CN110440816B

CN110440816B - Lane maze creating and navigation route recommending method and device

Info

Publication number: CN110440816B
Application number: CN201810420302.2A
Authority: CN
Inventors: 邢益乔; 迟丽丽
Original assignee: Shenyang Mxnavi Co Ltd
Current assignee: Shenyang Meihang Technology Co.,Ltd.
Priority date: 2018-05-04
Filing date: 2018-05-04
Publication date: 2021-06-22
Anticipated expiration: 2038-05-04
Also published as: CN110440816A

Abstract

The invention discloses a lane maze creating and navigation route recommending method and device. The navigation route recommendation method uses the created lane maze to recommend a navigation route for a vehicle, and comprises the following steps: positioning a position of a vehicle in the maze and a position of a maze exit through which the vehicle can pass; determining a labyrinth path for the vehicle to pass through according to the position of the vehicle in the labyrinth and the position of an outlet of the labyrinth; and obtaining a vehicle passing route according to the maze path and recommending the vehicle passing route to the user. The method can accurately predict the route of the vehicle passing through the intersection, realize lane-level route guidance, guide a user to perform lane change operation in time, enable the vehicle to smoothly pass through the intersection, and reduce the possibility of collision and violation.

Description

Lane maze creating and navigation route recommending method and device

Technical Field

The invention relates to the technical field of navigation, in particular to a lane maze creating and navigation route recommending method and device.

Background

With the development of navigation technology, the application of navigation in daily life is more and more extensive, and great convenience is brought to daily travel of people. In the existing navigation technology, for the lane guidance of the road network, only the lane condition of the intersection is displayed, the continuous change of the lane in front of the intersection is not judged, and the clear high-precision lane-level route for the vehicle to smoothly pass through the intersection is not accurately deduced.

Due to the limitation of the visual field range of the driver, the lane change condition of the intersection can be accurately seen when the intersection is relatively close, for example, which lane can go straight, which lane can turn left, which lane can turn right, and the like. When a vehicle driver is unfamiliar with road conditions and sees the lane reminding at the tail end of the navigation prompt intersection, the lane reminding is out of the range capable of safely changing the lane, so that the driver can change the lane in an emergency, the lane is not changed frequently, or the changed lane is not the optimal path, and the possibility of violation of regulations or collision at the intersection is greatly increased.

However, in the prior art, there is no implementation scheme for accurately predicting the lane change condition of the intersection in front of the vehicle and guiding the driver to change the lane in time, and in order to enable the driver to perform the lane change behavior in time within a safe distance, the prediction is necessary, and the method belongs to the technical problem to be solved urgently.

Disclosure of Invention

In view of the above problems, the present invention has been made to provide a lane maze creating and navigation route recommending method and apparatus that overcomes or at least partially solves the above problems.

The embodiment of the invention provides a lane maze, which is created according to the acquired high-precision lane information in the appointed range of an intersection, wherein the lane maze comprises M rows and N columns of maze grids, and M, N is a positive integer;

and identification information is added in each maze cell and is used for identifying the passable lane and the non-lane of each lane group unit in the appointed range of the intersection.

In some optional embodiments, the number of rows and columns of the maze grid is determined according to the number of lane group units in a specified range of the intersection, the number of accessible lanes and lane change information.

In some optional embodiments, the identification information comprises lane identification and non-lane identification; the method comprises the following steps of determining whether a passable lane mark or a non-lane mark is added in a maze lattice:

determining the number of passable lanes and lane change information of each lane group unit in the specified range of the intersection according to the lane information;

and corresponding the number of passable lanes and the lane change information of each lane group unit to corresponding maze grids in the maze, determining whether each maze grid corresponds to a passable lane or a non-lane, and adding corresponding passable lane marks or non-lane marks in the maze grids.

The embodiment of the invention also provides a lane maze creating method, which comprises the following steps:

acquiring high-precision lane information of a road network;

according to the lane information in the appointed range of the intersection, a lane maze comprising M rows and N columns of maze grids is created, and M, N is a positive integer;

and adding identification information in each maze cell to identify the passable lane and the non-lane of each lane group unit in the appointed range of the intersection.

In some optional embodiments, creating a maze according to the lane information includes:

determining the number of passable lanes and lane change information of each lane group unit according to the lane information;

determining the number of rows and columns of the maze pattern according to the number of lane group units in the appointed range of the intersection, the number of passable lanes and lane change information, and creating the maze pattern;

and determining whether the lane group unit corresponding to each maze cell is a passable lane or a non-lane at the corresponding position according to the passable lane number and the lane change information of each lane group unit, and adding corresponding passable lane marks or non-lane marks in the maze cells.

