CN103940436B - Matching method of main and side roads of navigator with high instantaneity and accuracy - Google Patents
Matching method of main and side roads of navigator with high instantaneity and accuracy Download PDFInfo
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- CN103940436B CN103940436B CN201410212668.2A CN201410212668A CN103940436B CN 103940436 B CN103940436 B CN 103940436B CN 201410212668 A CN201410212668 A CN 201410212668A CN 103940436 B CN103940436 B CN 103940436B
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- current vehicle
- road
- bypass
- driveway
- judge
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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
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Image Analysis (AREA)
Abstract
The invention relates to a matching method of main and side roads of a navigator. The method comprises the following steps: obtaining a running lane image on a main road by a central processing unit (CPU) of the navigator through a camera at the rear of a current vehicle in real time if the current vehicle is on the main road and an exit of a side road leading to the right side of the main road exists within 2Km in front of the current vehicle, thereby judging whether the current vehicle is in a running lane at the rightmost side of the main road; judging whether the running lane in the image clockwise deflects in real time when the vehicle is about to arrive at the exist if the current vehicle is in the running lane at the rightmost side of the main road; judging that the current vehicle enters the side road by the CPU if the running lane clockwise deflects; matching the current drive path to the side road by the navigator; and judging that the current vehicle is still on the main road if the running lane does not clockwise deflect.
Description
The application is divisional application, the application number of parent application: 201210173021.4, title: the road master of navigator
The matching process of bypass, the applying date: 2012-05-30.
Technical field
The present invention relates to the technical field of the method for work of navigator, specifically a kind of navigator is according to road fare to road
The matching process of road main and side road.
Background technology
Often there is main and auxiliary road, such as Pekinese's bicyclo- three ring and Fourth Ring in existing arterial street, what loop was closed only permits
Permitted motor vehicles such, be main road；Main road generally comprises: overpass, highway etc..Bypass is exactly outside enclosed area, tightly
Suffer main road, be connected with other branch roads.
During carry out path adaptation and navigation using gps navigator, on the one hand because gps signal often has one
A little errors or interference, lead to existing navigator often to cannot be distinguished by adjacent and parallel main and side road, lead to be unable to accurate match
The road that vehicle (being commonly called as: Current vehicle) as its carrier is located, and then have impact on the accuracy of navigation and real-time (i.e.:
Existing navigator cannot accurately judge in real time Current vehicle whether on main road, the whether already out master of Current vehicle cannot be judged
Road simultaneously enters as on bypass to be diverted).
The existing vehicle being configured with navigator, often the rear end in this vehicle be provided with the shooting being connected with described navigator
Head, to show, by the display screen of navigator, the image shooting, it is used primarily to ensure reversing safety or realizes automatic backing
Etc. function.
How by described photographic head and navigator combination, to solve the matching problem on the main and auxiliary road on guidance path, it is this
Field be not related to.
Content of the invention
The technical problem to be solved in the present invention be provide a kind of real-time and the higher navigator of accuracy road major-minor
The matching process on road.
For solving above-mentioned technical problem, the matching process of the road main and side road of navigator that the present invention provides includes: if working as
Vehicle in front is on a main road, and there is an outlet leading to the bypass on the right side of this main road in the 2km in front of Current vehicle, then lead
The photographic head that the cpu of boat instrument passes through located at Current vehicle rear obtains the driveway image on described main road in real time, to judge to work as
Whether vehicle in front is in the runway of the rightmost side of described main road；If the runway of the rightmost side in described main road for the Current vehicle
Interior, then when reaching described outlet, whether the driveway line in real-time judge described image occurs to deflect clockwise, if institute
State driveway line to occur to deflect clockwise, then cpu judges that Current vehicle enters described bypass；Navigator is by current driving path
It is assigned on described bypass；If described driveway line does not occur to deflect clockwise, judge Current vehicle still on described main road.
As preferred scheme, if described driveway line occurs the angle of deflection to be clockwise more than 5 °, judge current vehicle
Enter described bypass；Accurately to judge Current vehicle whether lane change enter described bypass further.
