CN109387210A - Automobile navigation method and its device - Google Patents
Automobile navigation method and its device Download PDFInfo
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- CN109387210A CN109387210A CN201710652413.1A CN201710652413A CN109387210A CN 109387210 A CN109387210 A CN 109387210A CN 201710652413 A CN201710652413 A CN 201710652413A CN 109387210 A CN109387210 A CN 109387210A
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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
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
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Abstract
The present invention proposes a kind of automobile navigation method and device, wherein method include: according to the driving trace of target vehicle determine target vehicle locating for current lane；According to the path of current lane and navigation, obtain from current lane arrive at the destination during target vehicle to traveling lane；Obtain the target road conditions of current lane and each to the target road conditions of traveling lane；Current lane is marked on the path of navigation and each to the target road conditions of traveling lane.The method achieve be based on lane markings road conditions, make vehicle that can know current lane and the road conditions to traveling lane in the process of moving, improve the accuracy and navigation accuracy of road conditions judgement, it solves the air navigation aid for showing road conditions based on road in the prior art, there is a problem of that road conditions accuracy of judgement degree is low.
Description
Technical field
The present invention relates to technical field of vehicle navigation more particularly to a kind of automobile navigation methods and its device.
Background technique
With the development of airmanship, automobile navigation brings great convenience to people's lives.It is usually soft in navigation
Departure place and destination are inputted in part, will cook up a bar navigation path.It, can be right also, during vehicle driving
Speed limit, the jam situation of road of road carry out casting prompting.
With widening for pavement of road, number of track-lines increases, and often queues for bus, goes in the presence of the lane for going to a direction
The situation of the unimpeded passage in the lane of other direction.But current air navigation aid, a road can only be indicated for same path
The accuracy of judgement degree of condition, road conditions is not high.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, the first purpose of this invention is to propose a kind of automobile navigation method, lane markings road is based on to realize
Condition makes vehicle that can know current lane and the road conditions to traveling lane in the process of moving, improves the accurate of road conditions judgement
Degree and navigation accuracy, to solve to show the air navigation aid of road conditions based on road in the prior art, there are road conditions accuracy of judgement degree is low
The problem of.
Second object of the present invention is to propose a kind of vehicle navigation apparatus.
Third object of the present invention is to propose a kind of computer equipment.
Fourth object of the present invention is to propose a kind of computer program product.
5th purpose of the invention is to propose a kind of non-transitorycomputer readable storage medium.
In order to achieve the above object, first aspect present invention embodiment proposes a kind of automobile navigation method, comprising:
According to the driving trace of target vehicle determine the target vehicle locating for current lane；
According to the path of the current lane and navigation, obtains from the current lane and arrive at the destination the mesh in the process
Mark vehicle to traveling lane；
Obtain the target road conditions of the current lane and each to the target road conditions of traveling lane；
The current lane is marked on the path of navigation and each to the target road conditions of traveling lane.
As a kind of optional implementation of first aspect embodiment, the target road conditions for obtaining current lane, comprising:
History travelling data is obtained as sample data；
Based on the sample data and preset Bayesian Classification Arithmetic, first under each road conditions of the current lane is obtained
Probability；
Using road conditions corresponding to maximum first probability as the target road conditions of the current lane.
It is described to be based on the sample data and preset pattra leaves as a kind of optional implementation of first aspect embodiment
This sorting algorithm obtains the first probability under each road conditions of the current lane, comprising:
According to the sample data, the second probability under i-th road conditions of current lane is inscribed when obtaining current current；Its
In, it include the travelling data in next lane of the current lane and the current lane in the history travelling data；
In the case where the current lane is in the i-th road conditions, the third that the current lane may be identified as under jth road conditions is obtained
Probability；
In the case where the current lane is in the i-th road conditions, the next lane may be identified as under kth road conditions the 4th is obtained
Probability；
According to the third probability and the 4th probability under i-th road conditions, described under i-th road conditions work as is obtained
Preceding lane, which may be identified as jth road conditions and next lane, may be identified as the joint probability of the kth road conditions；
Based on the joint probability under the second probability and i-th road conditions under i-th road conditions, obtain described current
The first probability under the i-th road conditions of lane；
Wherein, 1≤i≤N；1≤j≤N, 1≤k≤N.
As a kind of optional implementation of first aspect embodiment, the acquisition is each to the target road of traveling lane
Condition, comprising:
For each to driving vehicle, traveling is received in the travelling data to each vehicle on traveling lane；
The travel speed of each vehicle is obtained from the travelling data；
The target road conditions to traveling lane are determined according to the travel speed.