In some optional embodiments, the obtaining of the high-precision lane information of the road network includes:

and obtaining lane-level sideline information, lane change information and lane number information of the road network to obtain high-precision lane information.

The embodiment of the invention also provides a lane-level navigation route recommendation method, which is used for recommending a navigation route for a vehicle by using the lane maze and comprises the following steps:

positioning a position of a vehicle in the maze and a position of a maze exit through which the vehicle can pass;

determining a labyrinth path for the vehicle to pass through according to the position of the vehicle in the labyrinth and the position of an outlet of the labyrinth;

and obtaining a vehicle passing route according to the maze path and recommending the vehicle passing route to the user.

In some optional embodiments, the positioning of the vehicle in the maze and the position of the exit from the maze through which the vehicle may pass comprises:

acquiring vehicle position information from a positioning system;

determining a lane group unit corresponding to the vehicle position and a lane where the vehicle is located according to the acquired vehicle position information and the acquired lane information to obtain a labyrinth grid corresponding to the vehicle position in the labyrinth, and adding a vehicle position identifier in the labyrinth grid;

and determining a maze check corresponding to the vehicle-passable exit, and adding an exit identifier in the maze check.

In some optional embodiments, determining the maze path traveled by the vehicle according to the position of the vehicle in the maze and the position of the exit of the maze comprises:

and calculating labyrinth grids contained in a passable path from the labyrinth grid corresponding to the vehicle position to the labyrinth grid corresponding to the vehicle passable outlet according to the selected labyrinth algorithm, and adding a path identifier in the determined labyrinth grids to obtain the passable labyrinth path of the vehicle.

In some optional embodiments, the obtaining of the vehicle passing route from the maze path and recommending the vehicle passing route to the user includes:

tracing a route according to a maze path, displaying the traced route to a user, and/or

And determining a lane for the vehicle to pass according to the maze path, and broadcasting the lane to the user by voice.

An embodiment of the present invention further provides a lane maze creating device, including:

the acquisition module is used for acquiring high-precision lane information of the intersection;

the creating module is used for creating a lane maze comprising M rows and N columns of maze grids according to the lane information in the appointed range of the intersection, and M, N is a positive integer; and adding identification information in each maze cell to identify the passable lane and the non-lane of each lane group unit in the appointed range of the intersection.

In some optional embodiments, the creating module is specifically configured to:

In some optional embodiments, the obtaining module is specifically configured to:

An embodiment of the present invention further provides a navigation route recommendation apparatus, which recommends a navigation route for a vehicle using a lane maze created by the lane maze creation apparatus, including:

the positioning module is used for positioning the position of a vehicle in the maze and the position of a maze outlet through which the vehicle can pass;

the path determining module is used for determining a labyrinth path for the vehicle to pass according to the position of the vehicle in the labyrinth and the position of an outlet of the labyrinth;

and the recommending module is used for obtaining the vehicle passing route and recommending the vehicle passing route to the user according to the maze path.

In some optional embodiments, the positioning module is specifically configured to:

acquiring vehicle position information from a positioning system;

In some optional embodiments, the path determining module is specifically configured to:

In some optional embodiments, the recommendation module is specifically configured to:

The embodiment of the invention also provides navigation equipment which comprises the lane maze creating device and/or the navigation route recommending device.

An embodiment of the present invention further provides a navigation system, including: a navigation server and a navigation terminal;

the navigation server comprises the lane maze creating device and the navigation route recommending device;

and the navigation terminal provides the vehicle passing route obtained by the navigation server for the user.

An embodiment of the present invention further provides a navigation system, which includes: a navigation server and a navigation terminal;

the navigation server comprises the lane maze creating device;

the navigation terminal comprises the navigation route recommending device.

The embodiment of the invention also provides a computer storage medium, wherein the computer storage medium stores computer executable instructions, and the computer executable instructions are used for executing the lane maze creating method.

The embodiment of the invention also provides a computer storage medium, wherein a computer executable instruction is stored in the computer storage medium and is used for executing the navigation route recommendation method.

An embodiment of the present invention further provides a navigation apparatus, including: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the lane maze creation method described above when executing the program.

An embodiment of the present invention further provides a navigation apparatus, including: the navigation route recommendation system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the navigation route recommendation method.

The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:

and a lane maze is created according to high-precision lane information in the specified range of the intersection, and the passable lane and the non-lane of each lane group unit in the specified range of the intersection are marked by the maze cell, so that the vehicle can be guided by using the lane maze, and the lane-level navigation route recommendation is realized.

