CN104422462A - Vehicle navigation method and vehicle navigation device - Google Patents
Vehicle navigation method and vehicle navigation device Download PDFInfo
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- CN104422462A CN104422462A CN201310405236.9A CN201310405236A CN104422462A CN 104422462 A CN104422462 A CN 104422462A CN 201310405236 A CN201310405236 A CN 201310405236A CN 104422462 A CN104422462 A CN 104422462A
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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
Abstract
The invention discloses a vehicle navigation method and a vehicle navigation device. The vehicle navigation method comprises the following steps: reading first lane information corresponding to the current road section of the vehicle from navigation data and indicating the driving lane of the vehicle in the road section of a navigation path by the first lane information; identifying the current driving lane of the vehicle; and outputting promotion information for changing the lane to the lane indicated by the first lane information if identifying that the current driving lane of the vehicle is inconsistent with the lane indicated by the first lane information, wherein the current driving lane can be identified on the basis of the lane image; and the current driving lane of the vehicle can also be identified on the basis of the position of the vehicle in the current road section. According to the technical scheme, the vehicle navigation method can be used for successfully identifying the actual driving lane of the vehicle, so that the navigation device can be used for outputting relatively accurate navigation promotion information.
Description
Technical field
The present invention relates to field of navigation technology, particularly relate to a kind of method of automobile navigation, device.
Background technology
Be widely used in automotive field for driver with the navigator based on GPS (GPS, Global Positioning System) and navigation information is provided.Usually, the function that navigator has comprises provides map data storehouse to make the display display electronic chart of navigator, obtains the position residing for automobile by gps receiver.In vehicle traveling process, navigator is by the destination information inputted according to user and departure place information calculated route and generate guidance path.The guidance path that such user can provide according to navigator reaches the destination.At user's steering vehicle along in guidance path driving process, existing navigator all can export some navigation hint information usually to guarantee that user can travel by set guidance path.Such as, when vehicle needs to turn right at the crossing intersection part in front, navigator will provide the information of voice prompt of similar " right-hand rotation of 100 meters, front ".
But; but along with road broadens; and the variation in track; often there will be such situation: when vehicle needs to turn right in front; because user's driving experience is not enough, careless and inadvertent; or in the section that some are more special; right-turn lane is positioned at the reasons such as the left side in this section; travel with causing vehicle error on non-right-turn lane; now iff the information of voice prompt of " right-hand rotation of 100 meters, front " according to navigator, vehicle probably cannot realize because of not entering correct track in time turning right.For another example, when vehicle rolls away from from overpass, navigator constantly can enter lower ring road traveling by prompting vehicle, even if vehicle has entered lower ring road, navigator still constantly can provide prompting, affects vehicle and travels.Existing navigation hint cannot meet existing demand.
The application documents that publication number is " CN101441262 " disclose a kind of tridimensional traffic navigation method and device, but still cannot solve the problem.
Summary of the invention
The problem that the present invention solves is: existing airmanship cannot provide navigation hint information accurately according to the track of vehicle actual travel.
For solving the problem, technical solution of the present invention provides a kind of method of automobile navigation, comprising:
The first lane information that the current residing section of vehicle is corresponding is read, the track that described first lane information instruction vehicle this section on guidance path should travel from navigation data;
Identify the track of vehicle current driving;
If the track that the track of the vehicle current driving identified and described first lane information indicate is inconsistent, then export the information of lane change to the track of described first lane information instruction.
Optionally, the track of described identification vehicle current driving comprises:
Obtain the carriageway image in the current residing section of vehicle;
Based on the track of described carriageway image identification vehicle current driving.
Optionally, the described track based on the current driving of described carriageway image identification vehicle comprises:
Described carriageway image is converted to gray level image;
Extract the edge of described gray level image, generate edge image;
The track of vehicle current driving is identified from described edge image.
Optionally, the method for described automobile navigation also comprises: when identifying the track of described vehicle current driving from described carriageway image, then based on the track of the location recognition vehicle current driving of vehicle in current residing section.
