技术领域technical field
本发明实施例涉及路线导航领域，尤其涉及一种路线确定方法、装置、设备和介质。The embodiments of the present invention relate to the field of route navigation, and in particular to a method, device, device and medium for determining a route.
背景技术Background technique
随着国家经济以及技术的快速发展，越来越多的人购买了自己的车辆，导致整个社会的交通状况越来越拥堵，特别是一二线城市更加明显。和以前相比，现在的交通系统更加的多变，比如实时路况频繁的变化、交通事故、政治事件封路、分时段交限、临时施工限行、道路阻断以及自然因素的影响，均会导致初始规划的路线已经不是最优或者已经是违法的路线。并且用户在拥堵时是有更优路线诉求的。因此，产生了导航过程中对路线确定的需求。With the rapid development of the country's economy and technology, more and more people have purchased their own vehicles, resulting in more and more traffic congestion in the entire society, especially in first- and second-tier cities. Compared with the past, the current traffic system is more changeable, such as frequent changes in real-time road conditions, traffic accidents, road closures due to political events, time-segmented traffic restrictions, temporary construction restrictions, road blockages and the influence of natural factors, all of which will lead to The initially planned route is no longer optimal or already illegal. And users have better route appeals when they are congested. Therefore, there is a need for route determination during navigation.
导航过程中路线确定目前普遍采用如下方案：The route determination in the navigation process currently generally adopts the following schemes:
(1)基于当前时刻信息确定目标导航路线。(1) Determine the target navigation route based on the current moment information.
(2)基于历史时刻信息和当前时刻信息，确定目标导航路线。(2) Determine the target navigation route based on historical time information and current time information.
当前导航系统的多路线确定方法主要有以下缺点：The multi-route determination method of the current navigation system mainly has the following disadvantages:
(1)没有动态性，举例来说就是基于当前时刻的路况信息，如果前面的一段路拥堵了，那么此时给用户确定了另外一条路来规避了这一段拥堵。但是随着往前走的时间推移，之前那条路的拥堵消散了，此时的最优路线又变回了之前那条路。(1) No dynamics, for example, based on the current road condition information, if the road ahead is congested, then another road is determined for the user to avoid this congestion. But as time went on, the congestion on the previous road dissipated, and the optimal route at this time changed back to the previous road.
(2)稳定性差，比如此刻确定第一路线为目标导航路线，因为第一路线优于第二路线；但是过了1分钟，第二路线畅通了，再次确定第二路线为目标导航路线。如此来回往复，给用户带来不稳定甚至是不可靠的体验。(2) Poor stability, for example, the first route is determined as the target navigation route at this moment, because the first route is better than the second route; but after 1 minute, the second route is unblocked, and the second route is determined to be the target navigation route again. This back and forth brings users an unstable or even unreliable experience.
发明内容Contents of the invention
本发明实施例提供一种路线确定方法、装置、设备和介质，以提高路线确定的动态性和稳定性。Embodiments of the present invention provide a route determination method, device, device and medium, so as to improve the dynamics and stability of route determination.
第一方面，本发明实施例提供了一种路线确定方法，该方法包括：In a first aspect, an embodiment of the present invention provides a method for determining a route, the method including:
根据路网中路段在未来时间的预测路况信息、导航起点和导航终点，规划至少一条候选导航路线；Planning at least one candidate navigation route according to the predicted road condition information, navigation start point and navigation end point of road sections in the road network in the future;
确定所述候选导航路线中路段的到达时间；Determining the arrival time of road segments in the candidate navigation route;
根据所述候选导航路线中路段在路段到达时间的预测路况信息，从所述至少一条候选导航路线中筛选出目标导航路线。The target navigation route is selected from the at least one candidate navigation route according to the predicted road condition information of the road segment in the candidate navigation route at the arrival time of the segment.
第二方面，本发明实施例还提供了一种路线确定装置，该装置包括：In a second aspect, an embodiment of the present invention also provides a route determination device, which includes:
路线规划模块，用于根据路网中路段在未来时间的预测路况信息、导航起点和导航终点，规划至少一条候选导航路线；The route planning module is used to plan at least one candidate navigation route according to the predicted road condition information, the navigation start point and the navigation end point of the road section in the road network in the future;
到达时间确定模块，用于确定所述候选导航路线中路段的到达时间；an arrival time determination module, configured to determine the arrival time of a section in the candidate navigation route;
路线筛选模块，用于根据所述候选导航路线中路段在路段到达时间的预测路况信息，从所述至少一条候选导航路线中筛选出目标导航路线。The route screening module is configured to select a target navigation route from the at least one candidate navigation route according to the predicted road condition information of the segments in the candidate navigation routes at the arrival time of the segment.
第三方面，本发明实施例还提供了一种电子设备，所述设备包括：In a third aspect, an embodiment of the present invention also provides an electronic device, the device comprising:
一个或多个处理器；one or more processors;
存储装置，用于存储一个或多个程序，storage means for storing one or more programs,
当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如本发明实施例中任一项所述的路线确定方法。When the one or more programs are executed by the one or more processors, the one or more processors are made to implement the route determination method according to any one of the embodiments of the present invention.
第四方面，本发明实施例还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如本发明实施例中任一项所述的路线确定方法。In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the method for determining a route as described in any one of the embodiments of the present invention is implemented.
本发明实施例通过根据路网中路段在未来时间的预测路况信息、导航起点和导航终点，规划至少一条候选导航路线，以实现对包括拥堵即将消散路段的路线规划。通过根据所述候选导航路线中路段在路段到达时间的预测路况信息，从所述至少一条候选导航路线中筛选出目标导航路线，从而确定出满足筛选条件，且包括拥堵即将消散路段的目标导航路线。而包括拥堵即将消散路段的目标导航路线的确定，提高了路线确定的动态性和稳定性。In the embodiment of the present invention, at least one candidate navigation route is planned according to the predicted road condition information, the navigation start point and the navigation end point of the road section in the road network in the future, so as to realize the route planning including the road section where the congestion is about to dissipate. By filtering out the target navigation route from the at least one candidate navigation route according to the predicted road condition information of the road segment in the candidate navigation route at the arrival time of the road segment, thereby determining the target navigation route that satisfies the filtering condition and includes the road segment where the congestion is about to dissipate . The determination of the target navigation route including the road section where the congestion is about to dissipate improves the dynamics and stability of route determination.
附图说明Description of drawings
图1为本发明实施例一提供的一种路线确定方法的流程图；FIG. 1 is a flowchart of a method for determining a route provided in Embodiment 1 of the present invention;
图2是本发明实施例二提供的一种路线确定方法的流程图；FIG. 2 is a flow chart of a method for determining a route provided in Embodiment 2 of the present invention;
图3是本发明实施例三提供的一种路线确定方法的流程图；FIG. 3 is a flow chart of a method for determining a route provided in Embodiment 3 of the present invention;
图4是本发明实施例四提供的一种路线确定方法的流程图；FIG. 4 is a flow chart of a method for determining a route provided in Embodiment 4 of the present invention;
图5a是本发明实施例五提供的一种路线确定方法的流程图；Fig. 5a is a flow chart of a method for determining a route provided in Embodiment 5 of the present invention;
图5b是本发明实施例五提供的一种子路线切分示意图；Fig. 5b is a schematic diagram of sub-route segmentation provided by Embodiment 5 of the present invention;
图5c是本发明实施例五提供的一种路段切分示意图；Fig. 5c is a schematic diagram of road section segmentation provided by Embodiment 5 of the present invention;
图5d是本发明实施例五提供的一种子路段切分示意图；Fig. 5d is a schematic diagram of sub-section segmentation provided by Embodiment 5 of the present invention;
图5e是本发明实施例五提供的一种候选导航路线动态规划示意图；Fig. 5e is a schematic diagram of dynamic planning of a candidate navigation route provided by Embodiment 5 of the present invention;
图5f是本发明实施例五提供的一种目标导航路线确定示意图；Fig. 5f is a schematic diagram of determining a target navigation route provided by Embodiment 5 of the present invention;
图6是本发明实施例六提供的一种路线确定装置的结构示意图；FIG. 6 is a schematic structural diagram of a device for determining a route provided in Embodiment 6 of the present invention;
图7为本发明实施例七提供的一种设备的结构示意图。FIG. 7 is a schematic structural diagram of a device provided by Embodiment 7 of the present invention.
具体实施方式Detailed ways
下面结合附图和实施例对本发明作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本发明，而非对本发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本发明相关的部分而非全部结构。The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings but not all structures.
实施例一Embodiment one
图1为本发明实施例一提供的一种路线确定方法的流程图。典型地，本实施例可适用于在使用导航应用进行路线导航的过程中，不断确定目标导航路线，并推荐给用户，供用户参考选择，以使用户可以始终基于最优导航路线行驶的情况。该方法可以由一种路线确定装置来执行，该装置可以由软件和/或硬件的方式实现。参见图1，本实施例提供的路线确定方法包括：FIG. 1 is a flowchart of a method for determining a route provided in Embodiment 1 of the present invention. Typically, this embodiment is applicable to the situation where a target navigation route is continuously determined during route navigation using a navigation application, and recommended to the user for reference and selection, so that the user can always drive based on the optimal navigation route. The method can be executed by a route determining device, and the device can be realized by software and/or hardware. Referring to Figure 1, the route determination method provided in this embodiment includes:
S110、根据路网中路段在未来时间的预测路况信息、导航起点和导航终点，规划至少一条候选导航路线。S110. Plan at least one candidate navigation route according to the predicted road condition information, the navigation start point, and the navigation end point of the road section in the road network in the future.
其中，路网中路段是指基础路网包括的路段。Wherein, the road section in the road network refers to the road section included in the basic road network.
路网中路段在未来时间的预测路况信息是指，预测的路网中路段在未来时间的路况信息。The predicted traffic condition information of the road segment in the road network at a future time refers to the predicted road condition information of the road segment in the road network at a future time.
未来时间可以是时间点，也可以是时间段。The future time can be a time point or a time period.
