CN113916239A - Lane-level navigation method for automatically driving bus - Google Patents

Lane-level navigation method for automatically driving bus Download PDF

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CN113916239A
CN113916239A CN202111221197.8A CN202111221197A CN113916239A CN 113916239 A CN113916239 A CN 113916239A CN 202111221197 A CN202111221197 A CN 202111221197A CN 113916239 A CN113916239 A CN 113916239A
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lane
road
navigation
current
cost
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CN113916239B (en
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翟唯钧
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Beijing Qingzhou Zhihang Technology Co ltd
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Beijing Qingzhou Zhihang Technology Co ltd
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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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Abstract

The embodiment of the invention relates to a lane-level navigation method for automatically driving a bus, which comprises the following steps: acquiring a bus line number of a bus as a current line number; acquiring the vehicle position coordinates of the bus to generate initial coordinates; acquiring a stop position coordinate of a next stop of the bus to generate an ending coordinate; inquiring a preset bus line set, and taking a first road data set corresponding to a first line number matched with the current line number as a current road data set; and planning each section lane of the bus required to pass from the initial coordinate to the end coordinate according to the current road data set and the optimal road passing cost principle to obtain a corresponding first lane-level navigation data set. The method can meet the real-time requirement of road navigation of the automatic driving bus and can improve the guarantee of the driving safety of the bus.

Description

Lane-level navigation method for automatically driving bus
Technical Field
The invention relates to the technical field of data processing, in particular to a lane-level navigation method for automatically driving a bus.
Background
Unlike traditional navigation map algorithms, autopilot requires lane-level navigation. Most of the current navigation schemes directly find a lane level navigation result in a high-precision map through a search algorithm. However, as the number of map lanes increases and the topological relation is more complex, the search algorithm is more time-consuming and cannot meet the real-time requirement of the automatic driving planning module, so that the road planning and navigation have to be executed asynchronously, but the real-time performance of the road navigation is reduced. For an automatic driving bus carrying a plurality of passengers, the requirements on driving safety and road navigation real-time performance are higher than those of a common household vehicle, and the conventional navigation scheme can certainly not meet the navigation requirement of the automatic driving bus.
Disclosure of Invention
The invention aims to provide a lane-level navigation method, electronic equipment and a computer readable storage medium for automatically driving a bus, which aim to overcome the defects of the prior art, and the lane-level navigation method, the electronic equipment and the computer readable storage medium are used for acquiring road segmentation information of a current driving road and lane information of each segmentation road from a known bus route data set, then taking a segmentation lane where the current position of a vehicle is located as a starting lane, taking a segmentation lane where a next stop station is located as an ending lane, and planning a navigation lane sequence from the starting lane to the ending lane according to the optimal traffic cost by combining the road right information of each current lane so as to obtain real-time lane-level navigation information. The method can save the road navigation calculation time of positioning in a high-precision map according to the vehicle based on the fixed characteristic of the bus route, can reduce the calculation amount and the calculation time of lane navigation in the high-precision map according to the changed target by taking the unchanged stop station as the current navigation target point, and can reduce the calculation complexity and the calculation time by using the optimal traffic cost calculation principle to replace the traditional positioning search algorithm. The method and the device can meet the real-time requirement of road navigation of the automatic driving bus and improve the guarantee of the driving safety of the bus.
In order to achieve the above object, a first aspect of the embodiments of the present invention provides a lane-level navigation method for automatically driving a bus, where the method includes:
acquiring a bus line number of a bus as a current line number; acquiring the vehicle position coordinates of the bus to generate initial coordinates; acquiring a stop position coordinate of a next stop of the bus to generate an ending coordinate;
inquiring a preset bus line set, and taking a first road data set corresponding to a first line number matched with the current line number as a current road data set; the set of bus routes comprises a plurality of first bus routes; the first bus route comprises the first route number and the first road data set;
and planning each road section lane of the bus required to pass from the starting coordinate to the ending coordinate according to the current road data set and the optimal road passing cost principle to obtain a corresponding first lane level navigation data set.
Preferably, the first road data set includes a plurality of first road data sets;
the first road segment data set comprises first road segment identification data, a first road segment coordinate range and a plurality of first road data sets;
the first lane data set comprises first lane identification data, a first lane coordinate range and first road right data;
the first set of lane-level navigation data comprises a plurality of first navigation lane data sets;
the first navigation lane data set includes second road segment identification data and second lane identification data.
Preferably, the planning, according to the current road data set and according to a road optimal passing cost principle, lanes of each road segment of the bus that needs to pass from the start coordinate to the end coordinate to obtain a corresponding first lane-level navigation data set specifically includes:
in the current road data set, recording the first road segment identification data corresponding to the first road segment coordinate range containing the start coordinate as start road segment identification data, and recording the first road segment identification data corresponding to the first road segment coordinate range containing the end coordinate as end road segment identification data;
sorting all the first road section data sets of the first road section identification data from the initial road section identification data to the ending road section identification data in the current road data set according to the sequence from the initial road section to the ending road section to form a navigation road data set; the navigation road data set comprises a plurality of navigation road section data sets, and the number of the navigation road section data sets is the total number N of road sections;
according to the 1 st navigation road section data set, calculating the optimal passing cost of the bus from the initial coordinate to each lane of the 1 st navigation road section, and generating the corresponding first lane cost
Figure BDA0003312688310000031
M1≥j1≥1，M1The total number of lanes of the 1 st navigation section;
according to the ith navigation road section data set and the first lane cost of each lane of the ith-1 navigation road section
Figure BDA0003312688310000032
Calculating the optimal passing cost of the bus from the initial coordinate to each lane of the ith navigation road section, and generating the corresponding first lane cost
Figure BDA0003312688310000033
N≥i≥2,Mi-1≥ji-1≥1，Mi≥ji≥1，Mi-1、MiThe total number of lanes of the ith-1 and ith navigation road sections respectively;
costing the last of the first lane
Figure BDA0003312688310000034
The optimal current road passing cost is taken; setting a corresponding first navigation lane data set for each lane participating in calculating the optimal passing cost of the current road; setting the second road section identification data of the first navigation lane data group as the first road section identification data corresponding to the current lane, and setting the second lane identification data as the first lane identification data corresponding to the current lane;
and sequencing the first navigation lane data groups corresponding to the lanes according to the lane transformation sequence from the starting coordinate to the ending coordinate to obtain the first lane-level navigation data set.