When being embodied as, after described cpu obtains the driveway image on described main road, first extract neighbouring in this image
The right lane line of vehicle right side, the right side rear then analyzing this right lane line in the picture whether there is another driving
Diatom；If there is not another driveway line, judge in the runway of the rightmost side in described main road for the Current vehicle；Conversely,
Then judge Current vehicle not in the runway of the rightmost side of described main road.
The matching process of the road main and side road of another kind of navigator, if comprising: Current vehicle is on a main road, and is working as
There is an outlet leading to the bypass on the right side of this main road, then the cpu of navigator passes through located at current vehicle in 2km in front of vehicle in front
In described main road whether the photographic head at rear obtains the driveway image on described main road in real time, to judge Current vehicle
In the runway on right side；If in the runway of the rightmost side in described main road for the Current vehicle, when described outlet will be reached,
Described cpu passes through a sensor in real time and detects whether the steering indicating light driving lever of Current vehicle is stirred to the right；If recording described turning
Occur to stir to the right to lamp driving lever, then cpu judges that Current vehicle enters described bypass；Navigator is by current driving route matching extremely
On described bypass；If described steering indicating light driving lever does not occur to stir to the right, judge Current vehicle still on described main road.
The matching process of the road main and side road of the third navigator is it is characterised in that include: if Current vehicle is in a bypass
On, and presence one main road is adjacent with this bypass, has one simultaneously and lead on the left of this bypass in the 1.5km in front of Current vehicle
The entrance of main road, then the photographic head that the cpu of navigator passes through located at Current vehicle rear obtains the driving on described bypass in real time
Whether road image, judge Current vehicle in the runway of the leftmost side of described bypass；If Current vehicle is in described bypass
In the runway of the leftmost side, then when reaching described entrance, whether the driveway line in real-time judge described image occurs
Deflect counterclockwise, if described driveway line occurs to deflect counterclockwise, cpu judges that Current vehicle enters described main road；Navigator
With regard in current driving route matching to described main road；If described driveway line does not occur to deflect counterclockwise, judge Current vehicle
Still on described bypass.
Further, after described cpu obtains the driveway image on described bypass, first extract the adjacent vehicle in this image
The left lateral lane line in left side, the left side rear then analyzing this left lateral lane line in the picture whether there is another runway
Line；If there is not another driveway line, judge in the runway of the leftmost side in described bypass for the Current vehicle；Conversely, then
Judge Current vehicle not in the runway of the leftmost side of described bypass.
The matching process of the road main and side road of the 4th kind of navigator, if comprising: Current vehicle is on a bypass, and exists
One main road is adjacent with this bypass, has one simultaneously and lead to entering of the main road on the left of this bypass in the 1.5km in front of Current vehicle
Mouthful, then the photographic head that the cpu of navigator passes through located at Current vehicle rear obtains the driveway image on described bypass in real time, with
Judge Current vehicle whether in the runway of the leftmost side of described bypass；If the row of the leftmost side in described bypass for the Current vehicle
In track, then when reaching described entrance, described cpu passes through the steering indicating light driving lever that a sensor detects Current vehicle in real time
Whether stir to the left；If recording described steering indicating light driving lever to occur to stir to the left, cpu judges that Current vehicle enters described master
Road；Navigator is by current driving route matching to described main road；If described steering indicating light driving lever does not occur to stir to the left, judge
Current vehicle is still on described bypass.
The technique effect that the present invention has: the road matching method of the navigator of the present invention, mainly by after vehicle
The photographic head at end judges the runway that Current vehicle is located, and then passes through angle in captured image or video for the driveway line
Degree change, to judge that whether vehicle occurs corresponding steering, and then judge whether Current vehicle enters at the gateway of main road
Or leave main road.Alternatively, using the action of detection steering indicating light driving lever, to judge vehicle whether in the discrepancy of main road
There is corresponding steering at mouthful, and then judge whether Current vehicle enters or leave main road.These methods have step simple, can
By the higher feature of property.
