CN110411461A - A kind of auxiliary navigation method, vehicle device and vehicle - Google Patents
A kind of auxiliary navigation method, vehicle device and vehicle Download PDFInfo
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- CN110411461A CN110411461A CN201910605479.4A CN201910605479A CN110411461A CN 110411461 A CN110411461 A CN 110411461A CN 201910605479 A CN201910605479 A CN 201910605479A CN 110411461 A CN110411461 A CN 110411461A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
-
- 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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
-
- 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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
Abstract
The application provides a kind of auxiliary navigation method, vehicle device and vehicle, and auxiliary navigation method includes: the current location for obtaining vehicle；If detecting, there are ordinary roads and tunnel for current location, judge whether vehicle enters tunnel；If vehicle has entered tunnel, the length of the internal passageway in tunnel and the travel speed of vehicle are obtained；By vehicle location in the internal passageway in tunnel, and enter tunnel navigation mode；It wherein, include: to be positioned according to the length of the internal passageway in tunnel and the travel speed of vehicle to vehicle into tunnel navigation mode.The position that the application is presently in by obtaining vehicle, detecting that there are when ordinary road and tunnel for current location, by judging whether vehicle enters tunnel, the length of tunnel internal road and the travel speed of vehicle are obtained after entering tunnel, it is positioned at the internal passageway in tunnel, and tunnel navigation mode is carried out, solve the problems, such as positioning dislocation bring path computing mistake caused by lacking in tunnel near roads due to GPS signal.
Description
Technical field
This application involves automobile navigation technologies, and in particular to a kind of auxiliary navigation method, and apply the assisting navigation
The vehicle device and vehicle of method.
Background technique
Nowadays, people's living trip increasingly relies on satellite navigation system, such as GPS (GlobalPosition
System；), the navigation device formed by positioning system combination electronic map data is more and more, such as smart phone, vehicle-mounted end
End, smartwatch etc..And navigation device must can just calculate navigation device by signal of the reception from multiple satellites and work as
Longitude, dimension and the height of front position carry out three-dimensional localization.
However, the rapid development of road and bridge technology, urban transportation extend in all direction now, current traffic environment is in addition to prevailing roadway
It outside, further include mountain bottom tunnel, overpass even seabed tunnel, the even combination of multiple road, such as following is tunnel, on tunnel
Side is expressway surface etc..And in these complicated road areas, GPS satellite signal is very poor, and the number of satellites that can search for is often not
It can be carried out normal location navigation, especially for some real-time positioning apparatus, in synchronous detection navigation position, if more than being in
Complicated road environment, often positioning dislocation, leads to path planning mistake.
Therefore, in view of the above-mentioned problems, present inventor researchs and proposes a kind of auxiliary navigation method, vehicle device by analysis
And vehicle.
Summary of the invention
In view of the foregoing, the purpose of the present invention is to provide a kind of auxiliary navigation method, vehicle device and vehicle, the application is logical
It crosses and obtains the position that is presently in of vehicle, detecting current location there are when ordinary road and tunnel, by judging that vehicle is
It is no to enter tunnel, after entering tunnel, the length of tunnel internal road and the travel speed of vehicle are obtained, and then be positioned at tunnel
Internal passageway, and carry out tunnel navigation mode, solve tunnel near roads due to GPS signal lack caused by positioning dislocation
The problem of bring path computing mistake, promotes the quality of navigation.
In order to realize the above technical effect, the application provides a kind of auxiliary navigation method, as one of embodiment, institute
Auxiliary navigation method is stated comprising steps of obtaining the current location of vehicle；If detect the current location there are ordinary road and
Tunnel, then judge whether the vehicle enters the tunnel；If the vehicle has entered the tunnel, the tunnel is obtained
The travel speed of the length of internal passageway and the vehicle；By the vehicle location in the internal passageway in the tunnel, go forward side by side
Enter tunnel navigation mode；Wherein, into length and the vehicle that navigation mode in tunnel includes: according to the internal passageway in the tunnel
Travel speed the vehicle is positioned.
As one of embodiment, the ordinary road is located at the top in the tunnel, and with the tunnel in perpendicular
Histogram is to overlapping.
As one of embodiment, if described detect that there are ordinary roads and tunnel for current location, judge vehicle
Whether enter the tunnel the step of before include: obtain current location corresponding to location information；According to the location information
Obtain the map data information in preset range；Detecting current location according to the map data information whether there is ordinary road
The tunnel and.
