CN103954293A - Working method of navigator - Google Patents
Working method of navigator Download PDFInfo
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- CN103954293A CN103954293A CN201410212859.9A CN201410212859A CN103954293A CN 103954293 A CN103954293 A CN 103954293A CN 201410212859 A CN201410212859 A CN 201410212859A CN 103954293 A CN103954293 A CN 103954293A
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- vehicle
- road
- runway
- main road
- bypass
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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)
- Navigation (AREA)
- Image Analysis (AREA)
- Image Processing (AREA)
Abstract
The invention relates to a navigator-based method for matching a main road and a side road of a road, which comprises the following steps: if a current vehicle is on a main road and an exit leading to a side road at the right side of the main road exists within 20Km ahead of the current vehicle, acquiring in real time, by a CPU (central processing unit) of a navigator, a traffic lane image on the main road through a camera arranged at the rear part of the current vehicle, so as to judge whether the current vehicle is in a traffic lane at the rightmost side of the main road; if the current vehicle is in the traffic lane at the rightmost side of the main road, when the current vehicle is about to arrive at the exit, judging in real time whether a traffic lane line in the image is subjected to clockwise deflection; if the traffic lane line is subjected to clockwise deflection, judging, by the CPU, that the current vehicle enters the side road; matching, by the navigator, the current drive path onto the side road; and if the traffic lane line is not subjected to clockwise deflection, judging that the current vehicle is still on the main road.
Description
The application divides an application, the application number of female case application: 201210173021.4, and title: the matching process of the road main and side road of navigating instrument, the applying date: 2012-05-30.
Technical field
The present invention relates to the technical field of the method for work of navigating instrument, specifically a kind of navigating instrument according to road fare the matching process to road main and side road.
Background technology
Often there is main and auxiliary road in existing arterial street, such as two ring three ring and Fourth Rings, Pekinese, what loop sealed only allows motor vehicle such, is main road; Main road generally comprises: overpass, highway etc.Bypass is exactly outside closed area, and adjacent main road is connected with other branch roads.
Utilizing GPS navigation instrument to carry out in the process of road coupling and navigation, on the one hand because gps signal often exists some errors or interference, cause existing navigating instrument often cannot distinguish adjacent and parallel main and side road, cause accurately mating the road at vehicle (being commonly called as: the work as vehicle in front) place as its carrier, so affected the accuracy of navigation and real-time (that is: existing navigating instrument cannot accurately judge in real time when vehicle in front whether on main road, cannot judge whether left main road and entered as on bypass to be turned to when vehicle in front).
The existing vehicle that disposes navigating instrument, is often provided with in the rear end of this vehicle the camera being connected with described navigating instrument, with display screen by navigating instrument show take image, its safety or realize the functions such as automatic backing of being mainly used in guaranteeing to move backward.
How described camera and navigating instrument being combined, to solve the matching problem on the main and auxiliary road on guidance path, is that this area did not relate to.
Summary of the invention
The technical problem to be solved in the present invention is to provide the matching process of the road main and side road of a kind of real-time and the higher navigating instrument of accuracy.
For solving the problems of the technologies described above, the matching process of the road main and side road of navigating instrument provided by the invention comprises: if when vehicle in front is on a main road, and in the 2Km of current vehicle front, there is an outlet of leading to the bypass on this main road right side, the CPU of navigating instrument is by being located at the runway image on main road described in the camera Real-time Obtaining of current rear view of vehicle, to judge when whether vehicle in front is in the runway in the rightmost side of described main road; If when vehicle in front is in the runway of the rightmost side of described main road, when being about to arrive described outlet, whether the driving diatom described in real-time judge in image there is clockwise deflection, if clockwise deflection occurs described driving diatom, CPU judges that working as vehicle in front enters described bypass; Navigating instrument by current driving route matching on described bypass; If clockwise deflection does not occur described driving diatom, judgement is when vehicle in front is still on described main road.