It is described determining described wait go according to the travel speed as a kind of optional implementation of first aspect embodiment
Sail the target road conditions in lane, comprising:
The travel speed of all vehicles is weighted and averaged, the weighting travel speed to traveling lane is obtained；
The weighting travel speed is compared with the travel speed range of preset each road conditions, determines the Weighted Sum of Line Elements
Sail the target travel velocity interval that speed is fallen into；
Using the corresponding road conditions of the target travel velocity interval as the target road conditions to traveling lane.
As a kind of optional implementation of first aspect embodiment, the driving trace according to target vehicle determines institute
Before stating current lane locating for target vehicle, further includes:
Starting point and the destination for obtaining user are led according to the starting point and the destination for the target vehicle
It navigates the path.
As a kind of optional implementation of first aspect embodiment, it is described marked on the path of navigation it is described
Current lane and each to the target road conditions of traveling lane, comprising:
To the target road conditions of the current lane on the path of navigation, according to the target road with the current lane
The corresponding tag format of condition is marked, and is shown by display screen；
To the target road conditions to traveling lane on the path of navigation, according to the mesh to traveling lane
The corresponding tag format of mark road conditions is marked, and is shown by display screen.
The automobile navigation method of the embodiment of the present invention, according to the driving trace of target vehicle determine target vehicle locating for work as
Preceding lane, and according to the path of current lane and navigation, obtain from current lane arrive at the destination during target vehicle
To traveling lane, the target road conditions of current lane are obtained and each to the target road conditions of traveling lane, in the path subscript of navigation
Remember current lane out and each to the target road conditions of traveling lane.In the present embodiment, first determine current locating for target vehicle
Lane and from current lane arrive at the destination during to traveling lane, then obtain current lane target road conditions and each to
The target road conditions of traveling lane, and be marked on guidance path, it realizes based on lane markings road conditions, is travelling vehicle
Current lane and the road conditions to traveling lane can be known in the process, improve the accuracy and navigation accuracy of road conditions judgement, solution
It has determined and has shown the air navigation aid of road conditions based on road in the prior art, there is a problem of that road conditions accuracy of judgement degree is low.
In order to achieve the above object, second aspect of the present invention embodiment proposes a kind of vehicle navigation apparatus, comprising:
Determining module determines current lane locating for the target vehicle for the driving trace according to target vehicle；
First obtains module, for the path according to the current lane and navigation, obtains and reaches from the current lane
The target vehicle to traveling lane during destination；
Second obtains module, for obtaining the target road conditions of the current lane and each to the target road of traveling lane
Condition；
Mark module, for marking the current lane on the path of navigation and each to traveling lane
The target road conditions.
As a kind of optional implementation of second aspect embodiment, described second obtains module, comprising:
First acquisition unit, for obtaining history travelling data as sample data；
Second acquisition unit obtains described current for being based on the sample data and preset Bayesian Classification Arithmetic
The first probability under each road conditions in lane；
Determination unit, for using road conditions corresponding to maximum first probability as the target road of the current lane
Condition.
As a kind of optional implementation of second aspect embodiment, the second acquisition unit is used for:
According to the sample data, the second probability under i-th road conditions of current lane is inscribed when obtaining current current；Its
In, it include the travelling data in next lane of the current lane and the current lane in the history travelling data；
In the case where the current lane is in the i-th road conditions, the third that the current lane may be identified as under jth road conditions is obtained
Probability；
In the case where the current lane is in the i-th road conditions, the next lane may be identified as under kth road conditions the 4th is obtained
Probability；
According to the third probability and the 4th probability under i-th road conditions, described under i-th road conditions work as is obtained
Preceding lane, which may be identified as jth road conditions and next lane, may be identified as the joint probability of the kth road conditions；
Based on the joint probability under the second probability and i-th road conditions under i-th road conditions, obtain described current
The first probability under the i-th road conditions of lane；
Wherein, 1≤i≤N；1≤j≤N, 1≤k≤N.
As a kind of optional implementation of second aspect embodiment, described second obtains module, is also used to:
For each to driving vehicle, traveling is received in the travelling data to each vehicle on traveling lane；
The travel speed of each vehicle is obtained from the travelling data；
The target road conditions to traveling lane are determined according to the travel speed.
As a kind of optional implementation of second aspect embodiment, described second obtains module, is also used to:
The travel speed of all vehicles is weighted and averaged, the weighting travel speed to traveling lane is obtained；
The weighting travel speed is compared with the travel speed range of preset each road conditions, determines the Weighted Sum of Line Elements
Sail the target travel velocity interval that speed is fallen into；
Using the corresponding road conditions of the target travel velocity interval as the target road conditions to traveling lane.
As a kind of optional implementation of second aspect embodiment, the vehicle navigation apparatus further include: navigation module,
For obtaining starting point and the destination of user, according to the starting point and the destination, for target vehicle navigation institute
State path.