Optionally, the track of described identification vehicle current driving comprises: based on the track of the location recognition vehicle current driving of vehicle in current residing section.
Optionally, the described track based on the location recognition vehicle current driving of vehicle in current residing section comprises:
Determine the region, N number of track in this section on described guidance path, N is the quantity that the current residing section of vehicle comprises track, and N number of track in residing section current with vehicle respectively, region, described N number of track is corresponding;
Track corresponding to the region, track comprising current vehicle position is defined as the track of vehicle current driving.
Optionally, the method for described automobile navigation also comprises: if the track identifying vehicle current driving is consistent with the track that described first lane information indicates, then export the information keeping current driving lane to travel.
Optionally, the method of described automobile navigation also comprises: from navigation data, read the second lane information that the current residing section of vehicle is corresponding, the track quantity in the current residing section of described second lane information instruction vehicle, the track of described identification vehicle current driving is that the quantity comprising track in the current residing section of vehicle is carried out when being greater than 1.
Optionally, the track of described identification vehicle current driving is that the distance between current vehicle position and precalculated position is carried out when being less than or equal to distance threshold, and described precalculated position is the position of intersection nearest along travel direction distance current vehicle position on described guidance path.
Optionally, described distance threshold is determined based on the travel speed of vehicle.
For solving the problem, technical solution of the present invention also provides a kind of device of automobile navigation, comprising:
Reading unit, for reading first lane information corresponding to the current residing section of vehicle, the track that described first lane information instruction vehicle this section on guidance path should travel from navigation data;
Recognition unit, for identifying the track of vehicle current driving;
Prompting output unit, for when the track that the described first lane information that track and the described reading unit of the vehicle current driving that described recognition unit identifies read indicates is inconsistent, export the information of lane change to the track of described first lane information instruction.
Compared with prior art, technical scheme of the present invention has the following advantages:
Based on the analysis to carriageway image, the track of vehicle current driving can be obtained, the first lane information read in navigation data, just can judge whether vehicle travels on the track that this section should travel on guidance path, and then provide corresponding information according to judged result, the accuracy of the information that navigator provides can be improved, avoid vehicle to occur sailing wrong track into and the problem that cannot travel on guidance path by mistake.
Further, when carriageway image is not enough to the track identifying vehicle current driving, can also identifies the position residing in current road segment according to current vehicle position, the demand of user in different application scene can be met.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that a kind of vehicle travels road conditions;
Fig. 2 is the lane structure schematic diagram of section A in Fig. 1;
Fig. 3 is the schematic diagram that another kind of vehicle travels road conditions;
Fig. 4 is the lane structure schematic diagram in overhead section in Fig. 3;
Fig. 5 is the schematic flow sheet of the method for the automobile navigation of the embodiment of the present invention one;
Fig. 6 is the schematic flow sheet of the method for the automobile navigation of the embodiment of the present invention two;
Fig. 7 is the schematic flow sheet of the method for the automobile navigation of the embodiment of the present invention three;
Fig. 8 is the structural representation of the device of the automobile navigation of the embodiment of the present invention three.
