CN102735256A - Vehicle navigation apparatus for recognizing main and auxiliary roads, and navigation method thereof - Google Patents
Vehicle navigation apparatus for recognizing main and auxiliary roads, and navigation method thereof Download PDFInfo
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- CN102735256A CN102735256A CN2012102140089A CN201210214008A CN102735256A CN 102735256 A CN102735256 A CN 102735256A CN 2012102140089 A CN2012102140089 A CN 2012102140089A CN 201210214008 A CN201210214008 A CN 201210214008A CN 102735256 A CN102735256 A CN 102735256A
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Abstract
The present invention discloses a vehicle navigation apparatus for recognizing main and auxiliary roads, and a navigation method thereof, and belongs to the technical field of vehicle navigation. The method comprises that: a current position is detected according to a GPS position signal received by a GPS receiver, a map match is performed according to the received current position information, when the main and auxiliary road exists in the matched candidate road and the main and auxiliary road gateway exists in front of the road, a vehicle reversing rearview camera is adopted to carry out vehicle turning recognition so as to start the vehicle turning recognition function, the vehicle leaves the current main and auxiliary road gateway and the recognition of a preset threshold value is relieved so as to determine whether the vehicle enters or leaves the main and auxiliary road. According to the present invention, whether the vehicle enters or leaves the main and auxiliary road can be determined according to the current vehicle position and the image acquired by the vehicle reversing rearview camera so as to accurately determine that the vehicle is on the main road or on the auxiliary road, such that guarantee is provided for correctness of the navigation prompt, and safety of vehicle driving is improved.
Description
Technical field
The present invention relates to the vehicle mounted guidance technical field of intelligent transportation, relate in particular to a kind of on-vehicle navigation apparatus and air navigation aid of discerning main and side road.
Background technology
Development of city be unable to do without the development of road, and the traffic of convenient and efficient has promoted urban economy development, and urban population, vehicle increase day by day, and urban transportation and the vehicle that runs on urban road are all had higher requirement.From the eighties, city expressway is built in a lot of large size cities such as Beijing one after another, and these roads often are divided into main road and bypass.As shown in Figure 1, the difference of city main road and bypass is: one, main road can only motor-driven vehicle going, and bypass is that motor vehicle and bicycle and pedestrian mix row; Two, different in major-minor travel speed requirement with bypass to vehicle, for example the speed of a motor vehicle of bypass is inaccurate surpasses 60 kilometers, and the speed of a motor vehicle of main road can be more than 80 kilometers; Three, bypass has connected a lot of crossings, can make vehicle leave the through street, and main road only turns to the crossing of bypass.
But because the through street exit separation is less, is easy to make peak traffic flow to import and export to cause and blocks up at main and side road, and if do not have import and export of accurate localization main and side road; Vehicle then is easy to be sneaked in the wagon flow of main road and misses outlet, in addition, and the difference that main road and bypass are also not very big in appearance; And the load of main and side road vehicle and speed of a motor vehicle requirement are inequality; Human pilot is easy to because momentum driving causes traffic hazard, therefore, needs a kind of comparatively accurate automobile navigation technology; Make the driving vehicle can real time discriminating present located position, whether get into or leave main road or bypass.
But in the prior art; On-vehicle navigation apparatus focuses on how confirming the pairing road of vehicle ' to the location of vehicle; But the accurate positioning property for vehicle location point does not give enough attention, and just simply accomplishes confirming of match point with vertical matching process, promptly makes the intersection point of coupling road through tracing point; With the match point of intersection point as vehicle location; This situation has caused can't effectively proofread and correct vehicle mounted guidance in the error along road direction, under the situation of the best even also, will reach 10m with error, and this inaccuracy causes can't carrying out the correct guiding of road driving accurately at the vehicle that main road or bypass go.
Summary of the invention
The purpose of the embodiment of the invention is the characteristics to main and side road; And a kind of guider and air navigation aid of discerning main and side road proposed; Making to point out human pilot whether to get into main and side road from car in the process of moving; And make human pilot carry out correct driving according to prompting, improved the security of vehicle drive.
