CN105806352B - The working method of based on camera, real-time and the higher navigator of accuracy - Google Patents
The working method of based on camera, real-time and the higher navigator of accuracy Download PDFInfo
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- CN105806352B CN105806352B CN201610382701.5A CN201610382701A CN105806352B CN 105806352 B CN105806352 B CN 105806352B CN 201610382701 A CN201610382701 A CN 201610382701A CN 105806352 B CN105806352 B CN 105806352B
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- 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)
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- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
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Abstract
The working method of the higher navigator of based on camera, real-time and accuracy of the present invention, including：If current vehicle is on a main road, and lead to there are one the outlet of the bypass on the right side of the main road in the 2Km in front of current vehicle, whether then the CPU of navigator by obtaining the driveway image on the main road set on the camera at current vehicle rear in real time, to judge current vehicle in the runway of the rightmost side of the main road；If current vehicle is in the runway of the rightmost side of the main road, then when the outlet will be reached, whether the driveway line in real-time judge described image occurs to deflect clockwise, if deflection clockwise occurs for the driveway line, CPU judges that current vehicle enters the bypass；Navigator will be in current driving route matching to the bypass；If the driveway line does not occur to deflect clockwise, judge current vehicle still on the main road.
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 working method 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 two ring tricyclic of Pekinese and Fourth Ring in existing arterial street, closed of loop is permitted
Perhaps it is main road as motor vehicle；Main road generally comprises：Overpass, highway etc..Bypass is exactly outside enclosed area, tightly
Main road is suffered, is connected with other branch roads.
During carrying out path adaptation and navigation using GPS navigator, on the one hand since GPS signal often has one
A little errors or interference, cause existing navigator that adjacent and parallel main and side road often cannot be distinguished, cause to be unable to accurate match
Vehicle as its carrier（It is commonly called as：Current vehicle）The road at place, and then affect the accuracy and real-time of navigation（I.e.：
Existing navigator can not in real time accurate judgement current vehicle whether on main road, can not judge whether current vehicle has left master
Road simultaneously enters as on bypass to be diverted）.
The existing vehicle configured with navigator is often equipped with the camera shooting being connected with the navigator in the rear end of the vehicle
Head shows the image shot with the display screen by navigator, is used primarily to ensure reversing safety or realizes automatic backing
Etc. functions.
How the camera and navigator to be combined, is this to solve the matching problem on the main and auxiliary road on guidance path
What field be not related to.
Invention content
The technical problem to be solved in the present invention is to provide the road of a kind of real-time and the higher navigator of accuracy is major-minor
The matching process on road.
In order to solve the above technical problems, the matching process of the road main and side road of navigator provided by the invention includes：If working as
Vehicle in front leads to there are one in the 2Km in front of current vehicle the outlet of the bypass on the right side of the main road on a main road, then leads
The CPU of boat instrument by obtaining the driveway image on the main road set on the camera at current vehicle rear in real time, to judge to work as
Whether vehicle in front is in the runway of the rightmost side of the main road；If current vehicle is in the runway of the rightmost side of the main road
Interior, then when that will reach the outlet, whether the driveway line in real-time judge described image occurs to deflect clockwise, if institute
It states driveway line and deflection clockwise occurs, then CPU judges that current vehicle enters the bypass；Navigator is by current driving path
It is assigned on the bypass；If the driveway line does not occur to deflect clockwise, judge current vehicle still on the main road.
As a preferred option, if the driveway line occurs the angle deflected clockwise and is more than 5 °, judge current vehicle
The entrance bypass；With further accurate judgement current vehicle whether lane change and enter the bypass.
When it is implemented, after the CPU obtains the driveway image on the main road, first extract neighbouring in the image
Then the right lane line of vehicle right side analyzes the right side rear of the right lane line with the presence or absence of another driving in the picture
Diatom；If another driveway line is not present, judge current vehicle in the runway of the rightmost side of the main road；Conversely,
Then judge current vehicle not in the runway of the rightmost side of the main road.
Another matching process of the road main and side road of navigator comprising：If current vehicle is being worked as on a main road
Lead to the outlet of the bypass on the right side of the main road in 2Km in front of vehicle in front there are one, then the CPU of navigator is by being set to current vehicle
The camera at rear obtains the driveway image on the main road in real time, with judge current vehicle whether the main road most
In the runway on right side；If current vehicle is in the runway of the rightmost side of the main road, when the outlet will be reached,
Whether the steering indicating light driving lever that the CPU detects current vehicle by a sensor in real time is stirred to the right；If measuring described turn
It is stirred to the right to the generation of lamp driving lever, then CPU judges that current vehicle enters the bypass；Navigator by current driving route matching extremely
On the bypass；If the steering indicating light driving lever does not occur to stir to the right, judge current vehicle still on the main road.