Further, the 1 st navigation sectionA data set, calculating the optimal passing cost of the bus from the initial coordinate to each lane of the 1 st navigation road section, and generating the corresponding first lane cost
Figure BDA0003312688310000035
The method specifically comprises the following steps:
in the 1 st navigation road section data set, marking a lane corresponding to the first lane data set corresponding to the first lane coordinate range containing the starting coordinate as a starting lane S;
calculating a first lane cost corresponding to the starting lane S
Figure BDA0003312688310000041
Figure BDA0003312688310000042
The first road right data of the first lane data set corresponding to the starting lane S in the 1 st navigation road section data set;
setting any lane except the initial lane S in the ith navigation section as another lane O;
calculating the first lane cost corresponding to any other lane O
Figure BDA0003312688310000043
LC is a preset one-time lane change cost factor,
Figure BDA0003312688310000044
for the number of lane changes from the starting lane S to the current other lane O,
Figure BDA0003312688310000045
the first right-of-way data of the first lane data set corresponding to the current other lane O in the 1 st navigation road section data set.
Further, the first lane cost for each lane according to the ith navigation section data set and the ith-1 navigation section
Figure BDA0003312688310000046
Calculating the optimal passing cost of the bus from the initial coordinate to each lane of the ith navigation road section, and generating the corresponding first lane cost
Figure BDA0003312688310000047
The method specifically comprises the following steps:
setting any lane in the ith navigation section as a current lane A when i is less than N, and setting a lane corresponding to the end coordinate in the ith navigation section as the current lane A when i is less than N; setting any lane outside the current lane A in the ith navigation road section as another lane B; setting a previous lane connected with the current lane A in the i-1 navigation road section as a corresponding previous lane A ', and setting a previous lane connected with any other lane B as a corresponding previous lane B';
calculating the cost of a first following lane corresponding to the current lane A
Figure BDA0003312688310000048
Figure BDA0003312688310000049
For the first lane cost of the corresponding said previous lane a',
Figure BDA00033126883100000410
is the accumulated lane change times from the starting lane S of the 1 st navigation segment to the corresponding previous lane a',
Figure BDA00033126883100000411
the first road right data of the first lane data set corresponding to the current lane A in the ith navigation road section data set;
calculating a first following lane cost corresponding to any other lane B
Figure BDA0003312688310000051
Figure BDA0003312688310000052
For the first lane cost of the previous lane B' corresponding to the current other lane B,
Figure BDA0003312688310000053
is the accumulated lane change times from the starting lane S to the corresponding preceding lane B',
Figure BDA0003312688310000054
the first road right data of the first lane data set corresponding to the current other lane B in the ith navigation road section data set are obtained;
calculating the first lane change cost corresponding to the current lane A and any other lane B
Figure BDA0003312688310000055
And deriving a plurality of said first lane change costs
Figure BDA0003312688310000056
Taking the minimum value as the first minimum lane change cost corresponding to the current lane A
Figure BDA0003312688310000057
Figure BDA0003312688310000058
LC is a preset single lane change cost factor for the first following lane cost of the current other lane B corresponding to the current lane A,
Figure BDA0003312688310000059
for the number of lane changes from the current other lane B to the current lane a,
Figure BDA00033126883100000510
the first road right data of the first lane data set corresponding to the current lane A in the ith navigation road section data set;
the first following lane cost corresponding from the current lane A
Figure BDA00033126883100000511
And said first minimum lane change cost
Figure BDA00033126883100000512
Taking the minimum value as the first lane cost corresponding to the current lane A
Figure BDA00033126883100000513
A second aspect of an embodiment of the present invention provides an electronic device, including: a memory, a processor, and a transceiver;
the processor is configured to be coupled to the memory, read and execute instructions in the memory, so as to implement the method steps of the first aspect;
the transceiver is coupled to the processor, and the processor controls the transceiver to transmit and receive messages.
A third aspect of embodiments of the present invention provides a computer-readable storage medium storing computer instructions that, when executed by a computer, cause the computer to perform the method of the first aspect.
The embodiment of the invention provides a lane-level navigation method, electronic equipment and a computer readable storage medium for automatically driving a bus, which are used for acquiring road segmentation information of a current driving road and lane information of each segmented road from a known bus route data set, then taking the segmented lane where the current position of the bus is located as a starting lane and the segmented lane where a next stop station is located as an ending lane, and planning a navigation lane sequence from the starting lane to the ending lane according to the optimal traffic cost by combining the road right information of each current lane so as to obtain real-time lane-level navigation information. The method can save the road navigation calculation time of positioning in a high-precision map according to the vehicle based on the fixed characteristic of the bus route, can reduce the calculation amount and the calculation time of lane navigation in the high-precision map according to the changed target by taking the unchanged stop station as the current navigation target point, and can reduce the calculation complexity and the calculation time by using the optimal traffic cost calculation principle to replace the traditional positioning search algorithm. The method and the device meet the real-time requirement of road navigation of the automatic driving bus and improve the guarantee of the driving safety of the bus.
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Fig. 1 is a schematic view of a lane-level navigation method for automatically driving a bus according to an embodiment of the present invention;
fig. 2a is a schematic diagram of a public transportation road section and a sectional lane according to a first embodiment of the present invention;
FIG. 2b is a schematic diagram of a segmented lane marked with road right data according to an embodiment of the present invention;
FIG. 2c is a schematic sectional lane view showing the cost of the lane according to one embodiment of the present invention;
FIG. 2d is a schematic view of lane guidance according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device according to a second embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, which is a schematic view of a lane-level navigation method for automatically driving a bus according to an embodiment of the present invention, the method mainly includes the following steps:
step 1, acquiring a bus line number of a bus as a current line number; acquiring the vehicle position coordinates of the bus to generate initial coordinates; and acquiring the station position coordinate of the next stop of the bus to generate an ending coordinate.
Here, the vehicle position coordinates and the station position coordinates may be map coordinates of a high-precision map, or road coordinates of a road on which the vehicle is located; map coordinates usually adopt a two-dimensional or three-dimensional world coordinate system; the road coordinates are based on the road center line and comprise transverse coordinates and longitudinal coordinates, the transverse coordinates are the vertical distance between the position point and the road center line, and the longitudinal coordinates are the distance between the vertical point of the position point on the road center line and the starting point of the road center line; if the vehicle position coordinate and the station position coordinate are map coordinates of a high-precision map, the vehicle position coordinate and the station position coordinate need to be subjected to map coordinate-road coordinate conversion processing, and conversion results are used as corresponding initial coordinates and end coordinates; and if the vehicle position coordinate and the station position coordinate are the road coordinates of the road, directly taking the vehicle position coordinate and the station position coordinate as the corresponding initial coordinate and the corresponding end coordinate.
Step 2, inquiring a preset bus line set, and taking a first line data set corresponding to a first line number matched with the current line number as a current road data set;
the bus route set comprises a plurality of first bus routes; the first bus line comprises a first line number and a first road data set; the first road data set comprises a plurality of first road data sets; the first road section data set comprises first road section identification data, a first road section coordinate range and a plurality of first road data sets; the first set of lane data includes first lane identification data, a first lane coordinate range, and first road right data.