When the vehicle is guided, the position of the vehicle in the maze and the position of the maze exit where the vehicle can pass are positioned to determine the maze path where the vehicle passes, the method can simply and conveniently determine the guide path through the maze model and recommend the guide path to the user, the lane-level navigation path recommendation can be realized, the path where the vehicle passes through the intersection can be quickly and accurately predicted, the user is guided to perform line changing operation in time, the vehicle can smoothly pass through the intersection, the possibility of collision and violation is reduced, and the user can conveniently select the optimal path to quickly pass through the intersection.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a flow chart of a method for creating a lane maze according to an embodiment of the present invention;

FIG. 2 is a diagram illustrating a lane maze created in a first embodiment of the present invention;

FIG. 3 is a flowchart illustrating a navigation route recommendation method according to an embodiment of the present invention;

FIG. 4 is a flowchart illustrating a navigation route recommendation method according to a second embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a lane maze creating apparatus according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a navigation route recommendation device according to an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

In order to solve the problem that the lane change condition in front of an intersection cannot be predicted and a driver is guided to change the lane in time in the prior art, and to avoid the situation that the lane change condition cannot be predicted or the situation that violation or collision is caused by emergency lane change and the like, the embodiment of the invention provides a lane-level navigation route recommendation method which can deduce which lanes the vehicle can specifically travel can pass through the intersection most smoothly according to the positioning position of the vehicle, accurately predict all the lane change behaviors of the vehicle in the safety distance in front of the intersection, and guide the user to change the lane.

The following is a detailed description by way of specific examples.

Example one

The embodiment of the invention provides a lane maze and a creation method thereof, and a method for recommending a navigation route by using the lane maze.

The lane maze provided by the first embodiment of the invention is created according to the acquired high-precision lane information in the intersection designated range, the lane maze comprises M rows and N columns of maze grids, and M, N is a positive integer; and identification information is added in each maze cell and is used for identifying the passable lane and the non-lane of each lane group unit in the appointed range of the intersection.

The number of rows and columns of the maze grids is determined according to the number of lane group units in the appointed range of the intersection, the number of passable lanes and lane change information.

The identification information added in the maze check comprises lane identification and non-lane identification; the method comprises the following steps of determining whether a passable lane mark or a non-lane mark is added in a maze lattice:

determining the number of passable lanes and lane change information of each lane group unit in the intersection specified range according to the acquired high-precision lane information in the intersection specified range;

The lane maze creating method provided by the embodiment of the invention has a flow as shown in fig. 1, and comprises the following steps:

step S101: and acquiring high-precision lane information of the road network.

The road network is composed of roads, and the roads of the map data are stored by road segments (links), wherein the links refer to road segments, each link corresponds to a road segment, and a road may include one link or many links. The predetermined distance may be composed of a plurality of links, or may include only one link. Each link may include a plurality of lane group units (lane _ group).

The map data may be stored in the navigation terminal or in the navigation server. It should be noted that the "navigation server" mentioned here and hereafter in the present invention is not limited to one server nor a server for calculating a planned route, and the server participating in the present invention is referred to as a navigation server. The navigation terminal is, for example, a vehicle navigation terminal or an intelligent terminal such as a mobile phone.

The Lane group unit (Lane _ group) refers to a basic unit of a Lane group in map data, and the number of lanes in one Lane group unit is not changed, so that the Lane group unit can be considered as a minimum change unit; the lane group is a group consisting of a plurality of lanes within a real road width; the lane is a road formed by two lanes and allowing the navigated vehicle to pass through; the vehicle lines can be white solid lines, white dotted lines, double yellow lines and the like according to actual traffic needs. The lane group unit may be obtained from road segments in the map data.

In practical applications, high-precision lane information of a road network can be acquired from a local storage of a network server or a navigation device, and for example, the high-precision lane information of each link can be acquired in units of road segments (links). The lane information of each link may include lane information of a plurality of lane group units (lane _ group).

For example: and obtaining lane-level sideline information, lane change information and lane number information of the road network to obtain high-precision lane information. The lane change information includes lane attributes, such as merging of lanes and/or splitting of lanes, and the like.

