CN107664502A - The method, apparatus and system of dynamic programming path - Google Patents
The method, apparatus and system of dynamic programming path Download PDFInfo
- Publication number
- CN107664502A CN107664502A CN201610609713.7A CN201610609713A CN107664502A CN 107664502 A CN107664502 A CN 107664502A CN 201610609713 A CN201610609713 A CN 201610609713A CN 107664502 A CN107664502 A CN 107664502A
- Authority
- CN
- China
- Prior art keywords
- road
- vehicle
- module
- equipment
- judged
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
Abstract
This application discloses a kind of method, apparatus and system of dynamic programming path, this method includes：At least one of in the road markings and road conditions that are detected based on the sensor by the vehicle, judge whether road allows to pass through；If being judged as, road can not pass through, and perform following operation and update the local map datum of the vehicle；For the vehicle again path planning；And the Centralized path notification planned again is given to the user of the vehicle.By the above method, can Dynamic Programming arrives under steam path, improve efficiency, user time saved, so as to lift Consumer's Experience.
Description
Technical field
The application is related to field of navigation technology, more particularly to a kind of method, apparatus and system of dynamic programming path.
Background technology
Positioning navigating device refers to the equipment for possessing the various functions related to positioning, and these functions are such as determined the equipment
Simultaneously navigate position.The operation principle of positioning navigating device is obtained from the position coordinates of body, and itself and itself are stored electronically
Position coordinates matching in figure, determine to carry accurate position of the navigation object of the navigation equipment in the electronic map with this
Put.The data such as electronic map, address book, search record are stored with positioning navigating device.In general, positioning navigating device can
To be car-mounted terminal, portable navigation device, mobile phone or other terminals etc..Navigation object can be vehicle, pedestrian etc..Set in user
After setting departure place and destination, positioning navigating device plans guidance path according to the electronic map data itself stored, and
Navigated on this basis for user.Now, positioning navigating device turns into the indispensable instrument of vehicle driving.
It can implement to show traffic information with the development of electronic map technique, on electronic map.But for facing
The traffic control of when property, for example because of road construction or collapse, or road is closed by interim wall and causes vehicle can not
It is current, relevant information can not be now shown on electronic map, so as to cause the path of the preplanning of positioning navigating device unavailable.
Even if user takes a devious route, navigation equipment path planning, but still user can be allowed to reverse end for end again, impassable position is returned to,
Because this is optimal path in navigation.Until user resets navigation manually, such as add intermediate approach point, the road of navigation
Footpath can just get around impassable position.
In addition, when provisional traffic control be present or cause road impassable due to unexpected factors, electronics
The service provider of map may need dynamic renewal electronic map information with preferably service user.Therefore, the service of electronic map
Business needs a kind of method of efficient dynamic renewal electronic map information.
The content of the invention
According to an aspect of the present invention, there is provided a kind of air navigation aid, including：Based on the sensor detection by the vehicle
To road markings and road conditions at least one of, judge whether road allows to pass through；If being judged as, road can not pass through,
Then perform the one or more of following operation：Update the local map datum of the vehicle；And planned again for the vehicle
Path.
According to another aspect of the present invention, there is provided a kind of in-vehicle navigation apparatus, including：Judge module, it is configured as base
At least one in the road markings and road conditions detected by the sensor of the vehicle judges whether road allows to lead to
OK；The navigation equipment also includes with the one or more of lower module：Map rejuvenation module, it is configured as being judged as road not
The local map datum of the vehicle is updated in the case of passing through；And path planning module, it is configured as being judged as
It is vehicle path planning again in the case of road is impassable.
By above-mentioned air navigation aid, equipment and system, can Dynamic Programming arrives under steam path, improve
Efficiency, user time is saved, so as to lift Consumer's Experience.
Brief description of the drawings
The present invention may be better understood from the description to the embodiment of the present invention below in conjunction with the accompanying drawings, its
In, similar label indicates identical or functionally similar element.
Fig. 1 is the rough schematic view for the automobile for including the electronic-controlled installation according to the embodiment of the present application.
Fig. 2 is the flow chart of the air navigation aid according to an embodiment of the invention for vehicle.
Fig. 3 is the flow chart according to an embodiment of the invention for being used to update the method for electronic map.
Fig. 4 is the flow chart of another air navigation aid for being used for vehicle according to an embodiment of the invention.
Fig. 5 is the flow chart of another air navigation aid for being used for vehicle according to an embodiment of the invention.
Fig. 6 is the block diagram of the navigation equipment according to an embodiment of the invention for vehicle.
Fig. 7 is the block diagram according to an embodiment of the invention for being used to update the equipment of electronic map.
Fig. 8 is the block diagram of another navigation equipment for being used for vehicle according to an embodiment of the invention.
Fig. 9 is the block diagram of another navigation equipment for being used for vehicle according to an embodiment of the invention.
Figure 10 is the block diagram of the navigation system according to an embodiment of the invention for vehicle.
Figure 11 is the block diagram of another navigation equipment for being used for vehicle according to an embodiment of the invention.
Embodiment
The feature and exemplary embodiment of various aspects of the invention is described more fully below.In following detailed description
In, it is proposed that many details, to provide complete understanding of the present invention.But to those skilled in the art
It will be apparent that the present invention can be implemented in the case of some details in not needing these details.Below to implementing
The description of example is used for the purpose of by showing that the example of the present invention is better understood to provide to the present invention.The present invention never limits
In any concrete configuration set forth below and algorithm, but cover under the premise of without departing from the spirit of the present invention element,
Any modification, replacement and the improvement of part and algorithm.In the the accompanying drawings and the following description, known structure and skill is not shown
Art, to avoid that unnecessary obscure is caused to the present invention.
