map, and according to updated operation ability lower than the first abnormal anchor point of preset signal strength
Map adjusts the lines of operation of each vehicle in use in real time；
Receiving module 92, the lines of operation adjusted sent for receiving the operation ability server；
Execution module 93, for executing the lines of operation adjusted.
Optionally, signal strength includes wireless LAN signal intensity, GPS signal strength, mobile network signals intensity
At least one.
Optionally, the sending module 91, is also used to:
Road abnormal data is sent to the operation ability server, the road abnormal data includes the second abnormal positioning
Point and the corresponding road Exception Type of the second exception anchor point.
Optionally, the road Exception Type includes that road environment light is abnormal, road barrier is abnormal, road visibility is different
Normal at least one.
Fig. 9 b be another embodiment of the present invention provides vehicle in use structural schematic diagram, on the basis of Fig. 9 a shown device
On, referring to Fig. 9 b, the vehicle in use 90 of the present embodiment further include: obtain module 94, judgment module 95.
The acquisition module 94, for obtaining the environmental data of each data acquisition device on vehicle in use；
The judgment module 95, for judging the environmental data with the presence or absence of abnormal, abnormal if it exists, the then transmission
Module 91, for sending road abnormal data to the operation ability server.
Optionally, the data acquisition device includes light sensor, binocular camera, infrared sensor, laser thunder
Up to sensor, millimeter wave sensor, ultrasonic sensor and visibility tester.
Vehicle in use provided in this embodiment, can execute the technical solution of above method embodiment, realization principle and
Technical effect is similar, and details are not described herein again.
Figure 10 is the hardware structural diagram for the vehicle in use that one embodiment of the invention provides, as shown in Figure 10, this implementation
Example provide vehicle in use 100 include:
Memory 101；
Processor 102；And
Computer program；
Wherein, computer program is stored in memory 101, and is configured as being executed by processor 102 to realize as before
The technical solution of any one embodiment of the method is stated, it is similar that the realization principle and technical effect are similar, and details are not described herein again.
Optionally, memory 101 can also be integrated with processor 102 either independent.
When device except memory 101 is independently of processor 102, vehicle in use 100 further include:
Bus 103, for connecting memory 101 and processor 102.
The embodiment of the present invention also provides a kind of computer readable storage medium, is stored thereon with computer program, computer
Program is executed by processor 102 to realize each step performed by vehicle in use 100 in embodiment of the method as above.
It should be understood that above-mentioned processor can be central processing unit (English: Central Processing Unit, letter
Claim: CPU), can also be other general processors, digital signal processor (English: Digital Signal Processor,
Referred to as: DSP), specific integrated circuit (English: Application Specific Integrated Circuit, referred to as:
ASIC) etc..General processor can be microprocessor or the processor is also possible to any conventional processor etc..In conjunction with hair
The step of bright disclosed method, can be embodied directly in hardware processor and execute completion, or with hardware in processor and soft
Part block combiner executes completion.
Memory may include high speed RAM memory, it is also possible to and it further include non-volatile memories NVM, for example, at least one
Magnetic disk storage can also be USB flash disk, mobile hard disk, read-only memory, disk or CD etc..
Bus can be industry standard architecture (Industry Standard Architecture, ISA) bus, outer
Portion's apparatus interconnection (Peripheral Component, PCI) bus or extended industry-standard architecture (Extended
Industry Standard Architecture, EISA) bus etc..Bus can be divided into address bus, data/address bus, control
Bus etc..For convenient for indicating, the bus in illustrations does not limit only a bus or a type of bus.
Above-mentioned storage medium can be by any kind of volatibility or non-volatile memory device or their combination
It realizes, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable
Read-only memory (EPROM), programmable read only memory (PROM), read-only memory (ROM), magnetic memory, flash memory,
Disk or CD.Storage medium can be any usable medium that general or specialized computer can access.
A kind of illustrative storage medium is coupled to processor, believes to enable a processor to read from the storage medium
Breath, and information can be written to the storage medium.Certainly, storage medium is also possible to the component part of processor.It processor and deposits
Storage media can be located at specific integrated circuit (Application Specific Integrated Circuits, referred to as:
ASIC in).Certainly, pocessor and storage media can also be used as discrete assembly and be present in electronic equipment or main control device.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (20)
1. a kind of lines of operation planing method characterized by comprising
The running data that multiple vehicles in use report is obtained, the running data includes that anchor point and the anchor point are corresponding
Signal strength；
The running data is updated on operation ability map；
According to updated operation ability map, lines of operation adjusted are sent to each vehicle in use.
2. the method according to claim 1, wherein the signal strength includes that wireless LAN signal is strong
Degree, GPS signal strength, at least one of mobile network signals intensity.