Here, the bus route set is a data set related to the bus route in the high-precision map; each first bus line corresponds to a fixed bus line, the number of the first line is the fixed number of the corresponding bus line, and the first line data set is the bus line data set of the corresponding bus line;
each public transport road is virtually divided into a plurality of continuous public transport road sections, and each first section data set corresponds to one public transport road section; the method includes the steps that a bus road section is numbered continuously from a starting section to an ending section, first section identification data are used for recording number information of the corresponding road section, as shown in a schematic diagram of the bus road section and a segmented lane provided by the first embodiment of the invention shown in fig. 2a, a current road comprises 3 bus road sections, and the corresponding first section identification data are 1, 2 and 3 respectively; the first road section coordinate range is a road coordinate range of a corresponding road section, and the range can be a coordinate range formed by road coordinates of head and tail positions of a road center line of the corresponding road section and can also be a coordinate range formed by road coordinates of four vertexes of the corresponding road section;
each public traffic road actually consists of a plurality of adjacent lanes which are transversely arranged, naturally, each public traffic road section also comprises a plurality of adjacent sectional lanes, and each first road data set corresponds to one sectional lane in the current road section; the segmented lanes are numbered continuously from left to right or from right to left in a designated direction, the first lane identification data is used to record the number information of the corresponding segmented lanes, as shown in fig. 2a, the current road includes 3 adjacent lanes (1, 2, 3), the 3 adjacent lanes are divided into 9 segmented lanes by 3 bus road segments, and the corresponding first lane identification data may be set to 1-1, 1-2, 1-3, 2-1, 2-2, 2-3, 3-1, 3-2, 3-3, respectively; the first lane coordinate range is a road coordinate range of the corresponding segmented lane, and the range can be a coordinate range formed by road coordinates of head and tail positions of a road center line of the corresponding segmented lane or a coordinate range formed by road coordinates of four vertexes of the corresponding segmented lane; the first path weight data is used for identifying a lane use state weight of a currently corresponding segmented lane, the first path weight data conventionally includes a passable path weight, an obstacle path weight, a no-passable path weight, a controlled passable path weight and the like, and a weight type corresponding to the first path weight data can be expanded based on other lane use state types, the passable path weight is initialized to 0 in the conventional case, and the obstacle path weight, the no-passable path weight, the controlled passable path weight and the like are initialized to a large number, for example, the obstacle path weight is 10000, the controlled passable path weight is 30000, and the no-passable path weight is 30000.
Step 3, planning lanes of each road section required to pass from the initial coordinate to the end coordinate of the bus according to the current road data set and the road optimal passing cost principle to obtain a corresponding first lane-level navigation data set;
wherein the first set of lane-level navigation data comprises a plurality of first navigation lane data sets; the first navigation lane data set comprises second road section identification data and second lane identification data;
when the embodiment of the invention carries out the navigation calculation of the specific lane, the calculation mode of the road optimal traffic cost principle is used for replacing the conventional map search algorithm, so that the complexity of the navigation calculation can be reduced; the road optimal passing cost principle is that the lowest passing cost from the initial coordinate to each sectional lane in each continuous bus road section is calculated in a sectional calculation mode from the initial coordinate to the bus road section where the initial coordinate is located to the end coordinate; the lowest passing cost of each subsection lane in the subsection calculation mode is related to the lowest passing cost of a connecting subsection lane of a previous subsection or other parallel subsection lanes of the same subsection; based on the segmentation calculation mode, after the lowest traffic cost calculation corresponding to the segmentation lane where the end coordinate is located is completed, all segmentation lane information corresponding to the lowest traffic cost from the segmentation lane where the start coordinate is located to the segmentation lane where the end coordinate is located can be obtained reversely, and the required lane navigation information, namely a first lane-level navigation data set, can be obtained by sequencing all the segmentation lane information according to the front-back lane transformation sequence;
the method specifically comprises the following steps: step 31, in the current road data set, recording first road segment identification data corresponding to a first road segment coordinate range containing an initial coordinate as initial road segment identification data, and recording first road segment identification data corresponding to a first road segment coordinate range containing an end coordinate as end road segment identification data;
if the first road segment coordinate range is a coordinate range formed by road coordinates of head and tail positions of a road center line of the corresponding road segment, firstly calculating a vertical point coordinate of a start coordinate or an end coordinate on the road center line and recording the vertical point coordinate as a corresponding start vertical point coordinate or an end vertical point coordinate, and if the start vertical point coordinate or the end vertical point coordinate is in the first road segment coordinate range, determining that the first road segment coordinate range comprises the start coordinate or the end coordinate; if the first road section coordinate range is a coordinate range formed by four vertex road coordinates of the corresponding road section, determining that the first road section coordinate range comprises the starting coordinate or the ending coordinate when the starting coordinate or the ending coordinate is in the coordinate range formed by the four vertex road coordinates;
step 32, sorting all first road section data sets of the first road section identification data from the initial road section identification data to the ending road section identification data in the current road data set according to the sequence from the initial road section to the ending road section to form a navigation road data set; the navigation road data set comprises a plurality of navigation road section data sets, and the number of the navigation road section data sets is the total number N of road sections;
here, taking fig. 2a as an example, the first link identification data corresponding to the public transportation road segment where the start coordinate is located, that is, the start link identification data, is 1, and the first link identification data corresponding to the public transportation road segment where the end coordinate is located, that is, the end link identification data, is 3, then all the first link data sets of the first link identification data from the start link identification data to the end link identification data, that is, all the first link data sets of the first link identification data from 1 to 3, that is, 3 navigation link data sets of the navigation road data sets should be: the first road section identification data is a first road section data set of 1, 2 and 3; the total number of links N of fig. 2a is 3;
step 33, according to the 1 st navigation road section data set, calculating the optimal passing cost of the bus from the initial coordinate to each lane of the 1 st navigation road section, and generating the corresponding first lane cost
Figure BDA0003312688310000101
Wherein,
Figure BDA0003312688310000102
the left foot mark of the navigation system corresponds to a specific navigation road section one by one, the 1 st navigation road section corresponds to the left foot mark of the navigation system 1, and the right foot mark of the navigation system j corresponds to the right foot mark of the navigation system 11One-to-one correspondence with a particular sectional lane, M1≥j1≥1，M1The total number of lanes of the 1 st navigation section;
the method comprises the steps that a 1 st navigation road section data set corresponds to a 1 st navigation road section, namely an initial bus road section, when the optimal passing cost corresponding to each segmented lane in the initial bus road section is calculated, the first lane cost of the segmented lane where an initial coordinate is located, namely the initial lane, is initialized, and then the first lane cost of other lanes is calculated according to the lane change cost on the basis of the first lane cost of the initial lane, so that the corresponding first lane cost is obtained;
