CN107860391A - Automobile accurate navigation method and device - Google Patents
Automobile accurate navigation method and device Download PDFInfo
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- CN107860391A CN107860391A CN201711059164.1A CN201711059164A CN107860391A CN 107860391 A CN107860391 A CN 107860391A CN 201711059164 A CN201711059164 A CN 201711059164A CN 107860391 A CN107860391 A CN 107860391A
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- lane line
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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
- G01C21/3407—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
-
- 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
- G01C21/265—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network constructional aspects of navigation devices, e.g. housings, mountings, displays
-
- 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
-
- 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
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Navigation (AREA)
Abstract
The invention discloses a kind of automobile accurate navigation method and device, it is related to automobile intelligent technical field, is invented to provide a kind of mode being accurately positioned with improving the accuracy of navigation.The method of the present invention includes：Track where obtaining vehicle；Lane line where identifying vehicle；Judge whether lane line where vehicle changes；If place lane line changes, the track after change is determined according to the change of place lane line；According to the track real-time update vehicle location information after change, to carry out route guidance according to the vehicle location information after updating and destination locations.The present invention is suitably applied in auto navigation.
Description
Technical field
The present invention relates to automobile intelligent technical field, more particularly to a kind of automobile accurate navigation method and device.
Background technology
Navigation system has become the necessary travel assist system of vehicle at present, and navigation system can be according to Current vehicle
Position is that driver plans suitable travel route, arrives at driver.
Inventor has found problems with, existing navigation system in the prior art be present during the present invention is realized
In programme path, Main Basiss is global position system, such as global positioning system (Global Positioning
System, GPS), Beidou satellite navigation system etc., its principle is all to carry out satellite fix to Current vehicle by satellite, then
It is that vehicle plans travel route according to the vehicle position information of satellite fix and destination locations information.But existing satellite
The problem of position technology is due to accuracy, can have certain site error, for example can sometimes be hard to tell main road and pave the way, or
On bridge and the first-class road information of bridge, and this error can cause the unreasonable of the route finally planned, driver is caused to mislead.
The content of the invention
In view of the above problems, the present invention provides a kind of automobile accurate navigation method and device, a kind of accurate fixed in order to provide
The mode of position is to improve the accuracy of navigation.
In order to solve the above technical problems, in a first aspect, the invention provides a kind of automobile accurate navigation method, this method bag
Include：
Obtain lane line information and positional information；
Route guidance is carried out according to the lane line information and positional information.
Second aspect, present invention also offers a kind of automobile precision navigation device, the device includes：
Acquisition module, for obtaining lane line information and positional information；
Navigation module, for carrying out route guidance according to the lane line information and positional information.
The third aspect, the invention provides a kind of automobile accurate navigation method, this method includes：
Track where obtaining vehicle；
Lane line where identifying vehicle；
Judge whether lane line where vehicle changes；
If place lane line changes, the track after change is determined according to the change of place lane line；
According to the track real-time update vehicle location information after change, with according to the vehicle location information and mesh after updating
Position carry out route guidance.
Fourth aspect, present invention also offers a kind of automobile precision navigation device, the device includes：
Acquiring unit, for track where obtaining vehicle；
Recognition unit, for lane line where identifying vehicle；
Judging unit, for judging whether lane line where vehicle changes；
Determining unit, if being changed for place lane line, the car after change is determined according to the change of place lane line
Road；
Updating block, for according to the track real-time update vehicle location information after change, with according to the vehicle after updating
Location information and destination locations carry out route guidance.
To achieve these goals, according to the fifth aspect of the invention, there is provided a kind of storage medium, the storage medium
Program including storage, wherein, equipment where the storage medium is controlled when described program is run performs vapour described above
Car accurate navigation method.
To achieve these goals, according to the sixth aspect of the invention, there is provided a kind of electronic equipment, the electronic equipment
Including：
One or more processors；
Memory, for storing one or more programs；
When one or more of programs are by one or more of computing devices so that one or more of processing
Device realizes automobile accurate navigation method as described above.
By above-mentioned technical proposal, automobile accurate navigation method and device provided by the invention, vehicle place can be identified
Lane line, and changing to determine the change in vehicle place track according to lane line, and then accurately determine track and be currently located
Track and corresponding vehicle location information, last root root vehicle location information carry out the navigation of route.With prior art phase
Than can accurately determine track due to corresponding relation between lane line and track be present, therefore according to the change of lane line
Change, accurate vehicle location information obtained from entering, therefore can effectively avoid being hard to tell master present in prior art
The occurrence of bridge is inferior on road bypass, bridge, improve the accuracy of navigation.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, and in order to allow above and other objects of the present invention, feature and advantage can
Become apparent, below especially exemplified by the embodiment of the present invention.