The matching process of the road main and side road of the third navigator, it is characterised in that including：If current vehicle is in a bypass
On, and that there are a main roads is adjacent with the bypass, while there are one to lead on the left of the bypass in the 1.5Km in front of current vehicle
The entrance of main road, then the CPU of navigator by obtaining the driving on the bypass set on the camera at current vehicle rear in real time
Road image, to judge current vehicle whether in the runway of the leftmost side of the bypass；If current vehicle is in the bypass
In the runway of the leftmost side, then when that will reach the entrance, whether the driveway line in real-time judge described image occurs
Deflection counterclockwise, if deflection counterclockwise occurs for the driveway line, CPU judges that current vehicle enters the main road；Navigator
With regard in current driving route matching to the main road；If the driveway line does not occur to deflect counterclockwise, current vehicle is judged
Still on the bypass.
Further, after the CPU obtains the driveway image on the bypass, the adjacent vehicle in the image is first extracted
The left lateral lane line in left side, the left side rear for then analyzing the left lateral lane line in the picture whether there is another runway
Line；If another driveway line is not present, judge current vehicle in the runway of the leftmost side of the bypass；Conversely, then
Judge current vehicle not in the runway of the leftmost side of the bypass.
The matching process of the road main and side road of 4th kind of navigator comprising：If current vehicle exists on a bypass
One main road is adjacent with the bypass, while the main road that leads on the left of the bypass there are one in the 1.5Km in front of current vehicle enters
Mouthful, then the CPU of navigator is by obtaining the driveway image on the bypass set on the camera at current vehicle rear in real time, with
Judge current vehicle whether in the runway of the leftmost side of the bypass；If current vehicle is in the row of the leftmost side of the bypass
In track, then when that will reach the entrance, the CPU detects the steering indicating light driving lever of current vehicle by a sensor in real time
Whether stir to the left；If measuring the steering indicating light driving lever generation to stir to the left, CPU judges that current vehicle enters the master
Road；Navigator will be in current driving route matching to the main road；If the steering indicating light driving lever does not occur to stir to the left, judge
Current vehicle is still on the bypass.
The technique effect that the present invention has：The present invention navigator road matching method, mainly by being set to vehicle after
The camera at end judges the runway where current vehicle, then the angle by driveway line in captured image or video
Degree variation to judge whether vehicle occurs corresponding steering at the entrance of main road, and then judges whether current vehicle enters
Or leave main road.Alternatively, using detection steering indicating light driving lever action, come judge vehicle whether main road discrepancy
Corresponding steering occurs at mouthful, and then judges whether current vehicle enters or leave main road.These methods have step it is simple, can
By the higher feature of property.
Description of the drawings
In order to make the content of the present invention more clearly understood, below according to specific embodiment and in conjunction with attached drawing,
The present invention is described in further detail, wherein
Fig. 1 is the structure diagram of the navigator of the present invention.
Specific implementation mode
The following describes the present invention in detail with reference to the accompanying drawings and embodiments：
Embodiment 1
As the navigator of Fig. 1, the present embodiment include：CPU, the touch display screen being connected with the CPU, it is connected with the CPU
GPS unit, the program data base being connected with the CPU, with the map datum CPU cameras being connected and be connected with the CPU
Library.Road path information is stored in map data base, road path information includes the attribute in each section, which includes corresponding
Section whether be between main road or bypass and main and auxiliary road whether the information such as adjacent.
The working method of above-mentioned navigator includes：
If current vehicle on a main road, and in the 2Km in front of current vehicle there are one lead to it is auxiliary on the right side of the main road
The outlet on road, then the CPU of navigator by obtaining the runway on the main road set on the camera at current vehicle rear in real time
Image, to judge current vehicle whether in the runway of the rightmost side of the main road；If current vehicle the main road most
In the runway on right side, then the outlet will be reached（Generally in outlet 50m）When, real-time judge described image
In driveway line whether occur to deflect clockwise, if deflection clockwise occurs for the driveway line, CPU judges current vehicle
Into the bypass；Navigator will be in current driving route matching to the bypass；If the driveway line does not occur clockwise
Deflection, then judge current vehicle still on the main road.