the method specifically comprises the following steps: step 331, in the 1 st navigation road section data set, marking a lane corresponding to the first lane data set corresponding to the first lane coordinate range containing the start coordinate as a start lane S;
step 332, calculating the first lane cost corresponding to the starting lane S
Figure BDA0003312688310000103
Wherein,
Figure BDA0003312688310000104
first road right data of a first lane data set corresponding to the starting lane S in the 1 st navigation road section data set;
here, taking fig. 2b as an example of a schematic diagram of a segment lane marked with road right data according to an embodiment of the present invention, the starting lane S is a segment lane 1-3, and the corresponding first road right data is that
Figure BDA0003312688310000105
Is the accessible road weight 0, then the first lane cost of the starting lane S
Figure BDA0003312688310000106
Step 333, setting any lane except the initial lane S in the ith navigation section as another lane O;
step 334, calculating the first lane cost corresponding to any other lane O
Figure BDA0003312688310000111
Wherein LC is a preset single lane change cost factor,
Figure BDA0003312688310000112
for the number of lane changes from the starting lane S to the current other lane O,
Figure BDA0003312688310000113
first road right data of a first lane data set corresponding to the current other lane O in the 1 st navigation road section data set;
here, LC is conventionally set to a constant value of 1000;
for example, as shown in FIG. 2b, the starting lane S is a segment lane 1-3, the other lanes O include segment lanes 1-1 and segment lanes 1-2, and the first lane cost of the starting lane S is known
Figure BDA0003312688310000114
Is 0;
then, when the other lane O is the segment lane 1-2,
Figure BDA0003312688310000115
first road weight data of a sectional lane 1-2, the value of which is a passable road weight 0;
Figure BDA0003312688310000116
the lane change times from the sectional lane 1-3 to the sectional lane 1-2 is 1; first lane cost of the sectional lane 1-2
Figure BDA0003312688310000117
FIG. 2c is a schematic diagram of a lane segment marked with lane cost according to a first embodiment of the present invention;
when the other lane O is segmentedIn the case of the lane 1-1,
Figure BDA0003312688310000118
first road weight data which is a sectional lane 1-1, and the value of the first road weight data is a passable road weight 0;
Figure BDA0003312688310000119
the lane change times from the sectional lane 1-3 to the sectional lane 1-1 is 2; first lane cost of the segmented lane 1-1
Figure BDA00033126883100001110
As shown in fig. 2 c;
step 34, according to the ith navigation road section data set and the first lane cost of each lane of the ith-1 navigation road section
Figure BDA00033126883100001111
Calculating the optimal passing cost of the bus from the initial coordinate to each lane of the ith navigation road section, and generating the corresponding first lane cost
Figure BDA00033126883100001112
Wherein N is more than or equal to i and more than or equal to 2, Mi-1≥ji-1≥1，Mi≥ji≥1，Mi-1、MiThe total number of lanes of the ith-1 and ith navigation road sections respectively;
here, the value of i ranges from 2 to N, the ith navigation road section data set comprises 2-N navigation road section data sets, the ith navigation road section comprises 2-N navigation road sections, jiCorresponding to the segmented lane, j, on each navigation sectioniComprising j2-jN；
The lowest passage cost of each sectional lane is related to the lowest passage cost of the connecting sectional lane of the previous section or other parallel sectional lanes of the same section; during calculation, taking the current subsection lane as a following lane of a previous subsection and connecting the subsection lanes, and calculating the corresponding cost of the following lane according to the lowest traffic cost of the previous lane; taking the current subsection lane as a lane change lane of other lanes of the same subsection, calculating the corresponding lane change lane cost according to the lowest traffic cost of other lanes, and taking the minimum value from the multiple lane change lane costs as the minimum lane change lane cost; taking the minimum value from the minimum lane changing cost and the following lane cost as the first lane cost of the current subsection lane;
the method specifically comprises the following steps: step 341, setting any lane in the ith navigation section as a current lane a when i is less than N, and setting a lane corresponding to the end coordinate in the ith navigation section as the current lane a when i is equal to N; setting any lane outside the current lane A in the ith navigation road section as another lane B; setting a previous lane connected with the current lane A in the i-1 th navigation road section as a corresponding previous lane A ', and setting a previous lane connected with any other lane B as a corresponding previous lane B';
step 342, calculating the cost of the first following lane corresponding to the current lane A
Figure BDA0003312688310000121
Wherein,
Figure BDA0003312688310000122
for the first lane cost of the corresponding previous lane a',
Figure BDA0003312688310000123
for the accumulated lane change times from the start lane S of the 1 st navigation segment to the corresponding previous lane a',
Figure BDA0003312688310000124
first road right data of a first lane data set corresponding to the current lane A in the ith navigation road section data set;
step 343, calculating the first following lane cost corresponding to any other lane B
Figure BDA0003312688310000125
Wherein,
Figure BDA0003312688310000126
for the first lane cost of the previous lane B' corresponding to the current other lane B,
Figure BDA0003312688310000127
for the accumulated lane change times from the starting lane S to the corresponding preceding lane B',
Figure BDA0003312688310000128
first road right data of a first lane data set corresponding to the current other lane B in the ith navigation road section data set;
step 344, calculating a first lane change cost for the current lane A and any other lane B
Figure BDA0003312688310000131
And from the resulting plurality of first lane change costs
Figure BDA0003312688310000132
Taking the minimum value as the first minimum lane change cost corresponding to the current lane A
Figure BDA0003312688310000133
Wherein,
Figure BDA0003312688310000134
the first following lane cost of the current other lane B corresponding to the current lane A, LC is a preset single lane change cost factor,
Figure BDA0003312688310000135
for the number of lane changes from the current other lane B to the current lane a,
Figure BDA0003312688310000136
first road right data of a first lane data set corresponding to the current lane A in the ith navigation road section data set;
step 345, the first following lane cost corresponding to the current lane A
Figure BDA0003312688310000137
And first minimum lane change cost
Figure BDA0003312688310000138
Taking the minimum value as the first lane cost corresponding to the current lane A
Figure BDA0003312688310000139
Step 35, cost of last first lane
Figure BDA00033126883100001310
The optimal current road passing cost is taken; setting a corresponding first navigation lane data set for each lane participating in calculating the optimal passing cost of the current road; setting second road identification data of the first navigation lane data set as first road identification data corresponding to the current lane, and setting the second lane identification data as first lane identification data corresponding to the current lane;
here, the last first lane costs
Figure BDA00033126883100001311
Namely the first lane cost of the segmented lane corresponding to the ending coordinate, namely the optimal passing cost of the road from the segmented lane where the starting coordinate is located to the segmented lane of the ending coordinate; all the sectional lanes participating in calculation to obtain the optimal passing cost of the road are the optimal navigation lanes corresponding to the current optimal passing cost; the method comprises the steps that a first navigation lane data set is configured for each optimal navigation lane, wherein second road section identification data are road section identifications of road sections where the optimal navigation lanes are located, namely first road section identification data, and the second lane identification data are lane identifications of the optimal navigation lanes, namely first lane identification data;
and step 36, sequencing the first navigation lane data sets corresponding to the lanes according to the lane change sequence from the initial coordinate to the end coordinate to obtain a first lane-level navigation data set.
