CN108827337B - Navigation path display method and navigation system - Google Patents
Navigation path display method and navigation system Download PDFInfo
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- CN108827337B CN108827337B CN201810515567.0A CN201810515567A CN108827337B CN 108827337 B CN108827337 B CN 108827337B CN 201810515567 A CN201810515567 A CN 201810515567A CN 108827337 B CN108827337 B CN 108827337B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3667—Display of a road map
- G01C21/3676—Overview of the route on the road map
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Abstract
The invention provides a navigation path display method and a navigation system, and relates to the technical field of navigation. According to the navigation path display method and the navigation system, the automatic driving road sections are identified on the plurality of preset paths which are generated by planning the paths according to the starting point information and the end point information, and the automatic driving road sections are marked in the corresponding preset paths; and finally, thumbnail images of a plurality of selectable paths corresponding to the preset paths one by one are displayed on a navigation interface, so that a selection scheme with an automatic driving road section can be provided for a driver when selecting a route. By the intuitive display of the navigation path, the driver can use the automatic driving function of the vehicle more easily.
Description
Technical Field
The present invention relates to a navigation path display method and a navigation system, and more particularly, to a navigation path display method and a navigation system for displaying an autopilot section.
Background
In the prior art, navigation path planning mainly considers the conditions of the travel time of a path, whether the path is high-speed or not, whether the path is congested or not and the like, and on the basis, the characteristics of the path section are processed through a background calculation program, so that various path selection quick options of a driver are provided, such as high-speed priority, distance priority, congestion avoidance and the like. For congested road sections, the navigation interface can be represented by colors (green) different from non-congested road sections through map real-time information, so that important information of the road sections can be intuitively displayed for a driver.
At present, all companies aim to perfect the automatic driving technology, and do not supplement the automatic driving technology in other aspects to perfect the automatic driving technology.
Disclosure of Invention
An object of the present invention is to provide a navigation path display method and a navigation system capable of displaying an automatically drivable road segment.
In one aspect, the present invention provides a navigation path display method, including:
acquiring starting point information and end point information in a navigation request;
planning a path according to the starting point information and the end point information and generating a plurality of preset paths;
identifying an automatically drivable section in the plurality of preset paths and marking the automatically drivable section in a corresponding preset path;
and displaying thumbnails of a plurality of selectable paths corresponding to the plurality of preset paths on a navigation interface.
Optionally, the identifying the automatically drivable segments of the plurality of preset paths comprises:
and identifying the automatically drivable road sections in the preset paths according to the closed road information, the position information of the entrance and exit of the expressway and the road maintenance condition information in the preset paths.
Optionally, a mode corresponding to each selectable path is displayed in the navigation interface, wherein the mode division method includes:
calculating a scale factor of the distance of the automatic drivable road sections in each optional path to the total distance of the optional paths;
and displaying the mode corresponding to the selectable path according to the scale factor.
Optionally, the modes include: an autonomous driving mode and a non-autonomous driving mode;
when the scale factor is equal to 0, the mode of the selectable path corresponding to the scale factor is a non-automatic driving mode;
when the scale factor is larger than 0, the mode of the selectable path corresponding to the scale factor is an automatic driving mode.
Optionally, the automatically drivable mode comprises: an automatic driving comfort mode and an automatic driving distance mode; wherein the method of dividing the automatic driving comfort mode and the automatic driving distance mode includes:
calculating the switching times between automatic driving and manual driving;
calculating a characteristic value according to the switching times and the scale factor;
and dividing an automatic driving comfort mode and an automatic driving distance mode by comparing the characteristic values of different selectable paths, dividing the selectable path with a large characteristic value into the automatic driving distance mode, and dividing the selectable path with a small characteristic value into the automatic driving comfort mode.