若未来时间是时间点，未来时间可以根据实际需要设定，具体可以是未来第6分钟，也可以是未来第11分钟，还可以是未来第8分钟。If the future time is a point in time, the future time can be set according to actual needs, specifically the 6th minute in the future, the 11th minute in the future, or the 8th minute in the future.
也即，未来时间的预测路况信息的采集时间间隔可以根据需要确定。如果需要预测路况信息的确定准确率高一些，则可以将采集时间间隔设置的小些。That is, the time interval for collecting predicted road condition information in the future may be determined as required. If the determination accuracy of the predicted road condition information needs to be higher, the collection time interval can be set smaller.
未来时间段的预测路况信息，可以由未来时间段内至少一个时间点的预测路况信息确定。The predicted road condition information in the future time period may be determined by the predicted road condition information at at least one time point in the future time period.
候选导航路线是导航起点和导航终点之间的可达路线。每条候选导航路线包括至少一条路段。Candidate navigation routes are reachable routes between the navigation start point and the navigation end point. Each candidate navigation route includes at least one road segment.
具体地，若目标导航路线确定的触发时机是用户首次发起导航时，导航起点根据用户的输入确定，可以是用户当前位置，也可以是一具体地点。Specifically, if the trigger timing for determining the target navigation route is when the user initiates navigation for the first time, the navigation starting point is determined according to the user's input, which may be the user's current location or a specific location.
若目标导航路线确定的触发时机是用户沿导航路线行驶的过程中，则导航起点是用户当前行驶位置。If the trigger timing for determining the target navigation route is when the user is driving along the navigation route, the navigation starting point is the user's current driving position.
具体地，根据路网中路段在未来时间的预测路况信息、导航起点和导航终点，规划至少一条候选导航路线，包括：Specifically, at least one candidate navigation route is planned according to the predicted road condition information, the navigation start point and the navigation end point of the road section in the road network in the future, including:
基于基础路网数据和路网中路段在未来时间的预测路况信息，从导航起点开始沿路查找行驶方向与导航终点所在方向相近，且在到达路段时，路段的预测路况信息为畅通的候选路段；Based on the basic road network data and the predicted road condition information of the road sections in the road network in the future, start from the starting point of the navigation and find the driving direction along the road that is similar to the direction of the navigation end point, and when the road section is reached, the predicted road condition information of the road section is a smooth candidate road section;
从查找到的路段开始沿路继续查找行驶方向与导航终点所在方向相近，且在到达路段时，路段的预测路况信息为畅通的候选路段，直至查找到导航终点所属路段；Starting from the found road section, continue to search along the road in a driving direction that is similar to the direction of the navigation end point, and when the road section is reached, the predicted road condition information of the road section is a smooth candidate road section until the road section to which the navigation end point belongs is found;
连接查找到的候选路段，生成候选导航路线。Connect the found candidate road segments to generate candidate navigation routes.
S120、确定所述候选导航路线中路段的到达时间。S120. Determine an arrival time of a road segment in the candidate navigation route.
其中，所述候选导航路线中路段的到达时间，是指预计行驶至所述候选导航路线中路段时间。Wherein, the arrival time of the road section in the candidate navigation route refers to the estimated time to travel to the road section in the candidate navigation route.
可选地，所述候选导航路线中路段的到达时间的确定，可以基于ETA(预计到达时间)的任意计算方法实现。Optionally, the determination of the arrival time of the road segment in the candidate navigation route can be realized based on any calculation method of ETA (Estimated Time of Arrival).
具体地，可以基于历史行驶记录，预估当前时段所述候选导航路线中各路段的通行时间；Specifically, the passing time of each road segment in the candidate navigation route in the current period can be estimated based on historical driving records;
根据预估的各路段的通行时间，确定所述候选导航路线中路段的到达时间。According to the estimated passing time of each road segment, the arrival time of the road segment in the candidate navigation route is determined.
S130、根据所述候选导航路线中路段在路段到达时间的预测路况信息，从所述至少一条候选导航路线中筛选出目标导航路线。S130. Filter out a target navigation route from the at least one candidate navigation route according to the predicted road condition information of the segment in the candidate navigation route at the arrival time of the segment.
其中，预测路况信息是指在未来行驶至所述候选导航路线中路段时，路段的可能路况信息。Wherein, the predicted road condition information refers to the possible road condition information of the road section when driving to the road section in the candidate navigation route in the future.
路段到达时间是指所述候选导航路线中路段的到达时间。The segment arrival time refers to the arrival time of the segment in the candidate navigation route.
具体地，路况信息包括畅通、缓行、拥堵和非常拥堵。Specifically, the road condition information includes smooth, slow, congested and very congested.
根据所述候选导航路线中路段在路段到达时间的预测路况信息，从所述至少一条候选导航路线中筛选出目标导航路线，包括：According to the predicted road condition information of the road segment in the candidate navigation route at the arrival time of the road segment, the target navigation route is selected from the at least one candidate navigation route, including:
将所述候选导航路线中路段在路段到达时间的预测路况信息，输入预先训练的路线确定模型，输出从所述候选导航路线中筛选出的目标导航路线。The predicted road condition information of the road segments in the candidate navigation routes at the arrival time of the road segments is input into the pre-trained route determination model, and the target navigation route screened out from the candidate navigation routes is output.
为提高目标导航路线的确定准确率，所述将所述候选导航路线中路段在路段到达时间的预测路况信息，输入预先训练的路线确定模型，输出从所述候选导航路线中筛选出的目标导航路线，包括：In order to improve the determination accuracy of the target navigation route, the predicted road condition information of the road segment in the candidate navigation route at the arrival time of the road segment is input into the pre-trained route determination model, and the target navigation route screened out from the candidate navigation route is output. routes, including:
将候选导航路线的道路信息、实时路况信息和历史路况信息中的至少一种，以及所述候选导航路线中路段在路段到达时间的预测路况信息和目标用户的历史路线选择信息，输入预先训练完成的路线确定模型，输出目标导航路线。At least one of the road information, real-time traffic information and historical traffic information of the candidate navigation route, and the predicted traffic information and the historical route selection information of the target user at the arrival time of the road segment in the candidate navigation route are input into the pre-training to complete The route determination model of , outputs the target navigation route.
本发明实施例的技术方案，通过根据路网中路段在未来时间的预测路况信息、导航起点和导航终点，规划至少一条候选导航路线，以实现对包括拥堵即将消散路段的路线规划。通过根据所述候选导航路线中路段在路段到达时间的预测路况信息，从所述至少一条候选导航路线中筛选出目标导航路线，从而确定出满足筛选条件，且包括拥堵即将消散路段的目标导航路线，以提高路线确定的动态性和稳定性。According to the technical solution of the embodiment of the present invention, at least one candidate navigation route is planned according to the predicted road condition information, the navigation start point and the navigation end point of the road section in the road network in the future, so as to realize the route planning including the road section where the congestion is about to dissipate. By filtering out the target navigation route from the at least one candidate navigation route according to the predicted road condition information of the road segment in the candidate navigation route at the arrival time of the road segment, thereby determining the target navigation route that satisfies the filtering condition and includes the road segment where the congestion is about to dissipate , to improve the dynamics and stability of route determination.
为提高目标导航路线的确定准确率，所述根据所述候选导航路线中路段在路段到达时间的预测路况信息，从所述至少一条候选导航路线中筛选出目标导航路线，包括：In order to improve the determination accuracy of the target navigation route, the target navigation route is selected from the at least one candidate navigation route according to the predicted road condition information of the road segment in the candidate navigation route at the arrival time of the road segment, including:
根据所述候选导航路线的道路信息、实时路况信息、动态突发事件、历史通行信息和目标用户的历史路线选择信息中的至少一种，以及所述候选导航路线中各路段在预计到达时间的预测路况信息，从所述至少一条候选导航路线中筛选出目标导航路线。According to at least one of the road information, real-time road condition information, dynamic emergencies, historical traffic information and historical route selection information of the target user of the candidate navigation route, and the expected arrival time of each road segment in the candidate navigation route Predict road condition information, and filter out a target navigation route from the at least one candidate navigation route.
其中，道路信息是指基础道路信息，例如道路等级、包括的车道数量、红绿灯数量以及道路连接关系等。Wherein, the road information refers to basic road information, such as road grade, the number of lanes included, the number of traffic lights, and road connection relations.
动态突发事件是指，突然发生的交通事件。具体动态突发事件可以是交通事故、施工封路等。Dynamic emergencies refer to sudden traffic incidents. The specific dynamic emergencies may be traffic accidents, construction road closures, and the like.
历史通行信息是指历史时间路段的通行信息，具体可以是历史车流量、历史通行速度等。The historical traffic information refers to traffic information of road sections in historical time, specifically, historical traffic volume, historical traffic speed, etc.
历史路线选择信息是指用户历史时间选择的导航路线信息。The historical route selection information refers to the navigation route information selected by the user at historical time.
为方便用户对确定的目标导航路线的理解，所述从所述至少一条候选导航路线中筛选出目标导航路线之后，所述方法还包括：In order to facilitate the user's understanding of the determined target navigation route, after the target navigation route is selected from the at least one candidate navigation route, the method further includes:
基于目标导航路线与其他导航路线在路线选择偏好维度的信息差异，生成目标导航路线的确定理由。Based on the information difference between the target navigation route and other navigation routes in the route selection preference dimension, a reason for determining the target navigation route is generated.
具体地，基于目标导航路线与其他导航路线在路线选择偏好维度的信息差异，生成目标导航路线的确定理由，包括：Specifically, based on the information difference between the target navigation route and other navigation routes in the route selection preference dimension, the reason for determining the target navigation route is generated, including:
若根据所述目标导航路线中路段到达时间的路况预测信息，确定用户到达目标导航路线上拥堵路段时，该拥堵路段的拥堵消散，则生成该拥堵路段的消散提醒，作为所述目标导航路线的切换理由。If according to the road condition prediction information of the arrival time of the road section in the target navigation route, when it is determined that the user arrives at the congested road section on the target navigation route, the congestion of the congested road section dissipates, then a dissipation reminder of the congested road section is generated as the target navigation route. Reason for switching.
