阅读说明：本技术 一种车辆导航的方法及装置 (Vehicle navigation method and device ) 是由 侯琛 于 2020-11-17 设计创作，主要内容包括：本申请涉及智能导航技术领域,公开了一种车辆导航的方法及装置,用于降低丢包率,提升车辆燃油利用率。方法包括：获取第一车载终端的定位位置和第二车载终端的定位位置；根据所述第一车载终端的定位位置和所述第二车载终端的定位位置,确定所述第一车载终端到所述第二车载终端的候选区域；确定每一个候选区域对应的候选路径；根据候选路径的道路特征数据以及候选区域的信息传输特征数据,从所有候选路径中确定所述第一车载终端到所述第二车载终端的目标路径。(The application relates to the technical field of intelligent navigation, and discloses a vehicle navigation method and device, which are used for reducing packet loss rate and improving vehicle fuel utilization rate. The method comprises the following steps: acquiring a positioning position of a first vehicle-mounted terminal and a positioning position of a second vehicle-mounted terminal; determining a candidate area from the first vehicle-mounted terminal to the second vehicle-mounted terminal according to the positioning position of the first vehicle-mounted terminal and the positioning position of the second vehicle-mounted terminal; determining a candidate path corresponding to each candidate area; and determining a target path from the first vehicle-mounted terminal to the second vehicle-mounted terminal from all the candidate paths according to the road characteristic data of the candidate paths and the information transmission characteristic data of the candidate areas.)

1. A method for navigating a vehicle, the method comprising:

acquiring a positioning position of a first vehicle-mounted terminal and a positioning position of a second vehicle-mounted terminal;

determining a candidate area from the first vehicle-mounted terminal to the second vehicle-mounted terminal according to the positioning position of the first vehicle-mounted terminal and the positioning position of the second vehicle-mounted terminal;

determining a candidate path corresponding to each candidate area;

and determining a target path from the first vehicle-mounted terminal to the second vehicle-mounted terminal from all the candidate paths according to the road characteristic data of the candidate paths and the information transmission characteristic data of the candidate areas.

2. The method of claim 1, wherein determining the candidate area from the first vehicle-mounted terminal to the second vehicle-mounted terminal according to the positioning location of the first vehicle-mounted terminal and the positioning location of the second vehicle-mounted terminal comprises:

determining information transmission characteristic data of each position between the first vehicle-mounted terminal and the second vehicle-mounted terminal;

and taking the region of the information transmission characteristic data in the same characteristic interval as a candidate region.

3. The method of claim 2, wherein the information transmission characteristic data comprises a first transmission characteristic data and a second transmission characteristic data;

the step of taking the region of the information transmission characteristic data in the same characteristic interval as a candidate region includes:

dividing the area between the first vehicle-mounted terminal and the second vehicle-mounted terminal into a plurality of candidate sub-areas according to first transmission characteristic data, wherein the first transmission characteristic data of each position in the same candidate sub-area are located in the same first characteristic interval;

for each candidate sub-region, determining second transmission characteristic data of each position in the candidate sub-region; and dividing the candidate sub-area into candidate areas according to the second transmission characteristic data, wherein the second transmission characteristic data of each position in the same candidate area are positioned in the same second characteristic interval.

4. The method of claim 3, wherein the first transmission characteristic data is packet loss rate, and the second transmission characteristic data is time delay; or the like, or, alternatively,

the first transmission characteristic data is time delay, and the second transmission characteristic data is packet loss rate.

5. The method according to claim 4, wherein before determining the target route from the first vehicle-mounted terminal to the second vehicle-mounted terminal from all the candidate routes according to the road characteristic data of the candidate routes and the information transmission characteristic data of the candidate areas, further comprising:

determining the delay tolerance of each candidate region;

and deleting the candidate areas with the time delay larger than the time delay tolerance in all the candidate areas.

6. The method according to claim 3, wherein the determining a target route from the first vehicle-mounted terminal to the second vehicle-mounted terminal from all candidate routes according to road characteristic data of the candidate routes and information transmission characteristic data of candidate areas comprises:

determining the length of each candidate path and the packet loss rate of the corresponding candidate area;

and selecting the target path from all the candidate paths according to the lengths of the candidate paths and the packet loss rates of the corresponding candidate areas.

7. An apparatus for vehicle navigation, the apparatus comprising:

the acquisition module is used for acquiring the positioning position of the first vehicle-mounted terminal and the positioning position of the second vehicle-mounted terminal;

the area module is used for determining a candidate area from the first vehicle-mounted terminal to the second vehicle-mounted terminal according to the positioning position of the first vehicle-mounted terminal and the positioning position of the second vehicle-mounted terminal;

the path module is used for determining a candidate path corresponding to each candidate area;

and the selection module is used for determining a target path from the first vehicle-mounted terminal to the second vehicle-mounted terminal from all the candidate paths according to the road characteristic data of the candidate paths and the information transmission characteristic data of the candidate areas.

8. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the steps of the method of any one of claims 1 to 6 are performed by the processor when the program is executed.

9. A computer-readable storage medium, in which a computer program is stored which is executable by a computer device, and which, when run on the computer device, causes the computer device to carry out the steps of the method as claimed in any one of claims 1 to 6.

Technical Field

The application relates to the technical field of intelligent navigation, in particular to a vehicle navigation method and device.

Background

In the field of intelligent navigation, navigation software provides a planned route for a user and performs voice guidance along the road for the user in the driving process of the user. The existing terminals mostly adopt a Global Positioning System (GPS) to locate and report the position of the terminal, wherein the terminal actively reports position information, and the server depicts the position of the terminal in a map according to the position information reported by the terminal.