To further increase the correctness of judgement, if the driveway line occurs the angle deflected clockwise and is more than 5 °,
Judge that current vehicle enters the bypass.
After the CPU obtains the driveway image on the main road, to improve the correctness and convenience that judge, Ke Yixian
Judge that the right side that the right lane line is analyzed in the driveway image whether there is road guard or plant；If there are roads
Guardrail or plant then judge current vehicle in the runway of the rightmost side of the main road.If road guard or plant is not present,
The right lane line on the right side of the adjacent vehicle in the image is then first extracted, the right lane line is then analyzed in described image
Right side rear whether there is another driveway line；If another driveway line is not present, 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 the main road.
When the right side for judging the right lane line on the right side of neighbouring current vehicle whether there is road guard or plant, pass through
Color, or by the way of compared with a variety of models of the road guard being pre-stored in the map data base or plant, to sentence
It is disconnected.
Embodiment 2
On the basis of embodiment 1, the navigator of the present embodiment further includes：The steering indicating light driving lever sensing being connected with the CPU
Device, steering indicating light driving lever sensor use with the CPU magnetic induction switches being connected 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 are following modifications for the matching process of the road main and side road of the navigator of the present embodiment：
The working method of the navigator of the present embodiment includes：If current vehicle is on a main road, and in front of current vehicle
2Km in lead to the outlet of bypass on the right side of the main road there are one, then the CPU of navigator passes through taking the photograph set on current vehicle rear
As head obtains the driveway image on the main road in real time, with judge current vehicle whether the rightmost side of the main road driving
In road；If current vehicle in the runway of the rightmost side of the main road, will reach the outlet（Generally distance should
It exports in 50m）When, the CPU in real time by the steering indicating light driving lever sensor detect current vehicle steering indicating light driving lever whether
It stirs to the right；If measuring the steering indicating light driving lever generation to stir to the right, CPU judges that current vehicle enters the bypass；
Navigator will be in current driving route matching to the bypass；If the steering indicating light driving lever does not occur to stir to the right, judgement is worked as
Vehicle in front is still on the 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 deposited on a bypass
It is adjacent with the bypass in a main road, while leading to there are one in the 1.5Km in front of current vehicle main road on the left of the bypass
Entrance, then the CPU of navigator is by obtaining the driveway image on the bypass set on the camera at current vehicle rear in real time,
To judge current vehicle whether in the runway of the leftmost side of the bypass；If current vehicle is in the leftmost side of the bypass
In runway, then the entrance will be reached（Generally in the outlet 30 to 40m）When, in real-time judge described image
Driveway line whether occur to deflect counterclockwise, if the driveway line occur counterclockwise deflection, CPU judge current vehicle into
Enter the main road；Navigator is with regard in current driving route matching to the main road；If the driveway line does not occur counterclockwise partially
Turn, then judges current vehicle still on the bypass.
If the angle deflected counterclockwise, which occurs, for the driveway line is more than 5 °, judge that current vehicle enters the main road.
To improve the correctness and convenience that judge, after the CPU obtains the driveway image on the bypass, first in institute
The left side that the left lateral lane line on the left of neighbouring current vehicle is analyzed in driveway image is stated with the presence or absence of road guard or plant；If
There are road guard or plants, then judge：Current vehicle is in the runway of the leftmost side of the bypass.If there is no roads to protect
Column or plant then first extract the left lateral lane line on the left of the adjacent vehicle in the image, then analyze the left lateral in the picture
The left side rear of lane line whether there is another driveway line；If another driveway line is not present, current vehicle is judged
In the runway of the leftmost side of the bypass；Conversely, then judging current vehicle not in the runway of the leftmost side of the bypass
It is interior.
When the left side for judging the left lateral lane line on the left of neighbouring current vehicle whether there is road guard or plant, pass through
Color, or by the way of compared with the model of road guard or plant, to judge.
Embodiment 4
The matching process of the road main and side road of the navigator of the present embodiment comprising：If current vehicle on a bypass, and
It is adjacent with the bypass that there are a main roads, while leading to there are one the main road on the left of the bypass in the 1.5Km in front of current vehicle
Entrance, then the CPU of navigator by obtaining the runway figure on the bypass set on the camera at current vehicle rear in real time
Picture, to judge current vehicle whether in the runway of the leftmost side of the bypass；If current vehicle is in the most left of the bypass
In the runway of side, then when that will reach the entrance, the CPU is detected by a steering indicating light driving lever sensor current in real time
Whether the steering indicating light driving lever of vehicle is stirred to the left；If measuring the steering indicating light driving lever generation to stir to the left, CPU judgements are worked as
Vehicle in front enters the main road；Navigator will be in current driving route matching to the main road；If the steering indicating light driving lever is not sent out
Life is stirred to the left, then judges current vehicle still on the bypass.
