CN111735469B

CN111735469B - Map navigation implementation method, storage medium and server

Info

Publication number: CN111735469B
Application number: CN202010544211.7A
Authority: CN
Inventors: 刘定俊; 田野; 袁义龙
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2020-06-15
Filing date: 2020-06-15
Publication date: 2022-08-23
Anticipated expiration: 2040-06-15
Also published as: CN111735469A

Abstract

The disclosure provides a map navigation implementation method, a storage medium and a server, and relates to the technical field of computers. The method comprises the following steps: acquiring a current pitch angle of the vehicle; acquiring positioning information of the vehicle; searching interest points within a preset distance from the vehicle on a navigation map based on the positioning information of the vehicle, wherein the interest points comprise a first interest point and a second interest point; when the current pitch angle of the vehicle exceeds a preset inclination threshold and the first interest point is found, determining a navigation map of the vehicle at the first interest point; and when the second interest point is found and the difference between the current pitch angle of the vehicle and the gradient of the second interest point is within a preset angle range, determining a navigation map of the vehicle at the second interest point. The method realizes that the navigation map is correctly determined when the vehicle enters the places with different heights.

Description

Map navigation implementation method, storage medium and server

Technical Field

The disclosure relates to the technical field of computers, in particular to a map navigation implementation method, a readable storage medium and a server.

Background

The navigation electronic map can provide services of route planning, navigation and the like for the user. When a user drives a vehicle, two or more navigation maps may be provided at different heights perpendicular to the ground. Since the navigation system usually performs real-time navigation according to the position of the acquired user, in such a case, the user is required to manually determine a suitable navigation map, and the navigation map cannot be automatically and correctly determined.

As described above, how to correctly determine a navigation map for a vehicle under a complex road condition becomes an urgent problem to be solved.

The above information disclosed in this background section is only for enhancement of understanding of the background of the disclosure and therefore it may contain information that does not constitute prior art that is already known to a person of ordinary skill in the art.

Disclosure of Invention

The invention aims to provide a map navigation implementation method, a readable storage medium and a server, which at least solve the technical problem that a navigation map cannot be correctly determined when a vehicle enters different heights of places.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.

According to an aspect of the present disclosure, a map navigation implementation method is provided, including: acquiring a current pitch angle of the vehicle; acquiring positioning information of the vehicle; searching interest points within a preset distance from the vehicle on a navigation map based on the positioning information of the vehicle, wherein the interest points comprise a first interest point and a second interest point; when the current pitch angle of the vehicle exceeds a preset inclination threshold and the first interest point is found, determining a navigation map of the vehicle at the first interest point; and when the second interest point is found and the difference between the current pitch angle of the vehicle and the gradient of the second interest point is within a preset angle range, determining a navigation map of the vehicle at the second interest point.

According to an embodiment of the present disclosure, the method further comprises: when the current pitch angle of the vehicle exceeds the preset inclination threshold value, acquiring the height variation of the vehicle at a first preset time interval; the determining the navigation map of the vehicle at the first point of interest when the current pitch angle of the vehicle exceeds a predetermined tilt threshold and the first point of interest is found comprises: and when the current pitch angle of the vehicle exceeds a preset inclination threshold, the height variation of the vehicle exceeds a preset height threshold, and the first interest point is found, determining a navigation map of the vehicle at the first interest point.

According to an embodiment of the present disclosure, the acquiring the height variation amount of the vehicle at the first predetermined time interval includes: acquiring the acceleration of the vehicle on a horizontal plane; acquiring an acceleration sampling value of the vehicle at the first preset time interval; and obtaining the height variation of the vehicle according to the acceleration of the vehicle on the horizontal plane and the acceleration sampling value of the vehicle.

According to an embodiment of the present disclosure, the obtaining the height variation amount of the vehicle according to the acceleration of the vehicle on the horizontal plane and the acceleration sampling value of the vehicle includes: subtracting the acceleration sampling value of the vehicle from the acceleration of the vehicle on a horizontal plane to obtain the acceleration of the vehicle moving towards the geocentric direction in the first preset time interval; obtaining the initial speed of the vehicle at the first preset time interval according to the acceleration of the vehicle moving towards the geocentric direction; and calculating the height variation of the vehicle according to the initial speed of the vehicle at the first preset time interval and the acceleration of the vehicle moving towards the geocentric direction.

According to an embodiment of the present disclosure, the method further comprises: detecting satellite navigation signals of the vehicle; the acquiring of the positioning information of the vehicle comprises: and acquiring the positioning information of the vehicle before the satellite navigation signal disappears.

According to an embodiment of the present disclosure, the predetermined slope threshold comprises a predetermined downhill slope threshold; the first point of interest comprises a subterranean parking lot; the determining the navigation map of the vehicle at the first point of interest comprises: determining a navigation map of the vehicle at the underground parking lot based on inertial navigation technology.