In the field of current intelligent navigation, Multi-agent Systems have become a popular research direction. The system is composed of a plurality of autonomous intelligent agents and can cooperate to complete a set of system-level targets. Multi-agent systems are capable of performing tasks that a single agent cannot perform or that are inefficient to perform. The intelligent agent may be a corresponding software program or may be a physical object such as a person, a vehicle, a robot, or a satellite. The multi-autonomous vehicle system is suitable for various scenes, such as following and formation control in vehicle formation, multi-vehicle cooperation in poor road intersection areas, multi-autonomous vehicle mission planning and the like. In a multi-vehicle system, vehicles need to be communicated and interconnected so as to realize efficient cooperation, efficient formation and the like between vehicles.

Currently, a vehicle sending information sends a message to a vehicle receiving information at set time intervals during the traveling process, and if the vehicle does not receive a response from the target vehicle, the vehicle continues to send the message until the vehicle receives the message. The mode does not consider the communication condition between the sending vehicle and the target vehicle, thereby causing serious waste of network resources and serious fuel consumption of the vehicle.

Disclosure of Invention

The embodiment of the application provides a vehicle navigation method and device, which are used for reducing the packet loss rate and improving the vehicle fuel utilization rate.

According to a first aspect of embodiments of the present application, there is provided a method of vehicle navigation, comprising:

acquiring a positioning position of a first vehicle-mounted terminal and a positioning position of a second vehicle-mounted terminal;

determining a candidate area from the first vehicle-mounted terminal to the second vehicle-mounted terminal according to the positioning position of the first vehicle-mounted terminal and the positioning position of the second vehicle-mounted terminal;

determining a candidate path corresponding to each candidate area;

and determining a target path from the first vehicle-mounted terminal to the second vehicle-mounted terminal from all the candidate paths according to the road characteristic data of the candidate paths and the information transmission characteristic data of the candidate areas.

According to another aspect of the embodiments of the present application, there is provided an apparatus for vehicle navigation, the apparatus including:

the acquisition module is used for acquiring the positioning position of the first vehicle-mounted terminal and the positioning position of the second vehicle-mounted terminal;

the area module is used for determining a candidate area from the first vehicle-mounted terminal to the second vehicle-mounted terminal according to the positioning position of the first vehicle-mounted terminal and the positioning position of the second vehicle-mounted terminal;

the path module is used for determining a candidate path corresponding to each candidate area;

and the selection module is used for determining a target path from the first vehicle-mounted terminal to the second vehicle-mounted terminal from all the candidate paths according to the road characteristic data of the candidate paths and the information transmission characteristic data of the candidate areas.

In an optional embodiment, the area module is specifically configured to:

determining information transmission characteristic data of each position between the first vehicle-mounted terminal and the second vehicle-mounted terminal;

and taking the region of the information transmission characteristic data in the same characteristic interval as a candidate region.

In an alternative embodiment, the information transmission characteristic data comprises a first transmission characteristic data and a second transmission characteristic data;

the region module is specifically configured to:

dividing the area between the first vehicle-mounted terminal and the second vehicle-mounted terminal into a plurality of candidate sub-areas according to first transmission characteristic data, wherein the first transmission characteristic data of each position in the same candidate sub-area are located in the same first characteristic interval;

for each candidate sub-region, determining second transmission characteristic data of each position in the candidate sub-region; and dividing the candidate sub-area into candidate areas according to the second transmission characteristic data, wherein the second transmission characteristic data of each position in the same candidate area are positioned in the same second characteristic interval.

In an optional embodiment, the first transmission characteristic data is a packet loss rate, and the second transmission characteristic data is a time delay; or, the first transmission characteristic data is a time delay, and the second transmission characteristic data is a packet loss rate.

In an optional embodiment, the area module is further configured to:

determining the delay tolerance of each candidate region;

and deleting the candidate areas with the time delay larger than the time delay tolerance in all the candidate areas.

In an optional embodiment, the selection module is specifically configured to:

determining the length of each candidate path and the packet loss rate of the corresponding candidate area;

and selecting the target path from all the candidate paths according to the lengths of the candidate paths and the packet loss rates of the corresponding candidate areas.

According to another aspect of embodiments of the present application, there is provided a computing device comprising at least one processor and at least one memory, wherein the memory stores a computer program that, when executed by the processor, causes the processor to perform the steps of the vehicle navigation method provided by embodiments of the present application.

According to another aspect of the embodiments of the present application, there is provided a storage medium storing computer instructions, which, when executed on a computer, cause the computer to perform the steps of the vehicle navigation method provided by the embodiments of the present application.

In the embodiment of the application, the first vehicle-mounted terminal is a vehicle-mounted terminal in a first vehicle, the second vehicle-mounted terminal is a vehicle-mounted terminal in a second vehicle, and the first vehicle travels from the current position to the second vehicle, so that the target path from the current position to the second vehicle is determined by the vehicle navigation method in the embodiment of the application. The method comprises the steps of obtaining a positioning position of a first vehicle-mounted terminal and a positioning position of a second vehicle-mounted terminal, determining candidate areas from the first vehicle-mounted terminal to the second vehicle-mounted terminal and corresponding candidate paths in each candidate area according to the positioning position of the first vehicle-mounted terminal and the positioning position of the second vehicle-mounted terminal, and determining a target path from the first vehicle-mounted terminal to the second vehicle-mounted terminal from all candidate paths according to road characteristic data of the candidate paths and information transmission characteristic data of the candidate areas. According to the method and the device for selecting the target route, the target route is selected from all the candidate routes according to the road characteristic data of the candidate routes between the first vehicle and the second vehicle and the communication characteristic data of the candidate areas, therefore, the first vehicle-mounted terminal can send data to the second vehicle-mounted terminal in the driving process of the first vehicle, and the communication characteristic data of the candidate areas are considered in the selection of the target route, so that the data communication condition is good, for example, the packet loss rate is small, the time delay is small, and the length of the route is considered in the selection of the target route, so that the fuel consumption of the vehicle is small, and the fuel utilization rate of the vehicle is improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application.