为使得筛选出的目标导航路线符合用户路线选择偏好，根据所述候选导航路线中路段在路段到达时间的预测路况信息，从所述至少一条候选导航路线中筛选出目标导航路线，包括：In order to make the selected target navigation route conform to the user's route selection preference, according to the predicted road condition information of the segment in the candidate navigation route at the arrival time of the segment, filter the target navigation route from the at least one candidate navigation route, including:
根据路段在路段到达时间的预测路况信息和用户路线选择偏好，从所述至少一条候选导航路线中筛选出目标导航路线。A target navigation route is selected from the at least one candidate navigation route according to the predicted road condition information of the segment at the arrival time of the segment and the user's route selection preference.
实施例二Embodiment two
图2是本发明实施例二提供的一种路线确定方法的流程图。本实施例是在上述实施例的基础上提出的一种可选方案。参见图2，本实施例提供的路线确定方法包括：Fig. 2 is a flow chart of a method for determining a route provided in Embodiment 2 of the present invention. This embodiment is an optional solution proposed on the basis of the foregoing embodiments. Referring to Figure 2, the route determination method provided in this embodiment includes:
S210、根据路段在未来时间的预测路况信息，确定该路段的通行权重。S210. Determine the traffic weight of the road segment according to the predicted road condition information of the road segment in the future.
为提高通行权重的确定准确率，所述根据路段在未来时间的预测路况信息，确定该路段的通行权重，包括：In order to improve the determination accuracy of the traffic weight, the traffic weight of the road section is determined according to the predicted road condition information of the road section in the future time, including:
根据路网中路段的历史路况信息、实时路况信息和道路信息中的至少一种，以及路段在未来时间的预测路况信息，确定该路段的通行权重。According to at least one of the historical road condition information, real-time traffic information and road information of the road section in the road network, and the predicted road condition information of the road section in the future time, the traffic weight of the road section is determined.
具体地，所述根据路网中路段的历史路况信息、实时路况信息和道路信息中的至少一种，以及路段在未来时间的预测路况信息，确定该路段的通行权重，包括：Specifically, according to at least one of the historical road condition information, real-time traffic information and road information of the road section in the road network, and the predicted road condition information of the road section in the future, determining the traffic weight of the section includes:
根据路网中路段的历史路况信息、实时路况信息和道路信息中的至少一种，确定该路段的基础权重；According to at least one of the historical road condition information, real-time traffic information and road information of the road section in the road network, determine the basic weight of the road section;
根据该路段在未来时间的预测路况信息，确定该路段在不同时段的至少一个预测权重；Determine at least one prediction weight of the road segment at different time periods according to the predicted road condition information of the road segment in the future;
根据所述基础权重和所述至少一个预测权重中，各权重对该路段的描述准确率，确定各权重的权值系数；Determine the weight coefficient of each weight according to the description accuracy rate of each weight of the road section among the basic weight and the at least one prediction weight;
根据所述基础权重、所述至少一个预测权重和所述各权重的权值系数，确定该路段的通行权重。The traffic weight of the road section is determined according to the basic weight, the at least one predicted weight, and the weight coefficients of the weights.
具体地，通行权重可以与路段的通行时间正相关。若通行权重可以与路段的通行时间正相关，则权重对路段的描述准确率越低，该权重的权值系数越大，以增加对该权重的惩罚。Specifically, the traffic weight can be positively correlated with the traffic time of the link. If the traffic weight can be positively correlated with the transit time of the road segment, the lower the accuracy of the description of the road segment by the weight, the larger the weight coefficient of the weight is to increase the penalty for the weight.
具体地，确定所述基础权重和所述至少一个预测权重中，各权重对该路段的描述准确率，包括：Specifically, determining the description accuracy rate of each weight of the road section among the basic weight and the at least one prediction weight includes:
确定所述基础权重和所述至少一个预测权重所关联路况信息的预测时间；determining a prediction time of the road condition information associated with the basic weight and the at least one prediction weight;
根据所述预测时间和该路段的路段到达时间的差值，确定所述基础权重和所述至少一个预测权重对该路段的描述准确率。According to the difference between the predicted time and the segment arrival time of the segment, the description accuracy rate of the segment by the basic weight and the at least one predicted weight is determined.
S220、根据路网中路段的通行权重、所述导航起点和所述导航终点，进行路线规划生成所述至少一条候选导航路线。S220. Perform route planning to generate the at least one candidate navigation route according to the traffic weight of the road section in the road network, the navigation start point, and the navigation end point.
S230、确定所述候选导航路线中路段的到达时间。S230. Determine an arrival time of a road segment in the candidate navigation route.
S240、根据所述候选导航路线中路段在路段到达时间的预测路况信息，从所述至少一条候选导航路线中筛选出目标导航路线。S240. Select a target navigation route from the at least one candidate navigation route according to the predicted road condition information of the road segments in the candidate navigation routes at the arrival time of the segment.
本发明实施例的技术方案，通过根据路段在未来时间的预测路况信息，确定该路段的通行权重，从而实现对预测路况信息的量化。进而根据路网中路段的通行权重、所述导航起点和所述导航终点，进行路线规划生成所述至少一条候选导航路线。In the technical solution of the embodiment of the present invention, the traffic weight of the road section is determined according to the predicted road condition information of the road section in the future, so as to realize the quantification of the predicted road condition information. Further, according to the traffic weight of the road section in the road network, the navigation start point and the navigation end point, route planning is performed to generate the at least one candidate navigation route.
实施例三Embodiment three
图3是本发明实施例三提供的一种路线确定方法的流程图。本实施例是在上述实施例的基础上提出的一种可选方案。参见图3，本实施例提供的路线确定方法包括：Fig. 3 is a flow chart of a method for determining a route provided in Embodiment 3 of the present invention. This embodiment is an optional solution proposed on the basis of the foregoing embodiments. Referring to Figure 3, the route determination method provided in this embodiment includes:
S310、根据路网中路段的道路信息、历史同期路况信息、实时路况信息和相邻路段的实时路况信息中的至少一种，确定该路段在未来时间的预测路况信息。S310. According to at least one of the road information of the road section in the road network, the historical traffic condition information of the same period, the real-time traffic information and the real-time traffic information of the adjacent road section, determine the predicted road condition information of the road section in the future time.
其中，历史同期路况信息是指历史日期，相同时刻或相同时段的路况信息。例如当前时间为上午9点，那么当前时间的历史同期路况信息可以是昨天上午9点的路况信息。Wherein, the historical traffic condition information of the same period refers to the traffic condition information of the historical date, the same moment or the same time period. For example, the current time is 9:00 am, then the historical traffic condition information at the same time at the current time may be the traffic condition information at 9:00 am yesterday.
可选地，所述路网中路段的道路信息，包括：与路网中路段相邻且可驶入该路段的路段数量、与该路段相邻且可驶出该路段的路段数量、该路段包括的车道数及道路等级、红绿灯数目及红灯的等待时长中的至少一项。Optionally, the road information of the road segment in the road network includes: the number of road segments adjacent to the road segment in the road network and capable of driving into the road segment, the number of road segments adjacent to the road segment and capable of driving out of the road segment, the road segment At least one of the number of lanes and road grades, the number of traffic lights and the waiting time for red lights are included.
具体地，根据路网中路段的历史同期路况信息，确定该路段在未来时间的预测路况信息，包括：Specifically, according to the historical traffic condition information of the road section in the road network at the same time, the predicted road condition information of the road section in the future time is determined, including:
确定路段在不同历史日期相同目标时刻的车流量均值，将该车流量均值作为该路段在当前日期或未来日期目标时刻的预测路况信息。Determine the average traffic flow of the road section at the same target time on different historical dates, and use the average traffic volume as the predicted road condition information of the road section at the current date or the target time of the future date.
典型地，所述根据路网中路段的道路信息、历史同期路况信息、实时路况信息和相邻路段的实时路况信息中的至少一种，确定该路段在目标时间的预测路况信息，包括：Typically, according to at least one of the road information of the road section in the road network, the historical traffic condition information of the same period, the real-time traffic information and the real-time traffic information of the adjacent road section, determining the predicted road condition information of the road section at the target time includes:
根据路网中路段的道路信息，确定该路段的道路特征；Determine the road characteristics of the road segment according to the road information of the road segment in the road network;
根据该路段的历史同期车流信息、与该路段连接的其他路段的历史同期车流信息和该路段所属地理区域的历史同期车流信息中的至少一项，确定该路段的时间序列特征；According to at least one of the historical contemporaneous traffic flow information of the road segment, the historical contemporaneous traffic flow information of other road segments connected to the road segment, and the historical contemporaneous traffic flow information of the geographical area to which the road segment belongs, determine the time series characteristics of the road segment;
根据所述时间序列特征和所述道路特征，确定该路段在未来时间的预测路况信息。According to the time series features and the road features, predictive road condition information of the road segment at a future time is determined.
具体地，根据该路段的历史同期车流信息、与该路段连接的其他路段的历史同期车流信息和该路段所属地理区域的历史同期车流信息中的至少一项，确定该路段的时间序列特征，包括：Specifically, according to at least one of the historical contemporaneous traffic flow information of the road segment, the historical contemporaneous traffic flow information of other road segments connected to the road segment, and the historical contemporaneous traffic flow information of the geographical area to which the road segment belongs, determine the time series characteristics of the road segment, including :
对该路段的历史同期车流信息、与该路段连接的其他路段的历史同期车流信息和该路段所属地理区域的历史同期车流信息中的至少一项，进行卷积处理；Perform convolution processing on at least one of the historical contemporaneous traffic flow information of the road segment, the historical contemporaneous traffic flow information of other road segments connected to the road segment, and the historical contemporaneous traffic flow information of the geographical area to which the road segment belongs;
将卷积处理结果输入LSTM(长短时极易网络)模型，输出该路段的时间序列特征。Input the convolution processing results into the LSTM (Long-Short-Time Extremely Easy Network) model, and output the time series features of the road section.
S320、根据路网中路段在未来时间的预测路况信息、导航起点和导航终点，规划至少一条候选导航路线。S320. Plan at least one candidate navigation route according to the predicted road condition information, the navigation start point, and the navigation end point of the road section in the road network in the future.