As one of embodiment, if described detect that there are ordinary roads and tunnel for current location, judge vehicle
Include: the image information for obtaining road ahead in the step of whether entering the tunnel, and analyzes described image information and include
Feature whether meet the default feature in tunnel.
As one of embodiment, if described detect that there are ordinary roads and tunnel for current location, judge vehicle
Whether enter the tunnel the step of in include: obtain current location sunrise time, sunset time, current time and light
Line intensity；When the current time is between the sunrise time and the sunset time, the light intensity is in a timing
Between variation in range when exceeding the first preset value, determine that the vehicle has entered the tunnel；When the current time is not
Between the sunrise time and the sunset time, variation of the light intensity within the scope of certain time exceeds second
When preset value, determine that the vehicle has entered the tunnel.
As one of embodiment, if described detect that there are ordinary roads and tunnel for current location, judge vehicle
It include: to obtain the environment of the vehicle interior and/or the outside vehicle in real time to make an uproar in the step of whether entering the tunnel
Sound value；When the ambient noise value is greater than or equal to particular value within a certain period of time, confirm that the vehicle has entered the tunnel
Road.
As one of embodiment, the internal passageway for being positioned at the tunnel, and according to tunnel navigation mode
It include: real-time acquisition satellite signal strength after the step of being navigated；When the satellite signal strength meets normal navigation requirement
When, exit the tunnel navigation mode.
As one of embodiment, the auxiliary navigation method further include: if the vehicle has entered the tunnel,
Dipped headlight is then automatically turned on, and vehicle window is automatically closed.
In order to solve the above technical problems, the application also provides a kind of vehicle device, and as one of embodiment, the vehicle device
Including memory and processor, the memory is stored at least one program instruction, and the processor is by loading and executing
At least one program instruction is to realize auxiliary navigation method as described above.
In order to solve the above technical problems, the application also provides a kind of vehicle, and as one of embodiment, the vehicle
Configured with vehicle device as described above.
Auxiliary navigation method, vehicle device and vehicle provided by the present application, the position being presently in by obtaining vehicle, are being detected
To current location there are when ordinary road and tunnel, by judging whether vehicle enters tunnel, after entering tunnel, tunnel is obtained
The length of internal passageway and the travel speed of vehicle, and then it is positioned at the internal passageway in tunnel, and carry out tunnel navigation mode, solution
The problem of positioning dislocation bring path computing mistake, promotion caused by certainly being lacked in tunnel near roads due to GPS signal are led
The quality of boat.
Detailed description of the invention
Fig. 1 is the flow diagram of one embodiment of the application auxiliary navigation method.
Fig. 2 is an embodiment structure schematic diagram of the application vehicle device.
Specific embodiment
Further to illustrate that the application is the technical means and efficacy reaching predetermined application purpose and being taken, below in conjunction with
Attached drawing and preferred embodiment, to the specific embodiment of the application, method, step, feature and its effect, detailed description are as follows.
Aforementioned and other technology contents, feature and effect in relation to the application refer to the preferable reality of schema in following cooperation
Applying in the detailed description of example can clearly appear from.By the explanation of specific embodiment, when can be that reach predetermined mesh to the application
The technological means taken and effect be able to more deeply and it is specific understand, however institute's accompanying drawings are only to provide with reference to and say
It is bright to be used, not it is used to limit the application.
Referring to FIG. 1, Fig. 1 is the flow diagram of one embodiment of the application auxiliary navigation method.
It should be noted that the auxiliary navigation method of present embodiment can include but is not limited to the following steps:
Step S1: the current location of vehicle is obtained.
Wherein, current location is to be positioned in real time by GPS, and it is radius that particular value is chosen centered on positioning result, such as
2km, obtaining a circular range circle is current location, naturally it is also possible to the fan-shaped radiation forwards of the direction of travel of vehicle
Specific distance, the range obtained using this is current location.It is noted that the fast development of car networking, present embodiment
The information that again may be by car networking equipment detection current road, obtains the information of current vehicle position with this.
Step S2: if detecting, there are ordinary roads and tunnel for current location, judge whether vehicle enters tunnel.
Wherein, present embodiment transfers the offline map number of cloud server or vehicle device storage by the current location information
It whether there is ordinary road and tunnel according to detection current location.