Embodiment
As stated in the Background Art, along with road broadens and the variation in track, existing navigator often cannot provide navigation hint information accurately.As shown in Figure 1, vehicle travels in the A of section along the direction of arrow indication, will turn right and travel in the B of section in front.Usually, the voice message that navigator can provide " right-hand rotation of 100 meters, front ", now user should sail right-turn lane into, but due to reasons such as user's driving experience are not enough or careless and inadvertent, vehicle travels on Through Lane, existing navigation hint cannot make user sail correct track in time into, front may be caused like this cannot to realize turning right, thus depart from guidance path.In addition, as a rule, right-turn lane is the rightmost side being positioned at section.But along with transport structure becomes increasingly complex, many sections have more and more occurred that right-turn lane is positioned at the situation on the left of road, as shown in Figure 2, be the track situation schematic diagram of section A in Fig. 1.As can be seen from Figure 2,1 to track, track 4 is respectively right-turn lane, Through Lane, Through Lane, left turn lane, and at this moment right-turn lane is positioned at the leftmost side in this section.If according to the information that current navigator provides, vehicle probably sails track 4 into, and track 4 is left turn lane, and vehicle will sail section C antipodal with B direction, section into, brings a lot of inconvenience to vehicle operator.For another example, as shown in Figure 3, vehicle travels on overpass, and according to guidance path in navigator, front needs to sail lower ring road into, the voice message that usual navigator can provide " please keep to the right and enter lower ring road ".The track schematic diagram that Fig. 4 is the overpass shown in Fig. 3, wherein track 1 ' to track 3 ' is respectively Through Lane, Through Lane and leads to the Through Lane of lower ring road, even if vehicle has travelled on track 3 ', in prior art, the voice message that navigator still can constantly provide " please keep to the right and enter lower ring road ", thus certain interference is caused to vehicle operator.
For solving the problem, embodiment of the present invention provides a kind of method of automobile navigation, comprising:
The first lane information that the current residing section of vehicle is corresponding is read, the track that described first lane information instruction vehicle this section on guidance path should travel from navigation data;
Identify the track of vehicle current driving;
If the track that the track of the vehicle current driving identified and described first lane information indicate is inconsistent, then export the information of lane change to the track of described first lane information instruction.
Concrete, can be identified by carriageway image, also can identify according to the position of vehicle in current residing section.Like this, when vehicle travels when there is the section in multiple track, more accurate, reliable navigation hint information can be provided according to the track of actual travel to vehicle operator, improve the accuracy of navigation hint information.
For enabling above-mentioned purpose of the present invention, feature and advantage more become apparent, and are described in detail specific embodiments of the invention below in conjunction with accompanying drawing.
Embodiment one
As shown in Figure 5, be the schematic flow sheet of the method for the automobile navigation of the embodiment of the present invention one, comprise:
Step S100: read the first lane information that the current residing section of vehicle is corresponding from navigation data.The track that described first lane information instruction vehicle this section on guidance path should travel.Concrete, can directly or indirectly obtain the information of vehicle in the track that current road segment should travel according to navigation data.In the navigation data had, according to guidance path, in the navigation data that the track that directly should be travelled in each section stores, at this moment just directly from navigation data, described first lane information just can be obtained; In the navigation data had, directly do not preserve the track that should travel corresponding to each section, but according to the driving trace that the guidance path in navigation data is planned, and should turn left in each section, the information indirect such as right-hand rotation determine the track that vehicle should travel, now still can read the lane information determined.Such as, for the section shown in Fig. 1, if point out the position of vehicle shown in D point to turn right in guidance path, the track that so now vehicle should travel is just track 1 as shown in Figure 2.Or as shown in Figure 3, if vehicle will be used from overpass, the track that so should travel is track 3 ' as shown in Figure 4.
Step S101: the carriageway image obtaining the current residing section of vehicle.For the needs of safety traffic, present most of vehicle is all provided with capture apparatus, and such as radar scanning camera, Tachographs etc., be arranged on dead ahead or the dead astern of vehicle usually, the situation on the road surface in the section that vehicle travels can be photographed clearly, namely carriageway image.Such as shown in Fig. 1 or Fig. 3, the sign in various track can be printed on the road surface in corresponding track, and when vehicle travels thereon, capture apparatus just can photograph the carriageway image with lane markings.Then step S102 is performed.
Step S102: based on the track of described carriageway image identification vehicle current driving.It will be appreciated by those skilled in the art that, analyzing and processing is carried out to the carriageway image taken in step S101, just therefrom can extract lane markings, thus identify the track of current driving.Concrete, first the carriageway image of shooting is carried out gray proces, be converted to gray level image, follow-up intractability can be simplified like this.Then, extract the edge of gray level image, generate edge image.Finally, from edge image, extract the image information in track, thus identify the track of current driving.In other embodiments, also carriageway image can be converted to the track that the modes such as general view extract vehicle current driving from carriageway image.