S330、确定所述候选导航路线中路段的到达时间。S330. Determine an arrival time of a road segment in the candidate navigation route.
S340、根据所述候选导航路线中路段在路段到达时间的预测路况信息，从所述至少一条候选导航路线中筛选出目标导航路线。S340. Filter out a target navigation route from the at least one candidate navigation route according to the predicted road condition information of the segment arrival time of the segment in the candidate navigation route.
本发明实施例的技术方案，通过根据路网中路段的道路信息、历史同期路况信息、实时路况信息和相邻路段的实时路况信息中的至少一种，确定该路段在未来时间的预测路况信息，从而实现对路段在未来时间的预测路况信息的确定。According to the technical solution of the embodiment of the present invention, according to at least one of the road information of the road section in the road network, the historical road condition information of the same period, the real-time road condition information and the real-time road condition information of the adjacent road section, the predicted road condition information of the road section in the future time is determined , so as to realize the determination of the predicted road condition information of the road section in the future time.
实施例四Embodiment Four
图4是本发明实施例四提供的一种路线确定方法的流程图。本实施例是在上述实施例的基础上提出的一种可选方案。参见图4，本实施提供的路线确定方法包括:Fig. 4 is a flow chart of a method for determining a route provided in Embodiment 4 of the present invention. This embodiment is an optional solution proposed on the basis of the foregoing embodiments. Referring to Fig. 4, the route determination method that this implementation provides includes:
S410、根据路网中路段在未来时间的预测路况信息、导航起点和导航终点，规划至少一条候选导航路线。S410. Plan at least one candidate navigation route according to the predicted road condition information, the navigation start point, and the navigation end point of the road section in the road network in the future.
S420、确定所述候选导航路线中路段的到达时间。S420. Determine an arrival time of a road segment in the candidate navigation route.
S430、根据所述候选导航路线中路段在路段到达时间的预测路况信息，确定所述候选导航路线在用户路线选择偏好维度的信息。S430. Determine the information of the candidate navigation route in the user's route selection preference dimension according to the predicted road condition information of the road segment in the candidate navigation route at the arrival time of the road segment.
具体地，所述根据所述候选导航路线中路段在路段到达时间的预测路况信息，确定各候选导航路线在用户路线选择偏好维度的信息，包括：Specifically, according to the predicted road condition information of the road segments in the candidate navigation routes at the arrival time of the road segments, determining the information of each candidate navigation route in the user's route selection preference dimension includes:
若用户路线选择偏好为通行时间，则根据所述候选导航路线中各路段在预计到达时间的拥堵状态，确定所述各路段的预计行驶速度；If the user's route selection preference is transit time, then determine the estimated travel speed of each road section according to the congestion state of each road section in the candidate navigation route at the estimated arrival time;
根据所述各路段的预计行驶速度和所述各路段的道路长度，确定所述各路段的预计通行时间；According to the estimated driving speed of each road section and the road length of each road section, determine the estimated passing time of each road section;
根据所述各路段的预计通行时间，确定所述候选导航路线的预计通行时间。The estimated passing time of the candidate navigation route is determined according to the estimated passing time of each road section.
S440、比较所述候选导航路线在用户路线选择偏好维度的信息，根据比较结果从所述至少一条候选导航路线中确定目标导航路线。S440. Comparing the information of the candidate navigation routes in the user route selection preference dimension, and determining a target navigation route from the at least one candidate navigation route according to the comparison result.
本发明实施例的技术方案，通过根据所述候选导航路线中路段在路段到达时间的预测路况信息，确定所述候选导航路线在用户路线选择偏好维度的信息；比较所述候选导航路线在用户路线选择偏好维度的信息，根据比较结果从所述至少一条候选导航路线中确定目标导航路线，从而实现结合路段未来时间的预测路况信息，确定出符合用户选择偏好的目标导航路线。According to the technical solution of the embodiment of the present invention, the information of the candidate navigation route in the user's route selection preference dimension is determined according to the predicted road condition information of the road segment in the candidate navigation route at the arrival time of the road segment; The information of the preference dimension is selected, and the target navigation route is determined from the at least one candidate navigation route according to the comparison result, so as to combine the predicted road condition information of the future time of the road section and determine the target navigation route that meets the user's selection preference.
实施例五Embodiment five
图5a是本发明实施例五提供的一种路线确定方法的流程图。本实施例是在上述实施例的基础上，以上述路段是子路段(路网中构成路线的最小单位)为例，提出的一种可选方案。参见图5a，本实施例提供的路线确定方法包括：Fig. 5a is a flowchart of a method for determining a route provided by Embodiment 5 of the present invention. This embodiment is an optional solution based on the above-mentioned embodiments, taking the above-mentioned road section as a sub-road section (the smallest unit constituting a route in a road network) as an example. Referring to Figure 5a, the route determination method provided in this embodiment includes:
路况预测：Traffic forecast:
首先，需要把一条路线切分成至少一条子路段，以子路段级别的粒度去预测路况的变化。下面是划分子路段的过程：First, a route needs to be divided into at least one sub-segment to predict changes in road conditions at the granularity of the sub-segment. The following is the process of dividing sub-sections:
参见图5b，一条路线是由起点、0或多个途径点和终点构成。两点之间称为一条子路线。Referring to Fig. 5b, a route is composed of a starting point, 0 or more passing points and an end point. Between two points is called a sub-route.
参见图5c，每条子路线由多个路段构成，切分路段的是机动点。符合以下4种情形中的任意一种会被划分为一个机动点：Referring to Fig. 5c, each sub-route is composed of multiple road segments, and the segments are divided by maneuvering points. Any one of the following 4 situations will be classified as a maneuver point:
1)八方向1) Eight directions
2)二分叉、三分叉(即岔路，合流)2) Bifurcated, trifurcated (i.e. fork, merge)
3)环岛3) Around the island
4)路名更换(从A大道->B大道)4) Road name change (from Avenue A -> Avenue B)
参见图5d，每个路段由多个子路段构成，可把路口作为切分点对每个路段进行切分得到多条子路段。Referring to Fig. 5d, each road section is composed of multiple sub-road sections, and each road section can be divided into multiple sub-road sections by using the intersection as a segmentation point.
其次，采用RNN模型对每条子路段的路况进行预测：Secondly, the RNN model is used to predict the road conditions of each sub-section:
对路线从起点到终点的子路段序列进行编号为：L1、L2、…、Ln；The sequence of sub-sections from the start point to the end point of the route is numbered as: L1 , L2 , ..., Ln ;
对用户从出发前5分钟到预估到达时间的这个时间段，以5分钟为间隔进行时间分段为：t1、t2、…、tm；For the time period from 5 minutes before the departure of the user to the estimated arrival time, time segments are performed at intervals of 5 minutes: t1 , t2 , ..., tm ;
通过历史数据拿到每条子路段历史同期的平均路况，记为Hi。例如，要预测L1周一早上7:30的路况，那么取这条子路段最近一个月每周周一早上7:30的路况的平均值作为历史路况。Obtain the average road condition of each sub-section in the same period of history through historical data, which is denoted as Hi . For example, to predict the traffic condition of L1 at 7:30 am on Monday, take the average value of the traffic condition of this sub-section at 7:30 am every Monday in the last month as the historical traffic condition.
定义子路段的入度和出度。入度是指与Li相邻并且可驶入Li的子路段的数目，出度是指与Li相邻并且可驶出Li的子路段的数目。通过静态路网数据计算Li的入度，记为αi和出度，记为βi。Define the in-degree and out-degree of the sub-segment. The in-degree refers to the number of sub-segments that are adjacent to Li and can be driven intoLi, and the out-degree refers to the number of sub-segments that are adjacent to L iand can be driven out ofLi . Calculate the in-degree of Li through the static road network data, denoted as αi and the out-degree, denoted as βi .
查询路网得到Li的车道数，记为γi及道路等级，记为θi。Query the road network to get the number of lanes of Li , denoted as γi and road grade, denoted as θi .
记录每条子路段上包括的红绿灯数目，记为Mi，及红灯的等待时长，记为Ni。Record the number of traffic lights included in each sub-section, denoted as Mi , and the waiting time for red lights, denoted as Ni .
获取Li的实时路况Si以及与Li相邻的2条子路段的实时路况Si-1和Si+1。Obtain the real-time traffic conditions Si of Li and the real-time traffic conditions Si-1 and Si+1 of the two sub-sections adjacent to Li .
对子路段的基础信息(出入度、道路等级、车道数、红绿灯等)进行嵌入层处理得到道路特征向量V。The road feature vector V is obtained by embedding layer processing on the basic information of sub-road sections (ingress and exit degree, road grade, number of lanes, traffic lights, etc.).
将路段的历史同期车流信息、与该路段连接的其他路段的历史同期车流信息和该路段所属地理区域的历史同期车流信息区域的特征按照时间顺序排成序列输入到RNN模型中，在模型的输出层使用全连接层和softmax四分类器，输出值为1、2、3、4，分别代表畅通、缓行、拥堵、非常拥堵四种路况状态。通过此模型可以预测出Li在时刻t的路况预测值The historical contemporaneous traffic flow information of the road segment, the historical contemporaneous traffic flow information of other road segments connected to this road segment, and the characteristics of the historical contemporaneous traffic flow information area of the geographical area to which the road segment belongs are input into the RNN model in a chronological order, and the output of the model is The layer uses a fully connected layer and a softmax four-classifier, and the output values are 1, 2, 3, and 4, which represent four road conditions: smooth, slow, congested, and very congested. Through this model, the predicted value of the road condition of Li at time t can be predicted
此后，每隔5分钟去更新一次当用户越接近Li时，预测的路况值越准确。After that, update every 5 minutes When the user is closer to Li , the predicted road condition value is more accurate.