Brief description
In order that present disclosure is more likely to be clearly understood, below according to specific embodiment and combine accompanying drawing,
The present invention is further detailed explanation, wherein
Fig. 1 is the structured flowchart of the navigator of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment the present invention is described in detail:
Embodiment 1
As Fig. 1, the navigator of the present embodiment includes: cpu, the touch display screen being connected with this cpu, is connected with this cpu
Gps unit, the program data base being connected with this cpu, the photographic head being connected with this cpu and the map datum being connected with this cpu
Storehouse.Be stored with map data base road path information, and road path information includes the attribute in each section, and this attribute includes accordingly
Section be whether the whether information such as adjacent between main road or bypass, and main and auxiliary road.
The method of work of above-mentioned navigator includes:
If Current vehicle is on a main road, and in the 2km in front of Current vehicle exist one lead to auxiliary on the right side of this main road
The outlet on road, then the photographic head that the cpu of navigator passes through located at Current vehicle rear obtains the runway on described main road in real time
Whether image, judge Current vehicle in the runway of the rightmost side of described main road；If Current vehicle is in described main road
In the runway on right side, then when described outlet (generally in this outlet 50m) will be reached, real-time judge described image
In driveway line whether occur to deflect clockwise, if described driveway line occurs to deflect clockwise, cpu judges Current vehicle
Enter described bypass；Navigator is by current driving route matching to described bypass；If described driveway line does not occur clockwise
Deflection, then judge Current vehicle still on described main road.
For improving the correctness of judgement further, if described driveway line occurs the angle of deflection to be clockwise more than 5 °,
Judge that Current vehicle enters described bypass.
After described cpu obtains the driveway image on described main road, for improving the correctness judging and convenience, Ke Yixian
Judge that the right side analyzing this right lane line in described driveway image whether there is road guard or plant；If there is road
Guardrail or plant, then judge in the runway of the rightmost side in described main road for the Current vehicle.If there is not road guard or plant,
Then first extract the right lane line on the right side of the adjacent vehicle in this image, in described image, then analyze this right lane line
Right side rear whether there is another driveway line；If there is not another driveway line, judge Current vehicle described
In the runway of the rightmost side of main road；Conversely, then judging Current vehicle not in the runway of the rightmost side of described main road.
When the right side of the right lane line judging on the right side of neighbouring Current vehicle whether there is road guard or plant, pass through
Color, or by the way of the multiple models with the road guard being pre-stored in described map data base or plant compare, to sentence
Disconnected.
Embodiment 2
On the basis of embodiment 1, the navigator of the present embodiment also includes: the steering indicating light driving lever sensing being connected with this cpu
Device, steering indicating light driving lever sensor adopts the magnetic induction switch being connected with described cpu or toggle switch, for detecting Current vehicle
Whether steering indicating light driving lever is in zero-bit, left turn position or right turn position.
On the basis of embodiment 1, there is following modification in the matching process of the road main and side road of the navigator of the present embodiment:
The method of work of the navigator of the present embodiment includes: if Current vehicle is on a main road, and in front of Current vehicle
2km in there is an outlet leading to the bypass on the right side of this main road, then the cpu of navigator passes through taking the photograph located at Current vehicle rear
Obtain in real time the driveway image on described main road as head, to judge the driving whether in the rightmost side of described main road for the Current vehicle
In road；If in the runway of the rightmost side in described main road for the Current vehicle, reaching described outlet, (generally distance should
In outlet 50m) when, whether the real-time steering indicating light driving lever by described steering indicating light driving lever sensor detection Current vehicle of described cpu
Stir to the right；If recording described steering indicating light driving lever to occur to stir to the right, cpu judges that Current vehicle enters described bypass；
Navigator is by current driving route matching to described bypass；If described steering indicating light driving lever does not occur to stir to the right, judge to work as
Vehicle in front is still on described main road.