In another aspect, the present invention further provides a navigation system, including:
the input unit is used for acquiring starting point information and end point information in the navigation request;
the path generating unit is used for planning paths according to the starting point information and the end point information and generating a plurality of preset paths;
the processing unit is used for identifying an automatic drivable section in the plurality of preset paths and marking the automatic drivable section in the corresponding preset path;
and the display unit is used for displaying the thumbnails of the multiple selectable paths corresponding to the multiple preset paths on the navigation interface.
Optionally, the processing unit comprises an automatic driving recognition unit for recognizing an automatically drivable segment in the plurality of preset paths, the automatic driving recognition unit being configured to:
and identifying the automatically drivable road sections in the preset paths according to the closed road information, the position information of the entrance and exit of the expressway and the road maintenance condition information in the preset paths.
Optionally, the display unit is further configured to: displaying a mode corresponding to each selectable path in the navigation interface;
the modes include: an autonomous driving mode and a non-autonomous driving mode; wherein the autopilot mode comprises: an automatic driving comfort mode and an automatic driving distance mode.
Optionally, the processing unit further comprises a dividing unit for dividing the mode, the dividing unit, when dividing the autonomous driving mode and the non-autonomous driving mode, is configured to:
calculating a scale factor of the distance of the automatic drivable road section in each preset path in the total distance of the selectable paths;
displaying a mode corresponding to the selectable path according to the scale factor;
when the scale factor is equal to 0, the mode of the selectable path corresponding to the scale factor is a non-automatic driving mode; when the scale factor is larger than 0, the mode of the selectable path corresponding to the scale factor is an automatic driving mode.
Optionally, the dividing unit, when dividing the automatic driving comfort mode and the automatic driving distance mode, is configured to: calculating the switching times between automatic driving and manual driving;
calculating a characteristic value according to the switching times and the scale factor;
and dividing an automatic driving comfort mode and an automatic driving distance mode by comparing the characteristic values of different selectable paths, dividing the selectable path with a large characteristic value into the automatic driving distance mode, and dividing the selectable path with a small characteristic value into the automatic driving comfort mode.
According to the navigation path display method and the navigation system, the automatic driving road sections are identified on the plurality of preset paths which are generated by planning the paths according to the starting point information and the end point information, and the automatic driving road sections are marked in the corresponding preset paths; and finally, thumbnail images of a plurality of selectable paths corresponding to the plurality of preset paths one by one are displayed on a navigation interface, so that a selection scheme with an automatic driving road section can be provided for a driver when selecting a route. By the intuitive display of the navigation path, the driver can use the automatic driving function of the vehicle more easily.
Furthermore, in the navigation path display method and the navigation system, the selectable path is divided into different modes, wherein the modes comprise an automatic driving mode and a non-automatic driving mode; and the automatically drivable modes include: an automatic driving comfort mode and an automatic driving distance mode. Different modes are selected to meet different requirements of the driver.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
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Some specific embodiments of the invention will be described in detail hereinafter, by way of illustration and not limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
FIG. 1 is a schematic flow chart diagram of a navigation path display method according to one embodiment of the present invention;
FIG. 2 is a schematic device diagram of a navigation system according to one embodiment of the present invention;
FIG. 3 is a schematic example of a navigation map rendered according to one embodiment of the present invention.
Detailed Description
The navigation path display method and the navigation system 100 according to the embodiment of the present invention are described below with reference to fig. 1 to 3.