In one embodiment, step S2: if detecting, current location there are ordinary road and tunnel, judges that vehicle is
It is no to enter before tunnel, comprising: to obtain location information corresponding to current location；It is obtained in preset range according to location information
Map data information；Data information detection current location whether there is ordinary road and tunnel according to the map.
It is noted that the ordinary road in present embodiment refers to common road situations, such as travel in expressway surface,
Ordinary road is also referred at this time, but it is tunnel that often expressway surface, which has one section, therefore present embodiment is only for current
Position is there are tunnel road surface and non-tunnel road surface and deposits, and travels and be different path with tunnel road surface and non-tunnel road surface,
Such as having one section in one section of expressway surface is tunnel, and there is no other ordinary roads around tunnel, this situation does not include
In the present embodiment.
In one embodiment, ordinary road is located at the top in tunnel, and Chong Die in vertical direction with tunnel.
Wherein, ordinary road is located at the top in tunnel, and refers to vehicle from tunnel row in vertical direction is Chong Die with tunnel
Progress path after sailing and the progress path in ordinary road above be not identical.Therefore, in which case, if navigation dress
It sets, such as the driving path that vehicle device, in real time positioning dislocation will must make mistake in the present embodiment, influences the trip of user.
In one embodiment, step S2: if detecting, current location there are ordinary road and tunnel, judges that vehicle is
It is no to enter tunnel, comprising: to obtain the image information of road ahead, and analyze whether the feature that image information includes meets tunnel
Default feature.
Wherein, the travelling image that vehicle device can be recorded by automobile data recorder obtains the image information of road ahead, according to
The characteristic image in the tunnel prestored in the image information and vehicle device that travelling image obtains or the tunneling features image of cloud server
Compare judgement move ahead road surface on whether tunnel.It is noted that obtaining road surface ahead image information by travelling image
When judging whether to enter tunnel, needs repeatedly to be judged, such as carry out three at 200 meters from tunnel portal, 100 meters and 50 meters
Secondary judgement causes to judge whether to enter tunnel error by can so prevent the road surface in tunnel portal there are other directions.
In one embodiment, step S2: if detecting, current location there are ordinary road and tunnel, judges that vehicle is
It is no to enter tunnel, comprising: to obtain sunrise time, sunset time, current time and the light intensity of current location；When current
Between between sunrise time and sunset time, variation of the light intensity within the scope of certain time exceed the first preset value when,
Determine that vehicle has entered tunnel；When current time is not located between sunrise time and sunset time, light intensity is in a timing
Between variation in range when exceeding the second preset value, determine that vehicle has entered tunnel.
Wherein, the sunrise time of current location, sunset time can be obtained by cloud server, due in normal condition
Under, during the day, i.e., when between sunrise time and sunset time, the light that the light intensity outside tunnel is greater than in tunnel is strong
Degree, and at night, i.e., not between sunrise time and sunset time when, the light that the light intensity in tunnel is greater than outside tunnel is strong
Degree, therefore vehicle may determine that by the analysis of the sunrise time of current location, sunset time, current time and light intensity
Whether tunnel is entered.It is noted that the light intensity difference in outside tunnel and tunnel is different in day and night
, it according to the actual situation, can be by setting different preset values, i.e. the first preset value and the second preset value are as reference value.
In one embodiment, step S2: if detecting, current location there are ordinary road and tunnel, judges that vehicle is
It is no to enter tunnel, comprising: to obtain the ambient noise value of vehicle interior and/or outside vehicle in real time；When ambient noise value is certain
When being greater than or equal to particular value in the time, confirmation vehicle has entered tunnel.
Wherein, outside compared to tunnel, since tunnel road surface has the characteristics that its uniqueness, local environment compare closing, tunnel
The biggish noise that ventilation blower rotation and the vehicle that passes through of tunnel internal in road can all generate, when vehicle enters tunnel, just
Can experience and differ greatly from, thus by there are when ordinary road and tunnel, obtained in real time in current location vehicle interior and/
Or the ambient noise value of outside vehicle, when ambient noise within a certain period of time, such as 3 seconds, be greater than or equal to it is preset specific
When value, it just can confirm that vehicle has entered in tunnel.
Step S3: if vehicle has entered tunnel, the length of the internal passageway in tunnel and the travel speed of vehicle are obtained.