As preferred scheme, if the angle that clockwise deflection occurs described driving diatom is greater than 5 °, judge that working as vehicle in front enters described bypass; With further accurately judgement when whether lane change enter described bypass of vehicle in front.
During concrete enforcement, described CPU obtains after the runway image on described main road, first extracts the right lateral lane line on the adjacent vehicle right side in this image, and whether the rear, right side of then analyzing this right lateral lane line in image exists another driving diatom; If there is not another driving diatom, judgement is when vehicle in front is in the runway of the rightmost side of described main road; Otherwise judgement is when vehicle in front is not in the runway in the rightmost side of described main road.
The matching process of the road main and side road of another kind of navigating instrument, it comprises: if when vehicle in front is on a main road, and in the 2Km of current vehicle front, there is an outlet of leading to the bypass on this main road right side, the CPU of navigating instrument is by being located at the runway image on main road described in the camera Real-time Obtaining of current rear view of vehicle, to judge when whether vehicle in front is in the runway in the rightmost side of described main road; If when vehicle in front is in the runway of the rightmost side of described main road, when being about to arrive described outlet, whether described CPU detects the steering indicating light driving lever of working as vehicle in front by a sensor in real time and stirs to the right; If record described steering indicating light driving lever, occur to stir to the right, CPU judges that working as vehicle in front enters described bypass; Navigating instrument by current driving route matching on described bypass; If described steering indicating light driving lever does not occur to stir to the right, judgement is when vehicle in front is still on described main road.
The matching process of the road main and side road of the third navigating instrument, it is characterized in that comprising: if when vehicle in front is on a bypass, and exist a main road adjacent with this bypass, in the 1.5Km of current vehicle front, there is an entrance that leads to the main road in this bypass left side simultaneously, the CPU of navigating instrument is by being located at the runway image on bypass described in the camera Real-time Obtaining of current rear view of vehicle, to judge when whether vehicle in front is in the runway in the leftmost side of described bypass; If when vehicle in front is in the runway of the leftmost side of described bypass, when being about to arrive described entrance, whether the driving diatom described in real-time judge in image there is counterclockwise deflection, if counterclockwise deflection occurs described driving diatom, CPU judges that working as vehicle in front enters described main road; Navigating instrument with regard to current driving route matching on described main road; If counterclockwise deflection does not occur described driving diatom, judgement is when vehicle in front is still on described bypass.
Further, described CPU obtains after the runway image on described bypass, first extracts the left lateral lane line in the adjacent vehicle left side in this image, and whether the rear, left side of then analyzing this left lateral lane line in image exists another driving diatom; If there is not another driving diatom, judgement is when vehicle in front is in the runway of the leftmost side of described bypass; Otherwise judgement is when vehicle in front is not in the runway in the leftmost side of described bypass.
The matching process of the road main and side road of the 4th kind of navigating instrument, it comprises: if when vehicle in front is on a bypass, and exist a main road adjacent with this bypass, in the 1.5Km of current vehicle front, there is an entrance that leads to the main road in this bypass left side simultaneously, the CPU of navigating instrument is by being located at the runway image on bypass described in the camera Real-time Obtaining of current rear view of vehicle, to judge when whether vehicle in front is in the runway in the leftmost side of described bypass; If when vehicle in front is in the runway of the leftmost side of described bypass, when being about to arrive described entrance, whether described CPU is detected and is stirred left when the steering indicating light driving lever of vehicle in front by a sensor in real time; If record described steering indicating light driving lever, occur to stir left, CPU judges that working as vehicle in front enters described main road; Navigating instrument by current driving route matching on described main road; If described steering indicating light driving lever does not occur to stir left, judgement is when vehicle in front is still on described bypass.
