CN117740021B - Park navigation task execution method and device, electronic equipment and readable storage medium - Google Patents
Park navigation task execution method and device, electronic equipment and readable storage medium Download PDFInfo
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Abstract
The application discloses a park navigation task execution method, a device, electronic equipment and a readable storage medium, which are applied to a park navigation vehicle, wherein the park navigation task execution method comprises the following steps: when the park navigation vehicle triggers a navigation task, acquiring at least one historical navigation path formed by the current position of the park navigation vehicle to a navigation terminal position indicated by the navigation task; determining the navigation adaptation degree of executing the navigation task based on each historical navigation path according to the current navigation demand index carried by the navigation task, wherein one historical navigation path corresponds to one navigation adaptation degree; selecting a target navigation path from the historical navigation paths according to the navigation adaptation degree; and executing the navigation task according to the target navigation path. The method and the device solve the technical problem of high execution limitation in executing the park navigation task.
Description
Technical Field
The application relates to the technical field of park navigation, in particular to a park navigation task execution method, a device, electronic equipment and a readable storage medium.
Background
With the progress of science and technology and the development of economy, more and more parks are growing, such as an industrial park, a logistics park, a science and creation park and the like, the parks can frequently relate to the business turn over problem of personnel due to the mobility of personnel, and the parks are large in area and criss-cross in roads, so that the navigation vehicle is deployed in the parks to perform navigation.
At present, when a park navigation vehicle executes a park navigation task, an intelligent management system is used for carrying out instant route planning based on a set destination, so that the navigation task is executed depending on a planned navigation route, but because large-scale data acquisition and processing are required in the instant route planning process, the computing power of the intelligent management system is required to be high, and the park navigation vehicle is easy to have a long response time, so that the execution limitation of executing the park navigation task is high at present.
Disclosure of Invention
The application mainly aims to provide a method, a device, electronic equipment and a readable storage medium for executing a park navigation task, and aims to solve the technical problem of high execution limitation in executing the park navigation task in the prior art.
In order to achieve the above object, the present application provides a method for executing a campus navigation task, which is applied to a campus navigation vehicle, and the method for executing a campus navigation task includes:
When the park navigation vehicle triggers a navigation task, acquiring at least one historical navigation path formed by the current position of the park navigation vehicle to a navigation terminal position indicated by the navigation task;
Determining the navigation adaptation degree of executing the navigation task based on each historical navigation path according to the current navigation demand index carried by the navigation task, wherein one historical navigation path corresponds to one navigation adaptation degree;
selecting a target navigation path from the historical navigation paths according to the navigation adaptation degree;
And executing the navigation task according to the target navigation path.
Optionally, the current navigation requirement index includes a current navigation time, a current navigation number of people and a current navigation target place, and the step of determining the navigation adaptation degree for executing the navigation task based on each historical navigation path according to the current navigation requirement index carried by the navigation task includes:
According to the association relation among at least one basic navigation demand index under a preset navigation index system, the current navigation time, the current navigation number and the current navigation destination are sequentially converted into a first navigation characteristic value, a second navigation characteristic value and a third navigation characteristic value;
and obtaining the navigation adaptation degree of executing the navigation task based on each historical navigation path by fusing the first navigation characteristic value, the second navigation characteristic value and the third navigation characteristic value.
Optionally, the step of executing the navigation task according to the target navigation path includes:
Executing the navigation task based on the target navigation path according to the park navigation vehicle, and collecting path planning information of the park navigation vehicle when executing the navigation task in real time;
When detecting that a dynamic obstacle exists on the target navigation path, predicting collision probability between the park navigation vehicle and the dynamic obstacle according to the path planning information and first motion characteristic information of the dynamic obstacle;
When the collision probability is larger than a preset probability threshold, predicting second motion characteristic information of the dynamic barrier in the next time step according to the first motion characteristic information;
Predicting whether collision risks exist between the park navigation vehicle and the dynamic obstacle in the next time step according to the path planning information and the second motion characteristic information;
when the collision risk of the park navigation vehicle and the dynamic obstacle in the next time step is predicted, the target navigation path is adjusted, and a navigation adjustment path is obtained;
and executing the navigation task according to the navigation adjustment path.
Optionally, the step of predicting second motion characteristic information of the dynamic obstacle at a next time step according to the first motion characteristic information includes:
Constructing a motion feature vector of the dynamic obstacle according to the first motion feature information, the type of the dynamic obstacle and the road information of the road where the dynamic obstacle is located;
and mapping the motion characteristic vector into second motion characteristic information of the dynamic obstacle in the next time step through a preset motion characteristic prediction model.
Optionally, the step of selecting a target navigation path from the historical navigation paths according to the navigation adaptation degree includes:
Acquiring the current residual electric quantity of the park navigation vehicle, and detecting whether the current residual electric quantity can complete a historical navigation path with highest travelling navigation adaptation degree;
If yes, taking the historical navigation path with the highest navigation adaptation degree as the historical navigation path;
if not, determining the target navigation path according to the matching relation between the current residual electric quantity and each historical navigation path.
Optionally, after the step of executing the navigation task according to the target navigation path, the campus navigation task execution method further includes:
Detecting whether to respond to the navigation interaction instruction in a preset response period;
if yes, executing corresponding navigation interaction operation according to the navigation interaction instruction;
And if not, controlling the park navigation vehicle to travel to a preset stop position.