Fig. 1 is a system architecture diagram of a vehicle navigation system in an embodiment of the present application;

fig. 2 is a schematic view of an application scenario of a vehicle navigation system in an embodiment of the present application;

FIG. 3 is a flow chart of a method of vehicle navigation in an embodiment of the present application;

fig. 4 is a schematic diagram of a possible interface of a mobile terminal in the embodiment of the present application;

FIG. 5 is a schematic diagram of a system architecture of a cloud platform of the Internet of vehicles according to an embodiment of the present application;

FIG. 6 is a schematic diagram illustrating the determination of a target path in an embodiment of the present application;

FIG. 7 is a block diagram illustrating an exemplary embodiment of a vehicle navigation apparatus;

fig. 8 is a block diagram illustrating a server according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments, but not all embodiments, of the technical solutions of the present application. All other embodiments obtained by a person skilled in the art without any inventive step based on the embodiments described in the present application are within the scope of the protection of the present application.

The terms "first" and "second" in the description and claims of the present invention and the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the term "comprises" and any variations thereof, which are intended to cover non-exclusive protection. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Some concepts related to the embodiments of the present application are described below.

Positioning position: and the terminal navigation software acquires the positioning information representing the current position of the terminal through a positioning system carried by the terminal. The positioning system in the embodiment of the present application may be a GPS, and may also be a beidou satellite navigation system, a galileo satellite navigation system, a global navigation satellite system, and the like. In the terminal navigation software, a GPS position is acquired every second through a GPS positioning system, and therefore a group of GPS positions is formed. And clicking the current GPS position when the user locates in the terminal navigation software, namely the current GPS position is the locating position.

Path: the method refers to that a driver obtains at least one prediction result which can reach a target point from a starting point through navigation equipment after determining the starting point and the target point, and the driving path related in the application can be a prediction path provided by the navigation equipment and can also be a path distributed by command equipment.

The vehicle-mounted terminal: the vehicle-mounted terminal equipment mainly comprises various external equipment such as a vehicle-mounted video server, an LCD touch screen, an external camera, a call handle, an automobile burglar alarm and the like. In addition, the vehicle-mounted terminal in the embodiment of the application may also be a mobile terminal with a positioning function, such as a mobile phone, a tablet computer, and a notebook computer carried by a user.

Packet loss rate: refers to the ratio of the number of packets lost in the test to the number of packets sent. The calculation method comprises the following steps: "[ (input message-output message)/input message ] × 100%". The packet loss rate is related to the packet length and the packet transmission frequency. Generally, when the flow rate of the gigabit network card is greater than 200Mbps, the packet loss rate is less than five ten-thousandths; when the flow rate of the hundred million network cards is more than 60Mbps, the packet loss rate is less than one ten thousandth. Testing is typically done over a range of throughputs.

Time delay: refers to the time required for a message or packet to travel from one end of a network to another. The method comprises the steps of sending delay, propagation delay, processing delay and queuing delay. In general, the transmission delay and the propagation delay need to be considered mainly (the delay is transmission delay + propagation delay + processing delay + queuing delay). For the case of large message length, the transmission delay is a main contradiction; when the length of the message is small, propagation delay is a main contradiction.

Networking of vehicles: the vehicle-mounted equipment on the vehicle effectively utilizes all vehicle dynamic information in the information network platform through a wireless communication technology, and provides different functional services in the running process of the vehicle. It can be seen that the internet of vehicles exhibits the following features: the Internet of vehicles can provide guarantee for the distance between the vehicles, and the probability of collision accidents of the vehicles is reduced; the Internet of vehicles can help the vehicle owner to navigate in real time, and the efficiency of traffic operation is improved through communication with other vehicles and a network system.

Artificial Intelligence (AI) is a theory, method, technique and application system that uses a digital computer or a machine controlled by a digital computer to simulate, extend and expand human Intelligence, perceive the environment, acquire knowledge and use the knowledge to obtain the best results. In other words, artificial intelligence is a comprehensive technique of computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can react in a manner similar to human intelligence. Artificial intelligence is the research of the design principle and the realization method of various intelligent machines, so that the machines have the functions of perception, reasoning and decision making.

The artificial intelligence technology is a comprehensive subject and relates to the field of extensive technology, namely the technology of a hardware level and the technology of a software level. The artificial intelligence infrastructure generally includes technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technologies, operation/interaction systems, mechatronics, and the like. The artificial intelligence software technology mainly comprises a computer vision technology, a voice processing technology, a natural language processing technology, machine learning/deep learning and the like.

The automatic driving technology generally comprises technologies such as high-precision maps, environment perception, behavior decision, path planning, motion control and the like, and the self-determined driving technology has wide application prospects.

With the research and progress of artificial intelligence technology, the artificial intelligence technology is developed and applied in a plurality of fields, such as common smart homes, smart wearable devices, virtual assistants, smart speakers, smart marketing, unmanned driving, automatic driving, unmanned aerial vehicles, robots, smart medical care, smart customer service, and the like.

Referring to fig. 1, a system architecture diagram of a vehicle navigation system provided in an embodiment of the present application is shown, and in this application scenario, a satellite 11, a base station 12, a server 13, and a vehicle-mounted terminal are included.

The in-vehicle terminal is provided with a positioning unit, which may be a satellite positioning chip, having a satellite communication function, and may also be referred to as a mobile station, an access terminal, a subscriber unit, a subscriber station, a mobile station, a remote terminal, a mobile device, a user terminal, a wireless communication device, a user agent, or a user equipment. The vehicle-mounted terminal may be a vehicle-mounted navigation device, and the vehicle-mounted terminal may also be any mobile device with a positioning function, such as a cellular phone, a cordless phone, a Session Initiation Protocol (SIP) phone, a Wireless Local Loop (WLL) station, a Personal Digital Assistant (PDA), a handheld device with a wireless communication function, a computing device or other processing device connected to a wireless modem, a vehicle-mounted device, a wearable device, a mobile station in a 5G Network or a user equipment in a Public Land Mobile Network (PLMN) Network for future evolution, and the like.

