CN111060123A - Method and system for realizing lane-level navigation based on common map - Google Patents
Method and system for realizing lane-level navigation based on common map Download PDFInfo
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- G—PHYSICS
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- 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
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
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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
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3629—Guidance using speech or audio output, e.g. text-to-speech
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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
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3632—Guidance using simplified or iconic instructions, e.g. using arrows
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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
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3658—Lane guidance
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Abstract
The invention relates to the field of high-precision navigation, and discloses a method for realizing lane-level navigation based on a common map.
Description
Technical Field
The invention relates to a method and a system for realizing lane-level navigation based on a common map, belonging to the field of high-precision navigation.
Background
Navigation in the market at present generally adopts satellite positioning such as GPS, Beidou and the like or AGPS auxiliary positioning, the positioning precision is about 10 meters, the precision of a common electronic map used in cooperation with navigation is in a meter level, the error is about 1-10 meters, and the technology can be used for fuzzily knowing the position of a user to realize road-level navigation. The defects are as follows: (1) the position of the user cannot be accurately determined, and the user can be accurately reminded to change to a correct lane in advance at nodes such as intersections and parallel lines according to the lane where the user is located. (2) The error of the matching between the position of the user and the map is large, important intersections can be missed, and even error prompt is given. (3) The lane and lane information of the user can not be accurately obtained, and error prompt is given under the complex traffic environment. The existing high-precision navigation generally needs to build a complex path planning and navigation unit and a road condition monitoring module, and the scheme cost is high, so that the navigation accuracy is improved, the cost is reduced, the user navigation experience is improved, and the method is an important research direction.
Disclosure of Invention
In view of the problems faced by the background art, the present invention aims to provide a method for implementing lane-level navigation based on a common map.
In order to achieve the purpose, the invention adopts the following technical scheme: a method for realizing lane-level navigation based on a common map acquires high-precision positioning data of an initial position; accessing the service and data of the common map, and planning a navigation path by using the high-precision positioning data of the initial position; loading high-precision map data in a first threshold area from the initial position, and judging a lane where a user is located; judging the behavior of the user according to the high-precision positioning data of the initial position and the data of the lane where the user is located; and generating first guide information at a lane level according to the behavior information of the user.
Preferably, the high-precision map data includes road center line data and lane width data, the distance from the starting position to all road center lines in the first threshold region is calculated according to the high-precision positioning data and the road center line data, the width of the road is calculated according to the lane width data and the road center line data, the distance from the starting position to all road center lines in the first threshold region is compared with the width of the road, and the lane where the user is located is judged.
Preferably, the high-precision positioning data comprises user course data and user driving speed data, the high-precision map data comprises lane course data and lane speed limit data of a user, the lane course data and the lane speed limit data are used for judging user behaviors, and the user behaviors comprise retrograde motion behaviors and overspeed behaviors.
Preferably, the high-precision map data further includes vehicle type restriction information of a lane where the user is located, and is used for judging behaviors of the user occupying a bus lane, a non-motor lane and a sidewalk.
Preferably, according to the high-precision map data and the navigation path planning information, if the distance between the initial position and the next intersection position is smaller than a second threshold, second guidance information is generated according to the next intersection position information.
Preferably, whether the front is merged or not is judged according to the course information of the lane where the user is located, the position information of the next road node and the course information of all lanes of the current road, third guide information is generated, and the user is guided to do the merging.
Preferably, if the distance between the driving position and the edge of the first threshold area of the starting position is less than the third threshold, the high-precision map data in the first threshold area from the driving position is requested again, and the method is repeated.
Preferably, the first guiding message includes audio or pictures or words.
Preferably, a computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the method.
Preferably, a system for implementing lane-level navigation based on a general map includes: the high-precision positioning module is used for acquiring high-precision positioning data of the initial position; the navigation path planning module is used for accessing the services and data of the common map and planning the navigation path by utilizing the high-precision positioning data of the initial position; the lane judging module is used for loading high-precision map data in a first threshold area away from the initial position and judging a lane where the user is located; the user behavior judging module is used for judging the behavior of the user according to the high-precision positioning data of the initial position and the data of the lane where the user is located; the generating module is used for generating first guide information of a lane level according to the behavior of the user.