Optionally, the park navigation task execution method further includes:
When abnormality of executing the navigation task is detected, task abnormality information is sent to a cloud server in communication connection, so that the cloud server redistributes idle navigation vehicles in a park to execute the navigation task according to the task abnormality information.
In order to achieve the above object, the present application further provides a device for performing a campus navigation task, which is applied to a campus navigation vehicle, and the device for performing a campus navigation task includes:
the acquisition module is used for acquiring at least one historical navigation path formed by the current position of the park navigation vehicle to the navigation terminal position indicated by the navigation task when the park navigation vehicle triggers the navigation task;
the determining module is used for determining the navigation adaptation degree of executing the navigation task based on each historical navigation path according to the current navigation demand index carried by the navigation task, wherein one historical navigation path corresponds to one navigation adaptation degree;
The selecting module is used for selecting a target navigation path from the historical navigation paths according to the navigation adaptation degree;
And the execution module is used for executing the navigation task according to the target navigation path.
Optionally, the current navigation demand index includes a current navigation time, a current navigation population, and a current navigation destination, and the determining module is further configured to:
According to the association relation among at least one basic navigation demand index under a preset navigation index system, the current navigation time, the current navigation number and the current navigation destination are sequentially converted into a first navigation characteristic value, a second navigation characteristic value and a third navigation characteristic value;
and obtaining the navigation adaptation degree of executing the navigation task based on each historical navigation path by fusing the first navigation characteristic value, the second navigation characteristic value and the third navigation characteristic value.
Optionally, the determining module is further configured to:
Executing the navigation task based on the target navigation path according to the park navigation vehicle, and collecting path planning information of the park navigation vehicle when executing the navigation task in real time;
When detecting that a dynamic obstacle exists on the target navigation path, predicting collision probability between the park navigation vehicle and the dynamic obstacle according to the path planning information and first motion characteristic information of the dynamic obstacle;
When the collision probability is larger than a preset probability threshold, predicting second motion characteristic information of the dynamic barrier in the next time step according to the first motion characteristic information;
Predicting whether collision risks exist between the park navigation vehicle and the dynamic obstacle in the next time step according to the path planning information and the second motion characteristic information;
when the collision risk of the park navigation vehicle and the dynamic obstacle in the next time step is predicted, the target navigation path is adjusted, and a navigation adjustment path is obtained;
and executing the navigation task according to the navigation adjustment path.
Optionally, the determining module is further configured to:
Constructing a motion feature vector of the dynamic obstacle according to the first motion feature information, the type of the dynamic obstacle and the road information of the road where the dynamic obstacle is located;
and mapping the motion characteristic vector into second motion characteristic information of the dynamic obstacle in the next time step through a preset motion characteristic prediction model.
Optionally, the selecting module is further configured to:
Acquiring the current residual electric quantity of the park navigation vehicle, and detecting whether the current residual electric quantity can complete a historical navigation path with highest travelling navigation adaptation degree;
If yes, taking the historical navigation path with the highest navigation adaptation degree as the historical navigation path;
if not, determining the target navigation path according to the matching relation between the current residual electric quantity and each historical navigation path.
Optionally, the campus navigation task execution device is further configured to:
Detecting whether to respond to the navigation interaction instruction in a preset response period;
if yes, executing corresponding navigation interaction operation according to the navigation interaction instruction;
And if not, controlling the park navigation vehicle to travel to a preset stop position.
Optionally, the campus navigation task execution device is further configured to:
When abnormality of executing the navigation task is detected, task abnormality information is sent to a cloud server in communication connection, so that the cloud server redistributes idle navigation vehicles in a park to execute the navigation task according to the task abnormality information.
The application also provides an electronic device comprising: at least one processor and a memory communicatively coupled to the at least one processor, the memory storing instructions executable by the at least one processor to enable the at least one processor to perform the steps of the campus navigation task execution method as described above.
The present application also provides a computer-readable storage medium having stored thereon a program for implementing a method for performing a campus navigation task, the program for performing the method for performing a campus navigation task implementing the steps of the method for performing a campus navigation task as described above when executed by a processor.
The application also provides a computer program product comprising a computer program which when executed by a processor performs the steps of a method of performing a campus navigation task as described above.
The application provides a method, a device, electronic equipment and a readable storage medium for executing a park navigation task, which are applied to a park navigation vehicle, namely, when the park navigation vehicle triggers a navigation task, at least one historical navigation path formed by the current position of the park navigation vehicle to a navigation end position indicated by the navigation task is acquired; determining the navigation adaptation degree of executing the navigation task based on each historical navigation path according to the current navigation demand index carried by the navigation task, wherein one historical navigation path corresponds to one navigation adaptation degree; selecting a target navigation path from the historical navigation paths according to the navigation adaptation degree; and executing the navigation task according to the target navigation path.
When the park navigation vehicle triggers the navigation task, firstly, a plurality of historical navigation paths formed from the current position of the park navigation vehicle to the navigation terminal position indicated by the navigation task are acquired, then the calculation of the navigation adaptation degree of each historical navigation path for executing the navigation task is determined, the target navigation path is selected from the plurality of historical navigation paths through the navigation adaptation degree, and finally, the execution of the navigation task is finished through the target navigation path, namely, the target navigation path which is most suitable for the navigation task is selected from the historical navigation paths which the park navigation vehicle passes through the navigation adaptation degree for executing the navigation task, so that the purpose of determining the target navigation path for executing the navigation task in a non-instant mode is realized, and the calculation power requirement of an intelligent management system of the park navigation vehicle is reduced.
