CN109859513A - Road junction roadway air navigation aid and device - Google Patents
Road junction roadway air navigation aid and device Download PDFInfo
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Abstract
This application discloses a kind of road junction roadway air navigation aid and device, the road junction roadway air navigation aid includes: to obtain the intersection information at next crossing based on current navigation path, and the intersection information includes target lane and distance；The crossing described in vehicle distances or when the solid line target range S of crossing, identifies the current lane of vehicle, compares current lane and the target lane；If the current lane is different from the target lane, lane change demand prompt information is issued；Obtain current traffic information；The safety condition for meeting lane change is determined whether according to the current traffic information of acquisition based on lane change model trained in advance；If meeting the safety condition of lane change, lane change safety instruction information is issued.The road junction roadway air navigation aid of the application, other than driver can be prompted to have lane change demand, moreover it is possible to which more effective, more targeted prompt is made in the safety for prompting the current lane change of driver, reduces violating the regulations, reduction traffic accident.
Description
Technical field
The application belongs to technical field of vehicle navigation, in particular to a kind of road junction roadway air navigation aid and device.
Background technique
The many people for driving to go on a journey, which have, encountered such case: having been found that not on specified lane when reaching crossing
And miss crossing.In the related technology, when navigation system encounters crossing, prompt can be made in advance, but have many drivers because
For with occupant talk or it is absent minded without noticing navigation hint, do not drive into specified road in advance, lead
The accidents such as knock into the back are missed crossing or driver directly and are caused according to navigation hint lane change in cause, and there are security risks.
Summary of the invention
The application aims to solve at least one of the technical problems existing in the prior art.
This application discloses a kind of road junction roadway air navigation aids, comprising: is based on current navigation path, obtains next crossing
Intersection information, the intersection information includes target lane and distance；The crossing described in vehicle distances or crossing solid line target away from
When from S, the current lane of vehicle is identified, compare current lane and the target lane；If the current lane and the target
Lane is different, then issues lane change demand prompt information；Obtain current traffic information；Based on lane change model trained in advance according to obtaining
The current traffic information taken determines whether the safety condition for meeting lane change；If meeting the safety condition of lane change, lane change safety is issued
Prompt information.
The road junction roadway air navigation aid that the above embodiments of the present application provide, in addition to driver can be prompted to have lane change demand
Outside, moreover it is possible to which more effective, more targeted prompt is made in the safety for prompting the current lane change of driver, reduces violating the regulations, reduction friendship
Interpreter's event.
The application also proposed a kind of road junction roadway navigation device, comprising: first acquisition unit is configured to based on current
Guidance path obtains the intersection information at next crossing, and the intersection information includes target lane and distance；Recognition unit, configuration
When for the crossing described in vehicle distances or crossing solid line target range S, the current lane of vehicle is identified；First determination unit,
It is configured to compare current lane and the target lane；First generating unit, if be configured to the current lane with it is described
Target lane is different, then issues lane change demand prompt information；Second acquisition unit is configured to obtain current traffic information；The
Two determination units are configured to determine whether to meet according to the current traffic information of acquisition based on lane change model trained in advance to become
The safety condition in road；Second generating unit issues lane change safety instruction information if being configured to meet the safety condition of lane change.
The application also proposed a kind of computer readable storage medium, be stored with the computer program program by processor
Method as described above is realized when execution.
The road junction roadway navigation device, the computer readable storage medium and above-mentioned road junction roadway air navigation aid phase
Identical for advantage possessed by the prior art, details are not described herein.
The additional aspect and advantage of the application will be set forth in part in the description, and will partially become from the following description
It obtains obviously, or recognized by the practice of the application.
Detailed description of the invention
The above-mentioned and/or additional aspect and advantage of the application will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is the flow chart according to the road junction roadway air navigation aid of the application one embodiment；
Fig. 2 is the structural schematic diagram according to the road junction roadway navigation device of the application one embodiment；
Fig. 3 is the structural schematic diagram according to another embodiment road junction roadway navigation device of the application.