基于路况预测的路线召回：Route recall based on road condition prediction:
基于用户历史轨迹的一些特征(例如路况分布、拥堵以及历史预计到达时间)、融合当前的实时路况特征(实时交通状况、突发事件等)、最后结合路况预测的每条子路段的状态来统一进行随着时间序列推演的路线动态规划，具体为：Based on some characteristics of the user's historical trajectory (such as traffic distribution, congestion, and historical estimated time of arrival), integrate current real-time traffic characteristics (real-time traffic conditions, emergencies, etc.), and finally combine the state of each sub-section of road condition prediction to perform unified Route dynamic planning along with time series deduction, specifically:
参见图5e，对于从s到t的所有子路段，根据路段的和历史路况特征和实时路况特征，确定一个基础权重，记为Wi0，其中i表示路段标识。Referring to Fig. 5e, for all sub-segments from s to t, a basic weight is determined according to the historical road condition characteristics and real-time road condition characteristics of the road segment, denoted as Wi0 , where i represents the identification of the road segment.
对于每条子路段，根据未来5分钟后的预测路况信息确定一个预测权重，记为Wi1。For each sub-section, a prediction weight is determined according to the predicted road condition information in the next 5 minutes, which is denoted as Wi1 .
对于每条子路段，根据未来10分钟后的预测路况信息，确定一个预测权重，记为Wi2。For each sub-section, a prediction weight is determined according to the predicted road condition information after 10 minutes in the future, which is denoted as Wi2 .
以此类推，得到一系列权重以后，通过融合得到每条子路段的通行权重，记为weight：By analogy, after obtaining a series of weights, the traffic weight of each sub-section is obtained through fusion, which is recorded as weight:
weight＝a0×Wi0+a1×Wi1+a2×Wi2+……+an×Winweight＝a0 ×Wi0 +a1 ×Wi1 +a2 ×Wi2 +...+an ×Win
其中，a为权重系数。Among them, a is the weight coefficient.
最后基于子路段的通行权重进行候选导航路线召回。Finally, candidate navigation routes are recalled based on the traffic weights of the sub-segments.
参见图5f，从召回的候选导航路线中确定目标导航路线，推荐给用户，具体如下：Referring to Figure 5f, the target navigation route is determined from the recalled candidate navigation routes and recommended to the user, as follows:
特征的获取，其中特征主要分为3类：第一类是道路的基础特征，包括道路的长度、宽度、等级、速度、车道数、红绿灯等；第二类是道路的动态特征，主要包括实时路况、预测路况以及动态突发事件等；第三类是历史信息特征，主要包括历史通行的轨迹数目、历史用户的行为信息等。具体特征的获取包括：Acquisition of features, which are mainly divided into three categories: the first category is the basic features of the road, including the length, width, grade, speed, number of lanes, traffic lights, etc. of the road; the second category is the dynamic characteristics of the road, mainly including real-time Road conditions, predicted road conditions, and dynamic emergencies, etc.; the third category is historical information features, mainly including the number of historical trajectories, historical user behavior information, etc. The acquisition of specific features includes:
线上特征获取：Online feature acquisition:
对于一些实时的特征，需要在线服务进行获取。通过用户的实时请求及其他服务的实时响应进行获取。For some real-time features, online services are required to obtain them. Acquired through real-time requests from users and real-time responses from other services.
线下特征获取：Offline Feature Acquisition:
对于一些静态特征或者历史信息特征，需要线下进行数据挖掘提取，然后通过数据库方式提供给线上使用。For some static features or historical information features, it is necessary to extract data through offline data mining, and then provide it for online use through the database.
根据获取的特征，对候选导航路线进行排序和筛选：According to the obtained characteristics, sort and filter the candidate navigation routes:
将获取的特征输入预先训练的排序模型，输出候选导航路线的排序结果，并根据排序结果筛选出目标导航路线，并推荐给用户。Input the obtained features into the pre-trained ranking model, output the ranking results of candidate navigation routes, and filter out the target navigation routes according to the ranking results, and recommend them to users.
其中排序模型的线下训练包括：The offline training of the ranking model includes:
样本收集：线上需要先输出各类特征信息到log日志里面，然后通过分布式进行log日志存储、计算，以提取出对应的特征信息以及根据业务逻辑给出具体的label(标签)。Sample collection: online, it is necessary to first output various characteristic information into the log, and then store and calculate the log in a distributed manner to extract the corresponding characteristic information and give a specific label (label) according to the business logic.
模型训练：通过wide&deep的方法进行效果训练。Model training: Effect training is carried out through the method of wide&deep.
效果测试：通过abtest系统进行小流量效果测试。Effect test: small flow effect test through abtest system.
如果整体效果没问题，会全量上线。If there is no problem with the overall effect, it will be launched in full.
确定目标导航路线的推荐理由:Recommended reasons for determining the target navigation route:
基于目标导航路线的排序结果，进行路线筛选，筛选出符合用户偏好的路线，然后再根据路线的差异信息进行不同路线之间优劣地方的解释。最终通过语音、文字及图像信息传达给用户，以体现多路线的价值。Based on the sorting results of the target navigation routes, route screening is performed, and routes that meet user preferences are screened out, and then the advantages and disadvantages of different routes are explained according to the difference information of the routes. Finally, it is conveyed to users through voice, text and image information to reflect the value of multiple routes.
可选地，根据获取的特征，对候选导航路线进行排序和筛选，还包括：Optionally, the candidate navigation routes are sorted and screened according to the obtained features, further comprising:
根据获得特征，确定用户关注的几个纬度信息。基于各维度信息，对各候选导航路线进行排序，根据排序结果输出目标导航路线。According to the obtained characteristics, determine several latitude information that the user cares about. Based on the information of each dimension, the candidate navigation routes are sorted, and the target navigation routes are output according to the sorting results.
比如，若用户关注的信息维度是时间和距离，则比较各候选导航路径的通行时间快慢，以及行驶距离的远近。根据比较结果筛选出目标导航路线，以推荐给用户，并给用户提供目标导航路线的推荐理由。For example, if the information dimension that the user cares about is time and distance, then compare the travel time and travel distance of each candidate navigation route. The target navigation route is screened out according to the comparison result to be recommended to the user, and the reason for recommending the target navigation route is provided to the user.
本发明实施例的技术方案，通过对每一条子路段在未来时间的预测路况信息，基于时间序列进行推演。基于推演结果进行权重的更新，然后基于更新的权重进行路线召回。召回从当前点到中间点的多路线，然后基于所有多路线上预测的路况信息以及其他的基础信息，进行多路线的排序，最终选出2条辅线推荐给用户，并加以正确合理的解释。In the technical solution of the embodiment of the present invention, the predicted road condition information of each sub-road section in the future is deduced based on time series. The weights are updated based on the derivation results, and then the route recall is performed based on the updated weights. Recall the multi-route from the current point to the intermediate point, and then sort the multi-route based on the predicted traffic information and other basic information on all the multi-route, and finally select 2 auxiliary routes to recommend to the user, and give a correct and reasonable explanation .
需要说明的是，经过本实施例的技术教导，本领域技术人员有动机将上述实施例中描述的任一种实施方式进行方案的组合，以提高路线确定的动态性和稳定性。It should be noted that, after the technical teaching of this embodiment, those skilled in the art are motivated to combine any of the implementation manners described in the above embodiments to improve the dynamics and stability of route determination.
实施例六Embodiment six
图6是本发明实施例六提供的一种路线确定装置的结构示意图。参见图6，本实施例提供的路线确定装置，包括：路线规划模块10、到达时间确定模块20和路线筛选模块30。FIG. 6 is a schematic structural diagram of a device for determining a route provided in Embodiment 6 of the present invention. Referring to FIG. 6 , the route determination device provided in this embodiment includes: a route planning module 10 , an arrival time determination module 20 and a route screening module 30 .
其中，路线规划模块10，用于根据路网中路段在未来时间的预测路况信息、导航起点和导航终点，规划至少一条候选导航路线；Wherein, the route planning module 10 is used to plan at least one candidate navigation route according to the predicted road condition information, the navigation start point and the navigation end point of the road section in the road network in the future;
到达时间确定模块20，用于确定所述候选导航路线中路段的到达时间；Time of arrival determination module 20, configured to determine the time of arrival of a section in the candidate navigation route;
路线筛选模块30，用于根据所述候选导航路线中路段在路段到达时间的预测路况信息，从所述至少一条候选导航路线中筛选出目标导航路线。The route screening module 30 is configured to select a target navigation route from the at least one candidate navigation route according to the predicted road condition information of the segments in the candidate navigation routes at the arrival time of the segment.
本发明实施例的技术方案，通过根据路网中路段在未来时间的预测路况信息、导航起点和导航终点，规划至少一条候选导航路线，以实现对包括拥堵即将消散路段的路线规划。通过根据所述候选导航路线中路段在路段到达时间的预测路况信息，从所述至少一条候选导航路线中筛选出目标导航路线，从而确定出满足筛选条件，且包括拥堵即将消散路段的目标导航路线。而包括拥堵即将消散路段的目标导航路线的确定，提高了路线确定的动态性和稳定性。According to the technical solution of the embodiment of the present invention, at least one candidate navigation route is planned according to the predicted road condition information, the navigation start point and the navigation end point of the road section in the road network in the future, so as to realize the route planning including the road section where the congestion is about to dissipate. By filtering out the target navigation route from the at least one candidate navigation route according to the predicted road condition information of the road segment in the candidate navigation route at the arrival time of the road segment, thereby determining the target navigation route that satisfies the filtering condition and includes the road segment where the congestion is about to dissipate . The determination of the target navigation route including the road section where the congestion is about to dissipate improves the dynamics and stability of route determination.
进一步地，所述路线规划模块，包括：通行权重确定单元和路线规划单元。Further, the route planning module includes: a traffic weight determination unit and a route planning unit.
其中，通行权重确定单元，用于根据路段在未来时间的预测路况信息，确定该路段的通行权重；Wherein, the traffic weight determination unit is used to determine the traffic weight of the road section according to the predicted road condition information of the road section in the future;
路线规划单元，用于根据路网中路段的通行权重、所述导航起点和所述导航终点，进行路线规划生成所述至少一条候选导航路线。A route planning unit, configured to perform route planning to generate the at least one candidate navigation route according to the traffic weight of road sections in the road network, the navigation start point, and the navigation end point.