Fig. 1 is a schematic flow chart of a navigation path display method according to an embodiment of the present invention. Referring to fig. 1, the present embodiment provides a navigation path display method suitable for a highly autonomous vehicle, including:
step S101, acquiring starting point information and end point information in a navigation request; specifically, the current position of the user may be obtained through information interaction with the satellite system, and the current position of the user may be used as the starting point information, or of course, the starting point information may also be input by the user. Endpoint information may be entered by a user or imported by other links;
step S102, planning a path according to the starting point information and the end point information and generating a plurality of preset paths; specifically, after the starting point information and the end point information are obtained, a high-precision map is adopted to provide accurate road information and vehicle position information to calculate a plurality of preset paths, in the existing navigation system, 3 preset paths are generally provided, and of course, the number of the preset paths is not limited to 3, and can be 2, 4 or other numbers; the preset path may include information capable of reflecting congestion conditions, time duration and the like, or may not include the information;
step S103, identifying an automatic drivable section in a plurality of preset paths and marking the automatic drivable section in the corresponding preset path; specifically, based on accurate and effective road traffic information, a preset path subdivision section provided by a navigation initial path planning calculation model is judged through a set automatic driving design use range (ODD) judgment mechanism so as to determine the possibility of automatic driving;
step S104, displaying thumbnails of a plurality of selectable paths corresponding to a plurality of preset paths on a navigation interface; if the selectable path contains the automatic driving road sections, the selectable path with the marks is displayed on the navigation interface, and the marks of the automatic driving road sections can be blue or other striking colors. The displayed selectable path may include information such as a congestion road section prompt or an accident prompt in addition to the prompt of the automatically drivable road section. For the prompts, special color prompts and/or sound prompts may be used. The displayed selectable path is updated in real time along with the running of the vehicle, so that a driver can master the latest message.
According to the navigation path display method, the automatic driving road sections are identified on the plurality of selectable paths which are generated by planning the paths according to the starting point information and the end point information, and the automatic driving road sections are marked in the selectable paths corresponding to the automatic driving road sections; finally, the thumbnail images of the multiple selectable paths are displayed on a navigation interface, so that a selection scheme with an automatic driving road section can be provided for a driver when selecting a route. By the intuitive display of the navigation path, the driver can use the automatic driving function of the vehicle more easily.
In one preferred embodiment, identifying the automatically drivable segments of the plurality of preset paths comprises:
and identifying the automatically drivable road sections in the plurality of preset paths according to the closed type road information, the position information of the entrance and exit of the expressway, the road maintenance condition information and the like in the preset paths.
In order to provide more choices for the user, displaying a mode corresponding to each selectable path in the navigation interface, wherein the mode is divided by the following steps: calculating a scale factor of the distance of the automatic drivable road section in each optional path in the total distance of the optional paths; and displaying the mode corresponding to the selectable path according to the scale factor.
The modes include: an autonomous driving mode and a non-autonomous driving mode; when the scale factor is equal to 0, the mode of the corresponding selectable path is a non-automatic driving mode; when the scale factor is larger than 0, the mode of the corresponding selectable path is the automatic driving mode.
The autopilot mode in turn comprises: an automatic driving comfort mode, an automatic driving distance mode, and an automatic driving optimum mode; among a plurality of selectable paths including an automatically drivable road section, a selectable path having the shortest total distance is displayed as an automatically drivable distance mode; displaying the selectable path with the longest distance of the automatic driving road section as an automatic driving distance mode; and the selectable path including the shortest total distance of the selectable paths and the longest distance of the automatically drivable segments is displayed as the automatic driving optimum mode.
In another further embodiment, the method of partitioning patterns may further include:
the automatically drivable mode includes: an automatic driving comfort mode and an automatic driving distance mode; wherein the method of dividing the automatic driving comfort mode and the automatic driving distance mode includes:
calculating a scaling factor for the distance of the autopilot segment in each alternative route to the total distance of the alternative routes
Calculating the switching times between automatic driving and manual driving;
calculating a characteristic value according to the switching times and the scale factor;
the automatic driving comfort mode and the automatic driving distance mode are divided through comparison of characteristic values among different selectable paths, the selectable path with a large characteristic value is divided into the automatic driving distance mode, and the selectable path with a small characteristic value is divided into the automatic driving comfort mode.