Based on the method, the navigation adaptation degree of executing the navigation task by different historical navigation paths is determined according to the current navigation demand index carried by the navigation task, and then the target navigation path is selected from the plurality of historical navigation paths according to the navigation adaptation degree, so that the execution of the navigation task is completed through the target navigation path. Instead of performing immediate path planning by setting the destination. Therefore, the technical defect that the intelligent management system has higher requirement on the calculation power due to the large-scale data acquisition and processing in the process of instant path planning is overcome, and the situation that the response time of the park navigation vehicle is long is easy to occur is overcome, and the execution limitation of executing the park navigation task is reduced.
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The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the application or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a flowchart of a method for performing a campus navigation task according to an embodiment of the present application;
FIG. 2 is a flowchart of a method for performing a campus navigation task according to a second embodiment of the present application;
fig. 3 is a schematic structural diagram of a campus navigation task execution device according to a third embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present application.
The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
In order to make the above objects, features and advantages of the present invention more comprehensible, the following description of the embodiments accompanied with the accompanying drawings will be given in detail. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Firstly, it should be understood that in the conventional campus navigation method, there is a high requirement on the autonomous planning capability of the campus navigation vehicle, for example, the technology such as GPS navigation or beidou navigation is adopted to collect the road condition inside the campus in real time, so as to plan the navigation path, for example, taking the logistics campus as an example, after the logistics vehicle enters the logistics campus, the destination is set to plan the path, and the navigation path of the instant planning needs to rely on the collection of real-time data, so that a high requirement is also provided for the calculation power of the intelligent management system of the campus navigation vehicle, but not all the campus navigation vehicles can have the configuration described above, so that the situation that the response time is too long or the path planning fails when part of the campus navigation vehicles plan the navigation path, that is, the planning of the navigation path when the current execution of the navigation task of the campus navigation is performed is easily restricted by the campus navigation vehicle is provided.
In a first embodiment of the present application, referring to fig. 1, the method for executing a campus navigation task includes:
step S10, when the park navigation vehicle triggers a navigation task, acquiring at least one historical navigation path formed by the current position of the park navigation vehicle to a navigation terminal position indicated by the navigation task;
Step S20, determining the navigation adaptation degree of executing the navigation task based on each historical navigation path according to the current navigation demand index carried by the navigation task, wherein one historical navigation path corresponds to one navigation adaptation degree;
Step S30, selecting a target navigation path from the historical navigation paths according to the navigation adaptation degree;
and step S40, executing the navigation task according to the target navigation path.
In this embodiment, it should be noted that although fig. 1 shows a logic sequence, in some cases, the steps shown or described may be performed in a different sequence from that shown or described herein, and the method for performing the campus navigation task is deployed in an intelligent management system of the campus navigation vehicle.
Additionally, it should be noted that, the current navigation requirement index is used to characterize the current navigation requirement, for example, the starting time of the navigation and the number of people receiving the navigation, where, because the navigation requirements of different people receiving the navigation are different, the current navigation requirement index may further include a plurality of places through which the navigation is performed, for example, in an implementation manner, if the person X wants to go to X place and the person Y wants to go to Y place, the navigation task may include position coordinates of X place and Y place, the history navigation path is used to characterize the navigation path that the campus navigation vehicle has previously traveled, and may specifically be any navigation path located before the current time point, it may be understood that after the navigation task is performed once, the navigation starting point position and the navigation ending point position of the navigation task are integrated by the campus navigation vehicle, the navigation path is constructed, and stored in a specific database, so that the navigation task is triggered again in the subsequent time, the history navigation path is acquired from the database, and the history navigation path is searched for the navigation path can be indexed together in the history navigation task.
Additionally, it should be noted that, the navigation adaptation degree is used to characterize the adaptation degree between the historical navigation path and the navigation task, specifically may be 80% or 90%, etc., it may be understood that the navigation adaptation degree may be mapped based on the navigation requirement index, for example, in one implementation manner, after three historical navigation paths formed from the current position of the campus navigation vehicle to the navigation destination position indicated by the navigation task are obtained, the navigation adaptation degree of the three historical navigation paths to execute the navigation task respectively may be mapped based on the current navigation requirement index, and the historical navigation path with the highest navigation adaptation degree is selected as the target navigation path, so that the navigation task is executed by the campus navigation vehicle based on the target navigation path finally.
As an example, steps S10 to S40 include: when the park navigation vehicle receives a navigation task issued by the cloud server; taking the current position of the park navigation vehicle and the navigation terminal position indicated by the navigation task as indexes together, and inquiring in a preset database to obtain at least one historical navigation path formed by the current position to the navigation terminal position; obtaining navigation adaptation degrees for executing the navigation tasks based on the historical navigation paths by mapping current navigation requirement indexes carried by the navigation characters, wherein one historical navigation path corresponds to one navigation adaptation degree; selecting a historical navigation path with the highest navigation adaptation degree in the navigation adaptation degrees as a target navigation path; and executing the navigation task based on the target navigation path.