进一步地，所述通行权重确定单元，包括：权重确定子单元。Further, the traffic weight determination unit includes: a weight determination subunit.
其中，权重确定子单元，用于根据路网中路段的历史路况信息、实时路况信息和道路信息中的至少一种，以及路段在未来时间的预测路况信息，确定该路段的通行权重。Wherein, the weight determination subunit is used to determine the traffic weight of the road segment according to at least one of the historical road condition information, real-time traffic information and road information of the road segment in the road network, and the predicted road condition information of the road segment in the future.
进一步地，所述权重确定子单元具体用于：Further, the weight determining subunit is specifically used for:
根据路网中路段的历史路况信息、实时路况信息和道路信息中的至少一种，确定该路段的基础权重；According to at least one of the historical road condition information, real-time traffic information and road information of the road section in the road network, determine the basic weight of the road section;
根据该路段在未来时间的预测路况信息，确定该路段在不同时段的至少一个预测权重；Determine at least one prediction weight of the road segment at different time periods according to the predicted road condition information of the road segment in the future;
根据所述基础权重和所述至少一个预测权重中，各权重对该路段的描述准确率，确定各权重的权值系数；Determine the weight coefficient of each weight according to the description accuracy rate of each weight of the road section among the basic weight and the at least one prediction weight;
根据所述基础权重、所述至少一个预测权重和所述各权重的权值系数，确定该路段的通行权重。The traffic weight of the road section is determined according to the basic weight, the at least one predicted weight, and the weight coefficients of the weights.
进一步地，所述装置还包括：预测路况模块。Further, the device further includes: a predicted road condition module.
预测路况模块，用于所述根据路网中路段在未来时间的预测路况信息、导航起点和导航终点规划至少一条候选导航路线之前，根据路网中路段的道路信息、历史同期路况信息、实时路况信息和相邻路段的实时路况信息中的至少一种，确定该路段在目标时间的预测路况信息。The predictive road condition module is used to plan at least one candidate navigation route according to the predicted road condition information, navigation start point and navigation end point of the road section in the road network in the future time, according to the road information of the road section in the road network, the historical traffic condition information of the same period, and the real-time road condition At least one of information and real-time road condition information of the adjacent road section, and determine the predicted road condition information of the road section at the target time.
进一步地，所述预测路况模块，包括：道路特征确定单元、序列特征确定单元和预测路况单元。Further, the predicted road condition module includes: a road feature determination unit, a sequence feature determination unit and a predicted road condition unit.
其中，道路特征确定单元，用于根据路网中路段的道路信息，确定该路段的道路特征；Wherein, the road characteristic determining unit is used for determining the road characteristic of the road section according to the road information of the road section in the road network;
序列特征确定单元，用于根据该路段的目标时间车流信息、与该路段连接的其他路段的目标时间车流信息和该路段所属地理区域的目标时间车流信息中的至少一项，确定该路段在目标时间的时间序列特征；The sequence feature determination unit is used to determine the target time traffic flow information of the road segment, the target time traffic flow information of other road segments connected with the road segment, and the target time traffic flow information of the geographical area to which the road segment belongs to determine the road segment at the target time. Time series characteristics of time;
预测路况单元，用于根据所述时间序列特征和所述道路特征，确定该路段在目标时间的预测路况信息。The predictive road condition unit is configured to determine the predicted road condition information of the road segment at the target time according to the time series features and the road features.
进一步地，所述路线筛选模块，包括：信息确定单元和路线筛选单元。Further, the route screening module includes: an information determination unit and a route screening unit.
其中，信息确定单元，用于根据所述候选导航路线中路段在路段到达时间的预测路况信息，确定所述候选导航路线在用户路线选择偏好维度的信息；Wherein, the information determination unit is configured to determine the information of the candidate navigation route in the user route selection preference dimension according to the predicted road condition information of the road segment in the candidate navigation route at the arrival time of the road segment;
路线筛选单元，用于比较所述候选导航路线在用户路线选择偏好维度的信息，根据比较结果从所述至少一条候选导航路线中确定目标导航路线。The route screening unit is configured to compare the information of the candidate navigation route in the user route selection preference dimension, and determine the target navigation route from the at least one candidate navigation route according to the comparison result.
进一步地，所述路网中路段的道路信息，包括：与路网中路段相邻且可驶入该路段的路段数量、与该路段相邻且可驶出该路段的路段数量、该路段包括的车道数及道路等级、红绿灯数目及红灯的等待时长中的至少一项。Further, the road information of the road segment in the road network includes: the number of road segments adjacent to the road segment in the road network and capable of driving into the road segment, the number of road segments adjacent to the road segment and capable of driving out of the road segment, the road segment includes At least one of the number of lanes and road grades, the number of traffic lights and the waiting time for red lights.
进一步地，所述信息确定单元具体用于：Further, the information determination unit is specifically configured to:
若用户路线选择偏好为通行时间，则根据所述候选导航路线中各路段在预计到达时间的拥堵状态，确定所述各路段的预计行驶速度；If the user's route selection preference is transit time, then determine the estimated travel speed of each road section according to the congestion state of each road section in the candidate navigation route at the estimated arrival time;
根据所述各路段的预计行驶速度和所述各路段的道路长度，确定所述各路段的预计通行时间；According to the estimated driving speed of each road section and the road length of each road section, determine the estimated passing time of each road section;
根据所述各路段的预计通行时间，确定所述候选导航路线的预计通行时间。The estimated passing time of the candidate navigation route is determined according to the estimated passing time of each road section.
进一步地，所述路线筛选模块，包括：路线筛选单元。Further, the route screening module includes: a route screening unit.
其中，路线筛选单元，用于根据所述候选导航路线的道路信息、实时路况信息、动态突发事件、历史通行信息和目标用户的历史路线选择信息中的至少一种，以及所述候选导航路线中各路段在预计到达时间的预测路况信息，从所述至少一条候选导航路线中筛选出目标导航路线。Wherein, the route screening unit is configured to select at least one of road information, real-time road condition information, dynamic emergencies, historical traffic information, and target user historical route selection information of the candidate navigation route, and the candidate navigation route The predicted road condition information of each road section in the estimated arrival time is used to filter out the target navigation route from the at least one candidate navigation route.
进一步地，所述装置还包括：理由生成模块。Further, the device further includes: a reason generating module.
其中，理由生成模块，用于所述从所述至少一条候选导航路线中筛选出目标导航路线之后若根据所述目标导航路线中路段到达时间的路况预测信息，确定用户到达目标导航路线上拥堵路段时，该拥堵路段的拥堵消散，则生成该拥堵路段的消散提醒，作为所述目标导航路线的切换理由。Wherein, the reason generation module is used to determine that the user arrives at the congested road section on the target navigation route according to the traffic condition prediction information of the arrival time of the road section in the target navigation route after the target navigation route is screened out from the at least one candidate navigation route When the congestion of the congested road section dissipates, a dissipating reminder of the congested road section is generated as the reason for switching the target navigation route.
本发明实施例所提供的路线确定装置可执行本发明任意实施例所提供的路线确定方法，具备执行方法相应的功能模块和有益效果。The route determination device provided in the embodiments of the present invention can execute the route determination method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.
实施例七Embodiment seven
图7为本发明实施例七提供的一种设备的结构示意图。图7示出了适于用来实现本发明实施方式的示例性设备12的框图。图7显示的设备12仅仅是一个示例，不应对本发明实施例的功能和使用范围带来任何限制。FIG. 7 is a schematic structural diagram of a device provided by Embodiment 7 of the present invention. Figure 7 shows a block diagram of an exemplary device 12 suitable for use in implementing embodiments of the invention. The device 12 shown in FIG. 7 is only an example, and should not limit the functions and scope of use of this embodiment of the present invention.
如图7所示，设备12以通用计算设备的形式表现。设备12的组件可以包括但不限于：一个或者多个处理器或者处理单元16，系统存储器28，连接不同系统组件(包括系统存储器28和处理单元16)的总线18。As shown in FIG. 7, device 12 takes the form of a general-purpose computing device. Components of device 12 may include, but are not limited to: one or more processors or processing units 16, system memory 28, bus 18 connecting various system components including system memory 28 and processing unit 16.
总线18表示几类总线结构中的一种或多种，包括存储器总线或者存储器控制器，外围总线，图形加速端口，处理器或者使用多种总线结构中的任意总线结构的局域总线。举例来说，这些体系结构包括但不限于工业标准体系结构(ISA)总线，微通道体系结构(MAC)总线，增强型ISA总线、视频电子标准协会(VESA)局域总线以及外围组件互连(PCI)总线。Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus structures. These architectures include, by way of example, but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect ( PCI) bus.
设备12典型地包括多种计算机系统可读介质。这些介质可以是任何能够被设备12访问的可用介质，包括易失性和非易失性介质，可移动的和不可移动的介质。Device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by device 12 and include both volatile and nonvolatile media, removable and non-removable media.
系统存储器28可以包括易失性存储器形式的计算机系统可读介质，例如随机存取存储器(RAM)30和/或高速缓存存储器32。设备12可以进一步包括其它可移动/不可移动的、易失性/非易失性计算机系统存储介质。仅作为举例，存储系统34可以用于读写不可移动的、非易失性磁介质(图7未显示，通常称为“硬盘驱动器”)。尽管图7中未示出，可以提供用于对可移动非易失性磁盘(例如“软盘”)读写的磁盘驱动器，以及对可移动非易失性光盘(例如CD-ROM,DVD-ROM或者其它光介质)读写的光盘驱动器。在这些情况下，每个驱动器可以通过一个或者多个数据介质接口与总线18相连。存储器28可以包括至少一个程序产品，该程序产品具有一组(例如至少一个)程序模块，这些程序模块被配置以执行本发明各实施例的功能。System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and/or cache memory 32 . Device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read and write to non-removable, non-volatile magnetic media (not shown in FIG. 7, commonly referred to as a "hard drive"). Although not shown in FIG. 7, a disk drive for reading and writing to removable nonvolatile disks (e.g., "floppy disks") may be provided, as well as for removable nonvolatile optical disks (e.g., CD-ROM, DVD-ROM or other optical media) CD-ROM drive. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. Memory 28 may include at least one program product having a set (eg, at least one) of program modules configured to perform the functions of various embodiments of the present invention.