The technique effect that the present invention has: the road matching method of navigating instrument of the present invention, mainly by being located at the camera judgement of rear vehicle end when the runway at vehicle in front place, then by driving diatom, at captured image or the angle in video, change, judge whether vehicle occurs to turn to accordingly at the place, gateway of main road, and then judge whether work as vehicle in front enters or leave main road.As another kind of scheme, employing detects the action of steering indicating light driving lever, judges whether vehicle occurs to turn to accordingly at the place, gateway of main road, and then judges whether work as vehicle in front enters or leave main road.These methods have the advantages that step is simple, reliability is higher.
Accompanying drawing explanation
For content of the present invention is more likely to be clearly understood, below the specific embodiment by reference to the accompanying drawings of basis, the present invention is further detailed explanation, wherein
Fig. 1 is the structured flowchart of navigating instrument of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in detail:
Embodiment 1
As Fig. 1, the navigating instrument of the present embodiment comprises: CPU, the touch display screen being connected with this CPU, the GPS unit being connected with this CPU, the program data base being connected with this CPU, the camera being connected with this CPU and the map data base being connected with this CPU.In map data base, store road routing information, road path packets of information is drawn together the attribute in each section, and this attribute comprises whether corresponding section is main road or bypass, and the information such as adjacent whether between main and auxiliary road.
The method of work of above-mentioned navigating instrument comprises:
If when vehicle in front is on a main road, and in the 2Km of current vehicle front, there is an outlet of leading to the bypass on this main road right side, the CPU of navigating instrument is by being located at the runway image on main road described in the camera Real-time Obtaining of current rear view of vehicle, to judge when whether vehicle in front is in the runway in the rightmost side of described main road; If when vehicle in front is in the runway of the rightmost side of described main road, when being about to arrive described outlet (in being generally apart from this outlet 50m), whether the driving diatom described in real-time judge in image there is clockwise deflection, if clockwise deflection occurs described driving diatom, CPU judges that working as vehicle in front enters described bypass; Navigating instrument by current driving route matching on described bypass; If clockwise deflection does not occur described driving diatom, judgement is when vehicle in front is still on described main road.
For further improving the correctness of judgement, if the angle that clockwise deflection occurs described driving diatom is greater than 5 °, judge that working as vehicle in front enters described bypass.
Described CPU obtains after the runway image on described main road, for improving correctness and the convenience of judgement, can first judge whether the right side of analyzing this right lateral lane line in described runway image exists road guard or plant; If there is road guard or plant, judgement is when vehicle in front is in the runway of the rightmost side of described main road.If there is not road guard or plant, first extract the right lateral lane line on the adjacent vehicle right side in this image, whether the rear, right side of then analyzing this right lateral lane line in described image there is another driving diatom; If there is not another driving diatom, judgement is when vehicle in front is in the runway of the rightmost side of described main road; Otherwise judgement is when vehicle in front is not in the runway in the rightmost side of described main road.
When whether the right side of the contiguous right lateral lane line when vehicle in front right side of judgement there is road guard or plant, by color, or employing and be pre-stored in road guard in described map data base or the mode of the multiple model comparison of plant, judge.
Embodiment 2
On the basis of embodiment 1, the navigating instrument of the present embodiment also comprises: the steering indicating light driving lever sensor being connected with this CPU, steering indicating light driving lever sensor adopts magnetic induction switch or the toggle switch be connected with described CPU, for detection of the steering indicating light driving lever when vehicle in front whether in zero-bit, left steering 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 navigating instrument of the present embodiment:
The method of work of the navigating instrument of the present embodiment comprises: if when vehicle in front is on a main road, and in the 2Km of current vehicle front, there is an outlet of leading to the bypass on this main road right side, the CPU of navigating instrument is by being located at the runway image on main road described in the camera Real-time Obtaining of current rear view of vehicle, to judge when whether vehicle in front is in the runway in the rightmost side of described main road; If when vehicle in front is in the runway of the rightmost side of described main road,, when being about to arrive described outlet (in being generally apart from this outlet 50m), whether the steering indicating light driving lever that described CPU works as vehicle in front by described steering indicating light driving lever sensor detection is in real time stirred to the right; If record described steering indicating light driving lever, occur to stir to the right, CPU judges that working as vehicle in front enters described bypass; Navigating instrument by current driving route matching on described bypass; If described steering indicating light driving lever does not occur to stir to the right, judgement is when vehicle in front is still on described main road.