In the execution process of the park navigation task, firstly, when the park navigation task is triggered, the current position of the park navigation vehicle and the navigation terminal position indicated by the navigation task are relied on to inquire in a preset database to obtain at least one historical navigation path, and then the current navigation demand index carried by the mapping task is used for obtaining the navigation adaptation degree of the execution task of the navigation task based on different historical navigation paths, so that the historical navigation path with the highest navigation adaptation degree is selected as a target navigation path, finally, the execution of the navigation task is finished based on the target navigation path, because the park navigation vehicle firstly acquires a plurality of historical navigation paths formed from the current position of the park navigation vehicle to the navigation terminal position indicated by the navigation task, further, the calculation of the navigation adaptation degree of each historical navigation path for executing the navigation task is determined, finally, the execution of the navigation task is finished through the target navigation path, namely, the historical navigation path which is directly travelled by the navigation adaptation degree is selected from the park navigation task is used for being the target navigation path, the execution task is executed, the intelligent vehicle is required to be processed in a real-time, the intelligent system is required to respond to the intelligent vehicle, the real-time is greatly reduced, the real-time is required to the intelligent vehicle is required to be managed, the intelligent system is required to execute the intelligent vehicle is required to be managed, and the system is required to be in real-time is required to process to be in real-time to process the system is required to have a large-time is required to process, the execution limitation of performing park navigation tasks is reduced.
The step of determining the navigation adaptation degree of executing the navigation task based on each historical navigation path according to the current navigation demand index carried by the navigation task comprises the following steps:
step A10, according to the association relation among at least one navigation demand basic index under a preset navigation index system, converting the current navigation time, the current navigation number and the current navigation destination into a first navigation characteristic value, a second navigation characteristic value and a third navigation characteristic value in sequence;
and step A20, obtaining the navigation adaptation degree for executing the navigation task based on each historical navigation path by fusing the first navigation characteristic value, the second navigation characteristic value and the third navigation characteristic value.
In this embodiment, it should be noted that, when the navigation task carries only one navigation requirement index, the navigation adaptation degree under the historical navigation path can be obtained through direct mapping, and when there are multiple navigation requirement indexes, the navigation adaptation degree is obtained by fusing the feature values corresponding to the different navigation requirement indexes, and it is understood that the intelligent management system of the campus navigation vehicle can construct an evaluation system between the navigation requirement indexes and the navigation adaptation degree in advance, for example, in an implementation manner, the evaluation weights of the navigation requirement indexes a, b, c and d are all set to be 0.25 if the navigation requirement indexes have a, b, c and d, and then finally the navigation adaptation degree of the navigation task is obtained after integrating the score values of the different navigation requirement indexes, so that the adaptation degrees between the different historical navigation paths and the navigation tasks can be considered from the multi-dimensional aspect.
As an example, steps a10 to a30 include: according to the association relation among at least one basic navigation demand index under a preset navigation index system, the current navigation time, the current navigation number and the current navigation destination are sequentially converted into a first navigation characteristic value, a second navigation characteristic value and a third navigation characteristic value; and calculating to obtain the navigation adaptation degree of each historical navigation path for executing the navigation task according to the first weight corresponding to the first navigation characteristic value, the second weight corresponding to the second navigation characteristic value, the third weight corresponding to the third navigation characteristic value, the first navigation characteristic value, the second navigation characteristic value and the third navigation characteristic value.
Wherein, the step of executing the navigation task according to the target navigation path includes: the method comprises the following steps:
Step B10, executing the navigation task based on the target navigation path according to the park navigation vehicle, and collecting path planning information of the park navigation vehicle when executing the navigation task in real time;
Step B20, when detecting that a dynamic obstacle exists on the target navigation path, predicting collision probability between the park navigation vehicle and the dynamic obstacle according to the path planning information and first motion characteristic information of the dynamic obstacle;
step B30, when the collision probability is larger than a preset probability threshold value, predicting second motion characteristic information of the dynamic barrier in the next time step according to the first motion characteristic information;
step B40, predicting whether collision risks exist between the park navigation vehicle and the dynamic obstacle in the next time step according to the path planning information and the second motion characteristic information;
Step B50, when the collision risk of the park navigation vehicle and the dynamic obstacle in the next time step is predicted, adjusting the target navigation path to obtain a navigation adjustment path;
and step B60, executing the navigation task according to the navigation adjustment path.
In this embodiment, it should be noted that, in the process that the campus navigation vehicle executes the navigation task based on the target navigation path, since the environment of the campus path is in dynamic change, and further in order to ensure smooth execution of the navigation task of the campus navigation vehicle, collision risk prediction of the campus navigation vehicle in the process of executing the navigation task may be performed, where the dynamic obstacle may specifically be a moving person or a moving animal, or may be a moving vehicle or a stone, and the preset probability threshold is used to characterize and determine a collision probability threshold for collision between the campus navigation vehicle and the dynamic obstacle.
As an example, steps B10 to B60 include: executing the navigation task based on the target navigation path according to the park navigation vehicle, and acquiring first position data of the park navigation vehicle, corresponding speed of each first position data and corresponding acceleration of each first position data in real time to obtain path planning information of the park navigation vehicle when executing the navigation task; when detecting that a dynamic obstacle exists on the target navigation path, acquiring second position data of the dynamic obstacle, speeds corresponding to the second position data and accelerations corresponding to the second position data, obtaining first motion characteristic information of the dynamic obstacle, and predicting collision probability of collision between the park navigation vehicle and the dynamic obstacle according to the first motion characteristic information and the path planning information; when the collision probability is larger than a preset probability threshold, predicting second motion characteristic information of the dynamic barrier in the next time step according to the first motion characteristic information; splicing a path planning vector corresponding to the path planning information and a second motion feature vector corresponding to the second motion feature information to obtain a collision risk feature vector between the park navigation vehicle and the dynamic obstacle, inputting the collision risk feature vector into a preset collision risk prediction model, mapping the collision risk feature vector into a collision risk type tag for collision between the park navigation vehicle and the dynamic obstacle, and predicting whether collision risk exists between the park navigation vehicle and the dynamic obstacle in the next time step according to the collision risk type tag; when the collision risk of the park navigation vehicle and the dynamic obstacle in the next time step is predicted, the target navigation path is adjusted, and a navigation adjustment path is obtained; and executing the navigation task based on the navigation adjustment path.