The lane change information indicates information that a lane in a previous lane group unit is increased or decreased in an adjacent subsequent lane group unit. For example, if a lane in a preceding lane group unit also has a corresponding lane connected thereto in the straight-ahead direction in an adjacent succeeding lane group unit, it indicates that the lane in the preceding lane group unit is neither increased nor decreased in the succeeding lane group unit; if a lane in the previous lane group unit does not have a corresponding lane connected with the lane in the straight-ahead direction in the adjacent next lane group unit, the lane in the previous lane group unit is reduced in the next lane group unit; if a certain lane in the next lane group unit does not have a corresponding lane connected with the certain lane in the straight-ahead direction in the adjacent previous lane group unit, indicating that the lane in the next lane group unit is an increased lane relative to the previous lane group unit; among them, "front" and "rear" are relative to the navigated vehicle, and among two adjacent lane group units, the lane group unit closer to the navigated vehicle is referred to as a previous lane group unit in this patent, and the lane group unit farther from the navigated vehicle is referred to as a next lane group unit in this patent.

Specifically, the lane change information may be expressed in the form of lane attributes as: split, merge and normal. The split indicates that the lane is a lane split from other lanes, the merge indicates that the lane will be merged into other lanes, and the normal indicates that the lane is neither split nor merged. The split corresponding lane is increased, the left side splits a new lane to indicate that the left side lane is increased, and the right side splits a new lane to indicate that the right side lane is increased; merging corresponds to lane reduction, left lane merging indicates that left lane reduction, right lane merging indicates that right lane reduction.

Step S102: and creating a lane maze according to the lane information in the specified range of the intersection.

A lane maze comprising M rows and N columns of maze grids can be created, wherein M, N is a positive integer; the identification information of each maze lattice of the maze identifies the passable lane and the non-lane of each lane group unit in the appointed range of the intersection.

Step S103: and adding identification information in each maze cell to identify the passable lane and the non-lane of each lane group unit in the appointed range of the intersection.

When a maze is created, determining the number of passable lanes and lane change information of each lane group unit by taking the lane group unit as a unit according to the acquired lane information; determining the number of rows and columns of the maze pattern according to the number of lane group units, the number of passable lanes and lane change information in the specified range of the intersection, and creating the maze pattern; and determining whether the lane group unit corresponding to each maze cell is a passable lane or a non-lane at the corresponding position according to the passable lane number and the lane change information of each lane group unit, and adding corresponding passable lane marks or non-lane marks in the maze cells.

The method comprises the steps of determining the number of rows of maze cells according to the number of lane group units in a specified range of an intersection, determining the number of columns of the maze cells according to the number of lanes in each lane group unit, the distribution of the lanes, the change of the lanes and the like, creating the maze cells, and marking whether each maze cell of the maze is a passable lane or not according to the lane information of each lane group unit.

For example, high-precision lane information 1 km ahead of the guidance point may be collected, information about increase and decrease of front and rear lanes may be identified, a position where a lane matrix is the widest may be calculated, and a maze creation may be performed, where a lane maze model is created as shown in fig. 2(a), where: i is a boundary; 1 is a wall; 0 is a passable lane. As can be seen from fig. 2(a), lane change information within an intersection specified range is acquired in link units, the widest value of lanes in each link, that is, the maximum number of passable lanes, is determined, and a lane maze of an intersection is created according to the widest value, wherein the maze includes passable lane marks and non-lane marks of each lane group unit.

Determining the number and distribution change conditions of passable lanes of each lane group unit by taking the lane group unit as a unit according to the lane information; and determining the column number of the maze pattern according to the number and the distribution change condition of the accessible lanes of each lane group unit and creating the maze pattern by taking the number of the lane group units in the appointed range of the intersection as the row number of the maze pattern. For example, if the maximum number of passable lanes of one lane group unit with the largest passable lane is 7, and the lane distribution of other lane group units does not exceed the position range of the 7 lanes, determining that the number of columns of the maze lattice is 7, acquiring lane information of 5 lane group units near an intersection where the maze is to be created, determining that the number of rows of the maze lattice is 5, and creating the maze comprising 5 rows and 7 columns of maze lattices; another example is: the maximum number of the passable lanes of one lane group unit with the largest passable lane is 4, the lane distribution number of other lane group units is not more than 4, but the lane change information is that one side of the lane is increased, one side of the lane is decreased, 7 columns of maze cells of lanes containing all the lane group units are needed, the number of the columns of the maze cells is determined to be 7, the lane information of 5 lane group units near the intersection where the maze is to be created is acquired, the number of the rows of the maze cells is determined to be 5, and the maze comprising 5 rows and 7 columns of maze cells is created; each maze check is used for identifying whether the corresponding lane group unit is a passable lane at the position corresponding to the maze check through a passable lane mark '0' and a non-lane mark '1'. According to the fact that the lane group unit corresponding to each maze cell is a passable lane or a non-lane at the corresponding position, corresponding passable lane marks or non-lane marks are added into the maze cells.