Wherein, the road conditions in tunnel are generally relatively simple, the case where multiple outlets seldom occur, therefore in tunnel
Navigation accuracy be acceptable in error range.It is unstable or there is no the case where satellite-signal in satellite-signal at present
Under, it is inertial navigation using most navigation modes.Inertial navigation is provided according to current speed and built-in vehicle sensor
Signal intensity and vehicle speed pulse Estimation System by accurate algorithm, extrapolate new fusion signal and positioned, thus
Continue to navigate.It is understood that, by continuous integral operation, being that accurate can obtain when sensing data is accurate enough
Accurate operation track or driving trace out, still, sensor always has error, in the case where continuous integral, error meeting
Accumulative, deviation as a result can be increasing, causes the time of inertial navigation longer, and motion profile or driving trace deviation are got over
Greatly, therefore industry is usually that GPS geo-location system is cooperated to do inertial navigation, is spaced therebetween to inertial navigation result through going more
Just.But GPS can only also be used under situation outdoors, and be not available under the special road conditions such as tunnel, cavern.Therefore, pass through
Length, the speed of vehicle in tunnel are obtained, i.e., is turned over during tunnel by speed, the perimeter of vehicle tyre, vehicle tyre
It encloses the parameters such as number and calculates vehicle real-time operating range in tunnel, the current tunnel obtained in conjunction with car networking from cloud server
The inside 3D rendering in road carries out the navigation in tunnel.
Therefore, in one embodiment, step S3: if vehicle has entered tunnel, the length of the internal passageway in tunnel is obtained
Degree and vehicle travel speed, further includes: obtain the perimeter of vehicle tyre, the circle number that vehicle tyre turns over during tunnel and
The inside 3D rendering of current tunnel.
Step S4: by vehicle location in the internal passageway in tunnel, and enter tunnel navigation mode；Wherein, into tunnel
Navigation mode includes: to be positioned according to the length of the internal passageway in tunnel and the travel speed of vehicle to vehicle.
Wherein, tunnel navigation mode specifically can be by obtain tunnel length, the speed of vehicle, i.e., by speed,
The parameters such as the circle number that perimeter, the vehicle tyre of vehicle tyre turn over during tunnel calculate vehicle travelled in real time in tunnel away from
From, in conjunction with car networking from the inside 3D rendering for the current tunnel that cloud server obtains carry out tunnel in navigation.
In one embodiment, step S4: by vehicle location in the internal passageway in tunnel, and enter tunnel navigation mode
Later, including in real time satellite signal strength is obtained；When satellite signal strength meets normal navigation requirement, tunnel navigation mould is exited
Formula.
Wherein, under general scenario, when GPS satellite positions, GPS navigation device will at least receive the signal of four GPS satellites
When, longitude, dimension and the height of GPS receiver equipment current location can be just calculated, three-dimensional localization is carried out.
In one embodiment, auxiliary navigation method further include: if vehicle has entered tunnel, dipped headlight is automatically turned on,
And vehicle window is automatically closed.
In conclusion the auxiliary navigation method of the application, the position being presently in by obtaining vehicle is current detecting
Position, by judging whether vehicle enters tunnel, after entering tunnel, obtains tunnel internal road there are when ordinary road and tunnel
The length on road and the travel speed of vehicle, and then it is positioned at the internal passageway in tunnel, and carry out tunnel navigation mode, it solves in tunnel
The problem of positioning dislocation bring path computing mistake, promotes the product of navigation caused by road near roads are lacked due to GPS signal
Matter.
Referring to FIG. 2, the application also provides a kind of vehicle device, as one of embodiment, vehicle device includes memory 20
With processor 21, memory 20 is stored at least one program instruction, and processor 21 is by loading and executing at least one program
Instruction is to realize auxiliary navigation method as described above.
In one embodiment, vehicle device is equipped with vehicle device communication module, and vehicle device communication module supports CAN bus, 3G network, 4G
Network, 5G network, WIFI network and/or bluetooth.
Vehicle device provided by the present application, the position being presently in by obtaining vehicle are detecting that it is common that current location exists
When road and tunnel, by judging whether vehicle enters tunnel, after entering tunnel, the length and vehicle of tunnel internal road are obtained
Travel speed, and then be positioned at the internal passageway in tunnel, and carry out tunnel navigation mode, solve tunnel near roads by
The problem of positioning dislocation bring path computing mistake, promotes the quality of navigation caused by GPS signal lacks.