The camera is set at current vehicle rear-center, after the CPU obtains the driveway image, in the picture
It analyses whether to have a pair of of driveway line respectively in predeterminable area；If there is a pair of of driveway line respectively in predeterminable area,
Then judge current vehicle in a runway；Conversely, then judging current vehicle in the center of a pair of adjacent runway.
Obviously, the above embodiment is merely an example for clearly illustrating the present invention, and is not to the present invention
The restriction of embodiment.For those of ordinary skill in the art, it can also be made on the basis of the above description
Its various forms of variation or variation.There is no necessity and possibility to exhaust all the enbodiments.And these belong to this hair
The obvious changes or variations that bright spirit is extended out are still in the protection scope of this invention.
Claims (1)
1. a kind of matching process of the road main and side road of navigator, it is characterised in that including：
If current vehicle is on a bypass, and that there are a main roads is adjacent with the bypass, while in the 1.5Km in front of current vehicle
Lead to the entrance of the main road on the left of the bypass there are one, then the CPU of navigator is real by the camera set on current vehicle rear
When obtain driveway image on the bypass, to judge current vehicle whether in the runway of the leftmost side of the bypass；
If current vehicle is in the runway of the leftmost side of the bypass, when current vehicle is in 30 m of the entrance,
Whether the driveway line in real-time judge described image occurs to deflect counterclockwise, if deflection counterclockwise occurs for the driveway line,
Then CPU judges that current vehicle enters the main road；Navigator is with regard in current driving route matching to the main road；
If the driveway line does not occur to deflect counterclockwise, judge current vehicle still on the bypass；If the runway
Line occurs the angle deflected counterclockwise and is more than 5 °, then judges that current vehicle enters the main road；
After the CPU obtains the driveway image on the bypass, the left lateral on the left of the adjacent vehicle in the image is first extracted
Lane line, the left side rear for then analyzing the left lateral lane line in the picture whether there is another driveway line；If being not present
Another driveway line then judges current vehicle in the runway of the leftmost side of the bypass；Conversely, then judging current vehicle
Not in the runway of the leftmost side of the bypass；
After the CPU obtains the driveway image on the bypass, neighbouring current vehicle is first analyzed in the driveway image
The left side of the left lateral lane line in left side whether there is road guard or plant；If there are road guard or plant, judge：Currently
Vehicle is in the runway of the leftmost side of the bypass；If road guard or plant is not present, first extract in the image
Left lateral lane line on the left of adjacent vehicle, the left side rear for then analyzing the left lateral lane line in the picture whether there is another
Driveway line；If another driveway line is not present, judge current vehicle in the runway of the leftmost side of the bypass；Instead
It, then judge current vehicle not in the runway of the leftmost side of the bypass；
When the left side for judging the left lateral lane line on the left of neighbouring current vehicle whether there is road guard, use and road guard
The mode that compares of model, to judge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610382701.5A CN105806352B (en) | 2012-05-30 | 2012-05-30 | The working method of based on camera, real-time and the higher navigator of accuracy |
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 |
| CN201610382701.5A CN105806352B (en) | 2012-05-30 | 2012-05-30 | The working method of based on camera, real-time and the higher navigator of accuracy |
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 |
|---|---|
| CN105806352A CN105806352A (en) | 2016-07-27 |
| CN105806352B true CN105806352B (en) | 2018-09-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210173021.4A Active CN102661747B (en) | 2012-05-30 | 2012-05-30 | Main road and side road matching method 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 |
| CN201410212859.9A Active CN103954293B (en) | 2012-05-30 | 2012-05-30 | The method of work of navigator |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210173021.4A Active CN102661747B (en) | 2012-05-30 | 2012-05-30 | Main road and side road matching method of navigator |
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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 |
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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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Also Published As
| Publication number | Publication date |
|---|---|
| CN102661747A (en) | 2012-09-12 |
| CN105806352A (en) | 2016-07-27 |
| CN103954293A (en) | 2014-07-30 |
| CN103954293B (en) | 2016-10-05 |
| CN102661747B (en) | 2014-11-05 |
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