阅读说明：本技术 一种感知特定环境的适应性路径规划导航系统 (Adaptive path planning navigation system capable of sensing specific environment ) 是由 李熳娟 于 2021-10-27 设计创作，主要内容包括：本发明涉及路径规划导航系统,具体地说,涉及一种感知特定环境的适应性路径规划导航系统。其包括路线规划单元、特定环境采集单元、处理单元、道路推荐选择单元和观测单元。本发明通过特定环境采集单元对路径中通过节点的天气进行搜索以及通过该节点的时间进行预测,已获得该路径中某个节点驾驶的安全风险,以便于使驾驶人员提前获悉道路的情况,方便驾驶人员及时的调整驾驶方式或及时的更换路径,通过处理单元对道路的风险进行判断,并在判断出危险时,通过道路推荐选择单元对行驶的路径进行从新的规划,使驾驶人员通过安全的路径,以保证汽车驾驶的安全性,同时避免因道路的情况而产生汽车拥堵。(The invention relates to a path planning navigation system, in particular to an adaptive path planning navigation system for sensing a specific environment. The system comprises a route planning unit, a specific environment acquisition unit, a processing unit, a road recommendation selection unit and an observation unit. The invention searches the weather passing through the node in the path through the specific environment acquisition unit and predicts the time passing through the node, so as to obtain the driving safety risk of a certain node in the path, thereby facilitating the driver to learn the road condition in advance, facilitating the driver to adjust the driving mode or replace the path in time, judging the road risk through the processing unit, and when judging the danger, planning the driving path through the road recommendation selection unit to ensure the driving safety of the automobile and avoid the automobile congestion caused by the road condition.)

1. An adaptive path planning navigation system that is environment-aware, characterized by: the system comprises a route planning unit (1), a specific environment acquisition unit (2), a processing unit (3), a road recommendation selection unit (4) and an observation unit (5);

the route planning unit (1) is used for planning a driving path;

the specific environment acquisition unit (2) is used for acquiring weather passing through a position in a path and time information passing through the position;

the processing unit (3) receives the data acquired by the specific environment acquisition unit (2), analyzes and processes the received data, and judges the road condition of a running path;

the road recommendation selection unit (4) is used for re-planning the road on which the automobile runs according to the data processing result acquired by the specific environment acquisition unit (2) through the processing unit (3) and recommending a new path, so that a driver can select the new running path according to the condition of the driver;

and the observation unit (5) is used for displaying and broadcasting the path.

2. The environment-aware adaptive path planning navigation system according to claim 1, wherein: the route planning unit (1) comprises a route information input module (11), a traffic requirement selection module (12) and a planning module (13);

the route information input module (11) is used for the information that the driver needs to reach the position;

the traffic requirement selection module (12) is used for limiting the requirement of a driver on road traffic;

the planning module (13) adopts Dijkstra algorithm to plan the driving path of the automobile.

3. The environment-specific aware adaptive path planning navigation system according to claim 2, wherein: the Dijkstra algorithm is used by the following steps:

first, initial time order S = { V₀T = { the rest vertexes }, and T is a distance value corresponding to a vertex;

if the coordinate point exists<V₀,V_i>，d(V₀,V_i) Is composed of<V₀,V_i>Weight on arc, if there is no coordinate point<V₀,V_i>，d(V₀,V_i) Is ∞, V₀As an initial coordinate point, V_iOne of the plurality of vertices;

selecting a vertex W with the minimum distance value from the T and adding S when the vertex W is not in the S;

and thirdly, modifying the distance values of the vertexes in the rest T: if W is added as a middle vertex, from V₀To V_iIf the distance value of (2) is shortened, modifying the distance;

fourthly, repeating the steps III until all vertexes are contained in S, namely W = V_iThe shortest path has been obtained up to this point.

4. The environment-aware adaptive path planning navigation system according to claim 1, wherein: the specific environment acquisition unit (2) comprises a weather condition identification module (21), a time judgment module (22) and an environment characteristic combination module (23);

the weather condition identification module (21) is used for identifying the weather condition of the passing node in the path and obtaining the weather at the node;

the time judgment module (22) is used for judging the time when the automobile reaches the node position;

the environment characteristic combination module (23) is used for integrating data searched and judged by the weather condition identification module (21) and the time judgment module (22).