Step S103: judge that whether the track that the track of the vehicle current driving identified and described first lane information indicate is consistent.If judged result is no, then perform step S104: export the information of lane change to the track of described first lane information instruction; If the determination result is YES, then step S105 is performed: export the information keeping current driving lane to travel.Understandable, when the track of the current driving that first lane information and the step S102 of step S100 acquisition identify is inconsistent, illustrate that vehicle has travelled on the track of mistake, now then should provide corresponding prompting, the track that prompting vehicle lane change indicates to first lane information, to ensure that vehicle correctly can travel according to the guidance path preset.If the first lane information that step S100 obtains is consistent with the track of the current driving that step S102 identifies, then the track of explanation vehicle current driving is correct, as long as vehicle keeps current lane to travel, now generally corresponding information can be exported to this.In other embodiments, if the track of vehicle current driving is correct, also information can not be exported.
In the method for above-mentioned automobile navigation, the track of vehicle current driving can be obtained by the carriageway image analysis of shooting, the first lane information read in navigation data, judge whether vehicle travels on the track that this section should travel on guidance path, and then provide corresponding information according to judged result, the accuracy of the information that navigator provides can be improved, avoid vehicle to occur sailing into wrong track and the problem that cannot travel along guidance path by mistake.
It should be noted that, in the present embodiment and other embodiments of the present invention, just can carry out the identification in track when vehicle sails each section into, as shown in Figure 1, when vehicle enters section A traveling, just carry out the identification in track; Also the distance between the current location of vehicle and precalculated position can be less than or equal to distance threshold value and carry out.Wherein, precalculated position is intersection nearest along travel direction distance current vehicle position on guidance path.Intersection can be crossroad, T-shaped road junction, turning crossing, overhead upper ring road crossing, overhead lower ring road crossing etc., position as shown in D point in Fig. 1, or the position in Fig. 3 shown in D ', the distance put as vehicle distances D point or D ' is less than or equal to distance threshold value and just starts to identify.Distance threshold can be determined according to the travel speed of vehicle, and such as, speed is lower than 60 kilometers/hour when running, then distance threshold is set to 200 meters; Speed is higher than 60 kilometers/hour when running, then distance threshold is set to 400 meters.
In addition, when only there is 1 track in the current residing section of vehicle, do not need to carry out lane identification yet.That is, before identification track, first can read second lane information from navigation data, described second lane information is used to indicate the track quantity in the current residing section of vehicle, only just identifies when track quantity is greater than 1.
Embodiment two
As shown in Figure 6, be the schematic flow sheet of the method for the automobile navigation of the present embodiment, comprise:
Step S200: read the first lane information that the current residing section of vehicle is corresponding from navigation data.The track that described first lane information instruction vehicle this section on guidance path should travel.The concrete enforcement of this step can step S100 in reference example one.
Step S201: based on the track of the location recognition vehicle current driving of vehicle in current residing section.Concrete, still with reference to figure 2, can find out, current road segment has 4 tracks, so direct is region, 4 tracks by this pavement section, then obtain the precise information of current vehicle position according to the result of GPS location, understandable, when the current location place of vehicle region, track corresponding to track be the track of vehicle current driving.During concrete judgement, first current road segment can be divided into region, two tracks, and then by the region, track at vehicle place again Further Division be region, two tracks, finally determine which track vehicle is on.
Step S202: judge that whether the track that the track of the vehicle current driving identified and described first lane information indicate is consistent.If judged result is no, then perform step S203: export the information of lane change to the track of described first lane information instruction; If the determination result is YES, then step S204 is performed: export the information keeping current driving lane to travel.The concrete enforcement of step S202 to step S204 can step S103 in reference example one to step S105.
In the method for above-mentioned automobile navigation, according to the result of vehicle location, based on the track of the location recognition vehicle current driving in vehicle current driving road segment, and the first lane information read in navigation data, judge whether vehicle travels on the track that this section should travel on guidance path, and then provide corresponding information according to judged result, the accuracy of the information that navigator provides can be improved, avoid vehicle to occur sailing into wrong track and the problem that cannot travel along guidance path by mistake.