The vehicle-mounted terminal may communicate with the server 13 through an INTERNET network, or may communicate with the server 13 through a Mobile communication System such as a Global System for Mobile Communications (GSM) System or a Long Term Evolution (LTE) System.

The server 13 includes, but is not limited to, an electronic device such as a desktop computer, a mobile phone, a mobile computer, a tablet computer, and the like, and may include a server, which may be a server cluster or a single server. The server may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing basic cloud computing services such as cloud service, a cloud database, cloud computing, a cloud function, cloud storage, network service, cloud communication, middleware service, domain name service, security service, CDN, and a big data and artificial intelligence platform.

The server 13 may also be a cloud computing module, which is a computing model that distributes computing tasks over a resource pool formed by a large number of computers, so that various application systems can obtain computing power, storage space, and information services as needed. The network that provides the resources is referred to as the "cloud". Resources in the "cloud" appear to the user as being infinitely expandable and available at any time, available on demand, expandable at any time, and paid for on-demand.

In an alternative embodiment, the server 13 may also be configured with a database, which may be used to store positioning data for each vehicle, position data for the lanes, etc. The database can be a cloud database, which refers to a storage system that integrates a large number of storage devices (storage devices are also called storage nodes) of different types in a network through application software or application interfaces to cooperatively work through functions such as cluster application, grid technology, distributed storage file system and the like, and provides data storage and service access functions to the outside. In the embodiment of the present application, the routing server 13 may access the cloud database through an access structure of the cloud database.

The server 13 and the terminal device may be communicatively connected via one or more networks. The network may be a wired network or a Wireless network, for example, the Wireless network may be a mobile cellular network, or may be a Wireless-Fidelity (WIFI) network, or may also be other possible networks, which is not limited in this embodiment of the present invention.

In an alternative embodiment, the server 13 and the terminal device may be connected through an internet of vehicles, for example, the server 13 and the terminal device are connected to the internet of vehicles through bluetooth technology, and perform data interaction through wireless technology. The vehicle navigation method of the embodiment of the application can be applied to a vehicle networking application scene as shown in fig. 2. As shown in fig. 2, communication is realized between the vehicle and the cloud platform, the vehicle realizes information transmission with the vehicle networking service platform through wireless communication technologies such as satellite wireless communication or mobile cellular, receives a control instruction issued by the platform, and shares vehicle data in real time. The vehicle-to-vehicle information exchange and information sharing are realized, vehicle state information such as vehicle position, running speed and the like is included, and the information can be used for judging road traffic conditions. The information communication between the vehicles and the roads is realized by the aid of ground road fixed communication facilities, and the information communication is used for monitoring road surface conditions and guiding the vehicles to select the optimal running path. The vehicle and the user can communicate with each other through wireless communication means such as WIFI, Bluetooth and honeycomb, so that the user can monitor and control the vehicle through the corresponding mobile terminal device. And information data transmission among all devices in the vehicle is used for real-time detection and operation control of the device state, and a digital in-vehicle control system is established.

The satellite 11 communicates directly with a positioning unit in the in-vehicle terminal. In a possible embodiment, the vehicle-mounted terminal is a mobile phone of a driver, an IPAD, and the like, the vehicle-mounted terminal can collect the GPS information of the vehicle in the driving process in real time, and the vehicle-mounted terminal can also send the real-time collected GPS information in the driving process to the server 23 through the base station 12 at the GPS reporting time, so that the server 13 can obtain the GPS information of the vehicle in the driving process in real time.

The automatic driving automobile can automatically run according to the vehicle navigation method in the embodiment of the application, or follow and formation control in vehicle formation, multi-automobile cooperation in poor road areas, multi-autonomous vehicle mission planning and other scenes are needed to be communicated and interconnected, and efficient cooperation, efficient cooperation and efficient formation between the automobiles can be realized by utilizing the vehicle navigation method in the embodiment of the application.

For example, a first vehicle needs to travel to the location of a second vehicle to achieve vehicle formation, and the first vehicle sends a message to the second vehicle to interconnect and intercommunicate during the travel to the location of the second vehicle. The server 13 acquires the positioning position of the first in-vehicle terminal corresponding to the first vehicle and the positioning position of the second in-vehicle terminal corresponding to the second vehicle using the satellite 11. The server 13 determines candidate areas from the first vehicle-mounted terminal to the second vehicle-mounted terminal according to the positioning position of the first vehicle-mounted terminal and the positioning position of the second vehicle-mounted terminal, and determines a candidate path corresponding to each candidate area. The server 13 determines a target route from the first vehicle-mounted terminal to the second vehicle-mounted terminal from all the candidate routes according to the road feature data of the candidate routes and the information transmission feature data of the candidate areas. The server 13 sends the target path to the first vehicle-mounted terminal, so that the first vehicle-mounted terminal can drive to the positioning position of the second vehicle-mounted terminal according to the received target path.

It should be noted that the above-mentioned application scenarios are only presented for the convenience of understanding the spirit and principles of the present application, and the embodiments of the present application are not limited in this respect. Rather, the embodiments of the present application may be applied to any applicable scenario.

The following describes a vehicle navigation method provided in the embodiment of the present application with reference to an application scenario shown in fig. 1.

Referring to fig. 3, an embodiment of the present application provides a vehicle navigation method, as shown in fig. 3, the method includes:

step S301: the server acquires the positioning position of the first vehicle-mounted terminal and the positioning position of the second vehicle-mounted terminal.