Appended drawing reference:
Road junction roadway air navigation aid device 100,
First acquisition unit 101, recognition unit 102, the first determination unit 103, the first generating unit 104, second determines
Unit 105, the second generating unit 106；Processor 110, navigation system 111, vehicle-mounted camera 112, ranging, speed measuring module 113,
Voice system 114.
Specific embodiment
Embodiments herein is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the application, and should not be understood as the limitation to the application.
As shown in Figure 1, the road junction roadway air navigation aid according to the application one embodiment includes the following steps:
Step S100 is based on current navigation path, obtains the intersection information at next crossing, intersection information includes target carriage
Road and distance.
In this embodiment, next crossing refers to the current guidance path given based on navigation system 111, Yi Jiben
Next crossing of the current position of vehicle, the crossing can be the crossing for needing to turn to, and be also possible to continue the crossing of straight trip.
Wherein, for turning to crossing, the road junction roadway air navigation aid of the application can prevent vehicle from missing steering opportunity, shadow
Ring driving path；For crossing of keeping straight on, the road junction roadway air navigation aid of the application can prevent vehicle from accounting for lay-by, influence traffic
It is current.
In actual execution, the intersection information at next crossing can be combined vehicle-mounted by vehicle-mounted navigation system 111
Positioning system provides or the navigation system 111 of mobile terminal combines the positioning system of mobile terminal to provide.
The information at crossing then includes: the conjunction rule steering direction in each lane at the crossing, target lane, this vehicle to the crossing
Distance or this vehicle to the crossing solid line distance (solid line does not allow lane change).
Such as in CONTINENTAL AREA OF CHINA, when next crossing needs to turn right, target lane is usually rightmost side lane.
Step S200 identifies the current lane of vehicle, compares at vehicle distances crossing or crossing solid line target range S
Current lane and target lane.
It is understood that vehicle may not need change when vehicle distances crossing or crossing solid line are greater than target range S
Road, driver voluntarily can select lane according to current road conditions.
Whether above-mentioned steps need lane change when close to crossing for determination, if current lane is consistent with target lane,
Without lane change.
In actual execution, target range S can be determined according to current vehicle speed, current vehicle speed and target range S positive
It closes, in some embodiments, the current speed per hour of S (m)=15*, and the minimum 500m of S, such as when current speed per hour is 30Km/h, S=
500m；When current speed per hour is 60Km/h, S=900m.
When the distance of vehicle distances crossing or crossing solid line is target range S, just starts to identify current lane, in this way may be used
To save the energy and computing resource of vehicle.
In actual execution, above-mentioned steps identify that the current lane of vehicle may include following sub-step:
Sub-step S210 obtains the road image at front and/or rear, lane line is identified, according to the bottom of road image
The lane line of central point two sides determines current lane.
In the process of implementation, road image, processor can be captured by the vehicle-mounted camera 112 of vehicle head or tail portion
The road image that 110 analysis vehicle-mounted cameras 112 capture, identifies lane line, lane information is extracted, according to image base central point
It is among any two lane lines and obtains lane locating for current vehicle.
Step S300 issues lane change demand prompt information, does not otherwise mention if current lane is different from target lane
Show.
It should be noted that above-mentioned steps are only the demand for prompting to have lane change, do not indicate that driver wants horse back lane change.
In actual execution, which can be proposed by way of voice, for example vehicle-mounted loudspeaker can be in front of voice prompting
Need the similar informations such as steering.
Step S400 obtains current traffic information.
Whether above-mentioned traffic information is for assisting driver's judgement is current can safe lane change.
In actual execution, above-mentioned steps S400 may include following sub-step:
Sub-step S410 obtains current vehicle front and back and the obstacle information to lane change side, obtains leading vehicle distance with before
Vehicle speed obtains rear car distance and front truck speed；
It should be noted that barrier includes other vehicles, pedestrian, other articles of road etc..
In actual execution, above-mentioned traffic information mainly captures image by vehicle-mounted camera 112 come cognitive disorders object letter
Breath and ranging, speed measuring module 113 obtain the distance and speed of forward and backward vehicle.