5. The environment-specific aware adaptive path planning navigation system according to claim 4, wherein: the weather condition identification module (21) comprises a path node reading module (211), a node position extraction module (212) and a regional weather search module (213);

the path node reading module (211) is used for reading node information passing through a path;

the node position extraction module (212) is used for extracting nodes passing through a path and reading node information near each node;

the regional weather searching module (213) is used for carrying out network searching on the weather condition of the extracted node, and the weather condition at the moment and at a future time is obtained.

6. The environment-specific aware adaptive path planning navigation system according to claim 4, wherein: after the time judgment module (22) judges that the automobile arrives at the node, the weather condition searched by the weather condition identification module (21) is obtained, and the weather caused by the arrival of the automobile at the node is obtained through the combination of the information of the weather condition identification module (21) and the time judgment module (22) by the environment characteristic combination module (23).

7. The environment-aware adaptive path planning navigation system according to claim 1, wherein: the processing unit (3) comprises a road condition analysis module (31) and a risk judgment module (32);

the road condition analysis module (31) is used for receiving the weather condition of the node and the time for reaching the node, which are integrated by the environmental characteristic combination module (23), matching the two groups of data together, and analyzing the road condition according to the matched data condition so as to predict the water accumulation condition of the road and the driving difficulty of the road;

the risk judgment module (32) is used for judging the risk of the driving safety of the automobile according to the road condition analyzed by the road condition analysis module (31).

8. The environment-aware adaptive path planning navigation system according to claim 7, wherein: the road recommendation selection unit (4) comprises a road node conversion module (41), a planned path conversion module (42) and a planned path analysis module (43);

the road node conversion module (41) is used for replacing nodes with high risk of automobile driving safety;

the planning path conversion module (42) is used for planning a new path for the node replaced by the road node conversion module (41);

the planned path analysis module (43) is used for analyzing the newly planned paths and recommending paths with low risk of driving safety and short paths.

9. The environment-aware adaptive path planning navigation system according to claim 1, wherein: the observation unit (5) comprises a display module (51), a path selection module (52) and a broadcast module (53);

the display module (51) is used for displaying the paths planned by the route planning unit (1) and the road recommendation selection unit (4);

the route selection module (52) is used for selecting a driving route by a driver;

the broadcasting module (53) is used for broadcasting and reminding the condition displayed by the display module (51) and the caution items in the path after the driver selects the path.

10. The environment-aware adaptive path planning navigation system according to claim 1, wherein: and the road recommendation selection unit (4) broadcasts drivers through the observation unit (5) in the process of planning and recommending a new path.

Technical Field

The invention relates to a path planning navigation system, in particular to an adaptive path planning navigation system for sensing a specific environment.

Background

Road navigation is a typical application in the field of GPS technology and is now beginning to be widely used. In the existing navigation path planning process, different weighting modes can be used for the same pair of starting point and end point according to the shortest route principle, so that different path results can be planned based on the same road traffic network.

However, the current navigation system only broadcasts weather simply, but does not predict the safety of the automobile passing through the road section, and meanwhile, when special weather is met, the special weather is not avoided, so that the automobile is jammed on the road to influence the automobile passing, meanwhile, the things of drivers are delayed, the driving time of the automobile drivers is prolonged, and the driving intensity of the drivers is increased.

Disclosure of Invention

The present invention is directed to an adaptive path planning navigation system for sensing a specific environment, so as to solve the problems in the background art.

In order to achieve the purpose, the adaptive path planning navigation system capable of sensing the specific environment comprises a route planning unit, a specific environment acquisition unit, a processing unit, a road recommendation selection unit and an observation unit;

the route planning unit is used for planning a driving path;

the specific environment acquisition unit is used for acquiring weather passing through a position in a path and time information passing through the position;

the processing unit receives the data acquired by the specific environment acquisition unit, analyzes and processes the received data, and judges the road condition of a running path;

the road recommendation selection unit is used for re-planning the road on which the automobile runs according to the data processing result acquired by the specific environment acquisition unit by the processing unit and recommending a new path, so that a driver can select the new running path according to the condition of the driver;

the observation unit is used for displaying and broadcasting the path.

As a further improvement of the technical solution, the route planning unit comprises a route information input module, a traffic requirement selection module and a planning module;

the route information input module is used for the driver to get the information of the position;

the traffic requirement selection module is used for limiting the requirement of a driver on road traffic;

the planning module adopts Dijkstra algorithm to plan the driving path of the automobile.