In the specific implementation process, the first vehicle-mounted terminal and the second vehicle-mounted terminal are both provided with positioning units, which can be satellite positioning chips and have a satellite communication function. The first vehicle-mounted terminal and the second vehicle-mounted terminal are in direct communication with the positioning satellite through the positioning unit, so that the positioning information can be collected. The first vehicle-mounted terminal and the second vehicle-mounted terminal send the positioning information collected in real time to the server through the base station, so that the server can also receive and implement the positioning information of the first vehicle-mounted terminal and the second vehicle-mounted terminal.

In a specific embodiment, a user may also control a first vehicle and a second vehicle through a mobile terminal, and when navigation or route calculation is required, as shown in fig. 4, the user clicks a "route planning" icon in the mobile terminal, the mobile terminal sends a request for vehicle navigation from the first vehicle to the second vehicle to a server, and since the server also receives real-time GPS information sent by the first vehicle-mounted terminal and the second vehicle-mounted terminal, the server takes a current GPS point of the first vehicle-mounted terminal as a positioning position of the first vehicle and as an initial position of the vehicle navigation; and taking the current GPS point of the second vehicle-mounted terminal as the positioning position of the second vehicle and as the terminal position of the vehicle navigation.

Step S302: and determining a candidate area from the first vehicle-mounted terminal to the second vehicle-mounted terminal according to the positioning position of the first vehicle-mounted terminal and the positioning position of the second vehicle-mounted terminal.

In a specific implementation process, the server may divide an area between the positioning position of the first vehicle-mounted terminal and the positioning position of the second vehicle-mounted terminal into at least one candidate area in real time according to the positioning position. In another embodiment, the entire map may be divided into a plurality of candidate regions offline according to the map information, and the information of each candidate region may be stored in the database. When the server needs to carry out vehicle navigation, the server can directly obtain the vehicle navigation information from the database.

The vehicle-mounted terminal of each vehicle comprises a GPS device, and when any vehicle runs to a certain candidate area, the ID and the GPS of the vehicle are reported to the cloud platform. The cloud platform stores the GPS information of all vehicles in real time (ID and GPS constitute key-value pairs in the database). The cloud platform can find out the GPS of the vehicle according to the vehicle ID corresponding to the vehicle-mounted terminal, determine the candidate area where the vehicle-mounted terminal is located, and further determine which candidate areas the first vehicle should travel to the position where the second vehicle is located.

Step S303: and determining a candidate path corresponding to each candidate area.

The candidate route in each candidate area can be selected by referring to the positioning position of the first vehicle-mounted terminal to the positioning position of the second vehicle-mounted terminal, so that the first vehicle can travel to the positioning position of the second vehicle-mounted terminal from the positioning position of the first vehicle-mounted terminal through the candidate route. If there is more than one candidate path in a certain candidate area, the path with the minimum length is selected as the candidate path.

Step S304: and determining a target path from the first vehicle-mounted terminal to the second vehicle-mounted terminal from all the candidate paths according to the road characteristic data of the candidate paths and the information transmission characteristic data of the candidate areas.

In a specific implementation process, the road characteristics of the candidate route characterize the road condition of the candidate route, and may include information such as the position, length, speed limit, real-time traffic, and the like of the candidate route. The data transmission characteristics of the candidate area characterize the communication condition of the candidate area, and may include information such as packet loss rate, time delay, and the like.

The road characteristic data can be obtained from the existing traffic information database, and can also be determined for real-time monitoring. The data transmission characteristics can be determined in advance through data transmission experiments or through historical communication data statistics.

And selecting a candidate path from each candidate area as a target path of the candidate area according to the road characteristic data and the information transmission characteristic data, so that the target paths of all the candidate areas are connected and can be used as a navigation path finally sent to the first vehicle-mounted terminal.

Thereafter, the server may transmit the determined target path to the first in-vehicle terminal, so that the first vehicle may travel to the position of the second in-vehicle terminal according to the received target path.

In the embodiment of the application, the first vehicle-mounted terminal is a vehicle-mounted terminal in a first vehicle, the second vehicle-mounted terminal is a vehicle-mounted terminal in a second vehicle, and the first vehicle travels from the current position to the second vehicle, so that the target path from the current position to the second vehicle is determined by the vehicle navigation method in the embodiment of the application. The method comprises the steps of obtaining a positioning position of a first vehicle-mounted terminal and a positioning position of a second vehicle-mounted terminal, determining candidate areas from the first vehicle-mounted terminal to the second vehicle-mounted terminal and corresponding candidate paths in each candidate area according to the positioning position of the first vehicle-mounted terminal and the positioning position of the second vehicle-mounted terminal, and determining a target path from the first vehicle-mounted terminal to the second vehicle-mounted terminal from all candidate paths according to road characteristic data of the candidate paths and information transmission characteristic data of the candidate areas. According to the method and the device for selecting the target route, the target route is selected from all the candidate routes according to the road characteristic data of the candidate routes between the first vehicle and the second vehicle and the communication characteristic data of the candidate areas, therefore, the first vehicle-mounted terminal can send data to the second vehicle-mounted terminal in the driving process of the first vehicle, and the communication characteristic data of the candidate areas are considered in the selection of the target route, so that the data communication condition is good, for example, the packet loss rate is small, the time delay is small, and the length of the route is considered in the selection of the target route, so that the fuel consumption of the vehicle is small, and the fuel utilization rate of the vehicle is improved.

In an alternative embodiment, the step S302: determining a candidate area from a first vehicle-mounted terminal to a second vehicle-mounted terminal according to the positioning position of the first vehicle-mounted terminal and the positioning position of the second vehicle-mounted terminal, wherein the candidate area comprises:

determining information transmission characteristic data of each position between a first vehicle-mounted terminal and a second vehicle-mounted terminal;

and taking the region of the information transmission characteristic data in the same characteristic interval as a candidate region.