Fig. 1 is the rough schematic view of automobile 100, can be used for automobile according to the electronic-controlled installation of the embodiment of the present application
In 100.Although with automobile as an example, still the application is not limited to apply in the car, but others can also be applied to
Motor vehicles, such as the various vehicles using internal combustion engine, motor etc. as actuating unit.As shown in figure 1, automobile 100 includes electricity
Sub- control device 110, onboard sensor 120, DAS (Driver Assistant System) 130, they can be connected to each other, such as be connected respectively to vapour
Controller LAN (CAN) bus of car 100.For brevity, known power and manipulation device, transmission in automobile 100
The parts such as system are not shown in FIG. 1.
Electronic-controlled installation 110 can for example include electronic control unit (ECU).ECU can by processor (for example,
Microprocessor), controller (for example, microcontroller), PLD (for example, field programmable gate array (FPGA)),
Realized with application specific integrated circuit (ASIC) etc..In one embodiment, ECU also includes one or more memories, for example, with
Machine access memory (RAM), read-only storage (ROM), erasable programmable memory (EPROM), electric erazable programmable memory
(EEPROM) etc..Memory can be used for data storage, instruction, software, code etc., and these instructions are executed to perform the application
Described in action.
Onboard sensor 120 can for example include one or more in the following：One or more cameras, one
Or multiple radar installations, one or more laser equipments etc..Camera may be mounted at the front, rear or other positions of vehicle
Put, and can be first-class including general camera, infrared camera, the shooting of full visual angle.General camera can capture (example in real time
Such as, worked with 60 ° or so of angle) situation inside and outside vehicle and it is presented to driver and/or passenger.In addition, by shooting
The picture of head capture is analyzed, and can obtain such as traffic lights instruction, intersection situation, other travel condition of vehicle
Etc. information.Infrared camera accurately can catch object in the case of night vision.Full visual angle camera can for example carry in reversing
For comprehensive visual angle, to aid in car backing operation of driver etc..Radar installations may be mounted at the front of vehicle, rear or its
His position.Radar installations utilizes the characteristic of electromagnetic wave, can accurately measure outer distance of the object away from vehicle of car, and generally right
Metal object susceptibility is higher.Due to Doppler effect, radar installations can also measure the velocity variations of vehicle and mobile object,
So as to applied to functions such as adaptive cruises.Laser equipment may be disposed at the front end of automobile.Laser equipment can have one
Laser emission subsystem and a laser pick-off subsystem.Laser pick-off subsystem will be sent preceding by Laser emission subsystem
The light energy that square barrier is reflected back is collected, and is converged on the small optical plane of photodetector.When in the small optical plane
During the light energy that upper presence is collected, show currently barrier be present on the direction of sent laser.
DAS (Driver Assistant System) 130 is connected to electronic-controlled installation 110 and unshowned transmission system.DAS (Driver Assistant System)
130 for example with one or more in following functions：Track holding, automatic parking, reversing, brake, adaptive learning algorithms
(ACC) etc..
The navigation system of automobile has built-in electronic map, and the geography of the system can be obtained from satellite navigation system
Coordinate, the satellite navigation system are, for example, global positioning system (GlobalPositioning System, GPS), big-dipper satellite
Navigation system (BeiDou NavigationSatellite System, BDS) etc..User inputs destination in navigation system,
Navigation system is planned for the path up to the destination according to residing geographical coordinate and built-in electronic map.
However, due to many reasons, for example temporary traffic control, road the reason such as occur collapsing and are blocked, currently
Guidance path it is unavailable, therefore, it is necessary to plan new route in real time according to actual road conditions.
Fig. 2 shows the flow chart of the air navigation aid 200 for vehicle according to a kind of embodiment.The figure is only example, its
It should not unduly limit the scope of claim.Those skilled in the art can be carried out adaptively on the basis of the figure
Change, alternatives and modifications.In addition, some steps in method 200 are optional rather than required；In the case of feasible, part
Step be not necessarily intended to according to shown in Fig. 1 order perform, but can be performed in parallel or change order.Although following
Using automobile as the example of vehicle in explanation, but it will be appreciated by those skilled in the art that this method also can be used in it is various its
His vehicle.
In step 210, in the road markings and road conditions that are detected based on the sensor by the vehicle at least
One, judge whether road allows to pass through.Road markings is the important instruction of road conditions.For example present road appears to be unobstructed
, but if having the mark of " road closed/road construction/collapses " etc. beside road, before vehicle continues along the road
When entering, it will be likely to be blocked from not returning in road ahead.
The sensor of automobile can for example include camera.As an example, camera can be arranged on the front end or top of automobile
Portion.As another embodiment, multiple cameras can be installed in the front end of automobile, top, side or rear side etc., to assist
Driver observes surrounding road condition.
When being detected using camera, if mark beside road be present, after the image of the mark is collected,
Camera sends it to CPU
For the identification image transmitted from camera, CPU identification acquired image, text therein is extracted
Word information simultaneously analyzes its semanteme.
When analyzing the identification image that camera is gathered, a kind of available algorithm is：Select first comprising word
Region, then split, and the single character image after segmentation is standardized.When identifying single character image, can adopt
Use template matching algorithm；Existing character image and template character are subtracted each other, it is believed that subtract each other the minimum existing character of error and the mould
Plate character matches.
Alternatively, the template of road markings can be locally stored in CPU.The template be on
The character and graphic of some conventional road markings；Alternatively, character and graphic therein can have some conventional fonts.When obtaining
After taking the image of mark, CPU text information therein is compared with these templates stored to obtain
The semanteme of the road markings.
In step 210, the sensor of automobile can also detect road conditions.As a kind of embodiment, road conditions
Detection can be carried out by camera, or detected using the similar means such as radar, laser.
According to radar come the mode that scans, as an example, the radar equipment that automobile carry can be used.However, in order to carry
The precision and distance of high radar scanning, single radar equipment can also be used.