As a further improvement of the technical solution, the Dijkstra algorithm is used in the following steps:

first, initial time order S = { V₀T = { the rest vertexes }, and T is a distance value corresponding to a vertex;

if the coordinate point exists<V₀,V_i>，d(V₀,V_i) Is composed of<V₀,V_i>Weight on arc, if there is no coordinate point<V₀,V_i>，d(V₀,V_i) Is ∞, V₀As an initial coordinate point, V_iOne of the plurality of vertices;

selecting a vertex W with the minimum distance value from the T and adding S when the vertex W is not in the S;

and thirdly, modifying the distance values of the vertexes in the rest T: if W is added as a middle vertex, from V₀To V_iIs shortened, the distance value is modified

Fourthly, repeating the steps III until all vertexes are contained in S, namely W = V_iThe shortest path has been obtained up to this point.

As a further improvement of the technical scheme, the specific environment acquisition unit comprises a weather condition identification module, a time judgment module and an environment characteristic combination module;

the weather condition identification module is used for identifying the weather condition of the passing node in the path and obtaining the weather of the node at the moment;

the time judgment module is used for judging the time when the automobile reaches the node position;

the environment characteristic combination module is used for integrating data searched and judged by the weather condition identification module and the time judgment module.

As a further improvement of the technical solution, the weather condition identification module includes a path node reading module, a node position extraction module and a regional weather search module;

the path node reading module is used for reading node information passing through a path;

the node position extraction module is used for extracting nodes passing through a path and reading node information near each node;

the regional weather searching module is used for carrying out network searching on the weather conditions of the extracted nodes, and obtaining the weather conditions at the moment and at a future time.

As a further improvement of the technical solution, after the time judgment module judges that the automobile arrives at the node, the weather condition searched by the weather condition identification module is obtained, and the weather caused by the arrival of the automobile at the node is obtained by combining the environmental characteristics with the information of the weather condition identification module and the time judgment module by the module.

As a further improvement of the technical solution, the processing unit includes a road condition analysis module and a risk judgment module;

the road condition analysis module is used for receiving the weather condition of the node integrated by the environmental characteristic combination module and the time for reaching the node, matching the two groups of data together, and analyzing the road condition according to the matched data condition so as to predict the ponding condition of the road and the driving difficulty of the road;

the risk judgment module is used for judging the risk of the automobile driving safety according to the road condition analyzed by the road condition analysis module.

As a further improvement of the technical solution, the road recommendation selecting unit includes a road node conversion module, a planned path conversion module, and a planned path analysis module;

the road node conversion module is used for replacing nodes with high risk of automobile driving safety;

the planning path conversion module is used for planning a new path for the node replaced by the road node conversion module;

the planning path analysis module is used for analyzing the newly planned paths and recommending paths with low risk and short paths for driving safety.

As a further improvement of the technical scheme, the observation unit comprises a display module, a path selection module and a broadcast module;

the display module is used for displaying the paths planned by the route planning unit and the road recommendation selection unit;

the route selection module is used for selecting a driving route by a driver;

the broadcasting module is used for broadcasting and reminding the condition displayed by the display module and the attention points in the path after the driver selects the path.

As a further improvement of the technical solution, the road recommendation selecting unit broadcasts the driver through the observation unit in the process of planning and recommending a new route.

Compared with the prior art, the invention has the beneficial effects that:

1. in the adaptive path planning navigation system for perceiving the specific environment, the weather passing through the node in the path is searched through the specific environment acquisition unit and the time passing through the node is predicted, so that the safety risk of driving of a certain node in the path is obtained, the condition of the road is conveniently known by a driver in advance, the driving mode of the driver is conveniently adjusted in time or the path is conveniently changed in time, the safety of automobile driving is improved, and the safety of the automobile driver is protected.

2. In the adaptive path planning navigation system for sensing the specific environment, the risk of the road is judged through the processing unit, and when the danger is judged, the driving path is newly planned through the road recommendation selection unit, so that a driver can pass through the safe path, and the safety of automobile driving is ensured.