Compared with the prior art, the method for realizing lane-level navigation based on the common map acquires the high-precision positioning data of the initial position; accessing the service and data of the common map, and planning a navigation path by using the high-precision positioning data of the initial position; loading high-precision map data in a first threshold area from the initial position, and judging a lane where a user is located; judging the behavior of the user according to the high-precision positioning data of the initial position and the data of the lane where the user is located; and generating first guide information at a lane level according to the behavior information of the user. The navigation path planning is carried out by accessing the service and data of the common map, the existing mature technology is used, the cost is saved, and the accurate position and the driving condition of the user are determined by using the centimeter-level high-precision positioning technology; by using the high-precision map data, the information of the lane, the intersection and the like where the user is located can be accurately obtained; the scheme combines the three, so that the common map in the market at present has the capability of lane-level navigation. The method can obviously improve the navigation effect of the common map, can guide the user to change to the correct lane in advance according to the lane where the user is located at the intersections of left-turn, right-turn, turning around and the like, gives a warning when the user drives in the wrong direction, exceeds the speed limit, occupies the bus lane, gives a prompt before the lane is merged and before a high-speed exit, and utilizes the navigation path planning service provided by the conventional common map, thereby not only reducing the cost, but also achieving the lane-level high-precision navigation service.
Drawings
FIG. 1 is a schematic flow chart of a method for implementing lane-level navigation based on a common map according to the present invention;
FIG. 2 is a block diagram of a system for implementing lane-level navigation based on a general map according to the present invention;
with the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any manner, but rather to illustrate the concepts of the disclosure by those skilled in the art with reference to specific embodiments
Detailed Description
Reference will now be made in detail to the exemplary embodiments, some of which are illustrated in the accompanying drawings and described below, wherein like reference numerals refer to like elements throughout. All other embodiments, which can be obtained by a person skilled in the art without any inventive step, based on the embodiments and the graphics of the invention, are within the scope of protection of the invention.
The method for realizing lane-level navigation based on the common map is applied to electronic equipment and the like, wherein the electronic equipment can be a mobile phone, a computer or other terminals.
Fig. 1 is a flowchart illustrating a method for implementing lane-level navigation based on a general map according to an embodiment of the present invention, and S1 is performed to obtain high-precision positioning data of a start position; s2, accessing the service and data of the common map, and planning the navigation path by using the high-precision positioning data of the initial position; s3, loading high-precision map data in a first threshold area from the initial position, and judging the lane where the user is located; s4, judging the behavior of the user according to the high-precision positioning data of the initial position and the data of the lane where the user is located; s5, first guidance information at the lane level is generated based on the behavior information of the user. The steps of the above embodiments may be interchanged, and the order is not limited thereto.
Fig. 2 is a block diagram of a system for implementing lane-level navigation based on a general map according to an embodiment of the present invention, which includes: s10, a high-precision positioning module for obtaining the high-precision positioning data of the initial position; s20, a navigation path planning module for accessing the service and data of the common map and planning the navigation path by using the high-precision positioning data of the initial position; s30, a module for judging the lane where the user is located is used for loading high-precision map data in a first threshold area away from the initial position and judging the lane where the user is located; s40, a user behavior judging module for judging the user behavior according to the high-precision positioning data of the initial position and the data of the lane where the user is located; and S50, a generating module used for generating the first guide information of the lane level according to the behavior of the user.
In an embodiment, high-precision positioning data of a starting position is obtained, where the starting position may be a starting position when navigation is required, a real-time position where a user is located in an advancing process from the starting position to a target position is the starting position, the high-precision positioning data is obtained by transmitting a positioning antenna into the positioning module at a certain frequency in real time, the positioning antenna is installed on a mobile terminal of the user, and positioning precision (positioning accuracy) is a degree of proximity between spatial entity position information (usually coordinates) and a real position thereof. The high-precision positioning reaches the centimeter level, and the deviation is in centimeters. The existing common precision positioning is in a meter level, the deviation between the positioning position and the real position is 1-10 meters, the deviation between the positioning position and the real position is 1-20cm during high-precision positioning, and the high-precision positioning can more accurately obtain the real position information of the user, so that more accurate navigation planning can be conveniently made.
In one embodiment, services and data of a common map are accessed, and navigation path planning is carried out by utilizing high-precision positioning data of a starting position; obtaining common map information by accessing services and data of a common map, wherein the common map information comprises navigation path information from an initial position to a target position; the common maps are the Baidu maps, Gaode maps and the like which are relatively mature in the market, and the accuracy of the common maps is lower than that of the high-accuracy maps. The general map can provide navigation path planning information, navigation section information and the like, and a Software Development Kit (SDK) is installed in the specific electronic device, and the Software Development Kit (SDK) is a set of development tools for establishing application software for a specific software package, a software framework, a hardware platform, an operating system and the like.