Specific examples are given below to further illustrate steps 34-36 above for ease of understanding.
Taking fig. 2b as an example, if N is 3, i takes a value from 2 to 3;
1. when i is 2, the i-1 th navigation road segment is the 1 st navigation road segment, namely the bus road segment 1; because N is 3, i < N, the current lane a is the segment lane 2-1, the segment lane 2-2, and the segment lane 2-3, respectively;
1.1) calculating the first lane cost corresponding to the current lane A (subsection lane 2-1)
Figure BDA0003312688310000141
When the current lane A is a subsection lane 2-1, the previous lane A' is a subsection lane 1-1; the other lanes B comprise a segmented lane 2-2 and a segmented lane 2-3; when the other lane B is a subsection lane 2-2, the corresponding previous lane B 'is a subsection lane 1-2, and when the other lane B is a subsection lane 2-3, the corresponding previous lane B' is a subsection lane 1-3;
1.1.1) calculate the first following lane cost for the current lane A (segmented lane 2-1):
Figure BDA0003312688310000142
the first lane cost 2000 for the previous lane a' i.e. the staging lane 1-1,
Figure BDA0003312688310000143
the accumulated lane change number 2 from the starting lane S that is the sectional lane 1-3 to the sectional lane 1-1,
Figure BDA0003312688310000144
first road weight data for the segmented lane 2-1, i.e., the passable road weight 0, then the first following lane cost for the current lane A (segmented lane 2-1)
Figure BDA0003312688310000145
1.1.2) calculate the first following lane cost for the other lanes B (segmented lanes 2-2, segmented lanes 2-3):
when the other lane B is the segment lane 2-2,
Figure BDA0003312688310000146
the first lane cost 1000 for the previous lane B' i.e. the staging lane 1-2,
Figure BDA0003312688310000147
the accumulated lane change number 1 from the starting lane S that is the sectional lane 1-3 to the sectional lane 1-2,
Figure BDA0003312688310000148
first road weight data for the segment lane 2-2, i.e., the passable road weight 0, then the first following lane cost for the other lane B (segment lane 2-2)
Figure BDA0003312688310000149
When the other lane B is the segment lane 2-3,
Figure BDA0003312688310000151
the first lane cost 0 for the previous lane B' i.e. the segment lanes 1-3,
Figure BDA0003312688310000152
the accumulated lane change number 0 from the starting lane S that is the sectional lane 1-3 to the sectional lane 1-3,
Figure BDA0003312688310000153
first road weight data for the segmented lane 2-3, i.e., the obstacle road weight value 10000, then the first following lane cost for the other lane B (segmented lane 2-3)
Figure BDA0003312688310000154
1.1.3) calculate the first minimum lane change cost for the current lane a (segment lane 2-1) and the other lanes B:
at itWhen his lane B is the staging lane 2-2,
Figure BDA0003312688310000155
first following lane cost 1001 for the other lane B (segment lane 2-2), LC is 1000,
Figure BDA0003312688310000156
the lane change number 1 from the other lane B (the sectional lane 2-2) to the current lane a (the sectional lane 2-1),
Figure BDA0003312688310000157
the first weight data of the current lane A (segment lane 2-1), i.e. the passable road weight 0, is the first lane-change cost of the current lane A (segment lane 2-1) corresponding to the other lane B (segment lane 2-2)
Figure BDA0003312688310000158
When the other lane B is the segment lane 2-3,
Figure BDA0003312688310000159
first following lane cost 10000 for other lane B (segmented lanes 2-3), LC is 1000,
Figure BDA00033126883100001510
the lane change number 2 from the other lane B (the segment lane 2-3) to the current lane a (the segment lane 2-1),
Figure BDA00033126883100001511
the first weight data of the current lane A (segment lane 2-1), i.e. the passable road weight 0, is the first lane-change cost of the current lane A (segment lane 2-1) corresponding to the other lane B (segment lane 2-3)
Figure BDA00033126883100001512
First lane change cost 2001 corresponding to the current lane a (segment lane 2-1) and the other lane B (segment lane 2-2) and the current lane a (segment lane)2-1) the first lane-change cost 12000 corresponding to the other lane B (segment lane 2-3) takes the minimum value, then the first minimum lane-change cost corresponding to the current lane A (segment lane 2-1) is obtained
Figure BDA00033126883100001513
Is 2001;
1.1.4) determine the first lane cost for the current lane a (segment lane 2-1):
first following lane cost 2002 and first minimum lane change cost corresponding from current lane A (segmented lane 2-1)
Figure BDA0003312688310000161
2001, the first lane cost corresponding to the current lane A (segment lane 2-1)
Figure BDA0003312688310000162
Is 2001; as shown in fig. 2 c;
1.2) calculating the first lane cost corresponding to the current lane A (subsection lane 2-2)
Figure BDA0003312688310000163
When the current lane A is a subsection lane 2-2, the previous lane A' is a subsection lane 1-2; the other lanes B comprise a segmented lane 2-1 and a segmented lane 2-3; when the other lane B is a subsection lane 2-1, the corresponding previous lane B 'is a subsection lane 1-1, and when the other lane B is a subsection lane 2-3, the corresponding previous lane B' is a subsection lane 1-3;
1.2.1) calculate the first following lane cost for the current lane a (segmented lane 2-2):
the first following lane cost of the current lane a (segment lane 2-2) is 1001;
1.2.2) calculate the first following lane cost for the other lanes B (segmented lanes 2-1, segmented lanes 2-3):
when the other lane B is the segment lane 2-1, the first following lane cost of the other lane B (segment lane 2-1) is 2002;
when the other lane B is the segment lane 2-3, the first following lane cost of the other lane B (segment lane 2-3) is 10000;
1.2.3) calculate the first minimum lane change cost for the current lane a (segment lane 2-2) and the other lanes B:
when the other lane B is the segment lane 2-1,
Figure BDA0003312688310000164
first following lane cost 2002 for the other lane B (segment lane 2-1), LC is 1000,
Figure BDA0003312688310000165
the lane change number 1 from the other lane B (the segment lane 2-1) to the current lane a (the segment lane 2-2),
Figure BDA0003312688310000166
the first weight data of the current lane A (segment lane 2-2), i.e. the passable road weight 0, is the first lane-change cost of the current lane A (segment lane 2-2) corresponding to the other lane B (segment lane 2-1)
Figure BDA0003312688310000167
When the other lane B is the segment lane 2-3,
Figure BDA0003312688310000168
first following lane cost 10000 for other lane B (segmented lanes 2-3), LC is 1000,
Figure BDA0003312688310000171
the lane change number 1 from the other lane B (the segment lane 2-3) to the current lane a (the segment lane 2-2),
Figure BDA0003312688310000172
the first weight data of the current lane A (segment lane 2-2), i.e. the passable road weight 0, is the first lane-change cost of the current lane A (segment lane 2-2) corresponding to the other lane B (segment lane 2-3)
Figure BDA0003312688310000173
Taking the minimum value from the first lane-change cost 2002 corresponding to the current lane A (the subsection lane 2-2) and the other lane B (the subsection lane 2-1) and the first lane-change cost 11000 corresponding to the current lane A (the subsection lane 2-2) and the other lane B (the subsection lane 2-3), the first minimum lane-change cost corresponding to the current lane A (the subsection lane 2-2) is obtained
Figure BDA0003312688310000174
Is 2002;
1.2.4) determine the first lane cost for the current lane a (segment lane 2-2):