In a specific implementation process, the area between the first vehicle-mounted terminal and the second vehicle-mounted terminal may be divided into a plurality of candidate areas, and the division manner may be division according to geographic features or data transmission features. In the embodiment of the application, in order to ensure the communication between the first vehicle-mounted terminal and the second vehicle-mounted terminal, the area between the first vehicle-mounted terminal and the second vehicle-mounted terminal is divided according to the information transmission characteristic data.

Further, the information transmission characteristic data includes first transmission characteristic data and second transmission characteristic data. The first transmission characteristic data may be a packet loss rate, and the second transmission characteristic data may be a time delay; or, the first transmission characteristic data is time delay, and the second transmission characteristic data is packet loss rate. Of course, in the embodiment of the present application, the information transmission characteristic is packet loss rate or time delay only by way of example, and the information transmission characteristic may also be other indexes for measuring communication conditions, such as bandwidth, real-time data throughput, and the like. In addition, the candidate region may also be determined according to a plurality of information transmission characteristics, and is not limited to two information transmission characteristics in the embodiment of the present application.

A specific method of determining the candidate region is described below. Taking the region of the information transmission characteristic data in the same characteristic interval as a candidate region, including:

dividing a region from the first vehicle-mounted terminal to the second vehicle-mounted terminal into a plurality of candidate sub-regions according to the first transmission characteristic data, wherein the first transmission characteristic data of each position in the same candidate sub-region are located in the same first characteristic interval;

for each candidate subregion, determining second transmission characteristic data of each position in the candidate subregion; and dividing the candidate sub-area into candidate areas according to the second transmission characteristic data, wherein the second transmission characteristic data of each position in the same candidate area are located in the same second characteristic interval.

In the specific implementation process, the first transmission characteristic data is taken as a packet loss rate, the second transmission characteristic data is taken as a time delay, the first characteristic interval is taken as a packet loss rate interval, and the second characteristic interval is taken as a time delay interval.

The following division modes can be specifically adopted: a plurality of packet loss rate intervals are predetermined, and the positions of the packet loss rates in the same interval are divided into one candidate sub-area, so that the positioning position of the first vehicle-mounted terminal and the positioning position of the second vehicle-mounted terminal can be divided into a plurality of candidate sub-areas. Then, each candidate subregion is further divided: the method comprises the steps of determining a plurality of time delay intervals in advance, dividing each candidate subregion according to time delay, and dividing the position of the same interval into the same candidate region, so that each candidate subregion can be divided into a plurality of candidate regions.

On the other hand, the division mode may also be that a plurality of time delay intervals are predetermined, and the position where the time delay is located in the same interval is divided into one candidate sub-area, so that a plurality of candidate sub-areas can be obtained by dividing between the positioning position of the first vehicle-mounted terminal and the positioning position of the second vehicle-mounted terminal. Then, each candidate subregion is further divided: the method comprises the steps of determining a plurality of packet loss rate intervals in advance, dividing the candidate sub-areas according to packet loss rates aiming at each candidate sub-area, and dividing the positions of the candidate sub-areas in the same interval into the same candidate area, so that each candidate sub-area can be divided to obtain a plurality of candidate areas.

Furthermore, the division may be performed multiple times according to multiple transmission characteristics, so as to repeatedly obtain several candidate regions.

In addition, in order to ensure the driving safety between vehicles, before determining a target route from a first vehicle-mounted terminal to a second vehicle-mounted terminal from all candidate routes according to the road characteristic data of the candidate routes and the information transmission characteristic data of the candidate areas, the method further comprises the following steps:

determining the delay tolerance of each candidate region;

and deleting the candidate areas with the time delay larger than the time delay tolerance in all the candidate areas.

In the specific implementation process, in the driving process of the vehicle, a certain safe distance needs to be ensured between two vehicles, and time delay exists in information transmission between the vehicle-mounted terminals, so that for a candidate area, the time delay tolerance of the candidate area can be determined according to the average inter-vehicle distance and the average vehicle speed of the candidate area, that is, the time delay of the candidate area needs to be less than or equal to the time delay tolerance to ensure the driving safety of the vehicle, and the candidate area with the time delay greater than the time delay tolerance needs to be deleted. Because the limit condition of vehicle collision is that the former vehicle is static and the latter vehicle collides with the former vehicle, the time delay tolerance can be taken as the ratio of the average inter-vehicle distance to the average vehicle speed under the limit condition.

Specifically, the average vehicle speed and the average inter-vehicle distance for each candidate area may be obtained, for example, for the candidate area d₁，d_2，...，d_nRecording the average vehicle speed as v₁，v₂，...，v_nRecording the average inter-vehicle distance as s₁，s₂，...，s_n. The vehicle networking cloud platform can calculate the distance between vehicles in each candidate area in real time according to the GPS reported by the vehicles, and further calculates the average vehicle distance. The vehicle reports the ID and the GPS and reports the vehicle speed, and the Internet of vehicles cloud platform can calculate the average vehicle speed of the vehicles in real time.

Calculating the delay tolerance of each candidate area according to the average vehicle speed and the average vehicle distance of each candidate area, wherein the delay tolerance is s₁/v₁，s₂/v₂，...，s_n/v_n。

And deleting the candidate areas with the time delay larger than the time delay tolerance from all the candidate areas. That is, if the time delays of the candidate regions are respectively denoted as t₁，t₂，...，t_nThen, for a candidate region, t is determined_i＞s_i/v_iAnd if the judgment result is positive, i is the mark of the ith candidate area, if so, deleting the candidate area, and if not, keeping the candidate area.

After the candidate areas between the first vehicle and the second vehicle are determined, for each candidate area, a target route needs to be selected from the candidate routes included in the candidate area. Determining a target path from a first vehicle-mounted terminal to a second vehicle-mounted terminal from all candidate paths according to the road characteristic data of the candidate paths and the information transmission characteristic data of the candidate areas, and the method comprises the following steps:

determining the length of each candidate path and the packet loss rate of the corresponding candidate area;

and selecting a target path from all the candidate paths according to the lengths of the candidate paths and the packet loss rates of the corresponding candidate areas.