Embodiment three
As shown in Figure 7, be the schematic flow sheet of the method for the automobile navigation of the present embodiment, comprise:
Step S300: read the first lane information that the current residing section of vehicle is corresponding from navigation data.The track that described first lane information instruction vehicle this section on guidance path should travel.The concrete enforcement of this step can step S100 in reference example one.
Step S301: the carriageway image obtaining the current residing section of vehicle.The execution of this step can step S101 in reference implementation one, repeats no more herein.
Step S302: judge whether carriageway image meets identification requirement.If the determination result is YES, then step S303 is performed; If judged result is no, then perform step S304.In actual travel process, when on current road segment, vehicle is more crowded, the lane markings be imprinted on road surface is probably lived by other occlusions, thus causes the carriageway image taken not meet identification requirement, namely cannot cannot extract the information in track, vehicle current place from carriageway image.And the road travelled due to vehicle is in outdoor for a long time, and the lane markings of some roads can be very fuzzy, also do not meet identification requirement.
Step S303: based on the track of described carriageway image identification vehicle current driving.The execution of this step can step S102 in reference example one.
Step S304: based on the track of the location recognition vehicle current driving of vehicle in current residing section.The concrete enforcement of this step, can the step S201 of reference example two.
Step S305 is performed: judge that whether the track that the track of the vehicle current driving identified and described first lane information indicate is consistent after step S303 or step S304.The execution of this step can the step S103 in the reference example one or step S202 in embodiment two.
If the judged result of step S305 is no, then perform step S306: export the information of lane change to the track of described first lane information instruction; If the judged result of step S305 is yes, then perform step S307: export the information keeping current driving lane to travel.The execution of step S306 and step S307 can step S104 in reference example one and step S105.
In the method for above-mentioned automobile navigation, the track of vehicle current driving can be obtained by the carriageway image analysis of shooting, the first lane information read in navigation data, judge whether vehicle travels on the track that this section should travel on guidance path, and then provide corresponding information according to judged result, the accuracy of the information that navigator provides can be improved, avoid vehicle to occur sailing into wrong track and the problem that cannot travel along guidance path by mistake.When the carriageway image taken does not meet identification requirement, can also go out according to the location recognition of vehicle in current residing section the track that vehicle forward sails, meet the demand of user in different application scene.Because carriageway image directly can reflect the track of vehicle current driving, therefore the preferential track being identified vehicle current driving by carriageway image in the present embodiment, in other embodiments, if when the image definition image-capable that is limited or navigator of vehicle shooting is inadequate, the identification in track also preferentially can be carried out by the position of vehicle in current residing section.
Corresponding with said method, the present embodiment additionally provides a kind of device of automobile navigation, as shown in Figure 8, comprising: reading unit 10, recognition unit 20 and prompting output unit 30.Wherein, described reading unit 10, for reading first lane information corresponding to the current residing section of vehicle, the track that described first lane information instruction vehicle this section on guidance path should travel from navigation data; Described recognition unit 20, for identifying the track of vehicle current driving; Described prompting output unit 30, for when the track that the described first lane information that track and the described reading unit 10 of the vehicle current driving that described recognition unit 20 identifies read indicates is inconsistent, export the information of lane change to the track of described first lane information instruction, or when the track that described recognition unit 20 identifies vehicle current driving is consistent with the track that the first lane information that described reading unit 10 reads indicates, export the information keeping current driving lane to travel.
In the present embodiment, described recognition unit 20 comprises the first recognition unit 201 and the second recognition unit 202; Wherein:
Described first recognition unit 201 comprises acquiring unit 2011 and image identification unit 2012, described acquiring unit 2011 is for obtaining the carriageway image in the current residing section of vehicle, and described image identification unit 2012 is for the track of the carriageway image identification vehicle current driving based on described acquiring unit 2011 acquisition;
Described second recognition unit 202, for when described first recognition unit 201 cannot identify the track of described vehicle current driving from described carriageway image, based on the track of the location recognition vehicle current driving of vehicle in current residing section.