first following lane cost 1001 and first minimum lane change cost corresponding from current lane a (segmented lane 2-2)
Figure BDA0003312688310000175
2002 to obtain the minimum value, the first lane cost corresponding to the current lane A (subsection lane 2-2)
Figure BDA0003312688310000176
Is 1001; as shown in fig. 2 c;
1.3) calculating the first lane cost corresponding to the current lane A (subsection lanes 2-3)
Figure BDA0003312688310000177
When the current lane A is a subsection lane 2-3, the previous lane A' is a subsection lane 1-3; the other lanes B comprise a segmented lane 2-1 and a segmented lane 2-2; when the other lane B is a subsection lane 2-1, the corresponding previous lane B 'is a subsection lane 1-1, and when the other lane B is a subsection lane 2-2, the corresponding previous lane B' is a subsection lane 1-2;
1.3.1) calculate the first following lane cost for the current lane A (segmented lanes 2-3):
the first following lane cost of the current lane a (segmented lanes 2-3) is 10000;
1.3.2) calculate the first following lane cost for the other lanes B (segmented lane 2-1, segmented lane 2-2):
when the other lane B is the segment lane 2-1, the first following lane cost of the other lane B (segment lane 2-1) is 2002;
when the other lane B is the segment lane 2-2, the first following lane cost of the other lane B (segment lane 2-2) is 1001;
1.3.3) calculate the first minimum lane change cost for the current lane a (segment lanes 2-3) and the other lanes B:
when the other lane B is the segment lane 2-1,
Figure BDA0003312688310000181
first following lane cost 2002 for the other lane B (segment lane 2-1), LC is 1000,
Figure BDA0003312688310000182
the lane change number 2 from the other lane B (the segment lane 2-1) to the current lane a (the segment lane 2-3),
Figure BDA0003312688310000183
is the first weight data of the current lane A (the subsection lane 2-3), i.e. the obstacle road weight value 10000, then the first lane-changing cost of the current lane A (the subsection lane 2-3) corresponding to the other lane B (the subsection lane 2-1)
Figure BDA0003312688310000184
When the other lane B is the segment lane 2-3,
Figure BDA0003312688310000185
first following lane cost 1001 for the other lane B (segment lane 2-2), LC is 1000,
Figure BDA0003312688310000186
the lane change number 1 from the other lane B (the segment lane 2-2) to the current lane a (the segment lane 2-3),
Figure BDA0003312688310000187
is as followsThe first weight data of the front lane a (the subsection lane 2-3) is the obstacle road weight value 10000, so that the first lane-changing cost of the current lane a (the subsection lane 2-3) corresponding to the other lane B (the subsection lane 2-2)
Figure BDA0003312688310000188
Taking the minimum value from the first lane-change cost 14002 corresponding to the current lane A (the subsection lane 2-3) and the other lane B (the subsection lane 2-1) and the first lane-change cost 12001 corresponding to the current lane A (the subsection lane 2-2) and the other lane B (the subsection lane 2-2), the first minimum lane-change cost corresponding to the current lane A (the subsection lane 2-3) is obtained
Figure BDA0003312688310000189
12001;
1.3.4) determine the first lane cost for the current lane a (segment lanes 2-3):
first following lane cost 10000 and first minimum lane change cost corresponding to current lane A (segmented lanes 2-3)
Figure BDA00033126883100001810
12001 takes the minimum value, then the first lane cost corresponding to the current lane A (subsection lane 2-3)
Figure BDA00033126883100001811
12001; as shown in fig. 2 c.
2. When i is 3, the i-1 th navigation road segment is the 2 nd navigation road segment, namely the bus road segment 2; because N is 3 and i is N, the current lane a is the lane corresponding to the end coordinate, that is, the segment lane 3-1;
2.1) calculating the first lane cost corresponding to the current lane A (segmented lane 3-1)
Figure BDA0003312688310000191
When the current lane A is a subsection lane 3-1, the previous lane A' is a subsection lane 2-1; the other lanes B comprise a segmented lane 3-2 and a segmented lane 3-3; when the other lane B is the subsection lane 3-2, the corresponding previous lane B 'is the subsection lane 2-2, and when the other lane B is the subsection lane 3-3, the corresponding previous lane B' is the subsection lane 2-3;
2.1.1) calculate the first following lane cost for the current lane A (segmented lane 3-1):
when the current lane a is the segment lane 3-1,
Figure BDA0003312688310000192
the first lane cost 2001 for the previous lane a' i.e. the staging lane 2-1,
Figure BDA0003312688310000193
the accumulated lane change number 2 from the starting lane S that is the sectional lane 1-3 to the sectional lane 2-1,
Figure BDA0003312688310000194
the first road weight data for the segmented lane 3-1, i.e., the passable road weight 0, then the first following lane cost for the current lane A (segmented lane 3-1)
Figure BDA0003312688310000195
2.1.2) calculate the first following lane cost for the other lanes B (segmented lane 3-2, segmented lane 3-3):
when the other lane B is the segment lane 3-2,
Figure BDA0003312688310000196
the first lane cost 1001 for the previous lane B' i.e. the staging lane 2-2,
Figure BDA0003312688310000197
the accumulated lane change number 1 from the starting lane S that is the sectional lane 1-3 to the sectional lane 2-2,
Figure BDA0003312688310000198
the first road weight data for the segmented lane 3-2, i.e., the prohibited road weight 30000, then the first following of the other lane B (segmented lane 3-2)Cost of driveway
Figure BDA0003312688310000199
When the other lane B is the segment lane 3-3,
Figure BDA00033126883100001910
the first lane cost 12001 for the previous lane B' i.e. the segment lane 2-3,
Figure BDA00033126883100001911
the accumulated lane change number 0 from the starting lane S that is the sectional lane 1-3 to the sectional lane 1-3,
Figure BDA00033126883100001912
first road weight data for the segmented lane 2-3, i.e., obstacle road weight value 10000, then the first following lane cost for the other lane B (segmented lane 3-3)
Figure BDA00033126883100001913
2.1.3) calculate the first minimum lane change cost for the current lane a (segment lane 3-1) and the other lanes B:
when the other lane B is the segment lane 3-2,
Figure BDA0003312688310000201
the first following lane cost 31002 for the other lane B (the staging lane 3-2), LC is 1000,
Figure BDA0003312688310000202
the lane change number 1 from the other lane B (the segment lane 3-2) to the current lane a (the segment lane 3-1),
Figure BDA0003312688310000203
the first weight data of the current lane A (the subsection lane 3-1), namely the accessible road weight 0, so that the first lane-changing cost of the current lane A (the subsection lane 3-1) corresponding to the other lane B (the subsection lane 3-2)
Figure BDA0003312688310000204
When the other lane B is the segment lane 3-3,
Figure BDA0003312688310000205
first following lane cost 22001 for the other lane B (segmented lanes 2-3), LC is 1000,
Figure BDA0003312688310000206
the lane change number 2 from the other lane B (the segment lane 3-3) to the current lane a (the segment lane 3-1),
Figure BDA0003312688310000207
the first weight data of the current lane A (the subsection lane 3-1), namely the accessible road weight 0, so that the first lane-changing cost of the current lane A (the subsection lane 3-1) corresponding to the other lane B (the subsection lane 3-3)
Figure BDA0003312688310000208