In a specific implementation process, for each candidate region, according to the road characteristic data of the candidate path corresponding to the candidate region and the information transmission characteristic data of the candidate region, all candidate paths are selected, and one path with the optimal characteristics is spliced to serve as a target path.

For example, the road characteristic data of the candidate route may be a route length, and the information transmission characteristic data of the candidate area may be a packet loss rate of the route.

In the specific implementation process, the candidate regions screened above are recorded asIts corresponding candidate path length is recorded asDetermining the ordinal number (i.e. the serial number in the permutation) of each candidate path length in a set order, for example, the order from small to large (or from large to small), and recording the ordinal number as the ordinal number in the permutation

Packet loss rate of corresponding candidate pathAlso according to the settingSequentially, that is, sequentially arranging from small to large (or from large to small), determining the ordinal number of the packet loss rate of each candidate path in the arrangement, and recording the ordinal number as

For each candidate path, calculating the sum of the length ranking order number and the packet loss rate ranking order number of the candidate path, and respectively recording the sum asFrom the positioning position of the first vehicle-mounted terminal to the positioning position of the second vehicle-mounted terminal, the candidate routes between the starting point and the ending point can be spliced together on the basis of ensuring the running of the first vehicle. And determining splicing modes of multiple candidate paths according to the feasibility of the vehicle, adding the sum of the ordinal numbers of different candidate paths according to the splicing of the candidate paths, and selecting the splicing mode with the minimum calculated value as the target path. If the candidate paths are sorted from large to small, the candidate path with the largest calculated value is selected.

The above-described process is described in detail below with specific examples. Fig. 5 is a schematic diagram of a system architecture of a car networking cloud platform in an embodiment of the present application, where the cloud platform is used for providing cloud services and big data platform analysis. The cloud platform can be connected with the vehicle-mounted terminal through a 3G or 4G or 5G network. Data are sent between the vehicle-mounted terminals through a 4G or 5G or DSRC (Dedicated Short Range Communication) network, and a vehicle-to-vehicle and vehicle-to-road Communication scheme is provided for a user. The hardware platform in the embodiment of the present application further provides various upper layer applications based on analysis and prediction of big data and data acquisition management.

Fig. 6 shows a schematic view of vehicle navigation from point a to point B, where the sending vehicle is a vehicle corresponding to a first vehicle-mounted terminal and located at point a in fig. 6, the receiving vehicle is a vehicle corresponding to a second vehicle-mounted terminal and located at point B in fig. 6, and a flow of the specific embodiment is as follows.

Inputting ID (such as license plate number) of receiving vehicle in vehicle-mounted computer of sending vehicle) The vehicle-mounted computer determines candidate areas between the sending vehicle and the receiving vehicle by combining the Internet of vehicles cloud platform, and the areas are recorded as d₁，d₂，...，d_n。

The sending vehicle acquires performance indexes related to the candidate paths by the vehicle-mounted computer: the vehicle-mounted computer of the sending vehicle generates candidate areas and gives the distances from the current position of the sending vehicle to each candidate area, and the distances from the current position of the sending vehicle to the candidate areas d are recorded respectively₁，d₂，...，d_nHas a path length of L₁，L₂，...，L_n。

The vehicle-mounted computer of the sending vehicle generates candidate areas and simultaneously gives the network packet loss rate of each candidate area, and the candidate areas d are respectively recorded₁，d₂，...，d_nPacket loss rate of p₁，p₂，...，p_n. When the vehicle-mounted computer of the sending vehicle generates the candidate areas, the network time delay of each candidate area is given, and the candidate areas d are respectively recorded₁，d₂，...，d_nHas a time delay of t₁，t₂，...，t_n. The vehicle-mounted computer of the sending vehicle generates candidate areas, gives the vehicle speed and the vehicle distance of the vehicle in each candidate area, and respectively records the candidate areas d₁，d₂，...，d_nHas an average vehicle speed v₁，v₂，...，v_nAverage inter-vehicle distance of s₁，s₂，...，s_n。

The sending vehicle follows the following steps from L₁，L₂，...，L_nThe driving route which can ensure the driving safety and minimize the driving distance and the communication packet loss rate of the vehicle is selected, and the sub-area corresponding to the route is the area which the sending vehicle needs to drive into: the sending vehicle-mounted computer determines the delay tolerance of the vehicle in each subarea when receiving the information sent by the sending vehicle, and the delay tolerance is s₁/v₁，s₂/v₂，...，s_n/v_n。

Transmitting vehicle-mounted computer to exclude time delay larger than time delay toleranceAnd (6) candidate areas. Specifically, if t_i＞s_i/v_iThen the candidate region d should be excluded_i(ii) a All screened candidate regions (remaining after performing the exclusion operation) are respectively recorded as(these candidate regions are referred to as feasible candidate regions).

Length of candidate path to be corresponding to feasible candidate regionAccording to the sequence from small to large, determining the ordinal number (i.e. the number of the first candidate path length in the sequence) of each candidate path length in the sequence, and respectively recording the ordinal number asPacket loss rate of candidate path corresponding to feasible candidate areaAccording to the sequence from small to large, determining the ordinal number (namely the number of the first candidate region in the sequence) of the packet loss rate of each candidate region in the sequence, and respectively recording the ordinal number asThe sum of the number of the sort order bits from the path length and the number of the sort order bits from the packet loss rate, i.e.The candidate area corresponding to the minimum is the candidate area that the sending vehicle should enter, and the candidate route corresponding to the candidate area is the target route that the sending vehicle should travel. As shown in fig. 6, the dotted line from point a to point B is the target path.