Alternatively, multiple radar equipments can be set on automobile.For example the left and right ends of side are set respectively before and after automobile
Put radar equipment.The investigative range of radar can be considered a sector using radar as the center of circle.Before the investigative range of radar is about
100~150 meters of side.By the way that the result of detection of the plurality of radar equipment is superimposed, the road conditions in front are judged.
Laser equipment may be disposed at the front side of automobile.As a kind of implementation, laser equipment can be by the way of scanning
Front is detected.The scope of scanning can be considered using laser equipment as the center of circle, (exceed this for example, working as with some distance
Apart from when, the energy of laser can be ignored) sector as radius.The fan-shaped radius may be, for example, 100 meters, in the sector
Heart angle may be, for example, 145 °.
Camera is mainly used in the comprehensive descision to road conditions.The one or more shootings set by automotive front end or top
Head, gathers the image (for example front occurs accident and leads to not pass through) of road conditions, and is sent to CPU.In
Central Processing Unit is analyzed these images, judge road ahead whether P Passable.
(it can not now be judged when change occurs for road conditions but is not warned using mark by detecting road markings), than
As road is fully blocked (for example, when original road is stopped by metal or concrete walls), or due to road conditions are in bad repair or from
Right reason and cause road surface to collapse, road ahead can not move on, it is necessary to plan guidance path again.
Alternatively, for different road conditions, different detection modes can be used, for example front is judged using radar equipment
Road whether there is the degree for collapsing and collapsing；Or judge whether road is blocked or part stops using laser；And
Comprehensive descision, such as the one or more cameras set by automotive front end or top are performed to road conditions using camera, adopted
Collect the image (for example front occurs accident and leads to not pass through) of road conditions.After these information are collected, each equipment by this
The result or the image of acquisition detected a bit is sent to CPU.
According to the difference of vehicle, user can be voluntarily to whether the standard that can be passed through is configured.Such as general car,
The threshold value that road surface can be collapsed is set as 30cm；And for heavy truck, the threshold value that can collapse road surface is set as 50cm
Even more high；The situation being partially obstructed for road, the threshold value for the road width not being blocked can also be set according to vehicle.Make
For example, the width that the threshold value may be configured as the automobile adds 10cm.CPU is being received by radar or laser institute
After the acquisition information or image of transmission, according to these threshold decision roads whether P Passable.
Alternatively, when CPU can not judge whether road ahead is unobstructed from existing information
When, if user knows that road is not smooth by remaining mode, also the information can be inputted to onboard navigation system manually.
In a step 220, after being judged as that road can not pass through, onboard navigation system renewal local map data.
Alternatively, in the display interface of onboard navigation system, the reason for a passage is blocked up is marked by different modes.Such as
If road construction, the figure shows with engineering truck can be marked；If road collapses, can mark with a circular symbol and
Mark collapses the numerical value of degree；When road is stopped completely or partially, it can also mark to represent the symbol and numerical value of cut-off.When
So, above-mentioned display mode is example, and onboard navigation system can also use other notation methods.For example use different colors
To mark road condition, for example using green mark, the road is clear, marks road construction using blueness, road is marked using red
Collapse；Or word, such as " construction ", " collapsing ", " stop " also can be directly used, marked in onboard navigation system
Note.The one or more of above-mentioned notation methods can be used to perform mark to road conditions.
In step 230, it is vehicle path planning again after being judged as that road can not pass through.The planning in the path
Performed based on the map datum after renewal.
In step 240, the new route of planning is notified to user.As an example, when notifying user, it can use and regard
The mode of feel, tactile or the sense of hearing is reminded.For example onboard navigation system can be flashed by indicator lamp, path planning is represented
Complete；Or by vibration or prompt tone, represent that path planning has been completed.The step for be it is optional, user also can need
When wanting, the new route of planning is voluntarily checked.
By the above method, can Dynamic Programming arrives under steam path, efficiency is improved, when saving user
Between, so as to lift Consumer's Experience.
Fig. 3 shown according to a kind of embodiment, the flow chart of the method 300 for updating electronic map.The figure only shows
Example, it should not unduly limit the scope of claim.Those skilled in the art can be fitted on the basis of the figure
Change to answering property, alternatives and modifications.In addition, although the example of vehicle, this area are used as using automobile in the following description
Technical staff is it is understood that this method also can be used in various other vehicles.
As shown in figure 3, method 300 only has step 310 and 320, executive mode therein and above-mentioned air navigation aid 200
Step 210 and 220 identical, will not be repeated here.
The purpose of method 300 is for real-time update electronic map.Personnel are employed for Map Service business, they
Purpose may not lie in real-time path planning, but be to find current impassable road.They can drive vehicle
Nearby maked an inspection tour in road construction region or Frequent Accidents region etc., after finding that road can not pass through because of a variety of causes, renewal
Local map data, and leave for subsequent region.
Alternatively, after electronic map is updated, the local electronic map information of renewal can be uploaded to online in real time
Server, can also setting time point the information is uploaded automatically.
By the above method, Map Service business can upgrade in time electronic map, in order to preferably service user.
Fig. 4 shown according to a kind of embodiment, the flow chart for the air navigation aid 400 of vehicle.The figure is only example, its
It should not unduly limit the scope of claim.Those skilled in the art can be carried out adaptively on the basis of the figure
Change, alternatives and modifications.In addition, although the example of vehicle, people in the art are used as using automobile in the following description
Member is it is understood that this method also can be used in various other vehicles.
As shown in figure 4, the step 410 of method 400 and 430 identical with the step 210 of method 200 and 240 difference, herein not
Repeat again.
At step 420, it is vehicle path planning again after being judged as that road can not pass through.The weight in path
New planning is carried out based on the road situation being judged.As an example, again path planning when can use set among way
Mode through point.