Taking the minimum value from the first lane-change cost 32002 corresponding to the current lane A (the subsection lane 3-1) and the other lane B (the subsection lane 3-2) and the first lane-change cost 24001 corresponding to the current lane A (the subsection lane 3-1) and the other lane B (the subsection lane 3-3), the first minimum lane-change cost corresponding to the current lane A (the subsection lane 3-1) is obtained
Figure BDA0003312688310000209
Is 24001;
2.1.4) determine a first lane cost for the current lane a (segmented lane 3-1):
first following lane cost 2003 and first minimum lane change cost corresponding from current lane A (segmented lane 3-1)
Figure BDA00033126883100002010
24001 taking the minimum value, the cost of the first lane corresponding to the current lane A (segmented lane 3-1)
Figure BDA00033126883100002011
Is 2003; as shown in fig. 2 c.
As can be seen from FIG. 2c, the last first lane cost
Figure BDA00033126883100002012
First lane cost for segmented lane 3-1
Figure BDA00033126883100002013
2003, the current optimal road passing cost is 2003; as can be seen from the above example, the current optimal road traffic cost is actually the first following lane cost of the segment lane 3-1, which is related to the first lane cost of the segment lane 2-1; the first lane cost of the segmented lane 2-1 is actually the first minimum lane change lane cost of the segmented lane 2-1 and is related to the first lane cost of the segmented lane 2-2; the first lane cost of the segmented lane 2-2 is actually the first following lane cost of the segmented lane 2-2 and is related to the first lane cost of the segmented lane 1-2; as can be further appreciated from the example of step 334, the first lane cost of the segment lanes 1-2 is related to the segment lanes 1-3, i.e., the segment lanes corresponding to the start coordinates. Then, all the segment lanes participating in the calculation of the optimal passing cost 2003 of the road are the set of all the relevant segment lanes: the lane comprises a segmented lane 3-1, a segmented lane 2-2, a segmented lane 1-2 and a segmented lane 1-3; in the embodiment of the present invention, 5 first navigation lane data sets are correspondingly set to correspond to the 5 associated lanes, respectively.
After the 5 first navigation lane data sets are obtained, the embodiment of the present invention sorts the 5 first navigation lane data sets according to the lane change sequence from the start coordinate to the end coordinate, that is, according to the sequence of the segment lane 1-3 → the segment lane 1-2 → the segment lane 2-1 → the segment lane 3-1, to obtain a first lane-level navigation data set. As shown in fig. 2d, which is a schematic view of lane navigation provided in the first embodiment of the present invention, the total number of passing lanes is 5, and two lane changes need to be completed in the public transportation road sections 1 and 2 during the process.
Fig. 3 is a schematic structural diagram of an electronic device according to a second embodiment of the present invention. The electronic device may be the terminal device or the server, or may be a terminal device or a server connected to the terminal device or the server and implementing the method according to the embodiment of the present invention. As shown in fig. 3, the electronic device may include: a processor 301 (e.g., a CPU), a memory 302, a transceiver 303; the transceiver 303 is coupled to the processor 301, and the processor 301 controls the transceiving operation of the transceiver 303. Various instructions may be stored in memory 302 for performing various processing functions and implementing the processing steps described in the foregoing method embodiments. Preferably, the electronic device according to an embodiment of the present invention further includes: a power supply 304, a system bus 305, and a communication port 306. The system bus 305 is used to implement communication connections between the elements. The communication port 306 is used for connection communication between the electronic device and other peripherals.
The system bus 305 mentioned in fig. 3 may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The system bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus. The communication interface is used for realizing communication between the database access device and other equipment (such as a client, a read-write library and a read-only library). The Memory may include a Random Access Memory (RAM) and may also include a Non-Volatile Memory (Non-Volatile Memory), such as at least one disk Memory.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), a Graphics Processing Unit (GPU), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
It should be noted that the embodiment of the present invention also provides a computer-readable storage medium, which stores instructions that, when executed on a computer, cause the computer to execute the method and the processing procedure provided in the above-mentioned embodiment.
The embodiment of the present invention further provides a chip for executing the instructions, where the chip is configured to execute the processing steps described in the foregoing method embodiment.
The embodiment of the invention provides a lane-level navigation method, electronic equipment and a computer readable storage medium for automatically driving a bus, which are used for acquiring road segmentation information of a current driving road and lane information of each segmented road from a known bus route data set, then taking the segmented lane where the current position of the bus is located as a starting lane and the segmented lane where a next stop station is located as an ending lane, and planning a navigation lane sequence from the starting lane to the ending lane according to the optimal traffic cost by combining the road right information of each current lane so as to obtain real-time lane-level navigation information. The method can save the road navigation calculation time of positioning in a high-precision map according to the vehicle based on the fixed characteristic of the bus route, can reduce the calculation amount and the calculation time of lane navigation in the high-precision map according to the changed target by taking the unchanged stop station as the current navigation target point, and can reduce the calculation complexity and the calculation time by using the optimal traffic cost calculation principle to replace the traditional positioning search algorithm. The method and the device meet the real-time requirement of road navigation of the automatic driving bus and improve the guarantee of the driving safety of the bus.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (7)

1. A lane-level navigation method of an autonomous bus, the method comprising:
acquiring a bus line number of a bus as a current line number; acquiring the vehicle position coordinates of the bus to generate initial coordinates; acquiring a stop position coordinate of a next stop of the bus to generate an ending coordinate;
inquiring a preset bus line set, and taking a first road data set corresponding to a first line number matched with the current line number as a current road data set; the set of bus routes comprises a plurality of first bus routes; the first bus route comprises the first route number and the first road data set;
and planning each road section lane of the bus required to pass from the starting coordinate to the ending coordinate according to the current road data set and the optimal road passing cost principle to obtain a corresponding first lane level navigation data set.