As a kind of optional implementation of second aspect embodiment, the mark module is also used to:
To the target road conditions of the current lane on the path of navigation, according to the target road with the current lane
The corresponding tag format of condition is marked, and is shown by display screen；
To the target road conditions to traveling lane on the path of navigation, according to the mesh to traveling lane
The corresponding tag format of mark road conditions is marked, and is shown by display screen.
The vehicle navigation apparatus of the embodiment of the present invention, according to the driving trace of target vehicle determine target vehicle locating for work as
Preceding lane, and according to the path of current lane and navigation, obtain from current lane arrive at the destination during target vehicle
To traveling lane, the target road conditions of current lane are obtained and each to the target road conditions of traveling lane, in the path subscript of navigation
Remember current lane out and each to the target road conditions of traveling lane.In the present embodiment, first determine current locating for target vehicle
Lane and from current lane arrive at the destination during to traveling lane, then obtain current lane target road conditions and each to
The target road conditions of traveling lane, and be marked on guidance path, it realizes based on lane markings road conditions, is travelling vehicle
Current lane and the road conditions to traveling lane can be known in the process, improve the accuracy and navigation accuracy of road conditions judgement, solution
It has determined and has shown the air navigation aid of road conditions based on road in the prior art, there is a problem of that road conditions accuracy of judgement degree is low.
In order to achieve the above object, third aspect present invention embodiment proposes a kind of computer equipment, including processor and storage
Device；Wherein, the processor is run by reading the executable program code stored in the memory can be performed with described
The corresponding program of program code, for realizing the automobile navigation method as described in first aspect embodiment.
In order to achieve the above object, fourth aspect present invention embodiment proposes a kind of computer program product, the computer journey
When instruction in sequence product is executed by processor, the automobile navigation method as described in first aspect embodiment is executed.
In order to achieve the above object, fifth aspect present invention embodiment proposes a kind of non-transitorycomputer readable storage medium,
It is stored thereon with computer program, the vehicle as described in first aspect embodiment is realized when which is executed by processor
Air navigation aid.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is a kind of flow diagram of automobile navigation method provided in an embodiment of the present invention；
Fig. 2 is the schematic diagram of the distribution condition of track direction in a road provided in an embodiment of the present invention；
Fig. 3 is the schematic diagram that current lane label is shown on a kind of guidance path provided in an embodiment of the present invention；
Fig. 4 is the flow diagram of another automobile navigation method provided in an embodiment of the present invention；
Fig. 5 is a kind of vehicle driving trace schematic diagram provided in an embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of vehicle navigation apparatus provided in an embodiment of the present invention；
Fig. 7 is the structural schematic diagram of another vehicle navigation apparatus provided in an embodiment of the present invention；
Fig. 8 is the structural schematic diagram of another vehicle navigation apparatus provided in an embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
The automobile navigation method and its device of the embodiment of the present invention are explained with reference to the accompanying drawing.
With the development of airmanship, automobile navigation brings great convenience to people's lives.It is usually soft in navigation
Departure place and destination are inputted in part, will cook up a bar navigation path.It, can be right also, during vehicle driving
Speed limit, the jam situation of road of road carry out casting prompting.
Currently used navigation software, such as Baidu map, Amap are all based on road and show road conditions.But with
Widening for pavement of road, number of track-lines increase, often exist and go to the lane of a direction and queue for bus, go to other direction
The situation of the unimpeded passage in lane, and current air navigation aid, can only indicate a road conditions, the judgement of road conditions for same path
Accuracy is not high.
For this problem, the embodiment of the present invention proposes a kind of automobile navigation method, is based on lane markings road conditions to realize,
Make vehicle that can know current lane and the road conditions to traveling lane in the process of moving, improve road conditions judgement accuracy and
Navigation accuracy is asked with solving to be shown the air navigation aid of road conditions based on road in the prior art there are road conditions accuracy of judgement degree is low
Topic.
The executing subject for the automobile navigation method that the embodiment of the present invention proposes is terminal device, wherein terminal device can be with
It is the mobile terminals such as mobile phone, iPad, is also possible to mobile unit.
Fig. 1 is a kind of flow diagram of automobile navigation method provided in an embodiment of the present invention.
As shown in Figure 1, the automobile navigation method the following steps are included:
S101, according to the driving trace of target vehicle determine target vehicle locating for current lane.
In the present embodiment, camera can be installed in the two sides of vehicle, target is obtained by the scenery around camera shooting
The driving trace of vehicle, to determine lane position locating for vehicle.Then, it deposits according to lane position, navigation direction or in advance
The distribution condition of each track direction in every road of storage, and then determine track direction locating for target vehicle.
For example, it is assumed that the distribution condition of each track direction in pre-stored target vehicle current driving road,
As shown in Fig. 2, leftmost side lane is Through Lane, second left lane is Through Lane, and third left lane is to turn left
Lane, fourth left lane are lane of turning right.