The reason for not updating local electronic map information in method 400 be, the reason such as traffic control, road collapsion
Road is caused to pass through temporarily, this situation that a passage is blocked up may be changed within a short period of time.Sometimes, user does not have
It is necessary to update local electronic map because of this provisional road block；Otherwise, after the coast is clear, if user
Do not upgraded in time this information, and unnecessary detour is caused when may navigate afterwards.
Fig. 5 shown according to a kind of embodiment, the flow chart for the air navigation aid 500 of vehicle.The figure is only example, its
It should not unduly limit the scope of claim.Those skilled in the art can be carried out adaptively on the basis of the figure
Change, alternatives and modifications.In addition, although the example of vehicle, people in the art are used as using automobile in the following description
Member is it is understood that this method also can be used in various other vehicles.
As shown in figure 5, phase is distinguished in the step 510 of method 500,540 and 550 and step 210,230 and 240 of method 200
Together, will not be repeated here.The difference of method 500 is between step 510 and 530 exist when being judged as that road can not pass through
Message is uploaded to the step 520 of line server, and updates the mode of local map datum in step 530.
In step 520, diversified forms be present in the message being uploaded.For example, if road markings shows that the road is sealed
Close or stop completely, directly upload the information；Collapse or be partially obstructed if road is present, degree or not will be collapsed
The road width being blocked uploads.Line server can provide real-time road condition information to each onboard navigation system.
In step 530, from line server downloading map data and update.In this step, onboard navigation system to
Line server sends the request on traffic information, and currently stored real-time road condition information is returned to this by line server
Onboard navigation system.Alternatively, in order to reduce the data volume of communication and call duration time, onboard navigation system can be by the spy of request
Determine section and be sent to the line server, and the line server only by the traffic information of requested specific road section to the car
Navigation system is carried to return.
Fig. 6 shown according to a kind of embodiment, the block diagram for the navigation equipment 600 of vehicle.The figure is only example, and it is not
It should unduly limit the scope of the claims.Those skilled in the art can adaptively be become on the basis of the figure
Change, alternatives and modifications.In addition, although the example of vehicle, those skilled in the art are used as using automobile in the following description
It is understood that the navigation equipment also can be used in various other vehicles.
As shown in fig. 6, the in-vehicle navigation apparatus includes judge module 610, map rejuvenation module 620, path planning module
630 and notification module 640.
Judge module 610, it is configured as the road markings and road conditions detected based on the sensor by the vehicle
In at least one of judge whether road allows to pass through.
The sensor of automobile can for example include camera.As an example, camera can be arranged on the front end or top of automobile
Portion.As another embodiment, multiple cameras can be installed in the front end of automobile, top, side or rear side etc., to assist
Driver observes surrounding road condition.
When being detected using camera, if mark beside road be present, after the image of the mark is collected,
Camera sends it to judge module 610.
For the identification image transmitted from camera, judge module 610 identifies acquired image, extracts word therein
Information simultaneously analyzes its semanteme.
When analyzing the identification image that camera is gathered, a kind of available algorithm is：Select first comprising word
Region, then split, and the single character image after segmentation is standardized.Judge module 610 is identifying single word graph
During picture, template matching algorithm can be used；Existing character image and template character are subtracted each other, it is believed that subtract each other the existing of error minimum
Character matches with the template character.
Alternatively, the template of road markings can be locally stored in judge module 610.The template is on normal
The character and graphic of some road markings；Alternatively, character and graphic therein can have some conventional fonts.Work as acquisition
After the image of mark, text information therein is compared judge module 610 with these templates stored is somebody's turn to do with obtaining
The semanteme of road markings.
The sensor of automobile can also detect road conditions.As a kind of embodiment, the detection of road conditions can lead to
Camera progress is crossed, or is detected using the similar means such as radar, laser.
(it can not now be judged when change occurs for road conditions but is not warned using mark by detecting road markings), than
As road is fully blocked (for example, when original road is stopped by metal or concrete walls), or due to road conditions are in bad repair or from
Right reason and cause road surface to collapse, road ahead can not move on, it is necessary to plan guidance path again.
Alternatively, for different road conditions, different detection modes can be used, for example front is judged using radar equipment
Road whether there is the degree for collapsing and collapsing；Or judge whether road is blocked or part stops using laser；And
Comprehensive descision, such as the one or more cameras set by automotive front end or top are performed to road conditions using camera, adopted
Collect the image (for example front occurs accident and leads to not pass through) of road conditions.After these information are collected, each equipment by this
The result or the image of acquisition detected a bit is sent to judge module 610.
According to the difference of vehicle, user can be voluntarily to whether the standard that can be passed through is configured.Judge module 610 is receiving
To after the acquisition information or image transmitted by radar or laser, according to these threshold decision roads whether P Passable.
Alternatively, when judge module 610 can not judge whether road ahead is unobstructed from existing information,
If user knows that road is not smooth by remaining mode, also the information can be inputted to in-vehicle navigation apparatus manually.
Map rejuvenation module 620, it is configured in after being judged as that road can not pass through, updates local map number
According to.Alternatively, map rejuvenation module in-vehicle navigation apparatus display interface, pass through different modes mark a passage is blocked up original
Cause.
Path planning module 630, it is configured in after being judged as that road can not pass through, is planned again for the vehicle
Path.The planning in the path is performed based on the map datum after renewal.
Notification module 640, the new route of planning is notified to user.As an example, when notifying user, it can use and regard
The mode of feel, tactile or the sense of hearing is reminded.For example notification module 640 can be flashed by indicator lamp, path planning has been represented
Complete；Or by vibration or prompt tone, represent that path planning has been completed.This module is optional in equipment 600, is used
Family also when needing, can voluntarily check the new route of planning., can under steam dynamically by above-mentioned in-vehicle navigation apparatus
The path arrived at is planned, improves efficiency, user time is saved, so as to lift Consumer's Experience.