具有一组(至少一个)程序模块42的程序/实用工具40，可以存储在例如存储器28中，这样的程序模块42包括但不限于操作系统、一个或者多个应用程序、其它程序模块以及程序数据，这些示例中的每一个或某种组合中可能包括网络环境的实现。程序模块42通常执行本发明所描述的实施例中的功能和/或方法。A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including but not limited to an operating system, one or more application programs, other program modules, and program data , each or some combination of these examples may include implementations of network environments. Program modules 42 generally perform the functions and/or methodologies of the described embodiments of the invention.
设备12也可以与一个或多个外部设备14(例如键盘、指向设备、显示器24等)通信，还可与一个或者多个使得用户能与该设备12交互的设备通信，和/或与使得该设备12能与一个或多个其它计算设备进行通信的任何设备(例如网卡，调制解调器等等)通信。这种通信可以通过输入/输出(I/O)接口22进行。并且，设备12还可以通过网络适配器20与一个或者多个网络(例如局域网(LAN)，广域网(WAN)和/或公共网络，例如因特网)通信。如图所示，网络适配器20通过总线18与设备12的其它模块通信。应当明白，尽管图中未示出，可以结合设备12使用其它硬件和/或软件模块，包括但不限于：微代码、设备驱动器、冗余处理单元、外部磁盘驱动阵列、RAID系统、磁带驱动器以及数据备份存储系统等。Device 12 may also communicate with one or more external devices 14 (e.g., a keyboard, pointing device, display 24, etc.), and with one or more devices that enable a user to interact with Device 12 is capable of communicating with any device (eg, network card, modem, etc.) that communicates with one or more other computing devices. Such communication may occur through input/output (I/O) interface 22 . Also, device 12 may communicate with one or more networks (eg, local area network (LAN), wide area network (WAN), and/or public networks, such as the Internet) via network adapter 20 . As shown, network adapter 20 communicates with other modules of device 12 via bus 18 . It should be appreciated that although not shown, other hardware and/or software modules may be used in conjunction with device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and Data backup storage system, etc.
处理单元16通过运行存储在系统存储器28中的程序，从而执行各种功能应用以及数据处理，例如实现本发明实施例所提供的路线确定方法。The processing unit 16 executes various functional applications and data processing by running the programs stored in the system memory 28, such as implementing the route determination method provided by the embodiment of the present invention.
实施例八Embodiment Eight
本发明实施例八还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如本发明实施例中任一项所述的路线确定方法。Embodiment 8 of the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the method for determining a route as described in any one of the embodiments of the present invention is implemented.
本发明实施例的计算机存储介质，可以采用一个或多个计算机可读的介质的任意组合。计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本文件中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。The computer storage medium in the embodiments of the present invention may use any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (non-exhaustive list) of computer-readable storage media include: electrical connections with one or more leads, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), Erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。A computer readable signal medium may include a data signal carrying computer readable program code in baseband or as part of a carrier wave. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. .
计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括——但不限于无线、电线、光缆、RF等等，或者上述的任意合适的组合。Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including - but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
可以以一种或多种程序设计语言或其组合来编写用于执行本发明操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。Computer program code for carrying out the operations of the present invention may be written in one or more programming languages, or combinations thereof, including object-oriented programming languages—such as Java, Smalltalk, C++, and conventional Procedural Programming Language—such as "C" or a similar programming language. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (such as through an Internet Service Provider). Internet connection).
注意，上述仅为本发明的较佳实施例及所运用技术原理。本领域技术人员会理解，本发明不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本发明的保护范围。因此，虽然通过以上实施例对本发明进行了较为详细的说明，但是本发明不仅仅限于以上实施例，在不脱离本发明构思的情况下，还可以包括更多其他等效实施例，而本发明的范围由所附的权利要求范围决定。Note that the above are only preferred embodiments of the present invention and applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and can also include more other equivalent embodiments without departing from the concept of the present invention, and the present invention The scope is determined by the scope of the appended claims.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910691401.9ACN110375760A (en) | 2019-07-29 | 2019-07-29 | Route determination method, apparatus, equipment and medium |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910691401.9ACN110375760A (en) | 2019-07-29 | 2019-07-29 | Route determination method, apparatus, equipment and medium |
| Publication Number | Publication Date |
|---|---|
| CN110375760Atrue CN110375760A (en) | 2019-10-25 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910691401.9APendingCN110375760A (en) | 2019-07-29 | 2019-07-29 | Route determination method, apparatus, equipment and medium |
| Country | Link |
|---|---|
| CN (1) | CN110375760A (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110926489A (en)* | 2019-10-28 | 2020-03-27 | 西安华运天成通讯科技有限公司 | Body-building movement path planning method and system based on satellite navigation |
| CN111489553A (en)* | 2020-04-26 | 2020-08-04 | 百度在线网络技术（北京）有限公司 | Route planning method, device, equipment and computer storage medium |
| CN111582543A (en)* | 2020-04-01 | 2020-08-25 | 北京百度网讯科技有限公司 | Generation method of prediction model, and determination method and device of estimated arrival time |
| CN112179372A (en)* | 2020-10-09 | 2021-01-05 | 深圳市金沃德科技有限公司 | Artificial intelligence vehicle-mounted terminal equipment based on 5G |
| CN112197779A (en)* | 2020-09-14 | 2021-01-08 | 汉海信息技术(上海)有限公司 | Navigation path planning method and device and printing equipment |
| CN112330056A (en)* | 2020-11-23 | 2021-02-05 | 北京嘀嘀无限科技发展有限公司 | Route determination method, route determination device, electronic equipment and computer-readable storage medium |
| CN112667925A (en)* | 2020-12-30 | 2021-04-16 | 腾讯科技（深圳）有限公司 | Route recommendation method and device, computer equipment and storage medium |
| CN112710323A (en)* | 2020-12-23 | 2021-04-27 | 广州橙行智动汽车科技有限公司 | Vehicle-mounted navigation method and device |
| CN112797994A (en)* | 2019-11-14 | 2021-05-14 | 阿里巴巴集团控股有限公司 | Method and related apparatus and server for determining estimated time of arrival of a route |
| WO2021129227A1 (en)* | 2019-12-27 | 2021-07-01 | 华为技术有限公司 | Traffic information processing method and device |
| CN113139026A (en)* | 2020-01-19 | 2021-07-20 | 百度在线网络技术（北京）有限公司 | Method, device, equipment and medium for recommending route in navigation process |
| CN113159436A (en)* | 2021-04-29 | 2021-07-23 | 中国移动通信集团陕西有限公司 | Path recommendation method, device and equipment and readable storage medium |
| CN113390424A (en)* | 2021-06-09 | 2021-09-14 | 深圳市同行者科技有限公司 | Intelligent travel navigation method, system, equipment and medium |
| CN113532459A (en)* | 2021-06-28 | 2021-10-22 | 惠州市德赛西威汽车电子股份有限公司 | Predictive navigation route planning method and system |
| CN113587949A (en)* | 2021-08-05 | 2021-11-02 | 上海连尚网络科技有限公司 | Navigation route pushing method and equipment |
| CN113823119A (en)* | 2021-08-11 | 2021-12-21 | 江铃汽车股份有限公司 | Traffic safety and navigation early warning method based on cloud computing |
| WO2022105437A1 (en)* | 2020-11-19 | 2022-05-27 | 歌尔股份有限公司 | Path planning method and apparatus, and electronic device |
| WO2022166239A1 (en)* | 2021-02-03 | 2022-08-11 | 华为技术有限公司 | Vehicle travel scheme planning method and apparatus, and storage medium |
| CN115273452A (en)* | 2021-04-29 | 2022-11-01 | 阿里巴巴新加坡控股有限公司 | Road condition determination method and device and computer readable storage medium |
| CN115311851A (en)* | 2022-07-19 | 2022-11-08 | 北京三快在线科技有限公司 | Road condition information determining method and device, electronic equipment and storage medium |
| CN115457759A (en)* | 2022-07-22 | 2022-12-09 | 中智行(苏州)科技有限公司 | Road traffic real-time road condition information analysis system and method based on vehicle-road cooperation |
| CN116698064A (en)* | 2023-05-06 | 2023-09-05 | 广州汽车集团股份有限公司 | Vehicle travel planning method and device, electronic equipment and storage medium |
| CN116772877A (en)* | 2023-03-21 | 2023-09-19 | 纬创软件（北京）有限公司 | Method, system, device and medium for predicting endurance mileage of new energy automobile |
| CN116858275A (en)* | 2023-09-05 | 2023-10-10 | 安徽蔚来智驾科技有限公司 | Navigation route generation method, vehicle-mounted controller and storage medium |
| CN118836882A (en)* | 2024-07-01 | 2024-10-25 | 北京白龙马云行科技有限公司 | ARIMA model and SaaS-based network appointment vehicle path planning method and system |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104121908A (en)* | 2013-04-25 | 2014-10-29 | 北京搜狗信息服务有限公司 | Method and system for time-delay path planning |
| CN104374397A (en)* | 2013-08-14 | 2015-02-25 | 英华达（上海）科技有限公司 | Route planning system and method thereof |
| CN105513400A (en)* | 2015-12-03 | 2016-04-20 | 四川长虹电器股份有限公司 | Method for dynamically planning travel route |
| CN105674994A (en)* | 2014-11-17 | 2016-06-15 | 深圳市腾讯计算机系统有限公司 | Driving route acquisition method and device and navigation equipment |
| CN107144286A (en)* | 2016-03-01 | 2017-09-08 | 阿里巴巴集团控股有限公司 | Air navigation aid and device |