Brief description of the drawings
By reading the detailed description of hereafter preferred embodiment, it is various other the advantages of and benefit it is common for this area
Technical staff will be clear understanding.Accompanying drawing is only used for showing the purpose of preferred embodiment, and is not considered as to the present invention
Limitation.And in whole accompanying drawing, identical part is denoted by the same reference numerals.In the accompanying drawings：
Fig. 1 is the schematic flow sheet of the automobile accurate navigation method of one embodiment of the invention；
Fig. 2 is the structural representation of the automobile precision navigation device of one embodiment of the invention；
Fig. 3 shows a kind of flow chart of automobile accurate navigation method provided in an embodiment of the present invention；
Fig. 4 shows the flow chart of another automobile accurate navigation method provided in an embodiment of the present invention；
Fig. 5 shows a kind of schematic diagram of example for determining vehicle location information change provided in an embodiment of the present invention；
Fig. 6 shows that a kind of vehicle provided in an embodiment of the present invention goes out the schematic diagram of main road；
Fig. 7 shows a kind of composition frame chart of automobile precision navigation device provided in an embodiment of the present invention；
Fig. 8 shows the composition frame chart of another automobile precision navigation device provided in an embodiment of the present invention.
Embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although the disclosure is shown in accompanying drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
Limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Completely it is communicated to those skilled in the art.
The present invention is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 is the schematic flow sheet of the automobile accurate navigation method of one embodiment of the invention.
This method comprises the following steps：
Step S1, obtain lane line information and positional information；
Step S2, route guidance is carried out according to the lane line information and positional information.
The lane line information is obtained by Senior Officer's accessory system, and the positional information passes through global position system
Obtain.
The lane line information is transmitted to navigation equipment by wired or wireless connected mode.
In the present embodiment, the image recognition with ADAS and Lane detection function, where judging driving vehicle
Track, by wired (serial ports, USB) or wireless (BT, WIFI) connected mode, lane information is given to navigation equipment, navigated
Equipment calculates correct navigation information according to satellite fix and lane position information.
Compared with prior art, the present invention has advantages below：The airmanship of satellite fix is relied in the prior art, can
Planned with the travel route to automobile, but can not be differentiated in the section of some extreme terrains, such as overpass, prior art
Vehicle navigate on bridge or under bridge, is main road or bypass, and in which bar lanes, often to the navigation letter to make mistake
Breath, mislead driver.The present invention has broken the above-mentioned inertial thinking of those skilled in the art, obtains lane line information and position letter
Breath；Route guidance is carried out according to the lane line information and positional information.And in the solution of the present invention, know with ADAS image
Other and Lane detection function, judges the track where driving vehicle, passes through wired (serial ports, USB) or wireless (BT, WIFI)
Connected mode, lane information is given to navigation equipment, navigation equipment calculates just according to satellite fix and lane position information
True navigation information.
Fig. 2 is the structural representation of the automobile precision navigation device of one embodiment of the invention.The automobile precision navigation
Device includes：
Acquisition module 10, for obtaining lane line information and positional information；
Navigation module 20, for carrying out route guidance according to the lane line information and positional information.
The lane line information is obtained by Senior Officer's accessory system, and the positional information passes through global position system
Obtain.
The lane line information is transmitted to navigation equipment by wired or wireless connected mode.
In the present embodiment, the image recognition with ADAS and Lane detection function, where judging driving vehicle
Track, by wired (serial ports, USB) or wireless (BT, WIFI) connected mode, lane information is given to navigation equipment, navigated
Equipment calculates correct navigation information according to satellite fix and lane position information.
Compared with prior art, the present invention has advantages below：The airmanship of satellite fix is relied in the prior art, can
Planned with the travel route to automobile, but can not be differentiated in the section of some extreme terrains, such as overpass, prior art
Vehicle navigate on bridge or under bridge, is main road or bypass, and in which bar lanes, often to the navigation letter to make mistake
Breath, mislead driver.The present invention has broken the above-mentioned inertial thinking of those skilled in the art, obtains lane line information and position letter
Breath；Route guidance is carried out according to the lane line information and positional information.And in the solution of the present invention, know with ADAS image
Other and Lane detection function, judges the track where driving vehicle, passes through wired (serial ports, USB) or wireless (BT, WIFI)
Connected mode, lane information is given to navigation equipment, navigation equipment calculates just according to satellite fix and lane position information
True navigation information.
The embodiments of the invention provide a kind of storage medium, program is stored thereon with, it is real when the program is executed by processor
Automobile accurate navigation method described in existing above-mentioned Fig. 1.
The embodiments of the invention provide a kind of processor, the processor is used for operation program, wherein, described program operation
Automobile accurate navigation method described in the above-mentioned Fig. 1 of Shi Zhihang.
The embodiments of the invention provide a kind of electronic equipment, electronic equipment include one or more processors, memory and
Storage on a memory and the one or more programs that can run on a processor, reality during one or more processors configuration processor
Automobile accurate navigation method described in existing above-mentioned Fig. 1.