Embodiment 3
The matching process of the road main and side road of the navigating instrument of the present embodiment comprises: if when vehicle in front is on a bypass, and exist a main road adjacent with this bypass, in the 1.5Km of current vehicle front, there is an entrance that leads to the main road in this bypass left side simultaneously, the CPU of navigating instrument is by being located at the runway image on bypass described in the camera Real-time Obtaining of current rear view of vehicle, to judge when whether vehicle in front is in the runway in the leftmost side of described bypass; If when vehicle in front is in the runway of the leftmost side of described bypass, when being about to arrive described entrance (being generally apart from this outlet 30 to 40m), whether the driving diatom described in real-time judge in image there is counterclockwise deflection, if counterclockwise deflection occurs described driving diatom, CPU judges that working as vehicle in front enters described main road; Navigating instrument with regard to current driving route matching on described main road; If counterclockwise deflection does not occur described driving diatom, judgement is when vehicle in front is still on described bypass.
If the angle that counterclockwise deflection occurs described driving diatom is greater than 5 °, judge that working as vehicle in front enters described main road.
For improving correctness and the convenience of judgement, described CPU obtains after the runway image on described bypass, and whether the left side of first analyzing the left lateral lane line of contiguous current vehicle left side in described runway image exists road guard or plant; If there is road guard or plant, judgement: when vehicle in front is in the runway of the leftmost side of described bypass.If there is not road guard or plant, first extract the left lateral lane line in the adjacent vehicle left side in this image, whether the rear, left side of then analyzing this left lateral lane line in image there is another driving diatom; If there is not another driving diatom, judgement is when vehicle in front is in the runway of the leftmost side of described bypass; Otherwise judgement is when vehicle in front is not in the runway in the leftmost side of described bypass.
When whether the left side that judges the left lateral lane line of contiguous current vehicle left side there is road guard or plant, by color, or the mode of the model comparison of employing and road guard or plant, judge.
Embodiment 4
The matching process of the road main and side road of the navigating instrument of the present embodiment, it comprises: if when vehicle in front is on a bypass, and exist a main road adjacent with this bypass, in the 1.5Km of current vehicle front, there is an entrance that leads to the main road in this bypass left side simultaneously, the CPU of navigating instrument is by being located at the runway image on bypass described in the camera Real-time Obtaining of current rear view of vehicle, to judge when whether vehicle in front is in the runway in the leftmost side of described bypass; If when vehicle in front is in the runway of the leftmost side of described bypass, when being about to arrive described entrance, whether described CPU is detected and is stirred left when the steering indicating light driving lever of vehicle in front by a steering indicating light driving lever sensor in real time; If record described steering indicating light driving lever, occur to stir left, CPU judges that working as vehicle in front enters described main road; Navigating instrument by current driving route matching on described main road; If described steering indicating light driving lever does not occur to stir left, judgement is when vehicle in front is still on described bypass.
Whether described camera is located at current rear view of vehicle centre, and described CPU obtains after described runway image, in image, analyze and exist a pair of driving diatom respectively in predeterminable area; If exist a pair of driving diatom respectively in predeterminable area, judgement is when vehicle in front is in a runway; Otherwise judgement is when the central authorities of vehicle in front at a pair of adjacent runway.
Obviously, above-described embodiment is only for example of the present invention is clearly described, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without also giving all embodiments.And these belong to apparent variation that spirit of the present invention extended out or change still among protection scope of the present invention.