Wherein, the step of predicting the second motion characteristic information of the dynamic obstacle in the next time step according to the first motion characteristic information includes:
Step C10, constructing a motion feature vector of the dynamic obstacle according to the first motion feature information, the type of the dynamic obstacle and the road information of the road where the dynamic obstacle is located;
and step C20, mapping the motion characteristic vector into second motion characteristic information of the dynamic obstacle in the next time step through a preset motion characteristic prediction model.
As an example, steps C10 to C20 include: determining an obstacle type tag corresponding to the dynamic obstacle according to the type of the dynamic obstacle, determining a road information tag corresponding to the dynamic obstacle according to the road information of a road where the dynamic obstacle is located, and jointly splicing the obstacle type tag, the road information tag and a first motion feature vector corresponding to the first motion feature information into a motion feature vector of the dynamic obstacle; and inputting the motion characteristic vector into a preset motion characteristic prediction model, and mapping the motion characteristic vector into second motion characteristic information of the dynamic obstacle in the next time step.
Wherein, the step of selecting a target navigation path from the historical navigation paths according to the navigation fitness comprises:
Step D10, acquiring the current residual electric quantity of the park navigation vehicle, and detecting whether the current residual electric quantity can complete a historical navigation path with highest travelling navigation adaptation degree;
step D20, if yes, taking the historical navigation path with the highest navigation adaptation degree as the historical navigation path;
And D30, if not, determining the target navigation path according to the matching relation between the current residual electric quantity and each historical navigation path.
In this embodiment, it should be noted that, when a target navigation path is selected from a plurality of historical navigation paths, besides taking the navigation adaptation degree as a selection reference, the determination of the current remaining power may be increased, that is, it is determined that the current remaining power of the campus navigation vehicle may support the campus navigation vehicle to complete the travel of the navigation path, where the current remaining power may be specifically 60%, 70% or 80%.
As an example, steps D10 to D30 include: acquiring the current residual electric quantity of the park navigation vehicle, and detecting whether the current residual electric quantity can complete a historical navigation path with highest travelling navigation adaptation degree; if the current residual electric quantity is detected to be capable of completing the history navigation path with the highest navigation adaptation degree, taking the history navigation path with the highest navigation adaptation degree as the history navigation path; if it is detected that the current residual electric quantity cannot directly complete the historical navigation path with the highest travelling navigation adaptation degree, determining the target navigation path according to the matching relation between the current residual electric quantity and each historical navigation path, wherein in an implementation manner, the historical navigation path which is most suitable for the current residual electric quantity can be selected as the target navigation path based on the matching relation.
After the step of executing the navigation task according to the target navigation path, the method for executing the campus navigation task further includes:
step E10, detecting whether to respond to the navigation interaction instruction in a preset response period;
E20, if yes, executing corresponding navigation interaction operation according to the navigation interaction instruction;
And E30, if not, controlling the park navigation vehicle to travel to a preset parking position.
In this embodiment, it should be noted that, in order to improve the utilization rate of the campus navigation vehicle, after completing the navigation task, the further operation of the campus navigation vehicle may be controlled based on the further executed interaction behavior, where the preset response period may be specifically set by the user according to the needs, the navigation interaction instruction is triggered by the navigation interaction operation input by the user on the man-machine interaction interface of the campus navigation vehicle, and the preset parking position may be a preset charging position or a preset parking position.
As an example, steps E10 to E30 include: detecting whether to respond to the navigation interaction instruction in a preset response period; if the response of the preset response period to the navigation interaction instruction is detected, executing corresponding navigation interaction operation according to the navigation interaction instruction; and if the preset response period is detected not to respond to the navigation interaction instruction, controlling the park navigation vehicle to travel to a preset stop position.
The embodiment of the application provides a method, a device, electronic equipment and a readable storage medium for executing a park navigation task, which are applied to a park navigation vehicle, namely, when the park navigation vehicle triggers a navigation task, at least one historical navigation path formed by the current position of the park navigation vehicle to a navigation end position indicated by the navigation task is acquired; determining the navigation adaptation degree of executing the navigation task based on each historical navigation path according to the current navigation demand index carried by the navigation task, wherein one historical navigation path corresponds to one navigation adaptation degree; selecting a target navigation path from the historical navigation paths according to the navigation adaptation degree; and executing the navigation task according to the target navigation path.
When the park navigation vehicle triggers the navigation task, firstly, a plurality of historical navigation paths formed from the current position of the park navigation vehicle to the navigation terminal position indicated by the navigation task are acquired, then the calculation of the navigation adaptation degree of each historical navigation path for executing the navigation task is determined, the target navigation path is selected from the plurality of historical navigation paths through the navigation adaptation degree, and finally, the execution of the navigation task is finished through the target navigation path, namely, the target navigation path which is most suitable for the navigation task is selected from the historical navigation paths which the park navigation vehicle passes through the navigation adaptation degree for executing the navigation task, so that the purpose of determining the target navigation path for executing the navigation task in a non-instant mode is realized, and the calculation power requirement of an intelligent management system of the park navigation vehicle is reduced.