To provide a kind of mode being accurately positioned to improve the accuracy of navigation, the embodiments of the invention provide a kind of automobile
Accurate navigation method, as shown in figure 3, this method includes：
101st, track where obtaining vehicle.
Track where obtaining vehicle is to obtain vehicle is located at which track for being currently located road.It is permissible by follow-up step
Know automobile in the process of moving, track is to continue change according to the change of lane line where vehicle, according to the change of lane line
Real-time track can be determined.Therefore, track where vehicle can be got.
102nd, lane line where identifying vehicle.
It should be noted that lane line where vehicle refers to lane line corresponding with vehicle current driving lane.Identify car
Lane line where, it is that the image information for including the vehicle front including lane line is obtained by camera, then by figure
Vehicle place lane line is determined as the identification of information.The position of lane line where lane line where identifying vehicle, including identification
Which lane line for belonging to road put.Wherein camera, which can be placed on rearview mirror or other, can photograph vehicle front car
The other positions of diatom.In addition, the definition of image information, brightness, saturation degree, contrast these can all influence actual identification
Effect, image information quality is better, and the accuracy of the lane line recognized is higher, therefore needs to differentiate when camera is selected
The higher camera of rate.The mode of lane line where vehicle can be with to be determined to the identification of image information in the present embodiment
For any one in existing Lane detection mode, such as GOLD vision systems, RALPH vision navigation systems, advanced driving
Member's accessory system (Advanced DriverAssistance Systems, ADAS) etc..
103rd, judge whether lane line where vehicle changes.
It should be noted that lane line where vehicle obtains in real time in step 102, therefore the position of place lane line
And can obtain in real time, so can judge whether lane line becomes where vehicle according to the change of track line position
Change.
If the 104, place lane line changes, the track after change is determined according to the change of place lane line.
In the road, corresponding relation between lane line and track being present, every track all corresponds to different lane lines, if
Lane line where vehicle changes, and represents that track where vehicle changes, and the change of lane line and the change in track
And it is corresponding, for example lane line changes once to the left, then track also changes once to the left.Therefore, can be according to lane line
Change determines the change in track, then determines to change according to the vehicle in front of the change in track and lane line change place track
Track afterwards.It should be noted that when determining the track after change, it is also necessary to obtain the road feelings of vehicle present position
Which bar road condition, including current vehicle location nearby have, the position distribution of every road and the lane line point of every road
Cloth.Obtaining the road conditions of vehicle present position can determine the track after change is specifically which car on which bar road
Road.It should be noted that the road conditions of vehicle present position can be by existing navigation system in the application of reality
There is provided.
105th, according to the track real-time update vehicle location information after change, with according to the vehicle location information after updating with
And destination locations carry out route guidance.
Determine new vehicle position information according to the track after change, that is, carry out vehicle repositioning updated after
Vehicle location information, then carry out route guidance according to the vehicle location information after renewal and destination locations.It is specific to carry out
Route guidance is realized using existing navigation system in actual applications.
The present embodiment is to realize the monitoring to track by the monitoring to lane line, and then realizes the accurate fixed of vehicle
Position, then recycle existing navigation system to carry out route guidance, be the improvement to existing navigation system.
Automobile accurate navigation method provided in an embodiment of the present invention, lane line where vehicle can be identified, and according to track
Line changes to determine the change in vehicle place track, and then accurately determines track and the corresponding car that track is currently located
Location information, last root root vehicle location information carry out the navigation of route.Compared with prior art, due to lane line and track
Between corresponding relation be present, therefore the change in track can be accurately determined according to the change of lane line, it is accurate obtained from entering
Vehicle location information, therefore can effectively avoid being hard to tell main road bypass present in prior art, the inferior feelings of bridge on bridge
The generation of condition, improve the accuracy of navigation.
Further, another vapour is additionally provided as the refinement and extension to embodiment illustrated in fig. 3, the embodiment of the present invention
Car accurate navigation method, as shown in Figure 4.
201st, track where obtaining vehicle.
In the present embodiment, the acquisition for track where vehicle is divided into two kinds of situations：
The first situation, after vehicle start, track where carrying out first is when judging, be by vehicle place lane line with
And lane identification algorithm determines vehicle place track.Specifically：The track according to where the implementation of step 202 obtains vehicle
Line；Then track where vehicle is determined according to lane identification algorithm, the principle specifically identified be according to where vehicle lane line with
And the total lane line and/or lane line distribution situation of present road determine that vehicle is currently located track.
Second of situation, after determining vehicle place track first, track where vehicle is by track during traveling
Line monitors to determine, therefore nearest one in the track after the change that will be obtained by the change in subsequent step by lane line
Track after the change of secondary determination is defined as track where vehicle.
202nd, the image information of vehicle front is obtained in real time and image information is identified, and obtains track where vehicle
Line.