Target vehicle is on present road in driving process, if having railing and distance in the image of left side camera shooting
Target vehicle is close, has other vehicles in the image of right side camera shooting, can determine the lane of target vehicle current driving
For the lane of the leftmost side, it can determine that lane locating for current vehicle is Through Lane in conjunction with track direction distribution condition.If
It is the image of vehicle in image under the shooting of two sides camera, determines that target vehicle needs to keep straight on according to navigation direction, in conjunction with
The distribution condition of each track direction in the image and pre-stored target vehicle current driving road of the shooting of two sides camera,
The lane that can determine target vehicle current driving is second left Through Lane.
S102, according to the path of current lane and navigation, obtain from current lane arrive at the destination during target vehicle
To traveling lane.
In the present embodiment, the distribution condition of track direction in every road can be stored in advance.In target vehicle driving process
In, according to the distribution condition of track direction in current lane and pre-stored every road, it is available from current lane to
Target vehicle to traveling lane during up to destination.
For example, current lane locating for target vehicle is left turn lane, the path of navigation determines the mistake for arriving destination
In journey to traveling lane be Through Lane, right-turn lane.That is, target vehicle enters straight traffic after turning left from current lane
Road, straight trip reach destination by entering right-turn lane after traffic lights after being turned right.
S103 obtains the target road conditions of current lane and each to the target road conditions of traveling lane.
In the present embodiment, the road conditions in lane can be divided into four classes: extremely congestion, congestion, jogging, unimpeded etc..According to working as front truck
The vehicle operation data that all vehicles report on road, such as travel speed, to calculate the average overall travel speed of vehicle.According to average row
The corresponding road conditions of speed are sailed, determine the target road conditions of current lane locating for target vehicle.
Similarly, for each to traveling lane, the target road each to traveling lane can be calculated using the above method
Condition.
S104 marks current lane and each to the target road conditions of traveling lane on the path of navigation.
It is obtaining the target road conditions of current lane and after the target road conditions of traveling lane, can marked on guidance path
Current lane and each to the target road conditions of traveling lane.
It as an example, can be on the path of navigation to the target road conditions of current lane, according to the mesh with current lane
The corresponding tag format of mark road conditions is marked, and is shown by display screen.For example, as shown in figure 3, locating for target vehicle
Current lane be left turn lane, target road conditions be it is unimpeded, can on guidance path by left turn lane sign flag be green, and
Current lane and Through Lane symbol are shown on a display screen.
Similarly, on the path of navigation to each target road conditions to traveling lane, according to the mesh to traveling lane
The corresponding tag format of mark road conditions is marked, and is shown by display screen.
Below by another embodiment, to illustrate the automobile navigation method of the embodiment of the present invention.
As shown in figure 4, the automobile navigation method includes:
S201 obtains starting point and the destination of user, is target vehicle guidance path according to starting point and destination.
User opens a terminal the navigation software in equipment, inputs starting point and destination.At this moment, navigation software acquisition is set out
Point and destination, and according to starting point and destination, a bar navigation path is provided for target vehicle.
S202, according to the driving trace of target vehicle determine target vehicle locating for current lane.
In the present embodiment, a duration can be preset, the running data of target vehicle in the duration is acquired, being based on should
The driving trace of running data formation target vehicle.Such as then pass through one including keeping straight on after vehicle start in travelling data
Section distance is turned left, and can form a track is driving trace as shown in Figure 5, can be determined based on the driving trace
Enter left-lane after target vehicle turns left out, it can determine that target vehicle is currently at left-lane.
S203 obtains target vehicle during current lane arrives at the destination according to the path of current lane and navigation
To traveling lane.
Step S203 is similar with the step S102 in above-described embodiment, and details are not described herein.
S204 obtains the target road conditions of current lane based on history travelling data and preset Bayesian Classification Arithmetic.
When lane as where judging target vehicle according to target vehicle driving trace, need to wait target vehicle track
Formation, i.e. its next lane reports vehicle data problem so there is to obtain in time for present road.For number
According to delay issue, influence of the road conditions in the next lane that will be travelled to current lane road conditions is considered, and be based on delayed data
The road conditions that current lane can be calculated can use the road conditions of the method prediction current lane of probability statistics this moment.
In the present embodiment, obtained under each road conditions of current lane based on history travelling data and preset Bayesian Classification Arithmetic
The first probability, using road conditions corresponding to maximum first probability as the target road conditions of current lane.Wherein, history driving number
According to the travelling data in the next lane for including current lane and current lane.
What Bayesian Classification Arithmetic solved is classification problem.From mathematical angle, classification problem can be defined as follows: collected
Close C=y1,y2,…ynAnd I=x1,x2,…xm, determine mapping ruler y=f (xi), so that any xi∈ I, one and only one yi
∈ C, so that yi∈f(xi) set up.Wherein, C is category set, and each of C element is a classification, and I is called feature set
It closes, each of I element is an item to be sorted, and f is classifier.It follows that the input of classifier is characterized, output is
Corresponding classification, that is to say, that the classification of feature can be obtained by Bayes's classification for given feature.