Further, since navigation may have a plurality of selectable paths, after the determination according to the inherent attribute of the path and the ODD characteristic of the subdivided segment, the plurality of selectable paths will have new and different feature values F. And calculating a scale factor f of the distance of the automatic driving section of the selectable path in the total distance and the number N of times of switching between automatic driving and manual driving. In the present embodiment, new features of multiple selectable paths are determined according to the ODD, and the driver is provided with multiple reference options for quickly selecting the final navigation path, such as an automatic driving comfort mode, an automatic driving distance mode, a non-automatic driving mode, and the like. The feature value calculation method for different modes is as follows:
when F is 1, F is 0, the road segment supports automatic driving in the whole process, and the navigation interface can provide an automatic driving comfort mode option for the driver;
when F is 0, F is 10, the road section does not support automatic driving all the way, and the navigation interface can provide a non-automatic driving mode option for the driver;
when 0 < F < 1, 0 < F < 10, the road section has a part of automatic driving road section, and the characteristic value F of the optional path AACharacteristic value F of alternative path BBIf F isA＞FBThen alternative path a is defined as the autopilot distance mode path and alternative path B is the autopilot comfort mode path, and the navigation interface may provide the driver with both mode options, with the modes being changeable in real time as the vehicle travels.
Fig. 2 is a schematic device diagram of a navigation system 100 according to one embodiment of the present invention. Referring to fig. 2, the navigation system 100 in the present embodiment includes an input unit 1, a path generation unit 2, a processing unit 3, and a display unit 4. The input unit 1 is used to acquire start point information and end point information in a navigation request. The path generating unit 2 is configured to perform path planning according to the start point information and the end point information and generate a plurality of preset paths, but not immediately display the preset paths on the navigation screen. And the processing unit 3 is used for identifying the automatic driving road sections in the plurality of preset paths and marking the automatic driving road sections in the selectable paths corresponding to the automatic driving road sections. After combining the accurate road information provided by the high-precision map, the processing unit 3 judges whether the subdivided road sections in the preset path meet the design requirements of the automatic driving ODD according to a preset automatic driving ODD judgment program, and expresses the ODD road sections which are finally judged to support the automatic driving by using special colors, and simultaneously marks the starting point and the end point of the automatic driving road section by using corresponding marks respectively. And the display unit 4 is used for displaying the thumbnails of a plurality of selectable paths corresponding to the plurality of preset paths on the navigation interface, and reminding and helping the driver to better use the automatic driving function.
The processing unit 3 comprises an autopilot recognition unit 31 for recognizing an autopilot section of the plurality of preset paths. In order to accurately capture a road section supporting the automatic driving, a high-precision map is used to provide accurate road information and vehicle position information, and after the road section is calculated by the automatic driving recognition unit 31, updated information in a path is requested in time. Further, the automatic driving recognition unit 31 is configured to: and identifying the automatically drivable road sections in the plurality of preset paths according to the closed type road information, the position information of the entrance and exit of the expressway, the road maintenance condition information and the like in the preset paths.
Further, the display unit 4 is also configured to: a mode corresponding to each selectable path is displayed in the navigation interface. The modes include: an autonomous driving mode and a non-autonomous driving mode; wherein the autopilot mode includes: an automatic driving comfort mode and an automatic driving distance mode.
In order to further subdivide the pattern of selectable paths, the processing unit 3 further comprises a dividing unit 32 for dividing the pattern, the dividing unit 32, when dividing the autonomous driving mode and the non-autonomous driving mode, being configured to:
calculating a scale factor of the distance of the automatic drivable road section in each optional path in the total distance of the optional paths; displaying a mode corresponding to the selectable path according to the scale factor; when the scale factor is equal to 0, the mode of the corresponding selectable path is a non-automatic driving mode; when the scale factor is larger than 0, the mode of the corresponding selectable path is the automatic driving mode.