Realization of the implementation of the image information of vehicle front with obtaining image information in Fig. 3 steps 102 is obtained in real time
Mode is identical, and here is omitted.Image information is identified in the present embodiment particularly auxiliary based on advanced driving
Image identification system in auxiliary system ADAS carries out image information identification.Image identification system in ADAS systems is to pass through figure
As the model in recognizer calculates analysis to tell the position of lane line, the position of other vehicles of front and size, vehicle
Front pedestrian etc..Image identification system is mainly based upon in the present embodiment and obtains lane line where vehicle.In addition, image recognition
Image recognition algorithm in system is not limited to specific any algorithm, can be the image recognition based on neutral net, base
Image recognition in Hough transform, the image recognition based on the modeling of morphology Multi-structure elements etc..
203rd, judge whether lane line where vehicle changes.
The implementation of this step is identical with the implementation of Fig. 3 steps 103, and here is omitted.
If the 204, place lane line changes, the direction of record lane line change and number.
If lane line where vehicle changes, the direction of record lane line change and number.For example vehicle is to the left simultaneously
Line is either turned left, doubling to the right or when turning right, and the change direction of corresponding lane line is leftward or rightward；Vehicle doubling
Or the number of direction transformation is identical with the number that lane line changes.
205th, the direction changed according to lane line and number determine the track after change.
The direction of lane line change and number are corresponding with direction that track changes and number, therefore are become according to lane line
The direction of track change and number where the direction of change and number can determine vehicle.Then the track according to where vehicle changes
Track where vehicle before direction and the change of number and lane line determines the track after change.In addition, with Fig. 3 steps 104
Equally, it is determined that change after track when, it is also necessary to obtain the road conditions of vehicle present position, including Current vehicle position
Which bar road is put nearby has, the position distribution of every road and the lane line distribution of every road.Provide specific example
Pair determine change after track illustrate：As shown in fig. 5, it is assumed that before lane line change where vehicle, road where vehicle is
A, and road A is B roads to the right, is to the left C roads, and road A is two-way four-lane in addition, and vehicle is currently located at road A's
The left-lane line of vehicle heading side at present, if monitoring, lane line changes to the right, and has changed once, i.e., to the right simultaneously
Line, then it can determine that vehicle has driven to right-lane line from the left-lane line of road A current vehicle heading side；If track
Line has continuously changed to the right twice, i.e., is turned right again after doubling to the right, it is determined that and vehicle has driven into road B by road A, and
The leftmost side lane line of road B current vehicle heading side.If in addition, be in above-mentioned example driven into from main road to bypass or
The situation to main road is driven into from bypass, then can also judge that other information is carried out during the track being determined after change
Auxiliary, wherein, other information includes main road " entrance " or main road " outlet " mark, vehicle deceleration information on road etc..Provide
Specific example：If as shown in fig. 6, before lane line change where vehicle, track where vehicle is main road rightmost side track；Work as car
When diatom changes to the right, while judge whether front has " outlet " to identify and judge whether vehicle has deceleration；If front
There is " outlet " to identify and vehicle is when also having deceleration, vehicle can be determined more accurately roll main road away from and enter bypass；Together
Sample, if before lane line change where vehicle, track where vehicle is bypass leftmost side track；When lane line changes to the left,
Judge whether front has " entrance " to identify and judge whether vehicle has deceleration simultaneously；If there are " outlet " and vehicle in front
When also having deceleration, vehicle can be determined more accurately and drive into main road from bypass.It should be noted that " entrance " " outlet "
Mark can identify that deceleration can be by the running data that is obtained by automobile bus or by the whole world by image information
Obtained in alignment system (Global Positioning System, GPS) data.
206th, according to the track real-time update vehicle location information after change, with according to the vehicle location information after updating with
And destination locations carry out route guidance.
The implementation of this step is identical with the implementation of Fig. 3 steps 105, and here is omitted.
In addition, it is necessary to explanation, the present embodiment is will to enter driveway line based on the image identification system in ADAS systems
The application of function of identification is into existing navigation system, and the change in the change determination track according to the lane line, and then determines
The position of accurate vehicle simultaneously coordinates existing navigation system to carry out route guidance.Therefore, it is necessary to establish in the application of reality
The communication connection between image identification system and navigation system two systems in ADAS systems, with by communicating to connect into driving
The transmission of diatom relevant information.Wherein communication connection can pass through wired (communication serial port, USB (Universal
Serial Bus, USB)) or wireless (bluetooth (Bluetooth, BT), Wireless Fidelity (WIreless-FIdelity, WIFI))
Mode is realized.
Further, also carried as the realization to method shown in above-mentioned Fig. 3 and Fig. 4, another embodiment of the embodiment of the present invention
A kind of automobile precision navigation device is supplied, for being realized to the method shown in above-mentioned Fig. 3 and Fig. 4.The device embodiment with
Preceding method embodiment is corresponding, and for ease of reading, present apparatus embodiment is no longer entered to the detail content in preceding method embodiment
Row repeats one by one, it should be understood that the device in the present embodiment can correspond to the full content realized in preceding method embodiment.