Step S500 determines whether to meet lane change based on lane change model trained in advance according to the current traffic information of acquisition
Safety condition.
The lane change model is stored in the host of vehicle after can demarcating in advance.
In actual execution, above-mentioned steps S500 may include following sub-step:
Sub-step S510 meets: a) target lane clear in targeted security distance L at the same time；b)L1+(V1-
V0) * t > L；C) L2+ (V0-V2) * t > L；When confirmation meet the safety condition of lane change；Wherein L1 is leading vehicle distance, and L2 is rear car
Distance, V0 are this vehicle speed, and V1 is preceding vehicle speed, and V2 is rear vehicle speed, and t is the lane change time.
It can be understood that when, the lane change time can be calculated according to current vehicle speed, and condition a expression static state sees target
There is a condition of lane change in lane, and condition b indicates to knock into the back with front truck when lane change, and condition c will not be by car rear-end when indicating lane change.
Tri- conditions of above-mentioned a, b, c, which must all meet, just meets safe lane change.
400 and 500 safety that may insure lane change through the above steps.It, can in the ungratified situation of above-mentioned condition
To continue to monitor lane change opportunity, when being suitble to lane change, driver is reminded, auxiliary driver judges lane change opportunity.
Step S600 issues lane change safety instruction information if meeting the safety condition of lane change.
After meeting the safety condition of lane change, show that the demand of present existing lane change has the possibility of lane change again.Actual
In execution, which can be proposed by way of voice, for example vehicle-mounted loudspeaker can be present with voice prompting
It can be with similar informations such as lane changes.
In some embodiments, road junction roadway air navigation aid further include: after issuing lane change demand prompt information, every setting
Distance executes the current lane of step identification vehicle again, compares current lane and target lane.
In this embodiment, it if having moved forward set distance after issuing lane change demand prompt information again, needs to return again
It to step S200, reaffirms whether lane change, is not necessarily to prompt if lane change, if lane change is not implemented, need
It prompts again.
Wherein, in some embodiments, lane change, and set distance and vehicle can be detected whether again at a certain distance
To crossing distance be positively correlated.
In actual execution, for above-mentioned set distance with closer apart from crossing, spacing distance is smaller.In some embodiments
In mode, at most to remind 5 times, 4 spacing distances are respectively 0.4S-50,0.3S-25,0.2S, 0.1S+25, as S=500m,
Gauge is from respectively 150m, 125m, 100m, 75m.
Corresponding prompt point positional distance crossing is respectively as follows: S, 0.6S+50,0.3S+75,0.1S+75,50m, works as S=
When 500m, point positional distance crossing is prompted to be respectively as follows: 500m, 350m, 225m, 125m, 50m.
If having driven into specific lane, is checked whether every a distance and driven into crossing, if driving into crossing not yet,
It is reexamined every a distance and whether deviates specific lane, repeat step S200.
Crossing is driven into, is terminated.
The road junction roadway air navigation aid that the above embodiments of the present application provide, in addition to driver can be prompted to have lane change demand
Outside, moreover it is possible to which more effective, more targeted prompt is made in the safety for prompting the current lane change of driver, reduces violating the regulations, reduction friendship
Interpreter's event.
As shown in Fig. 2, this application provides a kind of navigation of road junction roadway to fill as the realization to method shown in above-mentioned Fig. 1
100 one embodiment is set, the Installation practice is corresponding with embodiment of the method shown in FIG. 1, which can specifically apply
In various electronic equipments.
As shown in Fig. 2, the road junction roadway navigation device 100 of the application includes: first acquisition unit 101, recognition unit
102, the first determination unit 103, the first generating unit 104, second acquisition unit, the second determination unit 105, the second generating unit
106。
Wherein, first acquisition unit 101 are configured to obtain the crossing letter at next crossing based on current navigation path
Breath, intersection information includes target lane and distance；Recognition unit 102 is configured in vehicle distances crossing or crossing solid line mesh
When subject distance S, the current lane of vehicle is identified；First determination unit 103 is configured to compare current lane and target lane；
First generating unit 104 issues lane change demand prompt information if it is different from target lane to be configured to current lane；Second
Acquiring unit is configured to obtain current traffic information；Second determination unit 105 is configured to based on lane change trained in advance
Model determines whether the safety condition for meeting lane change according to the current traffic information of acquisition；Second generating unit 106, is configured to
If meeting the safety condition of lane change, lane change safety instruction information is issued.