Fig. 7 shown according to a kind of embodiment, the block diagram of the equipment 700 for updating electronic map.The figure is only example,
It should not unduly limit the scope of claim.Those skilled in the art can carry out adaptability on the basis of the figure
Ground change, alternatives and modifications.In addition, although the example of vehicle, art technology are used as using automobile in the following description
Personnel are it is understood that the equipment also can be used in various other vehicles.
As shown in fig. 7, equipment 700 only has judge module 710 and map rejuvenation module 720, its function and navigation equipment
600 judge module 610 and map rejuvenation module 620 is identical, will not be repeated here.
Equipment 700 is used for real-time update electronic map.Alternatively, after electronic map is updated, equipment 700 can will more
New local electronic map information is uploaded to line server in real time, can also setting time point the information is uploaded automatically.
Fig. 8 shown according to a kind of embodiment, the block diagram for the navigation equipment 800 of vehicle.The figure is only example, and it is not
It should unduly limit the scope of the claims.Those skilled in the art can adaptively be become on the basis of the figure
Change, alternatives and modifications.In addition, although the example of vehicle, those skilled in the art are used as using automobile in the following description
It is understood that the navigation equipment also can be used in various other vehicles.
The judge module 810 and notification module 830 of equipment 800 and the judge module 610 and notification module 640 of equipment 600
It is identical respectively, it will not be repeated here.
Path planning module 820, it is configured as after being judged as that road can not pass through, road is planned again for the vehicle
Footpath.Planning again for path is carried out based on the road situation being judged.As an example, again path planning when can use
The mode of transit point among setting.
The reason for map rejuvenation module is not provided with equipment 800 is that the reason such as traffic control, road collapsion causes
Road can not be passed through temporarily, and this situation that a passage is blocked up may be changed in the short period.Sometimes, user be not necessarily to because
Local electronic map is updated for this provisional road block；Otherwise, after the coast is clear, if user is not timely
This information is updated, unnecessary detour is caused when may navigate afterwards.
Fig. 9 shown according to a kind of embodiment, the block diagram for the navigation equipment 900 of vehicle.The figure is only example, and it is not
It should unduly limit the scope of the claims.Those skilled in the art can adaptively be become on the basis of the figure
Change, alternatives and modifications.In addition, although the example of vehicle, those skilled in the art are used as using automobile in the following description
It is understood that the navigation equipment also can be used in various other vehicles.
In navigation equipment 900, module 910,940 and 950 is identical with the module 610,630 of equipment 600 and 640 difference,
It will not be repeated here.The difference of equipment 900 is uploading module 920 be present, and is updated locally in map rejuvenation module 930
Map datum mode.
Uploading module 920, it is configured as after being judged as that road can not pass through, road closed information is uploaded to online
Server.Diversified forms be present in the message being uploaded.For example, if road markings shows that the road is closed or stopped completely,
Directly the information is uploaded；Collapse or be partially obstructed if road is present, by the degree that collapses or the road not being blocked
Width uploads.Line server can provide real-time road condition information to each in-vehicle navigation apparatus.
Map rejuvenation module 930, it is configured as from line server downloading map data and updates.Map rejuvenation module
930 send the request on traffic information to line server, and line server returns currently stored real-time road condition information
Back to map rejuvenation module 930.Alternatively, in order to reduce the data volume of communication and call duration time, map rejuvenation module 930 can be with
The specific road section of request is sent to map rejuvenation module 930, and the line server is only by requested specific road section
Traffic information returns to map rejuvenation module 930.
Figure 10 shows a kind of block diagram of onboard navigation system 1000.The onboard navigation system 1000 can be real according to road conditions
When adjust guidance path.The figure is only example, and it should not unduly limit the scope of claim.Those skilled in the art
Adaptation ` can be carried out on the basis of the figure
As shown in Figure 10, the onboard navigation system includes detection unit 1010 and CPU 1020.
Detection unit 1010, it is configured as detecting road markings or detects road conditions.
CPU 1020, it is configured as performing following steps：Based on the road detected by the detection unit
At least one of in mark and road conditions, judge whether road allows to pass through；If being judged as, road can not pass through, perform with
Lower operation it is one or more：Update the local map datum of the vehicle；And it is the vehicle again path planning.
In addition, the disclosure also proposed a kind of program product for the instruction code for being stored with machine-readable.The instruction
When code is read and performed by machine, above-mentioned processing method according to embodiments of the present invention can perform.Correspondingly, for carrying this
The various storage mediums such as disk, CD, magneto-optic disk, storage card, memory stick, semiconductor memory of kind program product
Included in the technical scheme of the disclosure.Obviously, each operating process of processing method in accordance with an embodiment of the present disclosure also may be used
Realized in a manner of the computer executable program to be stored in various machine readable storage mediums.
A kind of non-transitorycomputer readable storage medium, when the instruction in storage medium is held by the processor of navigation system
During row so that system is able to carry out a kind of method of path planning in real time, and this method includes：Detect road markings or detection road
Situation；Based at least one in the road markings and road conditions detected by the detection unit, judge whether road is permitted
Perhaps pass through；If being judged as, road can not pass through, and perform the one or more of following operation：Update the local map of the vehicle
Data；And it is the vehicle again path planning.
Figure 11 is a kind of block diagram of equipment 1100 for real-time path planning according to an exemplary embodiment.
In the equipment 1100, one group of instruction or series of instructions can be performed so that the equipment performs this paper according to example embodiment
Any one method discussed.In alternate embodiments, the equipment as autonomous device operation or can be connected to (example
Such as, it is networked) to miscellaneous equipment.In networked deployment, the equipment can be in the server in server-client network environment
Or allow in the ability of client device, or it can be as the peer device fortune in point-to-point (or distributed) network environment
OK.The equipment can be mobile communication equipment (for example, cellular handset), computer, personal computer (PC), tablet PC, mixing
Flat board, personal digital assistant (PDA) or any equipment (order perform or otherwise) for being able to carry out instruction, the instruction
Specify the action that will be used by the equipment.In addition, when only individual equipment is expressed, term " equipment " should be also believed to comprise
One group (or multigroup) instruction is performed alone or in combination to implement the Arbitrary Sets of the equipment of one or more methods discussed in this article
Close.Similarly, term " system based on processor " should be believed to comprise the arbitrary collection of one or more equipment, the equipment
Operated or managed to perform any one or more sides discussed in this article alone or in combination by processor (for example, computer)
Method.