Please continue to refer to Fig. 2 and embodiments thereof, the application also provides a kind of vehicle, as one of embodiment,
Configured with vehicle device as above.
It should be noted that present embodiment vehicle device, vehicle can use WiFi technology or 5G technology etc., for example utilize
The mutual network connection of 5G car networking network implementations, 5G technology used by present embodiment can be one towards displaying
Technology, the application play crucial supporting function to vehicle using 5G technology, realize connection people, attachment or connection vehicle simultaneously
, it can specifically be formed using following three typical case scenes.
First is eMBB (Enhance Mobile Broadband enhances mobile broadband), and user experience rate is made to exist
0.1~1gpbs, peak rate is in 10gbps, and flux density is in 10Tbps/km2；
Second super reliable low time delay communication, the main indicator that the application may be implemented are that time delay is ms end to end
(millisecond) rank；Reliability is close to 100%；
Third is mMTC (magnanimity machine type communication), and the main indicator that the application may be implemented is connection number density, often
Square kilometre connection 1,000,000 other terminals, 10^6/km2.
By the above-mentioned means, the application using 5G technology super reliable, low time delay when the characteristics of, in conjunction with such as radar with take the photograph
It can realize and interact with vehicle, while be felt using the interactive of 5G technology to the ability shown in vehicle offer as first-class
Know function, user can do an output to external environment, and luminous energy does not detect state, can also do some feedbacks etc..Into one
For step, the application is also applied to inside the collaboration of automatic Pilot, such as platooning etc..
In addition, the application can also realize communication enhancing automatic Pilot sensing capability using 5G technology, and can satisfy
Passenger inside the vehicle to the on-vehicle informations such as AR (augmented reality)/VR (virtual reality), game, film, mobile office entertain and it is high-precision
The demand of degree.It such as under situation of running at high speed, when abnormal behaviour occurs in rear passenger, can be intervened, be protected by automatic Pilot
Demonstrate,prove the normally travel of vehicle.The download of the other 3D high accuracy positioning map of Centimeter Level may be implemented in 3~4Gb/km in the application,
The data volume of normal vehicle speed limit 120km/h (thousand ms/hour) map lower each second is 90Mbps~120Mbps (megabit every
Second), while can also support the local map Real-time Reconstruction of fusion onboard sensor information, and dangerous situation modeling and analysis
Deng.
In this application, the vehicle for having vehicle device equipment or vehicle TBOX can be used in above-mentioned auxiliary navigation method
In system, it may be also connected in the CAN bus of vehicle.
In a wherein embodiment, CAN bus may include three network channels CAN_1, CAN_2 and CAN_3, vehicle
One ethernet network channel can also be set, wherein three CAN network channels can pass through two car networking gateways and ether
Net network channel is connected, and for example, wherein CAN_1 network channel includes hybrid drive train, wherein CAN_2 network
Channel includes running guarantee system, and wherein CAN_3 network channel includes electric dynamometer system, and ethernet network channel includes height
Grade management system, higher management system include the people-Che-road simulation system being connected to as node on ethernet network channel
With integrated information acquisition unit, CAN_1 network channel, CAN_2 network channel and the car networking gateway in ethernet network channel can
To be integrated in integrated information acquisition unit；CAN_3 network channel and the car networking gateway in ethernet network channel can integrate
In people-Che-road simulation system.
Furthermore, the node of CAN_1 network channel connection has: Engine ECU (ElectronicControl
Unit, electronic control unit), motor MCU, battery BMS (BATTERY MANAGEMENTSYSTEM, battery management system), from
Dynamic speed changer TCU (Transmission Control Unit, automatic gear-box control unit) and hybrid power processor
HCU (hybrid power full-vehicle control unit)；The node of CAN_2 network channel connection has: rack TT&C system, throttle sensor
Group, power analyzer, instant oil consumption instrument, DC power cabinet, engine water temperature control system, engine motor oil temperature control system
Cold temperature control system in system, motor water temperature control system and engine；The node of CAN_3 network channel connection has: electric power
Dynamometer machine processor.
The rate of preferred CAN_1 network channel is 250Kbps, using J1939 agreement；The speed of CAN_2 network channel
Rate is 500Kbps, using CANopen agreement；The rate of CAN_3 network channel is 1Mbps, using CANopen agreement；Ethernet
The rate of network channel is 10/100Mbps, using ICP/IP protocol.