The server sends the target path to the sending vehicle, and the sending vehicle runs to the receiving vehicle according to the target path. During the running of the sending vehicle, the message can be sent to the receiving vehicle according to the set frequency. Because the route where the sending vehicle runs is the target route planned according to the vehicle navigation method in the embodiment of the application, the sending vehicle has a small message loss rate and a small time delay in the whole target route running process, and the length of the route is considered, so that the fuel consumption of the vehicle is also small.

Ten experiments are performed according to the vehicle navigation method in the embodiment of the application, the ratio of the resource consumption of the central processor of the internet of vehicles at each time is counted, and the results of the ten experiments are shown in table 1. Obviously, in the vehicle driving process of the embodiment of the application, indexes in all aspects are superior to those of the related art.

TABLE 1

The following are embodiments of the apparatus of the present application, and for details not described in detail in the embodiments of the apparatus, reference may be made to the above-mentioned one-to-one corresponding method embodiments.

Referring to fig. 7, a block diagram of a data processing system according to an embodiment of the present application is shown. The cross-link data processing apparatus is implemented by hardware or a combination of hardware and software as all or a part of the server 13 in fig. 1. The device includes:

an obtaining module 701, configured to obtain a positioning position of a first vehicle-mounted terminal and a positioning position of a second vehicle-mounted terminal;

an area module 702, configured to determine a candidate area from the first vehicle-mounted terminal to the second vehicle-mounted terminal according to a location position of the first vehicle-mounted terminal and a location position of the second vehicle-mounted terminal;

a path module 703, configured to determine a candidate path corresponding to each candidate region;

the selecting module 704 is configured to determine a target route from the first vehicle-mounted terminal to the second vehicle-mounted terminal from all candidate routes according to the road characteristic data of the candidate routes and the information transmission characteristic data of the candidate areas.

In an alternative embodiment, the area module 702 is specifically configured to:

determining information transmission characteristic data of each position between the first vehicle-mounted terminal and the second vehicle-mounted terminal;

and taking the region of the information transmission characteristic data in the same characteristic interval as a candidate region.

In an alternative embodiment, the information transmission characteristic data comprises a first transmission characteristic data and a second transmission characteristic data;

the region module 702 is specifically configured to:

dividing the area between the first vehicle-mounted terminal and the second vehicle-mounted terminal into a plurality of candidate sub-areas according to first transmission characteristic data, wherein the first transmission characteristic data of each position in the same candidate sub-area are located in the same first characteristic interval;

for each candidate sub-region, determining second transmission characteristic data of each position in the candidate sub-region; and dividing the candidate sub-area into candidate areas according to the second transmission characteristic data, wherein the second transmission characteristic data of each position in the same candidate area are positioned in the same second characteristic interval.

In an optional embodiment, the first transmission characteristic data is a packet loss rate, and the second transmission characteristic data is a time delay; or, the first transmission characteristic data is a time delay, and the second transmission characteristic data is a packet loss rate.

In an alternative embodiment, the area module 702 is further configured to:

determining the delay tolerance of each candidate region;

and deleting the candidate areas with the time delay larger than the time delay tolerance in all the candidate areas.

In an alternative embodiment, the selecting module 704 is specifically configured to:

determining the length of each candidate path and the packet loss rate of the corresponding candidate area;

and selecting the target path from all the candidate paths according to the lengths of the candidate paths and the packet loss rates of the corresponding candidate areas.

Referring to fig. 8, a block diagram of a server according to an embodiment of the present application is shown. The server 800 is implemented as the server 13 in fig. 1. Specifically, the method comprises the following steps:

the server 800 includes a Central Processing Unit (CPU)801, a system memory 804 including a Random Access Memory (RAM)802 and a Read Only Memory (ROM)803, and a system bus 805 connecting the system memory 804 and the central processing unit 801. The server 800 also includes a basic input/output system (I/O system) 806, which facilitates transfer of information between devices within the computer, and a mass storage device 807 for storing an operating system 813, application programs 814, and other program modules 815.

The basic input/output system 806 includes a display 808 for displaying information and an input device 809 such as a mouse, keyboard, etc. for user input of information. Wherein the display 808 and the input device 809 are connected to the central processing unit 801 through an input output controller 810 connected to the system bus 805. The basic input/output system 806 may also include an input/output controller 810 for receiving and processing input from a number of other devices, such as a keyboard, mouse, or electronic stylus. Similarly, input-output controller 810 also provides output to a display screen, a printer, or other type of output device.

The mass storage device 807 is connected to the central processing unit 801 through a mass storage controller (not shown) connected to the system bus 805. The mass storage device 807 and its associated computer-readable media provide non-volatile storage for the server 800. That is, the mass storage device 807 may include a computer-readable medium (not shown) such as a hard disk or CD-ROM drive.

Without loss of generality, the computer-readable media may comprise computer storage media and communication media. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes RAM, ROM, EPROM, EEPROM, flash memory or other solid state memory technology, CD-ROM, DVD, or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices. Of course, those skilled in the art will appreciate that the computer storage media is not limited to the foregoing. The system memory 804 and mass storage 807 described above may be collectively referred to as memory.

The server 800 may also operate as a remote computer connected to a network via a network, such as the internet, according to various embodiments of the present application. That is, the server 800 may be connected to the network 812 through the network interface unit 811 coupled to the system bus 805, or may be connected to other types of networks or remote computer systems (not shown) using the network interface unit 811.

The memory also includes one or more programs stored in the memory, the one or more programs including instructions for performing the check-in methods provided by embodiments of the present application.

It will be understood by those skilled in the art that all or part of the steps in the check-in method of the above embodiments may be implemented by a program instructing associated hardware, and the program may be stored in a computer-readable storage medium, and the storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.

Those skilled in the art will appreciate that all or part of the steps in the check-in method of the above embodiments may be implemented by a program instructing associated hardware, and the program may be stored in a computer-readable storage medium, and the storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.

The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.