The navigation route recommendation method provided by the embodiment of the invention recommends a navigation route for a vehicle by using the created lane maze, the flow of which is shown in fig. 3, and the method comprises the following steps:

step S201: the position of the vehicle in the maze and the exit position of the maze through which the vehicle can pass are located.

After the maze is created, the position of the vehicle and the position of the exit are determined to determine the maze path that the vehicle can pass through.

Acquiring vehicle position information from a positioning system; determining a lane group unit corresponding to the vehicle position and a lane where the vehicle is located according to the acquired vehicle position information and the acquired lane information to obtain a labyrinth grid corresponding to the vehicle position in the labyrinth, and adding a vehicle position identifier in the labyrinth grid; and determining a maze check corresponding to the vehicle-passable exit, and adding an exit identifier in the maze check.

Preferably, in this step, after the position of the maze exit through which the vehicle can pass is located, the position of the maze exit which is optimal or closest to the position of the vehicle is determined.

See fig. 2(b), wherein: i is a boundary; 1 is a wall; 0 is a passable lane (or passable lane), 2 is a position where the vehicle is located, namely a maze entrance, and 3 is a maze exit closest to the vehicle.

As shown in fig. 2(b), in the created maze, the position where the vehicle is located is identified, i.e. the identification "2" of the position where the vehicle is located and the position "3" of the exit of the maze closest to the vehicle are added in the corresponding maze cells.

Step S202: and determining the labyrinth path for the vehicle to pass through according to the position of the vehicle in the labyrinth and the position of the outlet of the labyrinth.

In the step, the position of the vehicle in the maze is determined, the maze grids contained in the passable path from the maze grids corresponding to the position of the vehicle to the maze grids corresponding to the passable exit of the vehicle are calculated according to the selected maze algorithm, and the path identification is added in the determined maze grids to obtain the passable maze path of the vehicle.

See fig. 2(c), where: i is a boundary; 1 is a wall; 0 is a passable lane (or passable lane), 2 is the position of the vehicle, namely a maze entrance, 3 is the maze exit closest to the vehicle, and the moving path is derived by the 4-bit maze algorithm.

As shown in fig. 2(c), the maze lattices that the vehicle needs to pass through when passing through the intersection are identified by the path identification "4".

Step S203: and obtaining a vehicle passing route according to the maze path and recommending the vehicle passing route to the user.

The vehicle passing route is recommended to the user, the route drawing can be carried out according to the maze route, the drawn route is displayed to the user, and/or a lane where the vehicle passes is determined according to the maze route, and the voice broadcasting is carried out to the user.

Therefore, after the maze path is determined, the maze path is converted into a displayable path and recommended to a user, and a voice broadcasting mode can be selected for reminding.

In the method of the embodiment, the route of the user passing through the intersection is estimated by creating the maze, and the user is reminded in time, so that the user can change the route in time, and accidents and illegal behaviors are effectively avoided. In practical application, the lane maze of several intersections in front of the vehicle of the user can be created in advance, for example, two or three intersections can be created first, and when the vehicle is about to arrive at the intersection, for example, the distance from the intersection is less than 1 kilometer, the route calculation is carried out in time, so that the processing time is reduced, the passable route can be calculated more timely and rapidly, and the passable route is prompted to the user.

Example two

The second embodiment of the present invention provides a specific implementation process of the lane-level navigation route recommendation method, the flow of which is shown in fig. 4, and the method includes the following steps:

step S301: and acquiring high-precision lane information of the road network.

And obtaining a calculation result of the high-precision road network to obtain high-precision lane information. And the common road network calculation module is used for finishing the calculation of the common route.

Acquiring high-precision road data of a road network, which may include the following:

lane sideline information at lane level, such as: solid white lines, dashed white lines, double yellow lines, etc.

Lane-level front and rear lane change information, such as front and rear lane change trend information: left lane decrease, left lane increase, etc.

The lane number information at lane level, for example, each lane group unit in the current link has several lanes.

The high-precision guidance data may further include lane connection information, which is information indicating a connection relationship between lanes in two adjacent lane group units, for example, lane 1 in a preceding lane group unit connects lane 2 and lane 3 in a subsequent lane group unit, and the like, "connection" means that a vehicle can travel from one lane to another lane.

The lane connection information may be used when determining a passable lane, particularly when the information relates to a solid line that prohibits crossing driving, in which case, it may be determined that a lane separated from the current lane by the solid line belongs to a non-passable lane based on lane boundary information in the high-accuracy lane information, or it may be determined that a lane having a connection relationship with the current lane is a passable lane based on the lane connection information.