As shown in fig. 7, the device includes：Acquiring unit 31, recognition unit 32, judging unit 33, determining unit 34 and updating block
35。
Acquiring unit 31, for track where obtaining vehicle；
Track where obtaining vehicle is to obtain vehicle is located at which track for being currently located road.It is permissible by follow-up step
Know automobile in the process of moving, track is to continue change according to the change of lane line where vehicle, according to the change of lane line
Real-time track can be determined.Therefore, track where vehicle can be got.
Recognition unit 32, for lane line where identifying vehicle；
It should be noted that lane line where vehicle refers to lane line corresponding with vehicle current driving lane.Identify car
Lane line where, it is that the image information for including the vehicle front including lane line is obtained by camera, then by figure
Vehicle place lane line is determined as the identification of information.The position of lane line where lane line where identifying vehicle, including identification
Which lane line for belonging to road put.Wherein camera, which can be placed on rearview mirror or other, can photograph vehicle front car
The other positions of diatom.In addition, the definition of image information, brightness, saturation degree, contrast these can all influence actual identification
Effect, image information quality is better, and the accuracy of the lane line recognized is higher, therefore needs to differentiate when camera is selected
The higher camera of rate.The mode of lane line where vehicle can be with to be determined to the identification of image information in the present embodiment
For any one in existing Lane detection mode, such as GOLD vision systems, RALPH vision navigation systems, advanced driving
Member's accessory system ADAS etc..
Judging unit 33, for judging whether lane line where vehicle changes；
Whether the lane line according to where the change of track line position judges vehicle changes.
Determining unit 34, if being changed for place lane line, after determining change according to the change of place lane line
Track；
In the road, corresponding relation between lane line and track being present, every track all corresponds to different lane lines, if
Lane line where vehicle changes, and represents that track where vehicle changes, and the change of lane line and the change in track
And it is corresponding, for example lane line changes once to the left, then track also changes once to the left.Therefore, can be according to lane line
Change determines the change in track, then determines to change according to the vehicle in front of the change in track and lane line change place track
Track afterwards.It should be noted that when determining the track after change, it is also necessary to obtain the road feelings of vehicle present position
Which bar road condition, including current vehicle location nearby have, the position distribution of every road and the lane line point of every road
Cloth.Obtaining the road conditions of vehicle present position can determine the track after change is specifically which car on which bar road
Road.It should be noted that the road conditions of vehicle present position can be by existing navigation system in the application of reality
There is provided.
Updating block 35, for according to the track real-time update vehicle location information after change, with according to the car after updating
Location information and destination locations carry out route guidance.
Determine new vehicle position information according to the track after change, that is, carry out vehicle repositioning updated after
Vehicle location information, then carry out route guidance according to the vehicle location information after renewal and destination locations.It is specific to carry out
Route guidance is realized using existing navigation system in actual applications.
As shown in figure 8, the recognition unit 32 includes：
Acquisition module 321, for obtaining the image information of vehicle front in real time；
Identification module 322, for described image information to be identified, obtain lane line where vehicle.
As shown in figure 8, described device also includes：
Recording unit 36, for before the track after change is determined according to the change of place lane line, recording lane line
The direction of change and number；
If lane line where vehicle changes, the direction of record lane line change and number.For example vehicle is to the left simultaneously
Line is either turned left, doubling to the right or when turning right, and the change direction of corresponding lane line is leftward or rightward；Vehicle doubling
Or the number of direction transformation is identical with the number that lane line changes.
The determining unit 34, is used for：
The direction changed according to lane line and number determine the track after change.
The direction of lane line change and number are corresponding with direction that track changes and number, therefore are become according to lane line
The direction of track change and number where the direction of change and number can determine vehicle.Then the track according to where vehicle changes
Track where vehicle before direction and the change of number and lane line determines the track after change.In addition, it is determined that after change
Track when, it is also necessary to obtain the road conditions of vehicle present position, including which bar road current vehicle location nearby has
Road, the lane line distribution of the position distribution of every road and every road.The specific pair of example for determining the track after change
Illustrate referring to illustrating in above-mentioned steps 205.
The judging unit 33 is additionally operable to：
Described image information is identified, determines whether lane line changes.
The identification module 322 is additionally operable to：
The identification of image information is carried out based on the image identification system in advanced drive assist system ADAS.
Image identification system in ADAS systems is to calculate analysis by the model in image recognition algorithm to tell car
The position of diatom, the position of other vehicles of front and size, vehicle front pedestrian etc..Image is mainly based upon in the present embodiment
Identifying system obtains lane line where vehicle.In addition, the image recognition algorithm in image identification system be not limited to it is specific which
A kind of algorithm can be the image recognition based on neutral net, the image recognition based on Hough transform, tied based on morphology more
Image recognition of constitutive element modeling etc..