In the present embodiment, characteristic set is for the road conditions in next lane of synchronization current lane and based on delayed data
The road conditions of the current lane of calculating, category set are the road conditions classification of current lane.
In the present embodiment, the i-th road conditions of current lane are obtained based on history travelling data and preset Bayesian Classification Arithmetic
Under the first probability detailed process is as follows:
It is inscribed when can calculate current current firstly, history is formed data as sample data by sample data
The second probability P (C under the i-th road conditions of current lanei)。
Then, it according to sample data, calculates in the case where current lane is in the i-th road conditions, current lane may be identified as jth
Third probability P (X under road conditionsj|Ci), and in the case where current lane is in kth road conditions, next lane may be identified as kth road conditions
Under the 4th probability P (Yk|Ci).Wherein, 1≤i≤N；1≤j≤N, 1≤k≤N, N indicate road conditions class number.
In the present embodiment, it is assumed that current lane is jth road conditions and next lane is to be independent from each other between kth road conditions,
Therefore according to the third probability P (X under the i-th road conditionsj|Ci) and the 4th probability P (Yk|Ci), it can be calculated under the i-th road conditions current
Lane, which may be identified as jth road conditions and next lane, may be identified as the joint probability P (X of kth road conditionsj,Yk|Ci)=P (Xj|
Ci)*P(Yk|Ci)。
Finally, the first probability P (C under the i-th road conditions of current lane can be calculated according to Bayesian formulai|Xj,Yk), such as
Shown in formula (1).
Wherein, P (Xj) it is the probability that current lane is jth road conditions, P (Yk) it is the probability that next lane is jth road conditions, P
(Xj) and P (Yk) acquisition can be calculated according to sample data.
After calculating the first probability under each road conditions of current lane by the above method, compare under each road conditions of current lane
The size of first probability, using road conditions corresponding to maximum first probability as the target road conditions of current lane.
For example, lane road conditions are divided into extremely congestion, congestion, jogging, unimpeded four kinds of classifications.Assuming that based on delay number
It is unimpeded according to the road conditions of current lane this moment are calculated, and the road conditions in next lane are congestion this moment, this moment based on current lane
Road conditions be unimpeded and next lane this moment road conditions be congestion, calculate the target road conditions of current lane.
For calculating current lane road conditions as extremely the first probability of congestion.Firstly, can be calculated according to sample data
It is P (C to the second probability that current lane road conditions are extremely congestion1) and sample data in current lane road conditions be it is smooth
Probability P (X4), next lane road conditions are the probability P (Y of congestion in sample data2).Then, it is calculated according to sample data, currently
In the case that road conditions are extremely congestion, it is smooth probability P (X that current road conditions, which are calculated, based on delayed data4|C1), and it is current
In the case that road conditions are extremely congestion, the road conditions in next lane are the probability P (Y of congestion2|C1).Later, according to Bayesian formula,
The first probability P (C that current lane road conditions are extremely congestion can be calculated1|X4,Y2), as shown in formula (2).
Similarly, it is congestion, jogging, smooth first probability, respectively P (C that current lane road conditions, which can be calculated,2|X4,
Y2)、P(C3|X4,Y2)、P(C4|X4,Y2)。
Compare current lane road conditions for extremely congestion, congestion, jogging, smooth first probability, that is, compares P (C1|X4,Y2)、
P(C2|X4,Y2)、P(C3|X4,Y2)、P(C4|X4,Y2) size, using the corresponding road conditions of maximum first probability as target road
Condition, so that calculating obtaining the road conditions of current lane this moment based on delayed data is that unimpeded and next lane this moment road conditions are
In the case where congestion, the target road conditions of current lane.
S205 is obtained based on the travelling data to each vehicle on traveling lane each to the target road conditions of traveling lane.
During target vehicle traveling, travelling data can each be carried out to each vehicle on traveling lane
It passes, so that terminal device can receive traveling in the travelling data to each vehicle on traveling lane.Wherein, travelling data can wrap
Include the travel speed of vehicle.
For each to traveling lane, from the travel speed obtained in travelling data to vehicle each on traveling lane.So
Afterwards, the target road conditions to traveling lane are determined according to travel speed.
Specifically, each travel speed to vehicles all on traveling lane is weighted and averaged, is obtained to Travel vehicle
Weight can be set as 1 in calculating process by the weighting travel speed in road.In the present embodiment, can pre-establish travel speed range with
The corresponding relationship of lane road conditions will weight the traveling speed of travel speed and preset each road conditions after obtaining weighting travel speed
Degree range is compared, and determines the target travel velocity interval that is fallen into of weighting travel speed, and then by target travel speed model
Corresponding road conditions are enclosed as the target road conditions to traveling lane.