In a wherein embodiment, car networking gateway can connect equipped with IEEE802.3 interface, DSPI interface, eSCI
Mouth, CAN interface, MLB interface, LIN interface and/or I2C interface.
In a wherein embodiment, for example, IEEE802.3 interface can be used for connecting wireless router, mentioned for vehicle
For WIFI network；DSPI (supplier's manager component) interface is for connecting Bluetooth adapter and NFC (close range wireless communication)
Adapter can provide bluetooth connection and connect with NFC；ESCI interface is for connecting 4G/5G module, with internet communication；CAN connects
Mouth is for connecting vehicle CAN bus；MLB interface is used to connect interior MOST (the system transmission towards media) bus, and LIN connects
Mouth is for connecting interior LIN (local interconnect network) bus；IC interface is for connecting DSRC (dedicated short range communication) module and referring to
Line identification module.In addition, the application can mutually convert each different agreement by using MPC5668G chip, it will not
Same network is merged.
In addition, vehicle device includes vehicle TBOX system, Telematics BOX, referred to as vehicle-mounted TBOX or remote in present embodiment
Journey message handler.
Present embodiment Telematics is the telecommunications (Telecommunications) and information science of telecommunication
(Informatics) synthesis is defined as leading by the computer system, wireless communication technique, satellite that are built on vehicle
Boat device exchanges the Internet technologies of information such as text, voice and provides the service system of information.Briefly just by wireless
Vehicle is accessed internet (car networking system) by network, provides various information necessary to driving, life for car owner.
In addition, present embodiment Telematics is wireless communication technique, satellite navigation system, network communication technology and vehicle
The synthesis for carrying computer when breaking down in vehicle driving, connects service centre by wireless communication, carries out remote vehicle and examines
Disconnected, built-in computer on the engine can recorde the state of vehicle main component, and provide accurately for maintenance personal at any time
Abort situation and reason.Information is received by user communication terminal and checks traffic map, road conditions introduction, traffic information, peace
Entirely with public security service and entertainment information service etc., in addition, the vehicle of present embodiment can also back seat be arranged electronic game
And network application.It can be appreciated that present embodiment provides service by Telematics, it can be convenient user and understand traffic letter
The parking situation in parking lot is ceased, closed on, current location is confirmed, can also be connect with the network server in family, understand house in time
In electric appliance working order, security situation and guest come to visit situation and the riding time of abundant rear passenger etc..
An embodiment wherein, vehicle also settable ADAS (Advanced Driver Assistant System, elder generation
Into driving assistance system), it can use the above-mentioned various sensors being installed on vehicle, inside and outside first time collecting cart
Environmental data carries out the technical processing such as quiet, dynamic object identification, detecting and tracking, so as to allow driver most
The fast time discovers the danger that may occur, to arouse attention and improve safety.Accordingly, the application ADAS can also be used
The sensors such as radar, laser and ultrasonic wave can detect light, heat, pressure or other for monitoring the variable of vehicle-state, usually
Inside the front/rear collision bumper, side-view mirror, control stick of vehicle or on windshield.It is not difficult to find out that above-mentioned ADAS function institute
The various Intelligent hardwares used can access car networking system by way of ethernet link and realize communication connection, interaction.
In addition, the car networking system of present embodiment vehicle, can be used two CAN bus, i.e. power bus P-CAN and
Vehicle Body Bus I-CAN, it is using car body control module BCM as gateway, combination instrument CMIC and power bus P-CAN and vehicle body is total
Line I-CAN connected structure can eliminate on one that combination instrument CMIC in traditional approach is articulated in two buses
When chassis control device or vehicle body control information by gateway forwards to the operation of combination instrument CMIC, subtract as a result,
Light pressure of the car body control module BCM as gateway, reduces network load, and more convenient by multiple bus, such as power
The information of the mobile unit mounted on bus P-CAN and Vehicle Body Bus I-CAN, which is sent on combination instrument CMIC, to be shown, is believed
Breath transmission strong real-time.