Based on the above, the embodiment of the application determines the navigation adaptation degree of executing the navigation task by different historical navigation paths according to the current navigation demand index carried by the navigation task, and further selects the target navigation path from a plurality of historical navigation paths according to the navigation adaptation degree, so that the execution of the navigation task is completed by the target navigation path. Instead of performing immediate path planning by setting the destination. Therefore, the technical defect that the intelligent management system has higher requirement on the calculation power due to the large-scale data acquisition and processing in the process of instant path planning is overcome, and the situation that the response time of the park navigation vehicle is long is easy to occur is overcome, and the execution limitation of executing the park navigation task is reduced.
Example two
In another embodiment of the present application, the same or similar content as that of the first embodiment may be referred to the description above, and will not be repeated. On this basis, referring to fig. 2, the method for executing the campus navigation task further includes:
and F10, when the abnormality of the navigation task is detected, sending task abnormality information to a cloud server in communication connection, so that the cloud server redistributes idle navigation vehicles in a park to execute the navigation task according to the task abnormality information.
In this embodiment, it should be noted that, in the navigation process of the campus navigation vehicle based on the navigation task, the campus navigation vehicle may not complete the execution of the navigation task due to an emergency, for example, in an implementation manner, the campus navigation vehicle fails in the navigation process, and then task abnormality information may be generated by the campus navigation vehicle, so that the cloud server determines whether to redistribute the campus navigation vehicle to execute the navigation task based on the task abnormality information.
As an example, step F10 includes: when the abnormality of executing the navigation task is detected, task abnormality information is sent to a cloud server in communication connection, so that the cloud server can redistribute idle navigation vehicles of a park to execute the navigation task when judging that the navigation task cannot be executed by the navigation vehicles of the park according to the task abnormality information.
The embodiment of the application provides a park navigation vehicle distribution method. That is, when abnormality in executing the navigation task is detected, task abnormality information is sent to a cloud server in communication connection, so that the cloud server redistributes idle navigation vehicles in a park to execute the navigation task according to the task abnormality information. That is, when the park navigation vehicle cannot complete execution of the navigation task due to abnormality, task abnormality information is actively reported to the cloud server, so that the cloud server redistributes the idle navigation vehicle according to the task abnormality information, thereby ensuring smooth instructions of the navigation task, and laying a foundation for reducing execution limitation of executing the park navigation task.
Example III
The embodiment of the application also provides a device for executing the campus navigation task, and referring to fig. 3, the device for executing the campus navigation task comprises:
An obtaining module 101, configured to obtain, when the campus navigation vehicle triggers a navigation task, at least one historical navigation path formed from a current position of the campus navigation vehicle to a navigation destination position indicated by the navigation task;
The determining module 102 is configured to determine, according to a current navigation requirement index carried by the navigation task, a navigation adaptation degree for executing the navigation task based on each historical navigation path, where one historical navigation path corresponds to one navigation adaptation degree;
a selecting module 103, configured to select a target navigation path from the historical navigation paths according to the navigation fitness;
And the execution module 106 is used for executing the navigation task according to the target navigation path.
Optionally, the current navigation demand index includes a current navigation time, a current navigation population, and a current navigation destination, and the determining module 102 is further configured to:
According to the association relation among at least one basic navigation demand index under a preset navigation index system, the current navigation time, the current navigation number and the current navigation destination are sequentially converted into a first navigation characteristic value, a second navigation characteristic value and a third navigation characteristic value;
and obtaining the navigation adaptation degree of executing the navigation task based on each historical navigation path by fusing the first navigation characteristic value, the second navigation characteristic value and the third navigation characteristic value.
Optionally, the determining module 102 is further configured to:
Executing the navigation task based on the target navigation path according to the park navigation vehicle, and collecting path planning information of the park navigation vehicle when executing the navigation task in real time;
When detecting that a dynamic obstacle exists on the target navigation path, predicting collision probability between the park navigation vehicle and the dynamic obstacle according to the path planning information and first motion characteristic information of the dynamic obstacle;
When the collision probability is larger than a preset probability threshold, predicting second motion characteristic information of the dynamic barrier in the next time step according to the first motion characteristic information;
Predicting whether collision risks exist between the park navigation vehicle and the dynamic obstacle in the next time step according to the path planning information and the second motion characteristic information;
when the collision risk of the park navigation vehicle and the dynamic obstacle in the next time step is predicted, the target navigation path is adjusted, and a navigation adjustment path is obtained;
and executing the navigation task according to the navigation adjustment path.
Optionally, the determining module 102 is further configured to:
Constructing a motion feature vector of the dynamic obstacle according to the first motion feature information, the type of the dynamic obstacle and the road information of the road where the dynamic obstacle is located;
and mapping the motion characteristic vector into second motion characteristic information of the dynamic obstacle in the next time step through a preset motion characteristic prediction model.
Optionally, the selecting module 103 is further configured to:
Acquiring the current residual electric quantity of the park navigation vehicle, and detecting whether the current residual electric quantity can complete a historical navigation path with highest travelling navigation adaptation degree;
If yes, taking the historical navigation path with the highest navigation adaptation degree as the historical navigation path;
if not, determining the target navigation path according to the matching relation between the current residual electric quantity and each historical navigation path.
Optionally, the campus navigation task execution device is further configured to:
Detecting whether to respond to the navigation interaction instruction in a preset response period;
if yes, executing corresponding navigation interaction operation according to the navigation interaction instruction;
And if not, controlling the park navigation vehicle to travel to a preset stop position.