Reference picture 11, equipment 1100 can include following one or more assemblies：Processing component 1102, memory 1104,
Power supply module 1106, multimedia groupware 1108, audio-frequency assembly 1110, input/output (I/O) interface 1112, sensor cluster
1114, and communication component 1116.
The integrated operation of the usual control device 1100 of processing component 1102, such as communicated with display, call, data,
The operation that camera operation and record operation are associated.Processing component 1102 can include one or more processors 1120 (for example,
CPU (CPU)), graphics processing unit or the two, processor core, calculation code etc.) carry out execute instruction, with completion
The all or part of step for the method stated.In addition, processing component 1102 can include one or more modules, it is easy to processing component
Interaction between 1102 and other assemblies.For example, processing component 1102 can include multi-media module, to facilitate multimedia groupware
Interaction between 1108 and processing component 1102.
Memory 1104 includes machine readable media, on the computer-readable recording medium, implement it is disclosed herein any one or
Multiple methods or function or the one or more set utilized by any one or more methods disclosed herein or function
Data structure and instruction (for example, software) stored.Instruction can reside in (completely or partially) main storage 1104,
In static memory 1106, and/or by equipment 1100 in the processor 1102 during wherein performing, main storage 1104,
Static memory 1106 and processor 1102 also form machine readable medium.
Although machine readable media is expressed as single medium in an example embodiment, term is " machine readable
Medium " can include the one or more single media for instructing 1124 of storage or multiple media (for example, centralized or distributed number
According to storehouse, and/or the caching and server of correlation).Term " machine readable media " should also be believed to comprise it is any can store,
Encode or perform the tangible medium of the instruction for being implemented by machine, the instruction make the machine perform the disclosure any one or
Multiple methods can be stored, encoded or performed by instruction utilization or the data structure related to the instruction.Therefore, term
" machine readable media " should be believed to comprise but be not limited to, solid-state memory and light medium or magnetic media.Machine readable matchmaker
The specific example of Jie includes nonvolatile memory, includes but is not limited to semiconductor memory devices (by way of example)
(for example, EPROM (EPROM), EEPROM (EEPROM)) H and flash storage
Device equipment, disk (such as internal hard drive and removable disk), magneto-optic disk and CD-ROM and DVD-ROM disks.
Instruction can also connect via the network using some known host-host protocols (for example, HTTP) on a communication network
Jaws equipment 1120 is transmitted or received using transmission medium.The example of communication network protocol includes LAN (LAN), wide area network
(WAN), internet, mobile telephone network, ordinary old style telephone (POTS) net and wireless data network are (for example, WI-FITM, 3G, with
And 4G LTE/LTE-A or WIMAX net).Term " transmission medium " should be believed to comprise any can store, encode or perform
For the tangible medium for the instruction implemented by machine, and including numeral or analog communication signal or other promote the logical of the software
The tangible medium of letter.Network Interface Unit can include one or more antennas and be used for and the wireless communication.
Power supply module 1106 provides electric power for the various assemblies of equipment 1100.Power supply module 1106 can include power management
System, one or more power supplys, and other components associated with generating, managing and distributing electric power for equipment 1100.
Multimedia groupware 1108 is included in the screen of one output interface of offer between the equipment 1100 and user.
In some embodiments, screen can include liquid crystal display (LCD) and touch panel (TP).If screen includes touch panel,
Screen may be implemented as touch-screen, to receive the input signal from user.Touch panel includes one or more touch and passed
Sensor is with the gesture on sensing touch, slip and touch panel.The touch sensor can not only sensing touch or slip be dynamic
The border of work, but also detect the duration and pressure related to the touch or slide.In certain embodiments, it is more
Media component 1108 includes a front camera and/or rear camera.When equipment 1100 is in operator scheme, mould is such as shot
When formula or video mode, front camera and/or rear camera can receive outside multi-medium data.Each preposition shooting
Head and rear camera can be a fixed optical lens system or have focusing and optical zoom capabilities.
Audio-frequency assembly 1110 is configured as output and/or input audio signal.For example, audio-frequency assembly 1110 includes a wheat
Gram wind (MIC, when equipment 1100 is in operator scheme, during such as call model, logging mode and speech recognition mode, microphone quilt
It is configured to receive external audio signal.The audio signal received can be further stored in memory 1104 or via communication
Component 1116 is sent.In certain embodiments, audio-frequency assembly 1110 also includes a loudspeaker, for exports audio signal.
I/O interfaces 1112 provide interface, above-mentioned peripheral interface module between processing component 1102 and peripheral interface module
Can be keyboard, click wheel, button etc..These buttons may include but be not limited to：Home button, volume button, start button and
Locking press button.
Sensor cluster 1114 includes one or more sensors, and the state for providing various aspects for equipment 1100 is commented
Estimate.For example, sensor cluster 1114 can detect opening/closed mode of equipment 1100, the relative positioning of component, such as institute
The display and keypad that component is equipment 1100 are stated, sensor cluster 1114 can be with detection device 1100 or equipment 1,100 1
The position of individual component changes, the existence or non-existence that user contacts with equipment 1100, the orientation of equipment 1100 or acceleration/deceleration with set
Standby 1100 temperature change.Sensor cluster 1114 can include proximity transducer, be configured in no any physics
The presence of object nearby is detected during contact.Sensor cluster 1114 can also include optical sensor, as CMOS or ccd image are sensed
Device, for being used in imaging applications.In certain embodiments, the sensor cluster 1114 can also include acceleration sensing
Device, gyro sensor, Magnetic Sensor, pressure sensor or temperature sensor.