During concrete enforcement, described second recognition unit 202 can comprise: the first determining unit 2021, for determining the region, N number of track in this section on described guidance path, N is the quantity that the current residing section of vehicle comprises track, and N number of track in residing section current with vehicle respectively, region, described N number of track is corresponding; Second determining unit 2022, for being defined as the track of vehicle current driving by the track corresponding to the region, track comprising current vehicle position.
In the present embodiment, described reading unit 10 also for reading second lane information corresponding to the current residing section of vehicle from navigation data, the track quantity in the described current residing section of second lane information instruction vehicle, identifies the track of vehicle current driving when the quantity that the current residing section that described recognition unit 20 reads at described reading unit 10 comprises track is greater than 1.
In the present embodiment, the device of described automobile navigation also comprises range cells 40, for the distance between measuring vehicle current location and precalculated position, described precalculated position is the position of intersection nearest along travel direction distance current vehicle position on described guidance path; When the distance of described recognition unit 20 between the current vehicle position that described range cells 40 is measured and precalculated position is less than or equal to distance threshold, identify the track of vehicle current driving.
The concrete enforcement of the device of the automobile navigation of the present embodiment can with reference to the associated description of the method for above-mentioned automobile navigation.
It will be appreciated by those skilled in the art that, realizing all or part of of technique scheme is that the hardware that can carry out instruction relevant by program has come, described program can be stored in readable storage medium storing program for executing, and described storage medium can be ROM, RAM, magnetic disc, CD etc.
Although the present invention discloses as above, the present invention is not defined in this.Any those skilled in the art, without departing from the spirit and scope of the present invention, all can make various changes or modifications, and therefore protection scope of the present invention should be as the criterion with claim limited range.
Claims (18)
1. a method for automobile navigation, is characterized in that, comprising:
The first lane information that the current residing section of vehicle is corresponding is read, the track that described first lane information instruction vehicle this section on guidance path should travel from navigation data;
Identify the track of vehicle current driving;
If the track that the track of the vehicle current driving identified and described first lane information indicate is inconsistent, then export the information of lane change to the track of described first lane information instruction.
2. the method for automobile navigation as claimed in claim 1, it is characterized in that, the track of described identification vehicle current driving comprises:
Obtain the carriageway image in the current residing section of vehicle;
Based on the track of described carriageway image identification vehicle current driving.
3. the method for automobile navigation as claimed in claim 2, it is characterized in that, the described track based on the current driving of described carriageway image identification vehicle comprises:
Described carriageway image is converted to gray level image;
Extract the edge of described gray level image, generate edge image;
The track of vehicle current driving is identified from described edge image.
4. the method for automobile navigation as claimed in claim 2, it is characterized in that, also comprise: when the track of described vehicle current driving cannot be identified from described carriageway image, then based on the track of the location recognition vehicle current driving of vehicle in current residing section.
5. the method for automobile navigation as claimed in claim 1, it is characterized in that, the track of described identification vehicle current driving comprises: based on the track of the location recognition vehicle current driving of vehicle in current residing section.
6. the method for the automobile navigation as described in claim 4 or 5, is characterized in that, the described track based on the location recognition vehicle current driving of vehicle in current residing section comprises:
Determine the region, N number of track in this section on described guidance path, N is the quantity that the current residing section of vehicle comprises track, and N number of track in residing section current with vehicle respectively, region, described N number of track is corresponding;
Track corresponding to the region, track comprising current vehicle position is defined as the track of vehicle current driving.
7. the method for automobile navigation as claimed in claim 1, is characterized in that, also comprise: if the track identifying vehicle current driving is consistent with the track that described first lane information indicates, then export the information keeping current driving lane to travel.
8. the method for automobile navigation as claimed in claim 1, it is characterized in that, also comprise: from navigation data, read the second lane information that the current residing section of vehicle is corresponding, the track quantity in the current residing section of described second lane information instruction vehicle, the track of described identification vehicle current driving is that the quantity comprising track in the current residing section of vehicle is carried out when being greater than 1.