| CN107179087A (en)* | 2016-03-11 | 2017-09-19 | 百度在线网络技术（北京）有限公司 | Method and apparatus for recommended route |
| US20180231390A1 (en)* | 2004-12-31 | 2018-08-16 | Google Llc | Transportation Routing |
| CN109945876A (en)* | 2017-12-20 | 2019-06-28 | 上海博泰悦臻网络技术服务有限公司 | Guidance path control method, system, navigation terminal and storage medium |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180231390A1 (en)* | 2004-12-31 | 2018-08-16 | Google Llc | Transportation Routing |
| CN104121908A (en)* | 2013-04-25 | 2014-10-29 | 北京搜狗信息服务有限公司 | Method and system for time-delay path planning |
| CN104374397A (en)* | 2013-08-14 | 2015-02-25 | 英华达（上海）科技有限公司 | Route planning system and method thereof |
| CN105674994A (en)* | 2014-11-17 | 2016-06-15 | 深圳市腾讯计算机系统有限公司 | Driving route acquisition method and device and navigation equipment |
| CN105513400A (en)* | 2015-12-03 | 2016-04-20 | 四川长虹电器股份有限公司 | Method for dynamically planning travel route |
| CN107144286A (en)* | 2016-03-01 | 2017-09-08 | 阿里巴巴集团控股有限公司 | Air navigation aid and device |
| CN107179087A (en)* | 2016-03-11 | 2017-09-19 | 百度在线网络技术（北京）有限公司 | Method and apparatus for recommended route |
| CN109945876A (en)* | 2017-12-20 | 2019-06-28 | 上海博泰悦臻网络技术服务有限公司 | Guidance path control method, system, navigation terminal and storage medium |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110926489A (en)* | 2019-10-28 | 2020-03-27 | 西安华运天成通讯科技有限公司 | Body-building movement path planning method and system based on satellite navigation |
| CN110926489B (en)* | 2019-10-28 | 2021-12-07 | 西安华运天成通讯科技有限公司 | Body-building movement path planning method and system based on satellite navigation |
| CN112797994A (en)* | 2019-11-14 | 2021-05-14 | 阿里巴巴集团控股有限公司 | Method and related apparatus and server for determining estimated time of arrival of a route |
| WO2021129227A1 (en)* | 2019-12-27 | 2021-07-01 | 华为技术有限公司 | Traffic information processing method and device |
| CN113139026B (en)* | 2020-01-19 | 2024-04-02 | 百度在线网络技术（北京）有限公司 | Route recommendation method, device, equipment and medium in navigation process |
| CN113139026A (en)* | 2020-01-19 | 2021-07-20 | 百度在线网络技术（北京）有限公司 | Method, device, equipment and medium for recommending route in navigation process |
| CN111582543A (en)* | 2020-04-01 | 2020-08-25 | 北京百度网讯科技有限公司 | Generation method of prediction model, and determination method and device of estimated arrival time |
| WO2021218131A1 (en)* | 2020-04-26 | 2021-11-04 | 百度在线网络技术（北京）有限公司 | Route planning method and device, apparatus, and computer storage medium |
| CN111489553A (en)* | 2020-04-26 | 2020-08-04 | 百度在线网络技术（北京）有限公司 | Route planning method, device, equipment and computer storage medium |
| EP3926601A4 (en)* | 2020-04-26 | 2022-04-20 | Baidu Online Network Technology (Beijing) Co., Ltd. | Route planning method and device, apparatus, and computer storage medium |
| CN111489553B (en)* | 2020-04-26 | 2022-02-25 | 百度在线网络技术（北京）有限公司 | Route planning method, device, equipment and computer storage medium |
| CN112197779A (en)* | 2020-09-14 | 2021-01-08 | 汉海信息技术(上海)有限公司 | Navigation path planning method and device and printing equipment |
| CN112179372B (en)* | 2020-10-09 | 2021-08-27 | 深圳市金沃德科技有限公司 | Artificial intelligence vehicle-mounted terminal equipment based on 5G |
| CN112179372A (en)* | 2020-10-09 | 2021-01-05 | 深圳市金沃德科技有限公司 | Artificial intelligence vehicle-mounted terminal equipment based on 5G |
| WO2022105437A1 (en)* | 2020-11-19 | 2022-05-27 | 歌尔股份有限公司 | Path planning method and apparatus, and electronic device |
| CN112330056A (en)* | 2020-11-23 | 2021-02-05 | 北京嘀嘀无限科技发展有限公司 | Route determination method, route determination device, electronic equipment and computer-readable storage medium |
| CN112330056B (en)* | 2020-11-23 | 2024-06-07 | 北京嘀嘀无限科技发展有限公司 | Route determination method, route determination device, electronic device and computer-readable storage medium |
| CN112710323B (en)* | 2020-12-23 | 2023-11-03 | 广州橙行智动汽车科技有限公司 | Vehicle navigation method and device |
| CN112710323A (en)* | 2020-12-23 | 2021-04-27 | 广州橙行智动汽车科技有限公司 | Vehicle-mounted navigation method and device |
| CN112667925A (en)* | 2020-12-30 | 2021-04-16 | 腾讯科技（深圳）有限公司 | Route recommendation method and device, computer equipment and storage medium |
| CN112667925B (en)* | 2020-12-30 | 2022-05-13 | 腾讯科技（深圳）有限公司 | Route recommendation method and device, computer equipment and storage medium |
| WO2022166239A1 (en)* | 2021-02-03 | 2022-08-11 | 华为技术有限公司 | Vehicle travel scheme planning method and apparatus, and storage medium |
| CN113159436A (en)* | 2021-04-29 | 2021-07-23 | 中国移动通信集团陕西有限公司 | Path recommendation method, device and equipment and readable storage medium |
| CN115273452A (en)* | 2021-04-29 | 2022-11-01 | 阿里巴巴新加坡控股有限公司 | Road condition determination method and device and computer readable storage medium |
| CN113390424A (en)* | 2021-06-09 | 2021-09-14 | 深圳市同行者科技有限公司 | Intelligent travel navigation method, system, equipment and medium |
| CN113532459A (en)* | 2021-06-28 | 2021-10-22 | 惠州市德赛西威汽车电子股份有限公司 | Predictive navigation route planning method and system |
| CN113587949A (en)* | 2021-08-05 | 2021-11-02 | 上海连尚网络科技有限公司 | Navigation route pushing method and equipment |
| CN113823119A (en)* | 2021-08-11 | 2021-12-21 | 江铃汽车股份有限公司 | Traffic safety and navigation early warning method based on cloud computing |
| CN115311851B (en)* | 2022-07-19 | 2023-11-03 | 北京三快在线科技有限公司 | Road condition information determining method and device, electronic equipment and storage medium |
| CN115311851A (en)* | 2022-07-19 | 2022-11-08 | 北京三快在线科技有限公司 | Road condition information determining method and device, electronic equipment and storage medium |
| CN115457759A (en)* | 2022-07-22 | 2022-12-09 | 中智行(苏州)科技有限公司 | Road traffic real-time road condition information analysis system and method based on vehicle-road cooperation |
| CN116772877A (en)* | 2023-03-21 | 2023-09-19 | 纬创软件（北京）有限公司 | Method, system, device and medium for predicting endurance mileage of new energy automobile |
| CN116772877B (en)* | 2023-03-21 | 2024-05-28 | 纬创软件（北京）有限公司 | Method, system, device and medium for predicting endurance mileage of new energy automobile |
| CN116698064A (en)* | 2023-05-06 | 2023-09-05 | 广州汽车集团股份有限公司 | Vehicle travel planning method and device, electronic equipment and storage medium |
| CN116858275A (en)* | 2023-09-05 | 2023-10-10 | 安徽蔚来智驾科技有限公司 | Navigation route generation method, vehicle-mounted controller and storage medium |
| CN116858275B (en)* | 2023-09-05 | 2024-02-13 | 安徽蔚来智驾科技有限公司 | Navigation route generation method, vehicle-mounted controller and storage medium |
| CN118836882A (en)* | 2024-07-01 | 2024-10-25 | 北京白龙马云行科技有限公司 | ARIMA model and SaaS-based network appointment vehicle path planning method and system |
| Publication | Publication Date | Title |
|---|---|---|
| CN110375760A (en) | Route determination method, apparatus, equipment and medium | |
| US8126641B2 (en) | Route planning with contingencies | |
| US7706964B2 (en) | Inferring road speeds for context-sensitive routing | |
| US9008960B2 (en) | Computation of travel routes, durations, and plans over multiple contexts | |
| US11663378B2 (en) | Method, apparatus, and system for providing traffic simulations in a smart-city infrastructure | |
| CN110411469B (en) | Navigation planning method, device, equipment and medium | |
| US8718925B2 (en) | Collaborative route planning for generating personalized and context-sensitive routing recommendations | |
| CN111859291B (en) | Traffic accident identification method, device, equipment and computer storage medium | |
| Yuan et al. | Driving with knowledge from the physical world | |
| US9945678B2 (en) | Navigation system with arrival time mechanism and method of operation thereof | |
| CN109459050B (en) | Recommended method and device for navigation route | |
| JP7695627B2 (en) | Information processing device, information processing method, and program | |
| WO2016119704A1 (en) | Information providing method and system for on-demand service | |
| CN110741227B (en) | Landmark assisted navigation | |
| JP5892004B2 (en) | Route search system, route search device, route search method, and computer program | |
| WO2020191701A1 (en) | Road conditions prediction method, apparatus, and device, and computer storage medium | |
| CN108985506A (en) | Driving path recommendation method, driving path prediction method, driving path acquisition method and driving path acquisition device | |
| CN111429744A (en) | Road condition information fusion analysis method, device and storage medium | |
| US20180216948A1 (en) | Route recommendation in map service | |
| EP4617627A2 (en) | Vehicle routing with dynamic selection of turns across opposing traffic | |
| US20240255295A1 (en) | Penalizing difficult immediate maneuvers in routing cost functions | |
| US20230289667A1 (en) | Contextual relevance for shared mobility | |
| US20240085205A1 (en) | Method and apparatus for machine learning-based prediction of an estimated time of arrival | |
| KR102484139B1 (en) | Method, apparatus and system for calculating insurance premiums for two-wheeled vehicles based on driving pattern information of two-wheeled vehicles using an artificial intelligence model | |
| Paoli | Big Data Solutions: Models and Algorithms in Smart City Domains |
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication | Application publication date:20191025 |