Vehicle provided by the present application, the position being presently in by obtaining vehicle are detecting that it is common that current location exists
When road and tunnel, by judging whether vehicle enters tunnel, after entering tunnel, the length and vehicle of tunnel internal road are obtained
Travel speed, and then be positioned at the internal passageway in tunnel, and carry out tunnel navigation mode, solve tunnel near roads by
The problem of positioning dislocation bring path computing mistake, promotes the quality of navigation caused by GPS signal lacks.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned implementations
Detail in mode can carry out technical solution of the present invention a variety of simple within the scope of the technical concept of the present invention
Modification, these simple variants all belong to the scope of protection of the present invention.It is as described in the above specific embodiments each specific
Technical characteristic can be combined in any appropriate way in the case of no contradiction.In order to avoid unnecessary heavy
Multiple, the invention will not be further described in various possible combinations.
Claims (10)
1. a kind of auxiliary navigation method, which is characterized in that the auxiliary navigation method includes:
Obtain the current location of vehicle；
If detecting, there are ordinary roads and tunnel for the current location, judge whether the vehicle enters the tunnel；
If the vehicle has entered the tunnel, the length of the internal passageway in the tunnel and the traveling speed of the vehicle are obtained
Degree；
By the vehicle location in the internal passageway in the tunnel, and enter tunnel navigation mode；
It wherein, include: fast according to the length of the internal passageway in the tunnel and the traveling of the vehicle into tunnel navigation mode
Degree positions the vehicle.
2. auxiliary navigation method according to claim 1, which is characterized in that the ordinary road is located at the upper of the tunnel
Side, and it is Chong Die in vertical direction with the tunnel.
3. auxiliary navigation method according to claim 1, which is characterized in that if described detect that current location exists commonly
Road and tunnel include: before then judging the step of whether vehicle enters the tunnel
Obtain location information corresponding to current location；
The map data information in preset range is obtained according to the location information；
Detecting current location according to the map data information whether there is ordinary road and tunnel.
4. auxiliary navigation method according to claim 1, which is characterized in that if described detect that current location exists commonly
Road and tunnel then judge include: in the step of whether vehicle enters the tunnel
The image information of road ahead is obtained, and analyzes the default the spy whether feature that described image information includes meets tunnel
Sign.
5. auxiliary navigation method according to claim 1, which is characterized in that if described detect that current location exists commonly
Road and tunnel then judge include: in the step of whether vehicle enters the tunnel
Obtain sunrise time, sunset time, current time and the light intensity of current location；
When the current time is between the sunrise time and the sunset time, the light intensity is in certain time model
When variation in enclosing exceeds the first preset value, determine that the vehicle has entered the tunnel；
When the current time is not located between the sunrise time and the sunset time, the light intensity is in a timing
Between variation in range when exceeding the second preset value, determine that the vehicle has entered the tunnel.
6. auxiliary navigation method according to claim 1, which is characterized in that if described detect that current location exists commonly
Road and tunnel then judge include: in the step of whether vehicle enters the tunnel
The ambient noise value of the vehicle interior and/or the outside vehicle is obtained in real time；
When the ambient noise value is greater than or equal to particular value within a certain period of time, confirm that the vehicle has entered the tunnel
Road.
7. auxiliary navigation method according to claim 1, which is characterized in that the inside road for being positioned at the tunnel
Road, and include: after the step of being navigated according to tunnel navigation mode
Satellite signal strength is obtained in real time；
When the satellite signal strength meets normal navigation requirement, the tunnel navigation mode is exited.
8. auxiliary navigation method according to claim 1, which is characterized in that the auxiliary navigation method further include:
If the vehicle has entered the tunnel, dipped headlight is automatically turned on, and vehicle window is automatically closed.
9. a kind of vehicle device, which is characterized in that the vehicle device includes memory and processor, and the memory is stored at least one
Program instruction, the processor is by loading and executing at least one program instruction to realize -8 according to claim 1
One auxiliary navigation method.
10. a kind of vehicle, which is characterized in that the with good grounds vehicle device as claimed in claim 9 of vehicle configuration.
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| CN201910605479.4A CN110411461A (en) | 2019-07-05 | 2019-07-05 | A kind of auxiliary navigation method, vehicle device and vehicle |
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| CN201910605479.4A CN110411461A (en) | 2019-07-05 | 2019-07-05 | A kind of auxiliary navigation method, vehicle device and vehicle |
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| CN113790733A (en) * | 2021-08-06 | 2021-12-14 | 荣耀终端有限公司 | Navigation method and device |
| CN116972870A (en) * | 2023-09-21 | 2023-10-31 | 南京遇简信息科技有限公司 | Road navigation enhancement method, system and medium based on computer image recognition |
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Application publication date: 20191105 |