In order to reach the foregoing invention purpose; A kind of on-vehicle navigation apparatus of discerning main and side road that the embodiment of the invention proposes; Said device comprises: map datum storage unit, routine data storage unit, map display unit, gps receiver, instantaneous speech power, speech data storage unit, CPU element, and wherein, said map datum storage unit, routine data storage unit, map display unit, gps receiver, instantaneous speech power, speech data storage unit are connected with CPU element is two-way respectively; Said device also comprises the vehicle backing rearview camera; Carry out two-way the connection with CPU element, wherein
The map datum cell stores has the map of navigation electronic data, and wherein, said map of navigation electronic data comprise form attribute, annexation and the direction of road, and said road attribute comprises major-minor or bypass;
The routine data storage unit is used to store navigation program; Comprise leading boat program segment; Map display program section and path calculation program section, voice guide program segment and destination search program section; Also comprise GPS location matches program segment, said GPS location matches program segment comprises common matcher section and main and side road matcher section;
Wherein, Said main and side road location matches program segment carries out map match according to the current location information that gps receiver receives; When there is main and side road in the matched candidate road; When main and side road crossing, spacing the place ahead reaches predetermined threshold value; Start said vehicle backing rearview camera and be obtained from car go directional ray and lane line; Start the turn inside diameter recognition function and turn round identification up to leaving current main and side road crossing from car, and judge with the angle that lane line forms whether vehicle turns round from the car directional ray that goes, when vehicle turns round, whether get into main road or bypass according to the current site of road of living in of vehicle is definite from car again according to what extract in the image that obtains to predetermined threshold value.
Preferably, the on-vehicle navigation apparatus of said identification main and side road also comprises the GPRS communication unit, is used for loading in real time the real-time road condition information on the main and side road, when main and side road matcher section correctly identifies main and side road, shows the jam situation of the place ahead road conditions.
In order to realize aforementioned goal of the invention, the embodiment of the invention also provides a kind of vehicle mounted guidance method of discerning main and side road, and said air navigation aid may further comprise the steps:
CPU element is surveyed current location according to the GPS position signalling that gps receiver receives; And read in the map datum and the corresponding map datum of current location; Be shown in the corresponding map of current location by the map display unit; Carry out map match by the location matches program segment according to the current location information that gps receiver receives, and see according to road attribute whether the matched candidate road exists main and side road;
When judging according to the annexation of road whether road the place ahead of coupling exists the main and side road gateway; If exist; From when main and side road crossing, spacing the place ahead reaches predetermined threshold value; Utilize the vehicle backing rearview camera to carry out turn inside diameter identification, remove identification, promptly judge the turnover main and side road up to leave current main and side road crossing to predetermined threshold value from car.
Preferably; Said turn inside diameter recognition function may further comprise the steps: the vehicle backing backsight image that gets access to according to the vehicle backing backsight camera extracts the terrain vehicle diatom; And calculate lane line and from the car angle that direction forms that goes; Judge the direction whether vehicle turns round and turn round according to the variation of angle,, then keep straight on from car as parallel from the angle of car and lane line; Angle as from car and lane line intersects, and then turns from car.
Preferably, during said judgement turnover main and side road, if from car on main road, identify vehicle and bend to right, the entering bypass be described; If on bypass, identify vehicle and turn left, explain to get into main road from car.
Compared with prior art; The guider of the main and side road discerned of the embodiment of the invention and method according to from the current position of car and the image that extracts of vehicle backing backsight, can judge from car whether pass in and out main and side road; Thereby identify accurately from car on main road still is bypass; Solved the problem of " I where " in the navigation, guarantee is provided, improved the security of vehicle drive the correctness of the prompting of voice suggestion, path computing and dynamic information.
Description of drawings
Through the description of its exemplary embodiment being carried out below in conjunction with accompanying drawing, the above-mentioned feature and advantage of the present invention will become apparent and understand easily.