In one embodiment, the common map may be any map with higher accuracy and lower accuracy, and here, for example, a Baidu map is taken as an example, and implementation of basic positioning and basic navigation requires invoking a Baidu SDK. And SDK access of the Baidu map: the Baidu map Android SDK is a set of application program interfaces based on devices of Android versions 2.3 and above, and map applications with rich functions and strong interactivity can be constructed by calling the map SDK interfaces to access Baidu map services and data. The method comprises the steps of establishing an application program by using the interface to realize access of an SDK (standard definition key) of the Baidu map, then acquiring positioning and networking authorities of a mobile phone, adding a map control of the Baidu map, accessing the interface of the Baidu map, displaying a basic map on a display screen of the electronic equipment, and realizing some basic functions of the map, such as zooming and moving of the map, positioning and marking, conversion of a satellite map and a plane map and the like. The method is used for the navigation process of the user from the starting position to the target position, and guides the user to reach the target position from the starting position. And a planning module of the Baidu map gives the guide path information.
In one embodiment, the electronic device comprises a module for judging the lane where the user is located, and a module for loading high-precision map data in a first threshold area from an initial position and judging the lane where the user is located; the high-precision map is an electronic map with higher precision and more data dimensions. The accuracy is higher, and the data dimension is more embodied by the fact that the data dimension comprises surrounding static information which is related to traffic besides road information. The high-precision map stores a large amount of driving assistance information as structured data, and the information can be divided into two types. The first type is road data such as lane information such as the position, type, width, gradient, and curvature of a lane line. The second type is fixed object information around a lane, such as traffic signs, traffic lights, etc., lane limits, junctions, obstacles and other road details, and further includes infrastructure information such as overhead objects, guard rails, number, road edge types, roadside landmarks, etc. These road data and fixed object information around the lane and the like constitute the high-precision map data. The precision of the common map is on the meter level. While the accuracy of high-accuracy maps is on the order of centimeters. According to the high-precision positioning data of the starting position, high-precision data in a first threshold area from the starting position is loaded, the size of the first threshold is determined according to the actual situation, here, the first threshold is 500 meters, and of course, other sizes are also possible, and the size is not limited here. The high-precision positioning data can be stored in the cloud and can also be stored locally. The requested high-precision map data need to reach the precision of 20 centimeters, and the high-precision map data comprise information such as a road center line, a lane line, a road line and lane restrictions and provide basic data for lane matching.
Obtaining road information of an initial position and lane information of the initial position according to the high-precision positioning data and the high-precision map data; specifically, the distance from the starting position to all road center lines within a first threshold range is calculated according to the high-precision positioning data of the starting position and the road center line data of the high-precision map data, and the width of the road is calculated according to the road center line data and lane width data of the high-precision map data within the first threshold range. And then comparing the distance between the starting position and the central line of all roads in the first threshold range with the width of each lane to obtain the data of the road where the user is located and the data of the lane where the user is located. Thereby accurately knowing the specific position of the lane where the user is located.
In one embodiment, the user behavior judging module is used for judging the behavior of the user according to the high-precision positioning data of the initial position and the data of the lane where the user is located; specifically, the user course is predicted according to a navigation path calculated according to data of a common map, and then whether the user has behaviors such as retrograde motion, overspeed and the like is judged according to the user navigational speed data of the high-precision positioning data and the lane course data, the speed limit data and the like of the data of the lane where the user is located.
In one embodiment, the generating module is configured to generate lane-level first guidance information according to a behavior of the user, and is configured to determine a behavior of the user according to the high-precision positioning data of the starting position and data of a lane where the user is located, where the behavior includes a user's retrograde motion, an overspeed, and the like. The high-precision positioning data comprise the course information of the user at the initial position, and the road data and the lane data of the user comprise the course information of the lane of the user; the high-precision map data comprises course information of the lane, the course information of the user at the initial position is matched with the course information of the lane where the user is located, and whether the user drives in the wrong direction or not is judged. Similarly, whether the user has the behavior of overspeed or lower than the speed limit is judged according to the speed limit information of the lane where the user is and the navigational speed information of the user. And judging whether the user occupies a bus lane, a non-motor lane and a sidewalk according to user type limit information, driving time limit information and the like of the lane where the user is located.
The first guidance information at the lane level is first guidance information that can be specified to a lane, and the first guidance information includes steering information, u-turn information, exit prompt information, and the like. If the user is not in the correct lane, the first guidance information is used to prompt the user to switch to the correct lane. The first guiding information is displayed on a display screen of the electronic equipment in the form of pictures or characters for reference of a user, or after corresponding texts are generated, the first guiding information is sent to a broadcasting module of the electronic equipment to be prompted in a language mode.