Optionally, the campus navigation task execution device is further configured to:
When abnormality of executing the navigation task is detected, task abnormality information is sent to a cloud server in communication connection, so that the cloud server redistributes idle navigation vehicles in a park to execute the navigation task according to the task abnormality information.
The park navigation task execution device provided by the invention solves the technical problem of high execution limitation in executing the park navigation task by adopting the park navigation task execution method in the embodiment. Compared with the prior art, the beneficial effects of the campus navigation task execution device provided by the embodiment of the invention are the same as those of the method for executing the campus navigation task provided by the embodiment, and other technical features of the campus navigation task execution device are the same as those disclosed by the method of the embodiment, so that details are omitted.
Example IV
The embodiment of the invention provides electronic equipment, which comprises: at least one processor; and a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute the park navigation task performing method according to the first embodiment.
Referring now to fig. 4, a schematic diagram of an electronic device suitable for use in implementing embodiments of the present disclosure is shown. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 4 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.
As shown in fig. 4, the electronic device may include a processing apparatus 1001 (e.g., a central processing unit, a graphics processor, etc.), which may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 1002 or a program loaded from a storage apparatus 1003 into a Random Access Memory (RAM) 1004. In the RAM1004, various programs and data required for the operation of the electronic device are also stored. The processing device 1001, the ROM1002, and the RAM1004 are connected to each other by a bus 1005. An input/output (I/O) interface 1006 is also connected to the bus.
In general, the following systems may be connected to the I/O interface 1006: input devices 1007 including, for example, a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, and the like; an output device 1008 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage device 1003 including, for example, a magnetic tape, a hard disk, and the like; and communication means 1009. The communication means may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. While electronic devices having various systems are shown in the figures, it should be understood that not all of the illustrated systems are required to be implemented or provided. More or fewer systems may alternatively be implemented or provided.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via the communication device 1009, or installed from the storage device 1003, or installed from the ROM 1002. The above-described functions defined in the method of the embodiment of the present disclosure are performed when the computer program is executed by the processing device 1001.
The electronic equipment provided by the invention solves the technical problem of high execution limitation in executing the park navigation task by adopting the park navigation task execution method in the embodiment. Compared with the prior art, the beneficial effects of the electronic device provided by the embodiment of the invention are the same as those of the park navigation task execution method provided by the embodiment, and other technical features of the electronic device are the same as those disclosed by the embodiment method, so that the description is omitted herein.
It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof. In the description of the above embodiments, particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Example five
The present embodiment provides a computer-readable storage medium having computer-readable program instructions stored thereon for executing the campus navigation task execution method of the above embodiment.
The computer readable storage medium according to the embodiments of the present invention may be, for example, a usb disk, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this embodiment, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, or device. Program code embodied on a computer readable storage medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
The above-described computer-readable storage medium may be contained in an electronic device; or may exist alone without being assembled into an electronic device.
The computer-readable storage medium carries one or more programs that, when executed by an electronic device, cause the electronic device to: when the park navigation vehicle triggers a navigation task, acquiring at least one historical navigation path formed by the current position of the park navigation vehicle to a navigation terminal position indicated by the navigation task; determining the navigation adaptation degree of executing the navigation task based on each historical navigation path according to the current navigation demand index carried by the navigation task, wherein one historical navigation path corresponds to one navigation adaptation degree; selecting a target navigation path from the historical navigation paths according to the navigation adaptation degree; and executing the navigation task according to the target navigation path.
Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present disclosure may be implemented in software or hardware. Wherein the name of the module does not constitute a limitation of the unit itself in some cases.
The computer readable storage medium provided by the invention stores the computer readable program instructions for executing the park navigation task execution method, and solves the technical problem of high execution limitation in executing the park navigation task. Compared with the prior art, the beneficial effects of the computer readable storage medium provided by the embodiment of the invention are the same as those of the park navigation task execution method provided by the above embodiment, and are not described in detail herein.
Example six
The application also provides a computer program product comprising a computer program which when executed by a processor performs the steps of a method of performing a campus navigation task as described above.
The computer program product provided by the application solves the technical problem of high execution limitation in executing the park navigation task. Compared with the prior art, the beneficial effects of the computer program product provided by the embodiment of the application are the same as those of the park navigation task execution method provided by the embodiment, and are not described in detail herein.
The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the application, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein, or any application, directly or indirectly, within the scope of the application.