For example, travel speed be less than the corresponding lane road conditions of 10km/h be extremely congestion, [10km/h, 15km/h) it is corresponding
Lane road conditions are congestion, and [15km/h, 30km/h] corresponding lane road conditions are jogging, and the corresponding lane road conditions of 30km/h or more are
It is unimpeded.Through calculating certain the weighting travel speed to traveling lane be 35km/h, then corresponding travel speed range be more than
30km/h, the corresponding lane road conditions of the travel speed range be it is unimpeded, may thereby determine that this waits for the target road conditions of traveling lane
It is unimpeded.
S206 marks current lane and each to the target road conditions of traveling lane on the path of navigation.
In the present embodiment, the corresponding pass of lane road conditions with the color of lane direction symbol on guidance path can be pre-established
System.For example, lane road conditions extremely congestion, congestion, jogging, unimpeded, the color of corresponding track direction symbol respectively red, orange
Color, yellow, green.
In the present embodiment, the target road conditions of the current lane according to locating for target vehicle and current lane can navigate
Path on to the target road conditions of current lane, be marked according to tag format corresponding with the target road conditions of current lane,
And it is shown by display screen.
For example, current lane locating for target vehicle is left turn lane, and the target road conditions of current lane be it is unimpeded, can be
It is on display screen that the left-hand rotation symbol of current lane is shown in green.
Similarly, the road conditions that traveling lane can be treated on the path of navigation, are marked according to preset format, and
Show screen display.
It should be noted that the automobile navigation method that the present embodiment proposes, it can also be on the server.Server can be with
Above-mentioned steps are executed, label result is then fed back into terminal device, is shown by terminal device.
The automobile navigation method of the embodiment of the present invention, according to the driving trace of target vehicle determine target vehicle locating for work as
Preceding lane, and according to the path of current lane and navigation, obtain from current lane arrive at the destination during target vehicle
To traveling lane, the target road conditions of current lane are obtained and each to the target road conditions of traveling lane, in the path subscript of navigation
Remember current lane out and each to the target road conditions of traveling lane.In the present embodiment, first determine current locating for target vehicle
Lane and from current lane arrive at the destination during to traveling lane, then obtain current lane target road conditions and each to
The target road conditions of traveling lane, and be marked on guidance path, it realizes based on lane markings road conditions, is travelling vehicle
Current lane and the road conditions to traveling lane can be known in the process, improve the accuracy and navigation accuracy of road conditions judgement, solution
It has determined and has shown the air navigation aid of road conditions based on road in the prior art, there is a problem of that road conditions accuracy of judgement degree is low.
In order to realize above-described embodiment, the present invention also proposes a kind of vehicle navigation apparatus.
As shown in fig. 6, the vehicle navigation apparatus comprises determining that module 610, first obtains module 620, second and obtains module
630, mark module 640.
Wherein it is determined that module 610 be used for according to the driving trace of target vehicle determine target vehicle locating for current lane.
First obtains module 620 for the path according to current lane and navigation, and acquisition is arrived at the destination from current lane
In the process target vehicle to traveling lane.
Second acquisition module 630 is for obtaining the target road conditions of current lane and each to the target road conditions of traveling lane.
Mark module 640 on the path of navigation for marking current lane and each to the target road of traveling lane
Condition.
In a kind of possible implementation of the present embodiment, as shown in fig. 7, the second acquisition module 630 includes: the first acquisition
Unit 631, second acquisition unit 632, determination unit 633.
Wherein, first acquisition unit 631 is for obtaining history travelling data as sample data.
Second acquisition unit 632 is used to be based on sample data and preset Bayesian Classification Arithmetic, and it is each to obtain current lane
The first probability under road conditions.
Determination unit 633 is used for using road conditions corresponding to maximum first probability as the target road conditions of current lane.
In a kind of possible implementation of the present embodiment, second acquisition unit 632 is used for:
According to sample data, the second probability under the i-th road conditions of current lane is inscribed when obtaining current current；Wherein, history
It include the travelling data in next lane of current lane and the current lane in travelling data；
In the case where current lane is in the i-th road conditions, the third probability under jth road conditions may be identified as by obtaining current lane；
In the case where current lane is in the i-th road conditions, the 4th probability that next lane may be identified as under kth road conditions is obtained；
According to the third probability and the 4th probability under the i-th road conditions, obtaining current lane under the i-th road conditions may be identified as
Jth road conditions and next lane may be identified as the joint probability of kth road conditions；
Based on the joint probability under the second probability and the i-th road conditions under the i-th road conditions, the i-th road conditions of current lane are obtained
Under the first probability；
Wherein, 1≤i≤N；1≤j≤N, 1≤k≤N.