As shown in figure 8, the acquiring unit 31 includes：
First determining module 311, after vehicle start, lane line and lane identification algorithm where first passage vehicle
Track where determining vehicle；
It is by lane line where vehicle and lane identification when track where carrying out first judges after vehicle start
Track where algorithm determines vehicle.Specifically：The lane line according to where the implementation of recognition unit 32 obtains vehicle；Then
The track according to where lane identification algorithm determines vehicle, the principle specifically identified are lane line and current road according to where vehicle
Total lane line and/or lane line distribution situation on road determine that vehicle is currently located track.
Second determining module 312, behind track where determining vehicle first, the car after the change that the last time is determined
Road is defined as track where vehicle.
Automobile precision navigation device provided in an embodiment of the present invention, lane line where vehicle can be identified, and according to track
Line changes to determine the change in vehicle place track, and then accurately determines track and the corresponding car that track is currently located
Location information, last root root vehicle location information carry out the navigation of route.Compared with prior art, due to lane line and track
Between corresponding relation be present, therefore the change in track can be accurately determined according to the change of lane line, it is accurate obtained from entering
Vehicle location information, therefore can effectively avoid being hard to tell main road bypass present in prior art, the inferior feelings of bridge on bridge
The generation of condition, improve the accuracy of navigation.
The automobile precision navigation device includes processor and memory, above-mentioned acquiring unit 31, recognition unit 32, judges
Unit 33, determining unit 34 and updating block 35 etc. in memory, are deposited as program unit storage by computing device
Storage said procedure unit in memory realizes corresponding function.
Kernel is included in processor, is gone in memory to transfer corresponding program unit by kernel.Kernel can set one
Or more, improve the accuracy of user requirements analysis result by adjusting kernel parameter.
Memory may include computer-readable medium in volatile memory, random access memory (RAM) and/
Or the form such as Nonvolatile memory, such as read-only storage (ROM) or flash memory (flash RAM), memory includes at least one deposit
Store up chip.
The embodiments of the invention provide a kind of storage medium, program is stored thereon with, it is real when the program is executed by processor
The existing automobile accurate navigation method.
The embodiments of the invention provide a kind of processor, the processor is used for operation program, wherein, described program operation
Automobile accurate navigation method described in Shi Zhihang.
The embodiments of the invention provide a kind of electronic equipment, electronic equipment include one or more processors, memory and
Storage on a memory and the one or more programs that can run on a processor, reality during one or more processors configuration processor
Existing following steps：Track where obtaining vehicle；Lane line where identifying vehicle；Judge whether lane line where vehicle becomes
Change；If place lane line changes, the track after change is determined according to the change of place lane line；According to the track after change
Real-time update vehicle location information, to carry out route guidance according to the vehicle location information after updating and destination locations.
Further, lane line where the identification vehicle includes：
The image information of vehicle front is obtained in real time；
Described image information is identified, obtains lane line where vehicle.
Further, before the track after change is determined according to the change of place lane line, methods described also includes：
Record direction and the number of lane line change；
The change according to lane line determines the track after change, including：
The direction changed according to lane line and number determine the track after change.
Further, it is described judge lane line where vehicle whether change including：
Described image information is identified, determines whether lane line changes.
Further, it is described described image information is identified including：
The identification of image information is carried out based on the image identification system in advanced drive assist system ADAS.
Further, track where the acquisition vehicle includes：
After vehicle start, lane line and lane identification algorithm determine track where vehicle where first passage vehicle；
Behind track where determining vehicle first, the track after the change that the last time is determined is defined as car where vehicle
Road.
Equipment in the embodiment of the present invention can be server, PC, PAD, mobile phone etc..
The embodiment of the present invention additionally provides a kind of computer program product, when being performed on data processing equipment, is suitable to
Perform the program of initialization there are as below methods step：Track where obtaining vehicle；Lane line where identifying vehicle；Judge vehicle institute
Whether changed in lane line；If place lane line changes, the car after change is determined according to the change of place lane line
Road；According to the track real-time update vehicle location information after change, with according to the vehicle location information after updating and purpose position
Put carry out route guidance.
Further, lane line where the identification vehicle includes：
The image information of vehicle front is obtained in real time；
Described image information is identified, obtains lane line where vehicle.
Further, before the track after change is determined according to the change of place lane line, methods described also includes：
Record direction and the number of lane line change；
The change according to lane line determines the track after change, including：
The direction changed according to lane line and number determine the track after change.
Further, it is described judge lane line where vehicle whether change including：
Described image information is identified, determines whether lane line changes.
Further, it is described described image information is identified including：
The identification of image information is carried out based on the image identification system in advanced drive assist system ADAS.