Claims (7)
1. The method for executing the park navigation task is characterized by being applied to a park navigation vehicle, and comprises the following steps of:
When the park navigation vehicle triggers a navigation task, acquiring at least one historical navigation path formed by the current position of the park navigation vehicle to a navigation terminal position indicated by the navigation task;
Determining the navigation adaptation degree of executing the navigation task based on each historical navigation path according to the current navigation demand index carried by the navigation task, wherein one historical navigation path corresponds to one navigation adaptation degree;
selecting a target navigation path from the historical navigation paths according to the navigation adaptation degree;
Executing the navigation task according to the target navigation path;
The step of determining the navigation adaptation degree of executing the navigation task based on each historical navigation path according to the current navigation demand index carried by the navigation task comprises the following steps:
According to the association relation among at least one basic navigation demand index under a preset navigation index system, the current navigation time, the current navigation number and the current navigation destination are sequentially converted into a first navigation characteristic value, a second navigation characteristic value and a third navigation characteristic value;
Obtaining navigation adaptation degree for executing the navigation task based on each historical navigation path by fusing the first navigation characteristic value, the second navigation characteristic value and the third navigation characteristic value;
Wherein, the step of selecting a target navigation path from the historical navigation paths according to the navigation fitness comprises:
Acquiring the current residual electric quantity of the park navigation vehicle, and detecting whether the current residual electric quantity can complete a historical navigation path with highest travelling navigation adaptation degree;
If yes, taking the historical navigation path with the highest navigation adaptation degree as the historical navigation path;
If not, determining the target navigation path according to the matching relation between the current residual electric quantity and each historical navigation path;
Wherein, the step of executing the navigation task according to the target navigation path includes:
Executing the navigation task based on the target navigation path according to the park navigation vehicle, and collecting path planning information of the park navigation vehicle when executing the navigation task in real time;
When detecting that a dynamic obstacle exists on the target navigation path, predicting collision probability between the park navigation vehicle and the dynamic obstacle according to the path planning information and first motion characteristic information of the dynamic obstacle;
When the collision probability is larger than a preset probability threshold, predicting second motion characteristic information of the dynamic barrier in the next time step according to the first motion characteristic information;
Predicting whether collision risks exist between the park navigation vehicle and the dynamic obstacle in the next time step according to the path planning information and the second motion characteristic information;
when the collision risk of the park navigation vehicle and the dynamic obstacle in the next time step is predicted, the target navigation path is adjusted, and a navigation adjustment path is obtained;
and executing the navigation task according to the navigation adjustment path.
2. The method of campus navigation task execution of claim 1 wherein predicting second motion characteristic information of the dynamic obstacle at a next time step based on the first motion characteristic information comprises:
Constructing a motion feature vector of the dynamic obstacle according to the first motion feature information, the type of the dynamic obstacle and the road information of the road where the dynamic obstacle is located;
and mapping the motion characteristic vector into second motion characteristic information of the dynamic obstacle in the next time step through a preset motion characteristic prediction model.
3. The method of claim 1, wherein after the step of performing the navigation task according to the target navigation path, the method further comprises:
Detecting whether to respond to the navigation interaction instruction in a preset response period;
if yes, executing corresponding navigation interaction operation according to the navigation interaction instruction;
And if not, controlling the park navigation vehicle to travel to a preset stop position.
4. The method of conducting a campus navigation task of claim 1, wherein the method further comprises:
When abnormality of executing the navigation task is detected, task abnormality information is sent to a cloud server in communication connection, so that the cloud server redistributes idle navigation vehicles in a park to execute the navigation task according to the task abnormality information.
5. A campus navigation task execution device, characterized in that is applied to a campus navigation vehicle, the campus navigation task execution device includes:
the acquisition module is used for acquiring at least one historical navigation path formed by the current position of the park navigation vehicle to the navigation terminal position indicated by the navigation task when the park navigation vehicle triggers the navigation task;
the determining module is used for determining the navigation adaptation degree of executing the navigation task based on each historical navigation path according to the current navigation demand index carried by the navigation task, wherein one historical navigation path corresponds to one navigation adaptation degree;
The selecting module is used for selecting a target navigation path from the historical navigation paths according to the navigation adaptation degree;
the execution module is used for executing the navigation task according to the target navigation path;
The current navigation demand index comprises current navigation time, current navigation number and current navigation destination, and the determining module is further used for:
According to the association relation among at least one basic navigation demand index under a preset navigation index system, the current navigation time, the current navigation number and the current navigation destination are sequentially converted into a first navigation characteristic value, a second navigation characteristic value and a third navigation characteristic value;
Obtaining navigation adaptation degree for executing the navigation task based on each historical navigation path by fusing the first navigation characteristic value, the second navigation characteristic value and the third navigation characteristic value;
wherein, the selecting module is further configured to:
Acquiring the current residual electric quantity of the park navigation vehicle, and detecting whether the current residual electric quantity can complete a historical navigation path with highest travelling navigation adaptation degree;
If yes, taking the historical navigation path with the highest navigation adaptation degree as the historical navigation path;
If not, determining the target navigation path according to the matching relation between the current residual electric quantity and each historical navigation path;
Wherein the determining module is further configured to:
Executing the navigation task based on the target navigation path according to the park navigation vehicle, and collecting path planning information of the park navigation vehicle when executing the navigation task in real time;
When detecting that a dynamic obstacle exists on the target navigation path, predicting collision probability between the park navigation vehicle and the dynamic obstacle according to the path planning information and first motion characteristic information of the dynamic obstacle;
When the collision probability is larger than a preset probability threshold, predicting second motion characteristic information of the dynamic barrier in the next time step according to the first motion characteristic information;
Predicting whether collision risks exist between the park navigation vehicle and the dynamic obstacle in the next time step according to the path planning information and the second motion characteristic information;
when the collision risk of the park navigation vehicle and the dynamic obstacle in the next time step is predicted, the target navigation path is adjusted, and a navigation adjustment path is obtained;
and executing the navigation task according to the navigation adjustment path.
6. An electronic device, the electronic device comprising:
At least one processor;
a memory communicatively coupled to the at least one processor;
The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the steps of the campus navigation task execution method of any one of claims 1 to 4.
7. A computer-readable storage medium having stored thereon a program for implementing a method of performing a campus navigation task, the program for implementing the method of performing a campus navigation task being executed by a processor to implement the steps of the method of performing a campus navigation task as claimed in any one of claims 1 to 4.
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