Embodiment 3
The matching process of the road main and side road of the navigator of the present embodiment includes: if Current vehicle is on a bypass, and deposits
Adjacent with this bypass in a main road, have one simultaneously in the 1.5km in front of Current vehicle and lead to the main road on the left of this bypass
Entrance, then the photographic head that the cpu of navigator passes through located at Current vehicle rear obtains the driveway image on described bypass in real time,
To judge Current vehicle whether in the runway of the leftmost side of described bypass；If Current vehicle is in the leftmost side of described bypass
In runway, then when described entrance (generally apart from this outlet 30 to 40m in) will be reached, in real-time judge described image
Driveway line whether occur to deflect counterclockwise, if described driveway line occurs to deflect counterclockwise, cpu judges that Current vehicle enters
Enter described main road；Navigator is with regard in current driving route matching to described main road；If described driveway line does not occur inclined counterclockwise
Turn, then judge Current vehicle still on described bypass.
If described driveway line occurs the angle of deflection to be counterclockwise more than 5 °, judge that Current vehicle enters described main road.
For improving the correctness judging and convenience, after described cpu obtains the driveway image on described bypass, first in institute
State the left side analyzing the left lateral lane line on the left of neighbouring Current vehicle in driveway image with the presence or absence of road guard or plant；If
There is road guard or plant, then judge: in the runway of the leftmost side in described bypass for the Current vehicle.If there is not road shield
Hurdle or plant, then first extract the left lateral lane line on the left of the adjacent vehicle in this image, then analyzes this left lateral in the picture
The left side rear of lane line whether there is another driveway line；If there is not another driveway line, judge Current vehicle
In the runway of the leftmost side of described bypass；Conversely, then judging Current vehicle not in the runway of the leftmost side of described bypass
Interior.
When the left side of the left lateral lane line judging on the left of neighbouring Current vehicle whether there is road guard or plant, pass through
Color, or by the way of the model with road guard or plant compares, to judge.
Embodiment 4
The matching process of the road main and side road of the navigator of the present embodiment, if comprising: Current vehicle is on a bypass, and
Have that a main road is adjacent with this bypass, have one simultaneously in the 1.5km in front of Current vehicle and lead to the main road on the left of this bypass
Entrance, then the cpu of navigator obtain the runway figure on described bypass in real time by photographic head located at Current vehicle rear
Whether picture, judge Current vehicle in the runway of the leftmost side of described bypass；If Current vehicle is the most left described bypass
In the runway of side, then when reaching described entrance, it is current that described cpu passes through a steering indicating light driving lever sensor detection in real time
Whether the steering indicating light driving lever of vehicle is stirred to the left；If recording described steering indicating light driving lever to occur to stir to the left, cpu judges to work as
Vehicle in front enters described main road；Navigator is by current driving route matching to described main road；If described steering indicating light driving lever is not sent out
Life is stirred to the left, then judge Current vehicle still on described bypass.
Described photographic head at Current vehicle rear-center, after described cpu obtains described driveway image, in the picture
Analyse whether there is a pair of driveway line respectively in predeterminable area；If there is a pair of driveway line respectively in predeterminable area,
Then judge Current vehicle in a runway；Conversely, then judging the central authorities in a pair adjacent runway for the Current vehicle.
Obviously, above-described embodiment is only intended to clearly illustrate example of the present invention, and is not to the present invention
The restriction of embodiment.For those of ordinary skill in the field, can also be made it on the basis of the above description
The change of its multi-form or variation.There is no need to be exhaustive to all of embodiment.And these belong to this
Obvious change that bright spirit is extended out or change among still in protection scope of the present invention.