Communication component 1116 is configured to facilitate the communication of wired or wireless way between equipment 1100 and other equipment.If
Standby 1100 can access the wireless network based on communication standard, such as WiFi, 2G or 3G, or combinations thereof.It is exemplary at one
In embodiment, communication component 1116 receives broadcast singal or broadcast correlation from external broadcasting management system via broadcast channel
Information.In one exemplary embodiment, the communication component 1116 also includes near-field communication (NFC) module, to promote short distance
Communication.For example, radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band can be based in NFC module
(UWB) technology, bluetooth (BT) technology and other technologies are realized.
In the exemplary embodiment, equipment 1100 can be by one or more application specific integrated circuits (ASIC), numeral
Signal processor (DSP), digital signal processing appts (DSPD), PLD (PLD), field programmable gate array
(FPGA), controller, microcontroller, microprocessor or other electronic components are realized, for performing the above method.
The preferred embodiments of the present invention are the foregoing described, still, the embodiment is only exemplary, rather than to limit this
The scope of invention, the scope of the present invention are limited by appended claims and its equivalent.
In addition, although the present invention and its advantages have been described in detail, it is to be understood that can be without departing substantially from appended right
It is required that in the case of the spirit and scope of the present invention limited, a variety of changes are carried out, replaces and changes；It is moreover, of the invention
Scope be not limited in system, the embodiment of method and steps described in this specification.As ordinary skill people of the present invention
Member should be understood that by the present invention, existing or Future Development to be used to perform and according to the technical solution adopted in the present invention base
The method and steps of this identical mode or the essentially identical result of acquisition can be used according to the present invention.
Claims (14)
1. a kind of air navigation aid for vehicle, including：
At least one of in the road markings and road conditions that are detected based on the sensor by the vehicle, whether judge road
Allow to pass through；
If being judged as, road can not pass through, and perform the one or more of following operation：
Update the local map datum of the vehicle；And
For the vehicle again path planning.
2. the method as described in claim 1, wherein also including：
Again the Centralized path notification planned is given to the user of the vehicle in the case of being judged as that road is impassable.
3. the method as described in claim 1, wherein：
The sensor includes one or more in camera, radar and laser aid.
4. the method as described in claim 1, wherein：
Whether road allows to pass through is judged by Text region mode.
5. the method as described in claim 1, in addition to：
Road closed information is uploaded to line server.
6. method as claimed in claim 5, wherein：
The local map datum of renewal includes downloading from the line server.
7. method as claimed in claim 2, wherein：
The user is notified by one or more in vision, tactile or audible means.
8. a kind of navigation equipment for vehicle, including：
Judge module, it is configured as in the road markings and road conditions that are detected based on the sensor by the vehicle at least
One judges whether road allows to pass through；
The navigation equipment also includes with the one or more of lower module：
Map rejuvenation module, it is configured as updating the local map number of the vehicle in the case of being judged as that road is impassable
According to；And
Path planning module, it is vehicle path planning again to be configured as in the case of being judged as that road is impassable.
9. navigation equipment as claimed in claim 8, the navigation equipment also includes：
Notification module, it is configured as the Centralized path notification planned again in the case of being judged as that road is impassable to the car
User.
10. navigation equipment as claimed in claim 8, wherein the sensor is included in camera, radar and laser aid
It is one or more.
11. navigation equipment as claimed in claim 8, wherein, the judge module judges the road by Text region mode
Whether road, which allows, is passed through.
12. navigation equipment as claimed in claim 8, in addition to：
Uploading module, it is configured as road closed information being uploaded to line server.
13. navigation equipment as claimed in claim 12, wherein,
The map rejuvenation module is configured to by being downloaded from the line server to update the map datum.
14. navigation equipment as claimed in claim 9, wherein,
The notification module is configured to notify the user by vision, tactile or audible means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610609713.7A CN107664502A (en) | 2016-07-28 | 2016-07-28 | The method, apparatus and system of dynamic programming path |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610609713.7A CN107664502A (en) | 2016-07-28 | 2016-07-28 | The method, apparatus and system of dynamic programming path |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107664502A true CN107664502A (en) | 2018-02-06 |
Family
ID=61115609
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610609713.7A Pending CN107664502A (en) | 2016-07-28 | 2016-07-28 | The method, apparatus and system of dynamic programming path |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107664502A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109101022A (en) * | 2018-08-09 | 2018-12-28 | 北京智行者科技有限公司 | A kind of working path update method |
| CN109115206A (en) * | 2018-09-17 | 2019-01-01 | 联想(北京)有限公司 | Air navigation aid and navigation system |
| CN111325999A (en) * | 2018-12-14 | 2020-06-23 | 奥迪股份公司 | Vehicle driving assistance method, device, computer device, and storage medium |