In a kind of possible implementation of the present embodiment, the second acquisition module 630 is also used to:
For each to driving vehicle, traveling is received in the travelling data to each vehicle on traveling lane；
The travel speed of each vehicle is obtained from travelling data；
The target road conditions to traveling lane are determined according to travel speed.
In a kind of possible implementation of the present embodiment, the second acquisition module 630 is also used to:
The travel speed of all vehicles is weighted and averaged, the weighting travel speed to traveling lane is obtained；
Weighting travel speed is compared with the travel speed range of preset each road conditions, determines weighting travel speed institute
The target travel velocity interval fallen into；
Using the corresponding road conditions of target travel velocity interval as the target road conditions to traveling lane.
In a kind of possible implementation of the present embodiment, as shown in figure 8, the vehicle navigation apparatus further include: navigation mould
Block 650.
Wherein, navigation module 650 is used to obtain starting point and the destination of user, is mesh according to starting point and destination
Mark path described in automobile navigation.
In a kind of possible implementation of the present embodiment, mark module 640 is also used to:
To the target road conditions of current lane on the path of navigation, according to label corresponding with the target road conditions of current lane
Format is marked, and is shown by display screen；
The target road conditions that traveling lane is treated on the path of navigation, according to corresponding with the target road conditions to traveling lane
Tag format is marked, and is shown by display screen.
It should be noted that the aforementioned explanation to automobile navigation method embodiment, is also applied for the vehicle of the present embodiment
Navigation device, details are not described herein.
The vehicle navigation apparatus of the embodiment of the present invention, according to the driving trace of target vehicle determine target vehicle locating for work as
Preceding lane, and according to the path of current lane and navigation, obtain from current lane arrive at the destination during target vehicle
To traveling lane, the target road conditions of current lane are obtained and each to the target road conditions of traveling lane, in the path subscript of navigation
Remember current lane out and each to the target road conditions of traveling lane.In the present embodiment, first determine current locating for target vehicle
Lane and from current lane arrive at the destination during to traveling lane, then obtain current lane target road conditions and each to
The target road conditions of traveling lane, and be marked on guidance path, it realizes based on lane markings road conditions, is travelling vehicle
Current lane and the road conditions to traveling lane can be known in the process, improve the accuracy and navigation accuracy of road conditions judgement, solution
It has determined and has shown the air navigation aid of road conditions based on road in the prior art, there is a problem of that road conditions accuracy of judgement degree is low.
In order to realize above-described embodiment, the present invention proposes a kind of computer equipment, including processor and memory；Wherein,
Processor runs program corresponding with executable program code by reading the executable program code stored in memory, with
For realizing automobile navigation method as in the foregoing embodiment.
In order to realize above-described embodiment, the present invention also proposes a kind of computer program product, in computer program product
When instruction is executed by processor, automobile navigation method as in the foregoing embodiment is executed.
In order to realize above-described embodiment, the present invention also proposes a kind of non-transitorycomputer readable storage medium, deposits thereon
Computer program is contained, which realizes automobile navigation method as in the foregoing embodiment when being executed by processor.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing custom logic function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.Such as, if realized with hardware in another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized: have for data-signal is realized the logic gates of logic function from
Logic circuit is dissipated, the specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as to limit of the invention
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of the invention
Type.
Claims (15)
1. a kind of automobile navigation method characterized by comprising
According to the driving trace of target vehicle determine the target vehicle locating for current lane；
According to the path of the current lane and navigation, obtains from the current lane and arrive at the destination the target carriage in the process
To traveling lane；
Obtain the target road conditions of the current lane and each to the target road conditions of traveling lane；
The current lane is marked on the path of navigation and each to the target road conditions of traveling lane.
2. the method according to claim 1, wherein the target road conditions for obtaining current lane, comprising:
History travelling data is obtained as sample data；
Based on the sample data and preset Bayesian Classification Arithmetic, obtain first general under each road conditions of the current lane
Rate；
Using road conditions corresponding to maximum first probability as the target road conditions of the current lane.
3. according to the method described in claim 2, it is characterized in that, described based on the sample data and preset Bayes point
Class algorithm obtains the first probability under each road conditions of the current lane, comprising:
According to the sample data, the second probability under i-th road conditions of current lane is inscribed when obtaining current current；Wherein,
It include the travelling data in next lane of the current lane and the current lane in the history travelling data；
In the case where the current lane is in the i-th road conditions, it is general to obtain the third that the current lane may be identified as under jth road conditions
Rate；
In the case where the current lane is in the i-th road conditions, it is general to obtain the next lane may be identified as under kth road conditions the 4th
Rate；
According to the third probability and the 4th probability under i-th road conditions, obtain under i-th road conditions described working as front truck
Road, which may be identified as jth road conditions and next lane, may be identified as the joint probability of the kth road conditions；
Based on the joint probability under the second probability and i-th road conditions under i-th road conditions, the current lane is obtained
The first probability under i-th road conditions；
Wherein, 1≤i≤N；1≤j≤N, 1≤k≤N.