Further, track where the acquisition vehicle includes：
After vehicle start, lane line and lane identification algorithm determine track where vehicle where first passage vehicle；
Behind track where determining vehicle first, the track after the change that the last time is determined is defined as car where vehicle
Road.
The invention discloses：
A1, a kind of automobile accurate navigation method, wherein, this method comprises the following steps：
Obtain lane line information and positional information；
Route guidance is carried out according to the lane line information and positional information.
A2, the automobile accurate navigation method as described in A1, wherein, the lane line information aids in system by Senior Officer
System is obtained, and the positional information is obtained by global position system.
A3, the automobile accurate navigation method as described in A1, wherein, the lane line information passes through wired or wireless connection side
Formula is transmitted to navigation equipment.
B4, a kind of automobile precision navigation device, wherein, the device includes：
Acquisition module, for obtaining lane line information and positional information；
Navigation module, for carrying out route guidance according to the lane line information and positional information.
B5, the automobile precision navigation device as described in B4, wherein, the lane line information aids in system by Senior Officer
System is obtained, and the positional information is obtained by global position system.
B6, the automobile precision navigation device as described in B4, wherein, the lane line information passes through wired or wireless connection side
Formula is transmitted to navigation equipment.
C7, a kind of automobile accurate navigation method, methods described include：
Track where obtaining vehicle；
Lane line where identifying vehicle；
Judge whether lane line where vehicle changes；
If place lane line changes, the track after change is determined according to the change of place lane line；
According to the track real-time update vehicle location information after change, with according to the vehicle location information and mesh after updating
Position carry out route guidance.
C8, the method as described in C7, lane line where the identification vehicle include：
The image information of vehicle front is obtained in real time；
Described image information is identified, obtains lane line where vehicle.
C9, the method as described in C7, before the track after change is determined according to the change of place lane line, methods described
Also include：
Record direction and the number of lane line change；
The change according to lane line determines the track after change, including：
The direction changed according to lane line and number determine the track after change.
C10, the method as described in C8 or C9, it is described judge lane line where vehicle whether change including：
Described image information is identified, determines whether lane line changes.
C11, the method as described in C10, it is described described image information is identified including：
The identification of image information is carried out based on the image identification system in advanced drive assist system ADAS.
C12, the method as described in C11, track where the acquisition vehicle include：
After vehicle start, lane line and lane identification algorithm determine track where vehicle where first passage vehicle；
Behind track where determining vehicle first, the track after the change that the last time is determined is defined as car where vehicle
Road.
D13, a kind of automobile precision navigation device, described device include：
Acquiring unit, for track where obtaining vehicle；
Recognition unit, for lane line where identifying vehicle；
Judging unit, for judging whether lane line where vehicle changes；
Determining unit, if being changed for place lane line, the car after change is determined according to the change of place lane line
Road；
Updating block, for according to the track real-time update vehicle location information after change, with according to the vehicle after updating
Location information and destination locations carry out route guidance.
D14, the device as described in D13, the recognition unit include：
Acquisition module, for obtaining the image information of vehicle front in real time；
Identification module, for described image information to be identified, obtain lane line where vehicle.
D15, the device as described in D13, described device also include：
Recording unit, for before the track after change is determined according to the change of place lane line, record lane line to become
The direction of change and number；
The determining unit, is used for：
The direction changed according to lane line and number determine the track after change.
D16, the device as described in D14 or D15, the judging unit are additionally operable to：
Described image information is identified, determines whether lane line changes.
D17, the device as described in D16, the identification module are additionally operable to：
The identification of image information is carried out based on the image identification system in advanced drive assist system ADAS.
D18, the device as described in D17, the acquiring unit include：
First determining module, after vehicle start, lane line and lane identification algorithm are true where first passage vehicle
Track where determining vehicle；
Second determining module, behind track where determining vehicle first, the track after the change that the last time is determined
Track where being defined as vehicle.
E19, a kind of storage medium, the storage medium include the program of storage, wherein, controlled when described program is run
Equipment performs the automobile accurate navigation method any one of above-mentioned A1 to A3 or C7 to C12 where the storage medium.
F20, a kind of electronic equipment, the electronic equipment include：
One or more processors；
Memory, for storing one or more programs；
When one or more of programs are by one or more of computing devices so that one or more of processing
Device realizes the automobile accurate navigation method as any one of A1 to A3 or C7 to C12.
It should be understood by those skilled in the art that, embodiments herein can be provided as method, system or computer program
Product.Therefore, the application can use the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Apply the form of example.Moreover, the application can use the computer for wherein including computer usable program code in one or more
The computer program production that usable storage medium is implemented on (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The application is with reference to the flow according to the method for the embodiment of the present application, equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be by every first-class in computer program instructions implementation process figure and/or block diagram
Journey and/or the flow in square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided
The processors of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced by the instruction of computer or the computing device of other programmable data processing devices for real
The device for the function of being specified in present one flow of flow chart or one square frame of multiple flows and/or block diagram or multiple square frames.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which produces, to be included referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
In a typical configuration, computing device includes one or more processors (CPU), input/output interface, net
Network interface and internal memory.