The dividing unit 32 is further configured, when dividing the automatic driving comfort mode and the automatic driving distance mode, to: among a plurality of selectable paths including an autopilot section, the dividing unit 32 divides the selectable path having the shortest total distance of the selectable paths into an autopilot distance mode; the dividing unit 32 divides the selectable path having the longest distance of the automatically drivable segments into the automatic driving comfort modes, and the dividing unit 32 displays the selectable path having the shortest total distance including the selectable path and the longest distance of the automatically drivable segments as the automatic driving optimum mode.
In another embodiment, the dividing unit 32, when dividing the automatic driving comfort mode and the automatic driving distance mode, is configured to: calculating the switching times between automatic driving and manual driving; calculating a characteristic value according to the switching times and the scale factor; the automatic driving comfort mode and the automatic driving distance mode are divided through comparison of characteristic values among different selectable paths, the selectable path with a large characteristic value is divided into the automatic driving distance mode, and the selectable path with a small characteristic value is divided into the automatic driving comfort mode.
The navigation system 100 in this embodiment adds a possibility determination mechanism for automatically driving a road segment to the navigation path planning calculation model. And based on accurate and effective road traffic information, judging the automatic driving possibility of the selectable path provided by the navigation original path planning calculation model through a set ODD (optical distribution device) judgment mechanism. And finally, displaying the road section with the automatic driving possibility judgment on a navigation interface in a certain mode, and providing a quick option mode with automatic driving attributes for the driver by combining different characteristics of a plurality of preset paths. Therefore, for the vehicle with high automatic driving, the scheme of the invention can well express the automatic driving characteristic of the navigation path, and the driver can more easily use the automatic driving function of the vehicle through the visual display of the navigation path, thereby having stronger practicability and innovation.
FIG. 3 is a schematic example of a navigation map rendered according to one embodiment of the present invention. The grid area in the figure is an autopilot road segment, and others such as a congested road segment are not shown. As shown in fig. 3, the selectable path a is the automatic driving comfort mode, and when the automatic driving comfort mode is selected, the navigation system 100 automatically switches to the path for navigation. The alternative route B is a non-autonomous driving mode, and when selected, the navigation system 100 automatically switches to the route for navigation. The alternative path C is the automatic driving distance mode, and after selection, the navigation system 100 automatically switches to the path for navigation. By adopting the mode and displaying the mode on the navigation interface of the navigation system 100, the user can simply and clearly see the automatically drivable road sections in the route for selection, thereby increasing the travel safety and improving the user experience.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.
Claims (5)
1. A navigation path display method is characterized by comprising the following steps: acquiring starting point information and end point information in a navigation request; planning a path according to the starting point information and the end point information and generating a plurality of preset paths; identifying an automatically drivable section in the plurality of preset paths and marking the automatically drivable section in a corresponding preset path; displaying thumbnails of a plurality of selectable paths corresponding to the plurality of preset paths on a navigation interface;
further comprising: displaying a mode corresponding to each of the selectable paths in the navigation interface, the modes including an autopilot mode and a non-autopilot mode, the autopilot mode including an autopilot comfort mode and an autopilot distance mode;
determining new characteristics F of a plurality of selectable paths according to the inherent attributes of the paths and the using range of the automatic driving design of the subdivided road sections, and providing a plurality of reference options for quickly selecting the final navigation path for a driver, wherein the calculation method of the characteristic value F comprises the following steps:
f is a scale factor of the distance of the automatic driving road section of the selectable path in the total distance, and N is the number of times of switching between automatic driving and manual driving;
when F is 1, F is 0, the road section supports automatic driving in the whole process, and the navigation interface provides an automatic driving comfort mode option for the driver;
when F is 0, F is 10, the road section does not support automatic driving in the whole process, and the navigation interface provides a non-automatic driving mode option for the driver;
when 0 < F < 1, 0 < F < 10, the road section has a part of automatic driving road section, and the characteristic value F of the optional path AACharacteristic value F of alternative path BBIf F isA＞FBThen alternative path a is defined as the autopilot distance mode path and alternative path B is defined as the autopilot comfort mode path.