Fig. 1 is for relating to the road sign synoptic diagram of main and side road among the present invention;
Fig. 2 forms synoptic diagram for the on-vehicle navigation apparatus of embodiment of the invention identification main and side road;
Fig. 3 turns for the embodiment of the invention and discerns the synoptic diagram that vehicle gets into main road;
Fig. 4 turns for the embodiment of the invention and discerns the synoptic diagram that vehicle gets into bypass;
Fig. 5 is the process flow diagram of the vehicle mounted guidance method of embodiment of the invention identification main and side road;
Fig. 6 is the method flow diagram of embodiment of the invention identification turn inside diameter;
Fig. 7,8,9 is respectively according to the angle changing of the angle of vehicle lane line and vehicle heading and judges the synoptic diagram that vehicle is kept straight on, turned left and turn right.
Embodiment
Below in conjunction with accompanying drawing the present invention is done further explain.
As shown in Figure 2; The embodiment of the invention provides a kind of on-vehicle navigation apparatus of discerning main and side road; Said device comprises: map datum storage unit, routine data storage unit, map display unit, gps receiver, instantaneous speech power, speech data storage unit, CPU element; Wherein, said map datum storage unit, routine data storage unit, map display unit, gps receiver, instantaneous speech power, speech data storage unit are connected with CPU element is two-way respectively
In addition, said device also comprises the vehicle backing rearview camera, carries out two-way the connection with CPU element, wherein,
The map datum cell stores has the map of navigation electronic data; Wherein, Said map of navigation electronic data comprise form attribute, annexation and the direction of road; Said road form attribute comprises that whether this road is the attribute of major-minor or bypass, also comprises the road attribute that indicates certain crossing data in the electronic chart;
The routine data storage unit is used to store navigation program; Comprise leading boat program segment; Map display program section and path calculation program section, voice guide program segment and destination search program section; Also comprise GPS location matches program segment, said GPS location matches program segment comprises common matcher section and main and side road matcher section;
Wherein, The current location information that said main and side road matcher section receives according to gps receiver carries out vehicle and matees in the location of electronic chart; See whether the matched candidate road exists main and side road; The road at current vehicle place is mated to confirm in the positional information that promptly receives according to gps receiver or the position based on map in trace information and the electronic map data (path), when confirming the road that is gone, confirms that according to the attribute of this road this road is main road or bypass again; And judge the position at main and side road crossing simultaneously according to the annexation of road in the electronic chart, and judge the current position of vehicle from the main and side road crossing.
Gps receiver continue to receive the vehicle current location information, and constantly carries out vehicle location, and whether the distance of judging current vehicle and the place ahead or crossing, rear reaches or less than predetermined threshold value (such as 20 meters in the place ahead).
As shown in Figure 3; Reaching from main and side road crossing, spacing the place ahead or during less than predetermined threshold value; Begin to start the vehicle backing backsight camera; Carry out the road identification of turning round: promptly be obtained from car go directional ray and lane line, greater than predetermined threshold value, judge according to the lane line that extracts in the image that obtains with from the car angle that direction forms that goes whether vehicle turns round up to the distance of leaving current main and side road crossing from car; When definite vehicle turns round, confirm whether get into main road or bypass from car according to the vehicle present located road and the direction of turning round.
Generally, when the vehicle initial start-up was gone, main and side road matcher section began to carry out main and side road identification, because vehicle is when starting; At first go on ordinary road,, can not directly change main road over to because ordinary road can only turn to bypass; So when ordinary road is turned, can judge that according to the annexation of road the road that changes over to is a bypass, continues to go at bypass; In the porch of main road,, promptly get into main road if vehicle turns left; Whole process, main and side road matcher section can accurately be discerned the turnover main and side road, and correct coupling road is provided.