9. the method for automobile navigation as claimed in claim 1, it is characterized in that, the track of described identification vehicle current driving is that the distance between current vehicle position and precalculated position is carried out when being less than or equal to distance threshold, and described precalculated position is the position of intersection nearest along travel direction distance current vehicle position on described guidance path.
10. the method for automobile navigation as claimed in claim 9, it is characterized in that, described distance threshold is determined based on the travel speed of vehicle.
The device of 11. 1 kinds of automobile navigations, is characterized in that, comprising:
Reading unit, for reading first lane information corresponding to the current residing section of vehicle, the track that described first lane information instruction vehicle this section on guidance path should travel from navigation data;
Recognition unit, for identifying the track of vehicle current driving;
Prompting output unit, for when the track that the described first lane information that track and the described reading unit of the vehicle current driving that described recognition unit identifies read indicates is inconsistent, export the information of lane change to the track of described first lane information instruction.
The device of 12. automobile navigations as claimed in claim 11, it is characterized in that, described recognition unit comprises the first recognition unit, and described first recognition unit comprises:
Acquiring unit, for obtaining the carriageway image in the current residing section of vehicle;
Image identification unit, for the track of carriageway image identification vehicle current driving obtained based on described acquiring unit.
The device of 13. automobile navigations as claimed in claim 12, it is characterized in that, described recognition unit also comprises: the second recognition unit, for when described first recognition unit cannot identify the track of described vehicle current driving from described carriageway image, based on the track of the location recognition vehicle current driving of vehicle in current residing section.
The device of 14. automobile navigations as claimed in claim 11, it is characterized in that, described recognition unit comprises the second recognition unit, for the track based on the location recognition vehicle current driving of vehicle in current residing section.
The device of 15. automobile navigations as described in claim 13 or 14, it is characterized in that, described second recognition unit comprises:
First determining unit, for determining the region, N number of track in this section on described guidance path, N is the quantity that the current residing section of vehicle comprises track, and N number of track in residing section current with vehicle respectively, region, described N number of track is corresponding;
Second determining unit, for being defined as the track of vehicle current driving by the track corresponding to the region, track comprising current vehicle position.
The device of 16. automobile navigations as claimed in claim 11, it is characterized in that, when the track of described prompting output unit also for identifying vehicle current driving when described recognition unit is consistent with the track that the first lane information that described reading unit reads indicates, export the information keeping current driving lane to travel.
The device of 17. automobile navigations as claimed in claim 11, it is characterized in that, described reading unit also for reading second lane information corresponding to the current residing section of vehicle from navigation data, the track quantity in the described current residing section of second lane information instruction vehicle, identifies the track of vehicle current driving when the quantity that the current residing section that described recognition unit reads at described reading unit comprises track is greater than 1.
The device of 18. automobile navigations as claimed in claim 11, it is characterized in that, also comprise range cells, for the distance between measuring vehicle current location and precalculated position, described precalculated position is the position of intersection nearest along travel direction distance current vehicle position on described guidance path;
When the distance of described recognition unit between the current vehicle position that described range cells is measured and precalculated position is less than or equal to distance threshold, identify the track of vehicle current driving.
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| CN106197451A (en) * | 2016-07-22 | 2016-12-07 | 金陵科技学院 | Vehicular navigation system with carriageway surfacing data message read functions and air navigation aid |
| CN106871914A (en) * | 2015-12-14 | 2017-06-20 | 现代自动车株式会社 | The control method of vehicle and vehicle |
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| CN109781131A (en) * | 2019-03-14 | 2019-05-21 | 百度在线网络技术（北京）有限公司 | Navigate abductive approach, device, navigator and readable storage medium storing program for executing |
| CN110444037A (en) * | 2019-08-09 | 2019-11-12 | 深圳市元征科技股份有限公司 | Automobile navigation method and Related product |
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