2. The navigation path display method of claim 1, wherein the identifying an automatically drivable segment in the plurality of preset paths comprises: and identifying the automatically drivable road sections in the preset paths according to the closed road information, the position information of the entrance and exit of the expressway and the road maintenance condition information in the preset paths.
3. A navigation system, comprising: the input unit is used for acquiring starting point information and end point information in the navigation request; the path generating unit is used for planning paths according to the starting point information and the end point information and generating a plurality of preset paths; the processing unit is used for identifying an automatic drivable section in the plurality of preset paths and marking the automatic drivable section in the corresponding preset path; the display unit is used for displaying thumbnails of a plurality of selectable paths corresponding to the plurality of preset paths on a navigation interface;
the display unit is further configured to: displaying a mode corresponding to each selectable path in the navigation interface; the modes include: an autonomous driving mode and a non-autonomous driving mode; wherein the autopilot mode comprises: an automatic driving comfort mode and an automatic driving distance mode;
determining new characteristics F of a plurality of selectable paths according to the inherent attributes of the paths and the using range of the automatic driving design of the subdivided road sections, and providing a plurality of reference options for quickly selecting the final navigation path for a driver, wherein the calculation method of the characteristic value F comprises the following steps:
f is a scale factor of the distance of the automatic driving road section of the selectable path in the total distance, and N is the number of times of switching between automatic driving and manual driving;
when F is 1, F is 0, the road section supports automatic driving in the whole process, and the navigation interface provides an automatic driving comfort mode option for the driver;
when F is 0, F is 10, the road section does not support automatic driving in the whole process, and the navigation interface provides a non-automatic driving mode option for the driver;
when 0 < F < 1, 0 < F < 10, the road section has a part of automatic driving road section, and the characteristic value F of the optional path AACharacteristic value F of alternative path BBIf F isA＞FBThen alternative path a is defined as the autopilot distance mode path and alternative path B is defined as the autopilot comfort mode path.
4. The navigation system of claim 3, wherein the processing unit includes an autopilot recognition unit for identifying an autopilot segment of the plurality of preset paths, the autopilot recognition unit configured to: and identifying the automatically drivable road sections in the preset paths according to the closed road information, the position information of the entrance and exit of the expressway and the road maintenance condition information in the preset paths.
5. The navigation system of claim 4, wherein the processing unit further comprises a dividing unit configured to divide the mode corresponding to the selectable path.
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| CN109597317B (en) * | 2018-12-26 | 2022-03-18 | 广州小鹏汽车科技有限公司 | Self-learning-based vehicle automatic driving method and system and electronic equipment |
| CN110109453B (en) * | 2019-04-16 | 2023-04-25 | 浙江吉利控股集团有限公司 | Automatic driving interface display method and device and vehicle |
| CN110083164B (en) * | 2019-05-20 | 2022-05-13 | 阿波罗智联(北京)科技有限公司 | Control method and system, electronic device, server and computer readable medium |
| EP4099293B1 (en) * | 2020-02-25 | 2024-04-24 | Huawei Technologies Co., Ltd. | Method and apparatus for identifying special road conditions, electronic device, and storage medium |
| JP7351283B2 (en) * | 2020-10-19 | 2023-09-27 | トヨタ自動車株式会社 | Driver notification device |
| CN112577510B (en) * | 2020-11-25 | 2023-11-14 | 阿波罗智联(北京)科技有限公司 | Method, device, equipment and storage medium for displaying information applied to vehicle |
| CN112988927B (en) * | 2021-02-03 | 2021-12-14 | 腾讯科技（深圳）有限公司 | Map data processing method and device, computer equipment and storage medium |
| CN115497317B (en) * | 2022-09-13 | 2024-04-12 | 阿波罗智联(北京)科技有限公司 | Target road section determining method, device, equipment, readable storage medium and product |
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