In one embodiment, according to the high-precision map data and the navigation path planning information, if the distance between the initial position and the next intersection position is smaller than a second threshold, second guidance information is generated according to the next intersection position information. The next intersection is the intersection closest to the initial position on the navigation path in the advancing direction of the user, the second threshold is 200 meters according to the actual situation, but the method is not limited to the situation, when the second threshold on the navigation path reaches 200 meters, the next intersection position information is matched according to the course information of the road where the user is located, which is provided by the high-precision map data, and the second guiding information such as steering is given by combining the course information of the lane where the user is located and all lanes of the road. The second guidance information is used to prompt the user to switch to the correct lane if the user is not in the correct lane. And judging whether the front is merged according to the course information of the lane where the user is located, the position information of the next road node and the course information of all lanes of the current road, generating third guide information, guiding the merging behavior of the user, and prompting the user to pay attention to the front merging when the distance of the merging node is less than 200 m. Of course, in other embodiments, the distance between the doubling nodes is not limited to 200 meters.
In one embodiment, if the user position changes, if the edge of the driving position and the first threshold area from the starting position is smaller than a third threshold value, the high-precision map data in the first threshold area from the driving position is requested again. The method of the application is then repeated to guide the user to the destination location. In this embodiment, the third threshold is 200 meters, but other embodiments are not limited thereto. The driving position is a real-time position after the user moves, and the high-precision map data loaded with the first threshold range at the current position is adjacent to the high-precision map data loaded with the first threshold range at the driving position. The starting position and the driving position are only for convenience of description, and the starting position may be any position on the navigation path.
The invention also discloses a computer-readable storage medium, on which a computer program is stored, characterized in that the computer program realizes the steps of any of the above-mentioned methods when being executed by a processor.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above.
The various embodiments or features mentioned herein may be combined with each other as additional alternative embodiments without conflict, within the knowledge and ability level of those skilled in the art, and a limited number of alternative embodiments formed by a limited number of combinations of features not listed above are still within the scope of the present disclosure, as understood or inferred by those skilled in the art from the figures and above.
Finally, it is emphasized that the above-mentioned embodiments, which are typical and preferred embodiments of the present invention, are only used for explaining and explaining the technical solutions of the present invention in detail for the convenience of the reader, and are not used to limit the protection scope or application of the present invention.
Therefore, any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. A method for realizing lane-level navigation based on a common map is characterized in that:
acquiring high-precision positioning data of the initial position;
accessing the service and data of the common map, and planning a navigation path by using the high-precision positioning data of the initial position;
loading high-precision map data in a first threshold area from the initial position, and judging a lane where a user is located;
judging the behavior of the user according to the high-precision positioning data of the initial position and the data of the lane where the user is located;
and generating first guide information at a lane level according to the behavior information of the user.
2. The method of claim 1, wherein: the high-precision map data comprises road center line data and lane width data, the distance from the initial position to all road center lines in a first threshold area is calculated according to the high-precision positioning data and the road center line data, the width of the road is calculated according to the lane width data and the road center line data, the distance from the initial position to all road center lines in the first threshold area is compared with the width of the road, and the lane where the user is located is judged.
3. The method of claim 1, wherein: the high-precision positioning data comprises user course data and user driving speed data, the high-precision map data comprises lane course data and lane speed limit data of a user, the lane course data and the lane speed limit data are used for judging user behaviors, and the user behaviors comprise reverse behaviors and overspeed behaviors.
4. The method of claim 1, wherein: the high-precision map data further comprises vehicle type limiting information of a lane where the user is located, and the vehicle type limiting information is used for judging the behaviors of the user occupying a bus lane, a non-motor vehicle lane and a sidewalk.
5. The method of claim 1, wherein: and generating second guide information according to the high-precision map data and the navigation path planning information and the next intersection position information if the distance between the initial position and the next intersection position is smaller than a second threshold value.
6. The method of claim 1, wherein: and judging whether the front is merged or not according to the course information of the lane where the user is located, the position information of the next road node and the course information of all lanes of the current road, generating third guide information and guiding the merging behavior of the user.
7. The method of claim 1, wherein: and if the distance between the driving position and the edge of the first threshold value area of the initial position is less than a third threshold value, re-requesting the high-precision map data in the first threshold value area from the driving position, and repeating the method.
8. The method of claim 1, wherein: the first guiding information comprises audio or pictures or words.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 8.
10. A system for realizing lane-level navigation based on a common map is characterized by comprising the following steps:
the high-precision positioning module is used for acquiring high-precision positioning data of the initial position;
the navigation path planning module is used for accessing the services and data of the common map and planning the navigation path by utilizing the high-precision positioning data of the initial position;
the lane judging module is used for loading high-precision map data in a first threshold area away from the initial position and judging a lane where the user is located;
the user behavior judging module is used for judging the behavior of the user according to the high-precision positioning data of the initial position and the data of the lane where the user is located;
the generating module is used for generating first guide information of a lane level according to the behavior of the user.
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| CN114413926A (en) * | 2021-12-13 | 2022-04-29 | 武汉中海庭数据技术有限公司 | Map display method based on mapbox engine osm data and high-precision data |
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Application publication date: 20200424 |