3. the method according to claim 1, wherein described be updated to operation ability map for the running data
On, comprising:
Determine that the first abnormal anchor point, the described first abnormal anchor point are signal strength lower than default letter according to the running data
The anchor point of number intensity；
Described first abnormal anchor point is labeled on the operation ability map, updated operation ability map is obtained.
4. according to the method described in claim 3, it is characterized in that, described according to updated operation ability map, Xiang Gesuo
It states vehicle in use and sends lines of operation adjusted, comprising:
Judge each vehicle in use initial carrier route whether the first abnormal anchor point described in approach, if first described in approach
Abnormal anchor point, then according to the current location and target position of updated operation ability map, the vehicle in use, adjustment
The initial carrier route, and lines of operation adjusted are sent to the vehicle in use.
5. according to the method described in claim 3, it is characterized in that, the method also includes:
The road abnormal data that the multiple vehicle in use reports is obtained, the road abnormal data includes the second abnormal anchor point
And the corresponding road Exception Type of the second abnormal anchor point.
6. according to the method described in claim 5, it is characterized in that, the road Exception Type include road environment light it is abnormal,
Road barrier exception, at least one of road visibility exception.
7. according to the method described in claim 5, it is characterized in that, the method also includes:
Described second abnormal anchor point is labeled on the operation ability map, updated operation ability map is obtained.
8. the method according to the description of claim 7 is characterized in that described according to updated operation ability map, Xiang Gesuo
It states vehicle in use and sends lines of operation adjusted, comprising:
Judge each vehicle in use initial carrier route whether the first abnormal anchor point described in approach and/or described second different
Normal anchor point, if the first abnormal anchor point described in approach and/or the second abnormal anchor point, according to updated operation energy
The current location and target position of power map, the vehicle in use, adjust the initial carrier route, and to the operation vehicle
Send lines of operation adjusted.
9. a kind of lines of operation planing method characterized by comprising
Running data is sent to operation ability server, the running data includes anchor point and the corresponding letter of the anchor point
Number intensity, so that the operation ability server determines the signal strength lower than preset signal strength according to the running data
The first abnormal anchor point, update operation ability map, and each fortune is adjusted according to updated operation ability map in real time
Seek the lines of operation of vehicle；
The lines of operation adjusted that the operation ability server is sent are received, and execute the lines of operation adjusted.
10. according to the method described in claim 9, it is characterized in that, the signal strength includes that wireless LAN signal is strong
Degree, GPS signal strength, at least one of mobile network signals intensity.
11. according to the method described in claim 9, it is characterized in that, the method also includes:
Send road abnormal data to the operation ability server, the road abnormal data include the second abnormal anchor point with
And the corresponding road Exception Type of the second abnormal anchor point.
12. according to the method for claim 11, which is characterized in that the road Exception Type includes that road environment light is different
Often, road barrier exception, at least one of road visibility exception.
13. according to the method for claim 11, which is characterized in that described different to operation ability server transmission road
Regular data, comprising:
Obtain the environmental data of each data acquisition device on vehicle in use；
The environmental data is judged with the presence or absence of exception, and exception, then it is different to send road to the operation ability server if it exists
Regular data.
14. according to the method for claim 13, which is characterized in that the data acquisition device includes light sensor, double
Mesh camera, infrared sensor, laser radar sensor, millimeter wave sensor, ultrasonic sensor and visibility test
Instrument.
15. a kind of lines of operation device for planning characterized by comprising
Module is obtained, the running data reported for obtaining multiple vehicles in use, the running data includes anchor point and institute
State the corresponding signal strength of anchor point；
Update module, for the running data to be updated to operation ability map；
Sending module, for sending operation road adjusted to each vehicle in use according to updated operation ability map
Line.
16. a kind of vehicle in use characterized by comprising
Sending module, for sending running data to operation ability server, the running data includes anchor point and described
The corresponding signal strength of anchor point, so that the operation ability server determines that the signal strength is low according to the running data
In the first abnormal anchor point of preset signal strength, operation ability map is updated, and real according to updated operation ability map
When adjust the lines of operation of each vehicle in use；
Receiving module, the lines of operation adjusted sent for receiving the operation ability server；
Execution module, for executing the lines of operation adjusted.
17. a kind of lines of operation device for planning characterized by comprising
Memory；
Processor；And
Computer program；
Wherein, the computer program stores in the memory, and is configured as being executed by the processor to realize such as
The described in any item methods of claim 1 to 8.
18. a kind of vehicle in use characterized by comprising
Memory；
Processor；And
Computer program；
Wherein, the computer program stores in the memory, and is configured as being executed by the processor to realize such as
The described in any item methods of claim 9 to 14.
19. a kind of computer readable storage medium, which is characterized in that be stored thereon with computer program, the computer program
It is executed by processor to realize method as claimed in any one of claims 1 to 8.
20. a kind of computer readable storage medium, which is characterized in that be stored thereon with computer program, the computer program
It is executed by processor to realize such as the described in any item methods of claim 9 to 14.
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