The method comprises the steps of obtaining high-precision lane information of a road network, wherein the lane information can comprise a plurality of links, and during subsequent sorting, sorting can be carried out by taking the links as a unit, and the number, the change condition, the sideline information and the like of lanes of each lane group unit in each link are counted, so that the maze modeling of the actual road condition is realized.

Step S302: and collecting high-precision lane information in the specified range of the intersection.

For example, taking an intersection at which a maze is to be created as an example, a certain distance is left between the current intersection and the previous intersection, when the distance between two intersections is greater than one kilometer, high-precision lane information within a kilometer range of an intersection guide point is collected, and when the distance between two intersections is not greater than one kilometer, lane information between two intersections is collected. The data can be collected by taking links as units, when the data used for maze modeling relates to a plurality of links, the data of each link can be sorted, and then the data of the plurality of links are connected to obtain the created maze.

Step S303: and determining the passable lanes and the lane change condition of each lane group unit.

For example, when a maze is created 1 km ahead of a guidance point, the number of lane group units, the lane change information of each lane group unit, and the number of passable lanes within an intersection designation range are determined according to the lane information of each link.

In the counting process, the links are taken as a unit for counting, the lane increase and decrease information of each lane group unit is counted, the current lane group unit is compared with the last counted lane group unit aiming at the current counted lane group unit, each lane is circulated, and whether the lane number decrease, the left lane decrease and the right lane decrease occur or not is judged until the lanes of the current lane group unit are circulated completely. And after counting the current lane group unit, continuously counting the next lane group unit until all the lane group units of the link are counted.

Step S304: and creating a lane maze according to the number of lane group units in the appointed range of the intersection, the number of passable lanes of each lane group unit and the change condition of the lanes, and adding identification information of passable lanes and non-lanes in each maze lattice.

The maze is created according to high-precision lane information, the maze lattice number for creating the maze is determined according to the number of lane group units in the specified range of the intersection, the number of passable lanes of each lane group unit, the lane change condition and the like, for example, the number of general lines can be the number of statistical lane group units, the number of columns is not less than the number of statistical lanes in the widest place of the lane, after the maze lattices are created, whether each maze lattice is a passable lane or not is identified, and the created maze model is finally obtained. And determining whether the lane group unit corresponding to each maze cell is a passable lane or a non-lane at the corresponding position according to the passable lane number and the lane change information of each lane group unit, and adding corresponding passable lane marks or non-lane marks in the maze cells.

The maze creating process can be created once before the navigation route recommendation every time, and can also create a lane maze near the intersection in advance, and the lane maze created in advance is directly called to guide the vehicle when the vehicle needs to be guided.

Step S305: the position of the vehicle in the maze is located.

After the maze is created, when the vehicle enters the road range corresponding to the maze, the positioning of the position of the vehicle in the maze, such as which maze lattice of the maze corresponds to the driven position, can be started, and the identification is performed. The position of the vehicle in the maze can be calculated based on the vehicle position obtained by the positioning module. The positioning module receives position information transmitted by a global positioning system, and accurately matches the vehicle to which lane on the route by combining with high-precision data, so that the vehicle can be further positioned to the corresponding maze check.

Step S306: a maze exit location through which the vehicle may pass is determined.

The lane which is closest to the vehicle and can be separated can be calculated to be used as a maze exit, and the position of the maze exit on the optimal passing route of the vehicle can be determined according to the optimal route rule. And the positions are corresponding to the maze grids in the created maze for identification.

The execution sequence of step S305 and step S306 is not sequential, and may be executed simultaneously.

Step S307: a maze path is determined that the vehicle may travel.

The high-precision lane-level route calculation module is used for finishing the calculation of a lane-level route from a vehicle to a front intersection, calculating a vehicle traveling route by using a plurality of optional maze optimal calculation methods according to needs, identifying an optional maze path or an optimal maze path from which the vehicle can depart from a maze exit, and identifying the maze path in the created maze.

Step S308: and displaying a high-precision route according to the maze path which can be passed by the vehicle to obtain a recommended route which can be passed by the vehicle.

After the maze path which can be passed by the vehicle is determined, the display module is informed to display the high-precision route, the display module can draw the route according to the maze path which can be passed by the vehicle, and the route at the lane level is received and displayed on the navigation display.

Step S309: and carrying out voice prompt on the recommended route which can be passed by the vehicle.

After the recommended route is determined, the voice broadcast processing module can be informed, and voice reminding is carried out aiming at determining the high-precision lane route.