Claims (3)
1. a matching process for the road main and side road of navigating instrument, is characterized in that comprising:
If when vehicle in front is on a main road, and in the 2Km of current vehicle front, there is an outlet of leading to the bypass on this main road right side, the CPU of navigating instrument is by being located at the runway image on main road described in the camera Real-time Obtaining of current rear view of vehicle, to judge when whether vehicle in front is in the runway in the rightmost side of described main road;
If when vehicle in front is in the runway of the rightmost side of described main road, when being about to arrive described outlet, whether the driving diatom described in real-time judge in image there is clockwise deflection, if clockwise deflection occurs described driving diatom, CPU judges that working as vehicle in front enters described bypass; Navigating instrument by current driving route matching on described bypass;
If clockwise deflection does not occur described driving diatom, judgement is when vehicle in front is still on described main road;
If the angle that clockwise deflection occurs described driving diatom is greater than 5 °, judge that working as vehicle in front enters described bypass;
Described CPU obtains after the runway image on described main road, first extracts the right lateral lane line on the adjacent vehicle right side in this image, and whether the rear, right side of then analyzing this right lateral lane line in image exists another driving diatom; If there is not another driving diatom, judgement is when vehicle in front is in the runway of the rightmost side of described main road; Otherwise judgement is when vehicle in front is not in the runway in the rightmost side of described main road.
2. the matching process of the road main and side road of navigating instrument according to claim 1, it is characterized in that: described CPU obtains after the runway image on described main road, first judge whether the right side of analyzing this right lateral lane line in described runway image exists road guard or plant; If there is road guard or plant, judgement is when vehicle in front is in the runway of the rightmost side of described main road; If there is not road guard or plant, first extract the right lateral lane line on the adjacent vehicle right side in this image, whether the rear, right side of then analyzing this right lateral lane line in described image there is another driving diatom; If there is not another driving diatom, judgement is when vehicle in front is in the runway of the rightmost side of described main road; Otherwise judgement is when vehicle in front is not in the runway in the rightmost side of described main road.
3. a matching process for the road main and side road of navigating instrument, is characterized in that comprising:
If when vehicle in front is on a bypass, and exist a main road adjacent with this bypass, in the 1.5Km of current vehicle front, there is an entrance that leads to the main road in this bypass left side simultaneously, the CPU of navigating instrument is by being located at the runway image on bypass described in the camera Real-time Obtaining of current rear view of vehicle, to judge when whether vehicle in front is in the runway in the leftmost side of described bypass;
If when vehicle in front is in the runway of the leftmost side of described bypass, when being about to arrive described entrance, whether the driving diatom described in real-time judge in image there is counterclockwise deflection, if counterclockwise deflection occurs described driving diatom, CPU judges that working as vehicle in front enters described main road; Navigating instrument with regard to current driving route matching on described main road;
If counterclockwise deflection does not occur described driving diatom, judgement is when vehicle in front is still on described bypass;
If the angle that counterclockwise deflection occurs described driving diatom is greater than 5 °, judge that working as vehicle in front enters described main road;