2. The lane-level navigation method of an autonomous bus as recited in claim 1,
the first road data set comprises a plurality of first road data sets;
the first road segment data set comprises first road segment identification data, a first road segment coordinate range and a plurality of first road data sets;
the first lane data set comprises first lane identification data, a first lane coordinate range and first road right data;
the first set of lane-level navigation data comprises a plurality of first navigation lane data sets;
the first navigation lane data set includes second road segment identification data and second lane identification data.
3. The lane-level navigation method for the automatically driven bus according to claim 2, wherein the step of planning the lanes of each road segment required to pass from the start coordinate to the end coordinate of the bus according to the current road data set and the road optimal passing cost principle to obtain the corresponding first lane-level navigation data set specifically comprises:
in the current road data set, recording the first road segment identification data corresponding to the first road segment coordinate range containing the start coordinate as start road segment identification data, and recording the first road segment identification data corresponding to the first road segment coordinate range containing the end coordinate as end road segment identification data;
sorting all the first road section data sets of the first road section identification data from the initial road section identification data to the ending road section identification data in the current road data set according to the sequence from the initial road section to the ending road section to form a navigation road data set; the navigation road data set comprises a plurality of navigation road section data sets, and the number of the navigation road section data sets is the total number N of road sections;
according to the 1 st navigation road section data set, calculating the optimal passing cost of the bus from the initial coordinate to each lane of the 1 st navigation road section, and generating the corresponding first lane cost
Figure FDA0003312688300000021
M1≥j1≥1，M1The total number of lanes of the 1 st navigation section;
according to the ith navigation road section data set and the first lane cost of each lane of the ith-1 navigation road section
Figure FDA0003312688300000022
Calculating the optimal passing cost of the bus from the initial coordinate to each lane of the ith navigation road section, and generating the corresponding first lane cost
Figure FDA0003312688300000023
N≥i≥2,Mi-1≥ji-1≥1，Mi≥ji≥1，Mi-1、MiThe total number of lanes of the ith-1 and ith navigation road sections respectively;
costing the last of the first lane
Figure FDA0003312688300000024
The optimal current road passing cost is taken; setting a corresponding first navigation lane data set for each lane participating in calculating the optimal passing cost of the current road; setting the second road section identification data of the first navigation lane data group as the first road section identification data corresponding to the current lane, and setting the second lane identification data as the first lane identification data corresponding to the current lane;
and sequencing the first navigation lane data groups corresponding to the lanes according to the lane transformation sequence from the starting coordinate to the ending coordinate to obtain the first lane-level navigation data set.
4. The method as claimed in claim 3, wherein the optimal passing cost of the bus from the start coordinate to each lane of the 1 st navigation section is calculated according to the 1 st navigation section data set, and the corresponding first lane cost is generated
Figure FDA0003312688300000025
The method specifically comprises the following steps:
in the 1 st navigation road section data set, marking a lane corresponding to the first lane data set corresponding to the first lane coordinate range containing the starting coordinate as a starting lane S;
calculating a first lane cost corresponding to the starting lane S
Figure FDA0003312688300000031
Figure FDA0003312688300000032
The first road right data of the first lane data set corresponding to the starting lane S in the 1 st navigation road section data set;
setting any lane except the initial lane S in the ith navigation section as another lane O;
calculating the first lane cost corresponding to any other lane O
Figure FDA0003312688300000033
LC is a preset one-time lane change cost factor,
Figure FDA0003312688300000034
for the number of lane changes from the starting lane S to the current other lane O,
Figure FDA0003312688300000035
for the 1 st navigation road section data set and the current other lane OThe first road right data of the corresponding first set of lane data.
5. The method of claim 3, wherein the first lane cost for each lane based on the ith navigation segment data set and the ith-1 navigation segment is determined by a lane-level navigation method for the autonomous bus
Figure FDA0003312688300000036
Calculating the optimal passing cost of the bus from the initial coordinate to each lane of the ith navigation road section, and generating the corresponding first lane cost
Figure FDA0003312688300000037
The method specifically comprises the following steps:
setting any lane in the ith navigation section as a current lane A when i is less than N, and setting a lane corresponding to the end coordinate in the ith navigation section as the current lane A when i is less than N; setting any lane outside the current lane A in the ith navigation road section as another lane B; setting a previous lane connected with the current lane A in the i-1 navigation road section as a corresponding previous lane A ', and setting a previous lane connected with any other lane B as a corresponding previous lane B';
calculating the cost of a first following lane corresponding to the current lane A
Figure FDA0003312688300000038
Figure FDA0003312688300000039
For the first lane cost of the corresponding said previous lane a',
Figure FDA00033126883000000310
is the accumulated lane change times from the starting lane S of the 1 st navigation segment to the corresponding previous lane a',
Figure FDA00033126883000000311
the first road right data of the first lane data set corresponding to the current lane A in the ith navigation road section data set;
calculating a first following lane cost corresponding to any other lane B
Figure FDA0003312688300000041
Figure FDA0003312688300000042
For the first lane cost of the previous lane B' corresponding to the current other lane B,
Figure FDA0003312688300000043
is the accumulated lane change times from the starting lane S to the corresponding preceding lane B',
Figure FDA00033126883000000413
the first road right data of the first lane data set corresponding to the current other lane B in the ith navigation road section data set are obtained;
calculating the first lane change cost corresponding to the current lane A and any other lane B
Figure FDA0003312688300000044
And deriving a plurality of said first lane change costs
Figure FDA0003312688300000045
Taking the minimum value as the first minimum lane change cost corresponding to the current lane A
Figure FDA0003312688300000046
Figure FDA0003312688300000047
For the current other lane B corresponding to the current lane AA first following lane cost, LC, is a preset single lane change cost factor,
Figure FDA0003312688300000048
for the number of lane changes from the current other lane B to the current lane a,
Figure FDA0003312688300000049
the first road right data of the first lane data set corresponding to the current lane A in the ith navigation road section data set;
the first following lane cost corresponding from the current lane A
Figure FDA00033126883000000410
And said first minimum lane change cost
Figure FDA00033126883000000411
Taking the minimum value as the first lane cost corresponding to the current lane A
Figure FDA00033126883000000412
6. An electronic device, comprising: a memory, a processor, and a transceiver;
the processor is used for being coupled with the memory, reading and executing the instructions in the memory to realize the method steps of any one of the claims 1-5;
the transceiver is coupled to the processor, and the processor controls the transceiver to transmit and receive messages.
7. A computer-readable storage medium having stored thereon computer instructions which, when executed by a computer, cause the computer to perform the method of any of claims 1-5.
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