Based on the same inventive concept, an embodiment of the present invention further provides a lane maze creating device, which may be disposed in a navigation apparatus, and has a structure as shown in fig. 5, including: an acquisition module 501 and a creation module 502.

An obtaining module 501, configured to obtain high-precision lane information of an intersection;

the creating module 502 is used for creating a lane maze comprising M rows and N columns of maze grids according to lane information in the specified range of the intersection, wherein M, N is a positive integer; and adding identification information in each maze cell to identify the passable lane and the non-lane of each lane group unit in the appointed range of the intersection.

Optionally, the creating module 502 is specifically configured to:

determining the number of passable lanes and lane change information of each lane group unit according to the acquired high-precision lane information in the specified range of the intersection;

determining the number of rows and columns of the maze pattern according to the number of lane group units, the number of passable lanes and lane change information in the specified range of the intersection, and creating the maze pattern;

Optionally, the obtaining module 501 is specifically configured to obtain lane-level sideline information, lane change information, and lane number information of a road network, so as to obtain high-precision lane information.

Based on the same inventive concept, an embodiment of the present invention further provides a navigation route recommendation apparatus for recommending a navigation route for a vehicle using a created lane maze, which may be provided in a navigation device, and the apparatus has a structure as shown in fig. 6, including: a location module 601, a path determination module 602, and a recommendation module 603.

The positioning module 601 is used for positioning the position of a vehicle in the maze and the position of a maze exit where the vehicle can pass.

And the path determining module 602 is used for determining the maze path for the vehicle to pass according to the position of the vehicle in the maze and the position of the exit of the maze.

And the recommending module 603 is used for obtaining the vehicle passing route and recommending the vehicle passing route to the user according to the maze path.

Optionally, the positioning module 601 is specifically configured to obtain vehicle position information from a positioning system; determining a lane group unit corresponding to the vehicle position and a lane where the vehicle is located according to the acquired vehicle position information and the acquired lane information to obtain a labyrinth grid corresponding to the vehicle position in the labyrinth, and adding a vehicle position identifier in the labyrinth grid; and determining a maze check corresponding to the vehicle-passable exit, and adding an exit identifier in the maze check.

Optionally, the path determining module 602 is specifically configured to calculate, according to the selected maze algorithm, maze patterns included in a passable path from a maze pattern corresponding to the vehicle position to a maze pattern corresponding to the vehicle passable exit, and add a path identifier to the determined maze patterns to obtain a labyrinth path through which the vehicle passes.

Optionally, the recommending module 603 is specifically configured to draw a route according to the maze path, display the drawn route to the user, and/or determine a lane through which the vehicle passes according to the maze path, and perform voice broadcast to the user.

Optionally, the recommending module 603 may broadcast the route to the user through the display module or through the voice broadcast module.

With regard to the lane maze creating device and the navigation route recommending device in the above-described embodiments, the specific manner in which the respective modules perform the operations has been described in detail in the embodiments related to the method, and will not be elaborated herein.

The embodiment of the invention also provides navigation equipment which comprises the lane maze creating device and/or the navigation route recommending device. That is to say, the lane maze creating device and the navigation route recommending device can be arranged in the same navigation equipment, and the maze creating function and the navigation route recommending function can be realized by one navigation equipment, or can be arranged in different navigation equipment, and the lane maze creating function and the navigation route recommending function can be realized by different navigation equipment respectively.

According to the system, a navigation server is used for maze creation and navigation route recommendation, and after the server obtains a vehicle passing route recommended to a user, a navigation terminal provides route recommendation information for the user.

the navigation server comprises the lane maze creating device;

the navigation terminal comprises the navigation route recommending device.

The system is characterized in that a navigation server is used for creating a maze, a navigation terminal is used for recommending a navigation route for a user by using a lane maze created by a return server, and after a vehicle passing route recommended to the user is obtained, the navigation terminal is used for providing route recommendation information for the user.

The embodiment of the invention also provides a computer storage medium, wherein the computer storage medium stores computer executable instructions, and the stored computer executable instructions are used for executing the lane maze creating method.

The embodiment of the invention also provides a computer storage medium, wherein the computer storage medium stores computer executable instructions, and the stored computer executable instructions are used for executing the navigation route recommendation method.

An embodiment of the present invention further provides a navigation apparatus, including: the lane maze creating method comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor realizes the lane maze creating method when executing the program stored on the memory.

An embodiment of the present invention further provides a navigation apparatus, including: the navigation route recommendation method comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor realizes the navigation route recommendation method when executing the program stored on the memory.