In the present embodiment, first acquisition unit 101, recognition unit 102, the first determination unit 103, the first generating unit
104, second acquisition unit, the second determination unit 105, the processing mode of the second generating unit 106 and technical effect can join
Examine the description of above-mentioned steps S100-S600.
For example, first acquisition unit 101 may include navigation system 111 as shown in Figure 3；Recognition unit 102 can be set
In vehicle-mounted camera 112 and processor 110 as shown in Figure 3；First determination unit 103 and the second determination unit 105 can collect
At setting, it is integrated in processor 110 as shown in Figure 3；Second acquisition unit may include vehicle-mounted camera shown in Fig. 3
112 and ranging, speed measuring module 113；First generating unit 104 and the second generating unit 106 can integrate in voice shown in Fig. 3
System 114.
In actual execution, vehicle-mounted camera 112 shown in Fig. 3 may include: that preceding camera, rear camera, a left side are taken the photograph
As head, right camera, ranging, speed measuring module 113 may include radar.
In some embodiments, recognition unit 102 are further configured to obtain the road image in front and/or rear,
It identifies lane line, current lane is determined according to the lane line of the bottom centre of road image point two sides.
In some embodiments, second acquisition unit is further configured to obtain current vehicle front and back and to lane change
The obstacle information of side obtains leading vehicle distance and front truck speed, obtains rear car distance and front truck speed.
In some embodiments, the second determination unit 105, be further configured to meet at the same time: a) target lane exists
Clear in targeted security distance L；B) L1+ (V1-V0) * t > L；C) L2+ (V0-V2) * t > L；When confirmation meet lane change
Safety condition；Wherein L1 is leading vehicle distance, and L2 is rear car distance, and V0 is this vehicle speed, and V1 is preceding vehicle speed, and V2 is rear speed
Degree, t are the lane change time.
Disclosed herein as well is a kind of computer readable storage medium, which has computer
Program, the program realize above-mentioned road junction roadway air navigation aid when being executed by processor.
The computer readable storage medium of the application includes but is not limited to electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor
System, server or device, or any above combination.
The more specific example of the computer readable storage medium of the application includes but is not limited to: leading with one or more
The electrical connection of line, portable computer diskette, hard disk, random access storage device (RAM), read-only memory (ROM), erasable type can
Program read-only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), light storage device,
Magnetic memory device or above-mentioned any appropriate combination.
In this application, computer readable storage medium can be any tangible medium for including or store program, the journey
Sequence can be commanded execution system, server or device use or in connection.And in this application, computer can
The signal media of reading may include in a base band or as the data-signal that carrier wave a part is propagated, wherein carrying computer
Readable program code.The data-signal of this propagation can take various forms, including but not limited to electromagnetic signal, optical signal
Or above-mentioned any appropriate combination.Computer-readable signal media can also be appointing other than computer readable storage medium
What computer-readable medium, the computer-readable medium can be sent, propagated or transmitted for by instruction execution system, service
Device or device use or program in connection.The program code for including on computer-readable medium can be with any
Medium transmission appropriate, including but not limited to: wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
Flow chart and block diagram in attached drawing are illustrated according to the system of the various embodiments of the application, method and computer journey
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
A part of one module, program segment or code of table, a part of the module, program segment or code include one or more use
The executable instruction of the logic function as defined in realizing.It should also be noted that in some implementations as replacements, being marked in box
The function of note can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are actually
It can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it to infuse
Meaning, the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart can be with holding
The dedicated hardware based system of functions or operations as defined in row is realized, or can use specialized hardware and computer instruction
Combination realize.