As shown in Figure 4, after vehicle got into main road, gps receiver still constantly obtained current location information; Main and side road matcher section continues operation, is reaching from main and side road crossing, spacing the place ahead or during less than predetermined threshold value, is beginning to start the vehicle backing backsight camera; Carry out the road identification of turning round; Promptly be obtained from car go directional ray and lane line, greater than predetermined threshold value, judge according to the lane line that extracts in the image that obtains with from the car angle that direction forms that goes whether vehicle turns round up to the distance of leaving current main and side road crossing from car; If identify vehicle and turn right, explain that vehicle just preparing to get into bypass according to the vehicle recognition function of turning round.
Preferably; The on-vehicle navigation apparatus of said identification main and side road also comprises the GPRS communication unit; Be used for loading in real time the real-time road condition information on the main and side road; Through said GPRS communication unit, can combine the recognition result of main and side road matcher section, can give the correct road ahead jam situation information of user.
Through above on-vehicle navigation apparatus; Can be on the basis of the road of Primary Location vehicle '; Judge the site of road that current vehicle is gone comparatively accurately; Overcome prior art vehicle location has been located inaccurate problem, helped improving follow-up vehicle mounted guidance and locate, the degree of accuracy when retrieval and road guiding at road.
In order to realize aforementioned goal of the invention, as shown in Figure 5, the embodiment of the invention also provides a kind of vehicle mounted guidance method of discerning main and side road, said method comprising the steps of:
CPU element is surveyed current location according to the GPS position signalling that gps receiver receives; And read in the electronic map data storage unit and the corresponding map datum of current location; And be shown in the corresponding map of current location by the map display unit; The current location information that receives according to gps receiver carries out map match, and there is main and side road in the matched candidate road;
Annexation according to road is judged; Whether road the place ahead of seeing coupling exists the main and side road gateway; When having the main and side road gateway, when reaching predetermined threshold value (such as 20 meters in the place ahead) from main and side road crossing, spacing the place ahead, utilize the vehicle backing rearview camera to carry out turn inside diameter identification; Promptly begin the turn inside diameter recognition function; Remove identification up to leave current main and side road crossing to predetermined threshold value from car, promptly judge turnover main and side road (for example left 20 meters of gateways, finished the turn inside diameter recognition function) from car.
As shown in Figure 6; The turn inside diameter recognition function comprises the steps: that the vehicle backing backsight image that gets access to according to the vehicle backing backsight camera extracts the terrain vehicle diatom; And calculate lane line and from the car angle that direction forms that goes; Judge the direction whether vehicle turns round and turn round according to the variation of angle,, then keep straight on from car as parallel from the angle of car and lane line; Angle as from car and lane line intersects, and then turns from car.
,, can identify vehicle and keep straight on, turn left or the synoptic diagram of right-hand rotation for showing the terrain vehicle diatom that the vehicle rearview camera is taken like Fig. 7,8,9 according to the angle changing of the angle of vehicle lane line and vehicle heading.
When vehicle turned round, again according to from the road at the current place of car, the direction of turn inside diameter, and the annexation of road in the map confirmed whether get into main road or bypass from car;
When car gets into main road or bypass, voice module carries out voice suggestion according to the voice suggestion content of speech data storage through speech output end.
When judging the turnover main and side road, if from car on main road, identify vehicle and bend to right, the entering bypass be described; If on bypass, identify vehicle and turn left, explain to get into main road from car.
The purpose of the embodiment of the invention is the characteristics to city expressway; And a kind of on-vehicle navigation apparatus and method of discerning main and side road proposed, according to from the current position of car and the image that extracts of vehicle backing backsight, can judge from car whether pass in and out main and side road; Thereby identify accurately from car on main road still is bypass; Solved the problem of " I where " in the navigation, guarantee is provided, improved the security of vehicle drive the correctness of the prompting of voice suggestion, path computing and dynamic information.
One of ordinary skill in the art of the present invention are appreciated that; The above embodiment of the present invention is merely one of the preferred embodiments of the present invention; Be the length restriction; Here can not all embodiments of particularize, any enforcement that can embody claim technical scheme of the present invention is all in protection scope of the present invention.