Memory may include computer-readable medium in volatile memory, random access memory (RAM) and/
Or the form such as Nonvolatile memory, such as read-only storage (ROM) or flash memory (flash RAM).Memory is computer-readable Jie
The example of matter.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer-readable instruction, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), moved
State random access memory (DRAM), other kinds of random access memory (RAM), read-only storage (ROM), electric erasable
Programmable read only memory (EEPROM), fast flash memory bank or other memory techniques, read-only optical disc read-only storage (CD-ROM),
Digital versatile disc (DVD) or other optical storages, magnetic cassette tape, the storage of tape magnetic rigid disk or other magnetic storage apparatus
Or any other non-transmission medium, the information that can be accessed by a computing device available for storage.Define, calculate according to herein
Machine computer-readable recording medium does not include temporary computer readable media (transitory media), such as data-signal and carrier wave of modulation.
It should also be noted that, term " comprising ", "comprising" or its any other variant are intended to nonexcludability
Comprising so that process, method, commodity or equipment including a series of elements not only include those key elements, but also wrapping
Include the other element being not expressly set out, or also include for this process, method, commodity or equipment intrinsic want
Element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including key element
Other identical element in process, method, commodity or equipment also be present.
It will be understood by those skilled in the art that embodiments herein can be provided as method, system or computer program product.
Therefore, the application can be using the embodiment in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Form.Deposited moreover, the application can use to can use in one or more computers for wherein including computer usable program code
The shape for the computer program product that storage media is implemented on (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.)
Formula.
Embodiments herein is these are only, is not limited to the application.To those skilled in the art,
The application can have various modifications and variations.All any modifications made within spirit herein and principle, equivalent substitution,
Improve etc., it should be included within the scope of claims hereof.
Claims (10)
1. a kind of automobile accurate navigation method, it is characterised in that this method comprises the following steps：
Obtain lane line information and positional information；
Route guidance is carried out according to the lane line information and positional information.
2. a kind of automobile precision navigation device, it is characterised in that the device includes：
Acquisition module, for obtaining lane line information and positional information；
Navigation module, for carrying out route guidance according to the lane line information and positional information.
3. a kind of automobile accurate navigation method, it is characterised in that methods described includes：
Track where obtaining vehicle；
Lane line where identifying vehicle；
Judge whether lane line where vehicle changes；
If place lane line changes, the track after change is determined according to the change of place lane line；
According to the track real-time update vehicle location information after change, with according to the vehicle location information after updating and purpose position
Put carry out route guidance.
4. according to the method for claim 3, it is characterised in that lane line where the identification vehicle includes：
The image information of vehicle front is obtained in real time；
Described image information is identified, obtains lane line where vehicle.
5. according to the method for claim 3, it is characterised in that the car after change is determined according to the change of place lane line
Before road, methods described also includes：
Record direction and the number of lane line change；
The change according to lane line determines the track after change, including：
The direction changed according to lane line and number determine the track after change.
6. the method according to claim 4 or 5, it is characterised in that described to judge whether lane line where vehicle becomes
Change includes：
Described image information is identified, determines whether lane line changes.
7. according to the method for claim 6, it is characterised in that it is described described image information is identified including：
The identification of image information is carried out based on the image identification system in advanced drive assist system ADAS.
8. a kind of automobile precision navigation device, it is characterised in that described device includes：
Acquiring unit, for track where obtaining vehicle；
Recognition unit, for lane line where identifying vehicle；
Judging unit, for judging whether lane line where vehicle changes；
Determining unit, if being changed for place lane line, the track after change is determined according to the change of place lane line；
Updating block, for according to the track real-time update vehicle location information after change, with according to the vehicle location after updating
Information and destination locations carry out route guidance.
A kind of 9. storage medium, it is characterised in that the storage medium includes the program of storage, wherein, run in described program
When control the storage medium where equipment perform the claims 1 or the automobile essence any one of claim 3 to 7
True air navigation aid.
10. a kind of electronic equipment, it is characterised in that the electronic equipment includes：
One or more processors；
Memory, for storing one or more programs；
When one or more of programs are by one or more of computing devices so that one or more of processors are real
The now automobile accurate navigation method as any one of claim 1 or claim 3 to 7.
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|---|---|---|---|
| CN201710077791.1A CN107192396A (en) | 2017-02-13 | 2017-02-13 | Automobile accurate navigation method and device |
| CN2017100777911 | 2017-02-13 |
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| Publication Number | Publication Date |
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| CN107860391A true CN107860391A (en) | 2018-03-30 |
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| CN201711059164.1A Pending CN107860391A (en) | 2017-02-13 | 2017-11-01 | Automobile accurate navigation method and device |
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| CN107192396A (en) | 2017-09-22 |
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