Being described in unit involved in the embodiment of the present application can be realized by way of software, can also be by hard
The mode of part is realized.Described unit also can be set in the processor.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. means specific features described in conjunction with this embodiment or example, knot
Structure, material or feature are contained at least one embodiment or example of the application.In the present specification, to above-mentioned term
Schematic representation may not refer to the same embodiment or example.Moreover, specific features, structure, material or the spy of description
Point can be combined in any suitable manner in any one or more of the embodiments or examples.
While there has been shown and described that embodiments herein, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle and objective of the application, this
The range of application is defined by the claims and their equivalents.
Claims (10)
1. a kind of road junction roadway air navigation aid characterized by comprising
Based on current navigation path, the intersection information at next crossing is obtained, the intersection information includes target lane and distance；
The crossing described in vehicle distances or when the solid line target range S of crossing, identifies the current lane of vehicle, compare current lane with
The target lane；
If the current lane is different from the target lane, lane change demand prompt information is issued；
Obtain current traffic information；
The safety condition for meeting lane change is determined whether according to the current traffic information of acquisition based on lane change model trained in advance；
If meeting the safety condition of lane change, lane change safety instruction information is issued.
2. the method according to claim 1, wherein the current lane of the identification vehicle, comprising:
The road image at front and/or rear is obtained, lane line is identified, according to the bottom centre of road image point two sides
Lane line determines the current lane.
3. the method according to claim 1, wherein described obtain current traffic information, comprising: front truck is worked as in acquisition
Front and back and the obstacle information to lane change side obtain leading vehicle distance and front truck speed, obtain rear car distance and front truck speed；
It is described that the safety condition for meeting lane change is determined whether based on lane change model trained in advance, including meet at the same time:
A) target lane clear in targeted security distance L；
B) L1+ (V1-V0) * t > L；
C) L2+ (V0-V2) * t > L；
When confirmation meet the safety condition of lane change；
Wherein L1 is leading vehicle distance, and L2 is rear car distance, and V0 is this vehicle speed, and V1 is preceding vehicle speed, and V2 is rear vehicle speed, and t is
The lane change time.
4. the method according to claim 1, wherein the described method includes: issuing lane change demand prompt information
Afterwards, the current lane for executing identification vehicle described in step again every set distance, compares current lane and the target lane.
5. according to the method described in claim 4, it is characterized in that, set distance positive at a distance from vehicle to crossing
It closes.
6. a kind of road junction roadway navigation device characterized by comprising
First acquisition unit is configured to obtain the intersection information at next crossing based on current navigation path, the crossing letter
Breath includes target lane and distance；
Recognition unit, when being configured to the crossing described in vehicle distances or crossing solid line target range S, identify vehicle works as front truck
Road；
First determination unit is configured to compare current lane and the target lane；
First generating unit issues the prompt of lane change demand if it is different from the target lane to be configured to the current lane
Information；
Second acquisition unit is configured to obtain current traffic information；
Second determination unit is configured to be determined whether based on lane change model trained in advance according to the current traffic information of acquisition
Meet the safety condition of lane change；
Second generating unit issues lane change safety instruction information if being configured to meet the safety condition of lane change.
7. device according to claim 6, which is characterized in that the recognition unit is further configured to obtain front
And/or the road image at rear, it identifies lane line, institute is determined according to the lane line of the bottom centre of road image point two sides
State current lane.
8. device according to claim 6, which is characterized in that the second acquisition unit is further configured to obtain
Current vehicle front and back and obstacle information to lane change side obtain leading vehicle distance and front truck speed, obtain rear car distance and before
Vehicle speed.
9. device according to claim 6, which is characterized in that second determination unit is further configured to same
When meet:
A) target lane clear in targeted security distance L；
B) L1+ (V1-V0) * t > L；
C) L2+ (V0-V2) * t > L；
When confirmation meet the safety condition of lane change；
Wherein L1 is leading vehicle distance, and L2 is rear car distance, and V0 is this vehicle speed, and V1 is preceding vehicle speed, and V2 is rear vehicle speed, and t is
The lane change time.
10. a kind of computer readable storage medium, is stored with computer program, which is characterized in that the program is held by processor
Method according to any one of claims 1 to 5 is realized when row.
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