It should be noted that; Above content is to combine concrete embodiment to further explain that the present invention did; Can not assert that embodiment of the present invention only limits to this; Under above-mentioned guidance of the present invention, those skilled in the art can carry out various improvement and distortion on the basis of the foregoing description, and these improve or distortion drops in protection scope of the present invention.
Claims (5)
1. on-vehicle navigation apparatus of discerning main and side road; Said device comprises: map datum storage unit, routine data storage unit, map display unit, gps receiver, instantaneous speech power, speech data storage unit, CPU element; Wherein, said map datum storage unit, routine data storage unit, map display unit, gps receiver, instantaneous speech power, speech data storage unit are connected with CPU element is two-way respectively, it is characterized in that; Said device also comprises the vehicle backing rearview camera; Carry out two-way the connection with CPU element, wherein
The map datum cell stores has the map of navigation electronic data, and wherein, said map of navigation electronic data comprise annexation and the shape point and the direction of road of form attribute, road and the road of road, and the form attribute of said road comprises major-minor or bypass;
The routine data storage unit is used to store navigation program; Comprise leading boat program segment; Map display program section and path calculation program section, voice guide program segment and destination search program section; Also comprise GPS location matches program segment, said GPS location matches program segment comprises common matcher section and main and side road matcher section;
Wherein, Said main and side road matcher section is carried out map match according to the current location information that gps receiver receives; When there is main and side road in the matched candidate road; When main and side road crossing, spacing the place ahead reaches predetermined threshold value, start said vehicle backing rearview camera and be obtained from car go directional ray and lane line, start the turn inside diameter recognition function and turn round identification up to leaving current main and side road crossing from car to predetermined threshold value; And judge from the car angle that directional ray and lane line form that goes whether vehicle turns round according to what extract in the image that obtains,, vehicle whether gets into main road or bypass according to the current site of road of living in of vehicle is definite from car again when turning round.
2. the on-vehicle navigation apparatus of identification main and side road according to claim 1; It is characterized in that; The on-vehicle navigation apparatus of said identification main and side road also comprises the GPRS communication unit; Be used for loading in real time the real-time road condition information on the main and side road,, show the jam situation of the place ahead road conditions when main and side road matcher section correctly identifies main and side road.
3. vehicle mounted guidance method of discerning main and side road is characterized in that said air navigation aid may further comprise the steps:
CPU element is surveyed current location according to the GPS position signalling that gps receiver receives; And read in the map datum and the corresponding map datum of current location; Be shown in the corresponding map of current location by the map display unit; By the location matches program segment current location information that gps receiver receives is carried out map match, and judge according to road attribute whether the matched candidate road exists main and side road;
Annexation according to road is judged; Whether road the place ahead of coupling exists the main and side road gateway; If exist,, utilize the vehicle backing rearview camera to carry out turn inside diameter identification from when main and side road crossing, spacing the place ahead reaches predetermined threshold value; Remove identification up to leave current main and side road crossing to predetermined threshold value from car, promptly judge the turnover main and side road.
4. the air navigation aid of identification main and side road according to claim 3; It is characterized in that; Said turn inside diameter recognition function may further comprise the steps: the vehicle backing backsight image that gets access to according to the vehicle backing backsight camera extracts the terrain vehicle diatom, and calculates lane line and from the car angle that direction forms that goes, judge the direction whether vehicle turns round and turn round according to the variation of angle; As parallel, then keep straight on from car from the angle of car and lane line; Angle as from car and lane line intersects, and then begins to turn from car.
5. the air navigation aid of identification main and side road according to claim 3 is characterized in that, during said judgement turnover main and side road, if from car on main road, identify vehicle and bend to right, the entering bypass be described; If on bypass, identify vehicle and turn left, explain to get into main road from car.
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| CN2012102140089A CN102735256A (en) | 2012-06-26 | 2012-06-26 | Vehicle navigation apparatus for recognizing main and auxiliary roads, and navigation method thereof |
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Application publication date: 20121017 |