| CN111457931A (en) * | 2019-01-21 | 2020-07-28 | 广州汽车集团股份有限公司 | Method, device, system and storage medium for controlling local path re-planning of autonomous vehicle |
| CN111693054A (en) * | 2019-03-12 | 2020-09-22 | 丰田自动车株式会社 | Map information distribution system and vehicle |
| CN112325899A (en) * | 2020-10-30 | 2021-02-05 | 腾讯科技（深圳）有限公司 | Path display method and related device |
| CN113487903A (en) * | 2021-07-04 | 2021-10-08 | 葛纪侠 | Internet of vehicles intelligent navigation obstacle crossing method and device and electronic equipment |
| CN114396963A (en) * | 2022-01-26 | 2022-04-26 | 广州小鹏自动驾驶科技有限公司 | Planning method and device of driving path, vehicle-mounted terminal and storage medium |
| US11415994B2 (en) | 2019-02-22 | 2022-08-16 | Apollo Intelligent Driving Technology (Beijing) Co., Ltd. | Method and apparatus for planning travelling path, and vehicle |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101629829A (en) * | 2008-07-15 | 2010-01-20 | 纬创资通股份有限公司 | Device for updating map data in navigation system and related navigation system |
| DE102009018073A1 (en) * | 2008-07-16 | 2010-01-21 | Volkswagen Ag | Method for updating a geographical database for a vehicle navigation system |
| CN103625367A (en) * | 2013-12-11 | 2014-03-12 | 魏子安 | Road obstacle recognition device and recognition method thereof |
| CN104269053A (en) * | 2014-08-29 | 2015-01-07 | 陈业军 | Intelligent traffic system and method and intelligent automobile |
| CN105551284A (en) * | 2016-01-29 | 2016-05-04 | 武汉光庭科技有限公司 | Open-type automatic driving system |
| CN105702152A (en) * | 2016-04-28 | 2016-06-22 | 百度在线网络技术（北京）有限公司 | Map generation method and device |
| CN105741595A (en) * | 2016-04-27 | 2016-07-06 | 常州加美科技有限公司 | Unmanned vehicle navigation driving method based on cloud database |
-
2016
- 2016-07-28 CN CN201610609713.7A patent/CN107664502A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101629829A (en) * | 2008-07-15 | 2010-01-20 | 纬创资通股份有限公司 | Device for updating map data in navigation system and related navigation system |
| DE102009018073A1 (en) * | 2008-07-16 | 2010-01-21 | Volkswagen Ag | Method for updating a geographical database for a vehicle navigation system |
| CN103625367A (en) * | 2013-12-11 | 2014-03-12 | 魏子安 | Road obstacle recognition device and recognition method thereof |
| CN104269053A (en) * | 2014-08-29 | 2015-01-07 | 陈业军 | Intelligent traffic system and method and intelligent automobile |
| CN105551284A (en) * | 2016-01-29 | 2016-05-04 | 武汉光庭科技有限公司 | Open-type automatic driving system |
| CN105741595A (en) * | 2016-04-27 | 2016-07-06 | 常州加美科技有限公司 | Unmanned vehicle navigation driving method based on cloud database |
| CN105702152A (en) * | 2016-04-28 | 2016-06-22 | 百度在线网络技术（北京）有限公司 | Map generation method and device |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109101022A (en) * | 2018-08-09 | 2018-12-28 | 北京智行者科技有限公司 | A kind of working path update method |
| CN109115206A (en) * | 2018-09-17 | 2019-01-01 | 联想(北京)有限公司 | Air navigation aid and navigation system |
| CN111325999A (en) * | 2018-12-14 | 2020-06-23 | 奥迪股份公司 | Vehicle driving assistance method, device, computer device, and storage medium |
| CN111457931A (en) * | 2019-01-21 | 2020-07-28 | 广州汽车集团股份有限公司 | Method, device, system and storage medium for controlling local path re-planning of autonomous vehicle |
| US11415994B2 (en) | 2019-02-22 | 2022-08-16 | Apollo Intelligent Driving Technology (Beijing) Co., Ltd. | Method and apparatus for planning travelling path, and vehicle |
| CN111693054A (en) * | 2019-03-12 | 2020-09-22 | 丰田自动车株式会社 | Map information distribution system and vehicle |
| CN112325899A (en) * | 2020-10-30 | 2021-02-05 | 腾讯科技（深圳）有限公司 | Path display method and related device |
| CN113487903A (en) * | 2021-07-04 | 2021-10-08 | 葛纪侠 | Internet of vehicles intelligent navigation obstacle crossing method and device and electronic equipment |
| CN114396963A (en) * | 2022-01-26 | 2022-04-26 | 广州小鹏自动驾驶科技有限公司 | Planning method and device of driving path, vehicle-mounted terminal and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107664502A (en) | The method, apparatus and system of dynamic programming path | |
| AU2020204157B2 (en) | Arranging passenger pickups for autonomous vehicles | |
| CN106485198B (en) | System and method for autonomous valet parking using full-light camera | |
| JP6885298B2 (en) | Self-driving vehicle | |
| CN113728210A (en) | Autonomous and user-controlled vehicle summons to targets | |
| US10553113B2 (en) | Method and system for vehicle location | |
| US20220274588A1 (en) | Method for automatically parking a vehicle | |
| CN107209020A (en) | Method and apparatus for providing interest point information | |
| CN105849790A (en) | Road condition information acquisition method | |
| CN104697533A (en) | Navigation method and device | |
| CN103148861B (en) | Use the road guidance display method and system of geographical marking image | |
| CN102436761B (en) | Vehicle reverse run detecting device | |
| US11027651B2 (en) | Vehicle control device, vehicle control system, vehicle control method, and storage medium | |
| US9374803B2 (en) | Message notification system, message transmitting and receiving apparatus, program, and recording medium | |
| EP3974931A1 (en) | Semantic identification of pickup locations | |
| CN114620072A (en) | Vehicle control method, device, storage medium, electronic device and vehicle | |
| JP7210336B2 (en) | Vehicle control system, vehicle control method, and program | |
| JP2007256128A (en) | Map information transfer system and on-vehicle terminal apparatus | |
| US20230111327A1 (en) | Techniques for finding and accessing vehicles | |
| CN114935334A (en) | Method and device for constructing topological relation of lanes, vehicle, medium and chip | |
| JP7372144B2 (en) | In-vehicle processing equipment and in-vehicle processing systems | |
| US11113968B2 (en) | Method for mobile parking assistance | |
| US20210300338A1 (en) | Accommodation area management device | |
| US20210158692A1 (en) | Information processing device, information processing system, and computer readable recording medium | |
| CN113928335A (en) | Method and system for controlling a vehicle having an autonomous driving mode |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180206 |