Drawings

FIG. 1 is an overall block diagram of the present invention;

FIG. 2 is a block diagram of a route planning unit of the present invention;

FIG. 3 is a block diagram of a specific environment acquisition unit of the present invention;

FIG. 4 is a block diagram of a weather condition identification module of the present invention;

FIG. 5 is a block diagram of a processing unit of the present invention;

FIG. 6 is a block diagram of a road recommendation selection unit of the present invention;

FIG. 7 is a block diagram of an observation unit of the present invention.

The various reference numbers in the figures mean:

1. a route planning unit; 11. a route information input module; 12. a traffic requirement selection module; 13. a planning module;

2. a specific environment acquisition unit; 21. a weather condition identification module; 211. a path node reading module; 212. a node position extraction module; 213. a regional weather searching module;

22. a time judgment module; 23. an environmental characteristic combination module;

3. a processing unit; 31. a road condition analysis module; 32. a risk judgment module;

4. a road recommendation selection unit; 41. a road node conversion module; 42. a planning path conversion module; 43. a planning path analysis module;

5. an observation unit; 51. a display module; 52. a path selection module; 53. and a broadcasting module.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and 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.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

Example 1

Referring to fig. 1 to 7, an adaptive path planning navigation system for sensing a specific environment according to the present embodiment includes a route planning unit 1, a specific environment acquisition unit 2, a processing unit 3, a road recommendation selection unit 4, and an observation unit 5;

the route planning unit 1 is used for planning a driving route so that a user can conveniently learn the advancing direction and the walking distance and conveniently advance;

the route planning unit 1 comprises a route information input module 11, a traffic requirement selection module 12 and a planning module 13;

the route information input module 11 is used for the driver to get the information of the position, so that the system can plan the route according to the position input by the driver;

the traffic requirement selection module 12 is configured to limit a requirement of a driver on road traffic, so that a path planned by the system is conveniently attached to a planned path required by the driver, for example, during holidays, an expressway is congested, and when the driver uses the system for navigation, the driver shields a driving expressway so that the planned path does not pass through the expressway;

the planning module 13 plans the driving path of the automobile by adopting a Dijkstra algorithm, so that an automobile driver can conveniently know the driving path and know the driving direction of the automobile;

the Dijkstra algorithm is used as follows:

first, initial time order S = { V₀T = { the rest vertexes }, and T is a distance value corresponding to a vertex;

if the coordinate point exists<V₀,V_i>，d(V₀,V_i) Is composed of<V₀,V_i>Weight on arc, if there is no coordinate point<V₀,V_i>，d(V₀,V_i) Is ∞, V₀As an initial coordinate point, V_iOne of the plurality of vertices;

selecting a vertex W with the minimum distance value from the T and adding S when the vertex W is not in the S;

and thirdly, modifying the distance values of the vertexes in the rest T: if W is added as a middle vertex, from V₀To V_iIs shortened, the distance value is modified

Fourthly, repeating the steps III until all vertexes are contained in S, namely W = V_iThe shortest path has been obtained up to this point.

The route planning unit 1 is used for planning the route of the automobile, so that a driver can conveniently know the road to be driven in advance, and the driver can conveniently drive the automobile to drive.

The specific environment acquisition unit 2 is used for acquiring weather passing through a position in a path and time information passing through the position so as to conveniently learn the road condition of a user when the user arrives at the position and the safety degree of driving a car through the position;

the specific environment acquisition unit 2 comprises a weather condition identification module 21, a time judgment module 22 and an environment characteristic combination module 23;

the weather condition identification module 21 is configured to identify a weather condition of a node passing through a path, and obtain a weather at the node, so that a driver can adjust a driving mode in time according to the weather condition and change the path conveniently, thereby achieving safe driving of an automobile;

the weather condition identification module 21 includes a path node reading module 211, a node position extraction module 212, and a regional weather search module 213;

the path node reading module 211 is configured to read node information passing through a path, so that a system collects weather information of a node according to the read information node information, so as to obtain weather conditions of the node;

the node position extraction module 212 is configured to extract nodes passing through a path, and read node information near each node, so as to facilitate later path modification and planning;

the regional weather searching module 213 is configured to perform network search on the weather conditions of the extracted nodes, and obtain the weather conditions at this time and at a future time, so that a driver can timely cope with different weather conditions when driving to the road section, and thus, safe driving of an automobile is achieved;

the time judging module 22 is used for judging the time when the automobile reaches the node position;

the environmental characteristic combination module 23 is used for integrating the data searched and judged by the weather condition identification module 21 and the time judgment module 22 together to make each piece of information matched with the node, so that the driver can clearly observe the condition of each node position

After the time judging module 22 judges that the automobile reaches the node, the weather condition searched by the weather condition identifying module 21 is obtained, and the weather caused by the automobile reaching the node is obtained by combining the information of the weather condition identifying module 21 and the time judging module 22 through the environmental characteristic combining module 23, so that a driver can select a road according to the condition of the driver, the automobile is prevented from passing the road in severe weather, and the safety of automobile driving is improved.