4. the method according to claim 1, wherein the acquisition is each to the target road conditions of traveling lane, packet
It includes:
For each to driving vehicle, traveling is received in the travelling data to each vehicle on traveling lane；
The travel speed of each vehicle is obtained from the travelling data；
The target road conditions to traveling lane are determined according to the travel speed.
5. according to the method described in claim 4, it is characterized in that, described determining described to Travel vehicle according to the travel speed
The target road conditions in road, comprising:
The travel speed of all vehicles is weighted and averaged, the weighting travel speed to traveling lane is obtained；
The weighting travel speed is compared with the travel speed range of preset each road conditions, determines the weighting traveling speed
Spend fallen into target travel velocity interval；
Using the corresponding road conditions of the target travel velocity interval as the target road conditions to traveling lane.
6. method according to claim 1-5, which is characterized in that described true according to the driving trace of target vehicle
Before current lane locating for the fixed target vehicle, further includes:
Starting point and the destination for obtaining user, according to the starting point and the destination, for target vehicle navigation institute
State path.
7. according to the described in any item methods of right 1-5, which is characterized in that it is described marked on the path of navigation it is described
Current lane and each to the target road conditions of traveling lane, comprising:
To the target road conditions of the current lane on the path of navigation, according to the target road conditions pair with the current lane
The tag format answered is marked, and is shown by display screen；
To the target road conditions to traveling lane on the path of navigation, according to the target road to traveling lane
The corresponding tag format of condition is marked, and is shown by display screen.
8. a kind of vehicle navigation apparatus characterized by comprising
Determining module determines current lane locating for the target vehicle for the driving trace according to target vehicle；
First obtains module, for the path according to the current lane and navigation, obtains from the current lane and reaches purpose
The target vehicle to traveling lane during ground；
Second obtains module, for obtaining the target road conditions of the current lane and each to the target road conditions of traveling lane；
Mark module, for marking the current lane on the path of navigation and each to described in traveling lane
Target road conditions.
9. vehicle navigation apparatus according to claim 8, which is characterized in that described second obtains module, comprising:
First acquisition unit, for obtaining history travelling data as sample data；
Second acquisition unit obtains the current lane for being based on the sample data and preset Bayesian Classification Arithmetic
The first probability under each road conditions；
Determination unit, for using road conditions corresponding to maximum first probability as the target road conditions of the current lane.
10. vehicle navigation apparatus according to claim 9, which is characterized in that the second acquisition unit is used for:
According to the sample data, the second probability under i-th road conditions of current lane is inscribed when obtaining current current；Wherein,
It include the travelling data in next lane of the current lane and the current lane in the history travelling data；
In the case where the current lane is in the i-th road conditions, it is general to obtain the third that the current lane may be identified as under jth road conditions
Rate；
In the case where the current lane is in the i-th road conditions, it is general to obtain the next lane may be identified as under kth road conditions the 4th
Rate；
According to the third probability and the 4th probability under i-th road conditions, obtain under i-th road conditions described working as front truck
Road, which may be identified as jth road conditions and next lane, may be identified as the joint probability of the kth road conditions；
Based on the joint probability under the second probability and i-th road conditions under i-th road conditions, the current lane is obtained
The first probability under i-th road conditions；
Wherein, 1≤i≤N；1≤j≤N, 1≤k≤N.
11. vehicle navigation apparatus according to claim 8, which is characterized in that described second obtains module, is also used to:
For each to driving vehicle, traveling is received in the travelling data to each vehicle on traveling lane；
The travel speed of each vehicle is obtained from the travelling data；
The target road conditions to traveling lane are determined according to the travel speed.
12. vehicle navigation apparatus according to claim 11, which is characterized in that described second obtains module, is also used to:
The travel speed of all vehicles is weighted and averaged, the weighting travel speed to traveling lane is obtained；
The weighting travel speed is compared with the travel speed range of preset each road conditions, determines the weighting traveling speed
Spend fallen into target travel velocity interval；
Using the corresponding road conditions of the target travel velocity interval as the target road conditions to traveling lane.
13. a kind of computer equipment, which is characterized in that including processor and memory；Wherein, the processor is by reading institute
The executable program code that stores in memory is stated to run program corresponding with the executable program code, with for realizing
Automobile navigation method as described in any in claim 1-7.
14. a kind of computer program product, which is characterized in that when the instruction in the computer program product is executed by processor
When, execute the automobile navigation method as described in any in claim 1-7.
15. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the calculating
The automobile navigation method as described in any in claim 1-7 is realized when machine program is executed by processor.
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