The method and the device of the embodiment of the invention realize high-precision lane-level recommended route guidance on the navigation equipment, can be used in vehicle navigation, and solves the problems of violation and safety caused by the fact that a user is not familiar with road conditions, and the lane-level recommended route guidance is too late when the lane change is needed or the lane change path is not optimal. The violation of regulations and accidents caused by untimely line change are avoided, and the life and property safety of a driver and passengers is guaranteed.

Unless specifically stated otherwise, terms such as processing, computing, calculating, determining, displaying, or the like, may refer to an action and/or process of one or more processing or computing systems or similar devices that manipulates and transforms data represented as physical (e.g., electronic) quantities within the processing system's registers and memories into other data similarly represented as physical quantities within the processing system's memories, registers or other such information storage, transmission or display devices. Information and signals may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that may be referenced throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.

It should be understood that the specific order or hierarchy of steps in the processes disclosed is an example of exemplary approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not intended to be limited to the specific order or hierarchy presented.

In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, invention lies in less than all features of a single disclosed embodiment. Thus, the following claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.

Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. Of course, the processor and the storage medium may reside as discrete components in a user terminal.

For a software implementation, the techniques described herein may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. The software codes may be stored in memory units and executed by processors. The memory unit may be implemented within the processor or external to the processor, in which case it can be communicatively coupled to the processor via various means as is known in the art.

What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".

Claims

1. A lane maze is characterized by being created according to acquired high-precision lane information in an appointed range of an intersection, the lane maze comprises M rows and N columns of maze cells, M, N is a positive integer, the number of rows and the number of columns of the maze cells are determined according to the number of lane group units in the appointed range of the intersection, the number of passable lanes of each lane group unit and lane change information, and the lane group units are formed by lanes included in parts, of road segments in the appointed range of the intersection, of which the number of lanes does not change;

2. The lane maze of claim 1 wherein the identification information includes lane markings and non-lane markings; the method comprises the following steps of determining whether a passable lane mark or a non-lane mark is added in a maze lattice:

3. A lane maze creation method characterized by comprising:

acquiring high-precision lane information of a road network, and determining the number of passable lanes and lane change information of each lane group unit according to the lane information, wherein the lane group unit is formed by lanes included in the part, of which the number of lanes does not change, of road segments;

determining the number of rows and columns of maze grids according to the number of lane group units, the number of passable lanes and lane change information in a specified range of the intersection, and creating a lane maze comprising M rows and N columns of maze grids, wherein M, N is a positive integer;

4. The method of claim 3, wherein adding identification information in each maze cell comprises:

5. A navigation route recommendation method for recommending a navigation route for a vehicle using the lane maze according to any one of claims 1-2, comprising:

6. The method of claim 5, wherein the locating the position of the vehicle in the maze and the position of the exit from the maze through which the vehicle may pass comprises:

acquiring vehicle position information from a positioning system;

7. A lane maze creating apparatus, comprising:

the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring high-precision lane information of an intersection and determining the number of passable lanes and lane change information of each lane group unit according to the lane information, and the lane group unit is composed of lanes included in the part of a road line segment where the number of the lanes does not change;

the creating module is used for determining the number of rows and columns of the maze grids according to the number of lane group units, the number of passable lanes and lane change information in the appointed range of the intersection, creating a lane maze comprising M rows and N columns of maze grids, and M, N is a positive integer; and adding identification information in each maze cell to identify the passable lane and the non-lane of each lane group unit in the appointed range of the intersection.

8. A navigation route recommendation apparatus that recommends a navigation route for a vehicle using the lane maze created by the lane maze creation apparatus as recited in claim 7, comprising:

9. A navigation device characterized by comprising the lane maze creating apparatus as recited in claim 7 and/or the navigation route recommending apparatus as recited in claim 8.

10. A navigation system, comprising: a navigation server and a navigation terminal;

the navigation server comprises a lane maze creating device as claimed in claim 7 and a navigation route recommending device as claimed in claim 8;

the navigation terminal provides the vehicle passing route obtained by the navigation server for a user;

or

The navigation server comprises the lane maze creating device as claimed in claim 7;

the navigation terminal includes therein the navigation route recommendation device according to claim 8.

11. A computer storage medium having stored thereon computer-executable instructions for performing the lane maze creation method of any one of claims 3-4 or for performing the navigation route recommendation method of any one of claims 5-6.

12. A navigation device, comprising: memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor implements the lane maze creation method of any one of claims 3-4 or implements the navigation route recommendation method of any one of claims 5-6 when executing the program.