The processing unit 3 receives the data acquired by the specific environment acquisition unit 2, analyzes and processes the received data, and judges the road condition of the driving path, so that a driver can know the road condition and can perform a corresponding automobile driving mode according to the road condition, and the safety of automobile driving is improved;

the processing unit 3 comprises a road condition analysis module 31 and a risk judgment module 32;

the road condition analysis module 31 is configured to receive the weather condition of the node integrated by the environmental characteristic combination module 23 and the time for reaching the node, match the two sets of data together, analyze the condition of the road according to the data condition matched together, predict the water accumulation condition of the road and the driving difficulty of the road, so that a driver of the vehicle can obtain the condition of the road in advance, and the driver of the vehicle can adjust the driving mode in time and perform advanced road switching;

the risk judgment module 32 is configured to judge a risk of the driving safety of the vehicle according to the road condition analyzed by the road condition analysis module 31, so as to prompt a driver to drive a safety risk of the route in advance, so that the driver can avoid and deal with the risk in time, and the risk of the driving of the vehicle is reduced.

The road recommendation selection unit 4 is used for re-planning the road on which the automobile runs according to the data processing result acquired by the specific environment acquisition unit 2 by the processing unit 3, recommending a new path, and enabling a driver to select the new running path according to the condition of the driver, so that the technical staff can avoid dangerous or road sections in special weather, such as difficult-to-run, heavy-rain or snowy road sections at night;

the road recommendation selection unit 4 comprises a road node conversion module 41, a planned path conversion module 42 and a planned path analysis module 43;

the road node conversion module 41 is used for replacing a node with high risk of driving safety of the automobile so as to replace the node into a path with safe driving, so as to ensure the safety of the driving of the automobile;

the planned path conversion module 42 is used for planning a new path for the node replaced by the road node conversion module 41;

the planned path analysis module 43 is configured to analyze the newly planned paths, and recommend a path with low risk of driving safety and a short path, so as to ensure that the speed of the vehicle is fastest when the vehicle is driven safely, reduce the time of driving the vehicle, and reduce the driving fatigue caused by driving the vehicle for a long time.

The observation unit 5 is used for displaying and broadcasting the path, so that drivers can know the condition of the road conveniently and drive automobiles conveniently.

The observation unit 5 comprises a display module 51, a path selection module 52 and a broadcast module 53;

the display module 51 is used for displaying the paths planned by the route planning unit 1 and the road recommendation selection unit 4 so that the driver can know the driving path of the automobile conveniently;

the route selection module 52 is used for selecting a driving route by a driver;

the broadcasting module 53 is used for broadcasting the condition displayed by the display module 51 and prompting the notice in the path after the driver selects the path.

The road recommendation selection unit 4 broadcasts the driver through the observation unit 5 in the process of planning a new path and recommending the new path so that the driver can replace the path in time.

When the embodiment is used, a driver inputs a destination to be reached into the route planning unit 1, the destination is input into a road through the traffic requirement selection module 12 according to the own requirement, then a route is planned through the planning module 13, after the route is planned, the weather condition identification module 21 identifies node information in the route, weather met by each road section in the route is obtained, meanwhile, the time of the automobile passing through the node is judged through the time judgment module 22, so that the driver can timely cope with automobile driving conditions in different modes, the weather condition of the node and the arrival time are integrated and sent to the processing unit 3 through the environmental characteristic combination module 23, the processing unit 3 judges the condition and risk of the road, when the risk of driving the current route is large, the road recommendation selection unit 4 replaces and replans the node with the risk, and a recommended path is carried out so that a driver can conveniently select the recommended path, the driver can select a road and drive according to the self condition, the driver can pass through the safe path so as to ensure the safety of automobile driving, the trouble that the automobile driver drives the automobile for a long time due to automobile congestion caused by the road condition is avoided, and the driving intensity of the automobile driver is reduced.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.