Claims (1)
1. a kind of matching process of the road main and side road of navigator is it is characterised in that include:
If Current vehicle is on a bypass, and it is adjacent with this bypass, simultaneously in the 1.5km in front of Current vehicle to there is a main road
There is an entrance leading to the main road on the left of this bypass, then the photographic head that the cpu of navigator passes through located at Current vehicle rear is real
When obtain driveway image on described bypass, to judge Current vehicle whether in the runway of the leftmost side of described bypass；
If in the runway of the leftmost side in described bypass for the Current vehicle, when described entrance will be reached, real-time judge institute
State whether the driveway line in image occurs to deflect counterclockwise, if described driveway line occurs to deflect counterclockwise, cpu judges to work as
Vehicle in front enters described main road；Navigator is with regard in current driving route matching to described main road；
If described driveway line does not occur to deflect counterclockwise, judge Current vehicle still on described bypass；If described runway
Line occurs the angle of deflection to be counterclockwise more than 5 °, then judge that Current vehicle enters described main road；
After described cpu obtains the driveway image on described bypass, first extract the left lateral on the left of the adjacent vehicle in this image
Lane line, the left side rear then analyzing this left lateral lane line in the picture whether there is another driveway line；If not existing
Another driveway line, then judge in the runway of the leftmost side in described bypass for the Current vehicle；Conversely, then judging Current vehicle
Not in the runway of the leftmost side of described bypass；
After described cpu obtains the driveway image on described bypass, in described driveway image, first analyze neighbouring Current vehicle
The left side of the left lateral lane line in left side whether there is road guard or plant；If there is road guard or plant, judge: current
In the runway of the leftmost side in described bypass for the vehicle；If there is not road guard or plant, first extract in this image
Left lateral lane line on the left of adjacent vehicle, the left side rear then analyzing this left lateral lane line in the picture whether there is another
Driveway line；If there is not another driveway line, judge in the runway of the leftmost side in described bypass for the Current vehicle；Instead
It, then judge Current vehicle not in the runway of the leftmost side of described bypass.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410212668.2A CN103940436B (en) | 2012-05-30 | 2012-05-30 | Matching method of main and side roads of navigator with high instantaneity and accuracy |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410212668.2A CN103940436B (en) | 2012-05-30 | 2012-05-30 | Matching method of main and side roads of navigator with high instantaneity and accuracy |
| CN201210173021.4A CN102661747B (en) | 2012-05-30 | 2012-05-30 | Main road and side road matching method of navigator |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210173021.4A Division CN102661747B (en) | 2012-05-30 | 2012-05-30 | Main road and side road matching method of navigator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103940436A CN103940436A (en) | 2014-07-23 |
| CN103940436B true CN103940436B (en) | 2017-02-01 |
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| CN201410212668.2A Active CN103940436B (en) | 2012-05-30 | 2012-05-30 | Matching method of main and side roads of navigator with high instantaneity and accuracy |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105806352A (en) * | 2012-05-30 | 2016-07-27 | 常州市新科汽车电子有限公司 | Camera-based navigating instrument operation method high in real-time performance and accuracy |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20180084556A (en) * | 2017-01-17 | 2018-07-25 | 팅크웨어(주) | Method, apparatus, electronic apparatus, computer program and computer readable recording medium for providing driving guide using a photographed image of a camera |
| CN109741602A (en) * | 2019-01-11 | 2019-05-10 | 福建工程学院 | A kind of method and system of fender-bender auxiliary fix duty |
| CN112577497B (en) * | 2020-12-18 | 2024-04-19 | 北京百度网讯科技有限公司 | Road matching method and device, electronic equipment, storage medium and program product |
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| JPH1151670A (en) * | 1997-07-30 | 1999-02-26 | Nippon Denki Micom Technol Kk | Auxiliary function of navigation system |
| JPH1153698A (en) * | 1997-08-07 | 1999-02-26 | Honda Motor Co Ltd | Travel lane track recognition device |
| CN101246010A (en) * | 2007-02-13 | 2008-08-20 | 爱信艾达株式会社 | Lane determining device, method, and program |
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| JPH1151670A (en) * | 1997-07-30 | 1999-02-26 | Nippon Denki Micom Technol Kk | Auxiliary function of navigation system |
| JPH1153698A (en) * | 1997-08-07 | 1999-02-26 | Honda Motor Co Ltd | Travel lane track recognition device |
| CN101246010A (en) * | 2007-02-13 | 2008-08-20 | 爱信艾达株式会社 | Lane determining device, method, and program |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105806352A (en) * | 2012-05-30 | 2016-07-27 | 常州市新科汽车电子有限公司 | Camera-based navigating instrument operation method high in real-time performance and accuracy |
| CN105806352B (en) * | 2012-05-30 | 2018-09-07 | 常州市新科汽车电子有限公司 | The working method of based on camera, real-time and the higher navigator of accuracy |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103940436A (en) | 2014-07-23 |
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