Described CPU obtains after the runway image on described bypass, first extracts the left lateral lane line in the adjacent vehicle left side in this image, and whether the rear, left side of then analyzing this left lateral lane line in image exists another driving diatom; If there is not another driving diatom, judgement is when vehicle in front is in the runway of the leftmost side of described bypass; Otherwise judgement is when vehicle in front is not in the runway in the leftmost side of described bypass.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410212859.9A CN103954293B (en) | 2012-05-30 | 2012-05-30 | The method of work of navigator |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210173021.4A CN102661747B (en) | 2012-05-30 | 2012-05-30 | Main road and side road matching method of navigator |
| CN201410212859.9A CN103954293B (en) | 2012-05-30 | 2012-05-30 | The method of work of navigator |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201210173021.4A Division CN102661747B (en) | 2012-05-30 | 2012-05-30 | Main road and side road matching method of navigator |
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| Publication Number | Publication Date |
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| CN103954293A true CN103954293A (en) | 2014-07-30 |
| CN103954293B CN103954293B (en) | 2016-10-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410212859.9A Active CN103954293B (en) | 2012-05-30 | 2012-05-30 | The method of work of navigator |
| CN201610382701.5A Active CN105806352B (en) | 2012-05-30 | 2012-05-30 | The working method of based on camera, real-time and the higher navigator of accuracy |
| CN201210173021.4A Active CN102661747B (en) | 2012-05-30 | 2012-05-30 | Main road and side road matching method of navigator |
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| CN201610382701.5A Active CN105806352B (en) | 2012-05-30 | 2012-05-30 | The working method of based on camera, real-time and the higher navigator of accuracy |
| CN201210173021.4A Active CN102661747B (en) | 2012-05-30 | 2012-05-30 | Main road and side road matching method of navigator |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103954292B (en) * | 2012-05-30 | 2017-02-22 | 常州市新科汽车电子有限公司 | Navigator-based method for matching main road and side road of road according to traffic lane line |
| CN104567887A (en) * | 2014-12-19 | 2015-04-29 | 百度在线网络技术（北京）有限公司 | Path matching method and device |
| CN107097795A (en) * | 2017-04-21 | 2017-08-29 | 上海电机学院 | A kind of deviation alarm equipment of low wrong report |
| CN109425350A (en) * | 2017-08-24 | 2019-03-05 | 阿里巴巴集团控股有限公司 | Road positioning, road switching deciding method, device, equipment and storage medium |
| CN109631925B (en) * | 2018-12-21 | 2020-11-10 | 斑马网络技术有限公司 | Main and auxiliary road determining method and device, storage medium and electronic equipment |
| CN109657641B (en) * | 2018-12-29 | 2021-02-02 | 北京经纬恒润科技股份有限公司 | Method and device for judging main road and auxiliary road of vehicle |
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| US4514810A (en) * | 1981-09-17 | 1985-04-30 | Nippondenso Co., Ltd. | Navigator for vehicles |
| JPS60218022A (en) * | 1984-04-13 | 1985-10-31 | Hitachi Ltd | Navigation system |
| JP2001289654A (en) * | 2000-04-11 | 2001-10-19 | Equos Research Co Ltd | Navigator, method of controlling navigator and memory medium having recorded programs |
| KR100559870B1 (en) * | 2003-11-04 | 2006-03-13 | 현대자동차주식회사 | A method for changing traveling lane |
| JP4377284B2 (en) * | 2004-06-02 | 2009-12-02 | 株式会社ザナヴィ・インフォマティクス | Car navigation system |
| KR100674805B1 (en) * | 2005-06-14 | 2007-01-29 | 엘지전자 주식회사 | Method for matching building between camera image and map data |
| JP4891745B2 (en) * | 2006-11-30 | 2012-03-07 | トヨタ自動車株式会社 | Exit detection device |
| JP4861850B2 (en) * | 2007-02-13 | 2012-01-25 | アイシン・エィ・ダブリュ株式会社 | Lane determination device and lane determination method |
| JP4506790B2 (en) * | 2007-07-05 | 2010-07-21 | アイシン・エィ・ダブリュ株式会社 | Road information generation apparatus, road information generation method, and road information generation program |
| CN101894271B (en) * | 2010-07-28 | 2012-11-07 | 重庆大学 | Visual computing and prewarning method of deviation angle and distance of automobile from lane line |
| CN103940436B (en) * | 2012-05-30 | 2017-02-01 | 常州市新科汽车电子有限公司 | Matching method of main and side roads of navigator with high instantaneity and accuracy |
-
2012
- 2012-05-30 CN CN201410212859.9A patent/CN103954293B/en active Active
- 2012-05-30 CN CN201610382701.5A patent/CN105806352B/en active Active
- 2012-05-30 CN CN201210173021.4A patent/CN102661747B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105806352A (en) | 2016-07-27 |
| CN103954293B (en) | 2016-10-05 |
| CN102661747A (en) | 2012-09-12 |
| CN105806352B (en) | 2018-09-07 |
| CN102661747B (en) | 2014-11-05 |
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