According to an embodiment of the present disclosure, the second point of interest includes a overpass; the determining the navigation map of the vehicle at the second point of interest comprises: and determining a navigation map of the vehicle on the viaduct.

According to an embodiment of the present disclosure, the acquiring a current pitch angle of the vehicle includes: when the vehicle is on the horizontal plane, acquiring a reference pitch angle of the vehicle-mounted equipment; acquiring a current pitch angle of the vehicle-mounted equipment; and subtracting the reference pitch angle of the vehicle-mounted equipment from the current pitch angle of the vehicle-mounted equipment to obtain the pitch angle of the vehicle.

According to an embodiment of the present disclosure, the acquiring a reference pitch angle of an in-vehicle device when the vehicle is running on a horizontal plane includes: acquiring a pitch angle sampling value of the vehicle-mounted equipment at a second preset time interval; obtaining a running distance change of the vehicle within a preset time length; and when the variance of all pitch angle sampling values in the preset time length is smaller than a preset variance threshold value and the change of the running distance is larger than a preset running distance, calculating the mean value of all pitch angle sampling values in the preset time length to obtain the reference pitch angle of the vehicle-mounted equipment.

According to still another aspect of the present disclosure, there is provided a map navigation implementation apparatus including: the pitch angle acquisition module is used for acquiring the current pitch angle of the vehicle; the positioning acquisition module is used for acquiring positioning information of the vehicle; the interest point searching module is used for searching interest points which are within a preset distance from the vehicle on a navigation map based on the positioning information of the vehicle, wherein the interest points comprise a first interest point and a second interest point; the map determining module is used for determining a navigation map of the vehicle at the first interest point when the current pitch angle of the vehicle exceeds a preset inclination threshold and the first interest point is found; the map determining module is further configured to determine a navigation map of the vehicle at the second point of interest when the second point of interest is found and a difference between a current pitch angle of the vehicle and a gradient of the second point of interest is within a predetermined angle range.

According to an embodiment of the present disclosure, the apparatus further comprises: the height monitoring module is used for acquiring the height variation of the vehicle at a first preset time interval when the current pitch angle of the vehicle exceeds the preset inclination threshold; the map determining module is further configured to determine a navigation map of the vehicle at the first point of interest when the current pitch angle of the vehicle exceeds a predetermined tilt threshold, the altitude variation of the vehicle exceeds a predetermined altitude threshold, and the first point of interest is found.

According to an embodiment of the present disclosure, the apparatus further comprises: the acceleration acquisition module is used for acquiring the acceleration of the vehicle on a horizontal plane; acquiring an acceleration sampling value of the vehicle at the first preset time interval; the height monitoring module is further used for obtaining the height variation of the vehicle according to the acceleration of the vehicle on a horizontal plane and the acceleration sampling value of the vehicle.

According to an embodiment of the present disclosure, the height monitoring module is further configured to subtract the acceleration sampling value of the vehicle from the acceleration of the vehicle on the horizontal plane to obtain an acceleration of the vehicle moving towards the geocentric direction within the first predetermined time interval; obtaining the initial speed of the vehicle at the first preset time interval according to the acceleration of the vehicle moving towards the geocentric direction; and calculating the height variation of the vehicle according to the initial speed of the vehicle at the first preset time interval and the acceleration of the vehicle moving towards the geocentric direction.

According to an embodiment of the present disclosure, the apparatus further comprises: the navigation signal monitoring module is used for detecting a satellite navigation signal of the vehicle; the positioning acquisition module is further configured to acquire positioning information of the vehicle before the satellite navigation signal disappears.

According to an embodiment of the present disclosure, the second point of interest includes a overpass; the finding the second point of interest includes: when the viaduct is found, acquiring the gradient of the viaduct; the determining the navigation map of the vehicle at the second point of interest comprises: and determining a navigation map of the vehicle on the viaduct.

According to an embodiment of the disclosure, the pitch angle acquiring module is further configured to acquire a reference pitch angle of the vehicle-mounted device when the vehicle is on a horizontal plane; acquiring a current pitch angle of the vehicle-mounted equipment; and subtracting the reference pitch angle of the vehicle-mounted equipment from the current pitch angle of the vehicle-mounted equipment to obtain the pitch angle of the vehicle.

According to an embodiment of the disclosure, the pitch angle acquiring module is further configured to acquire a pitch angle sampling value of the vehicle-mounted device at a second predetermined time interval; the device further comprises: the distance detection module is used for obtaining the running distance change of the vehicle within a preset time length; the pitch angle acquisition module is further configured to calculate a mean value of all pitch angle sampling values within the predetermined time length when the variance of all pitch angle sampling values within the predetermined time length is smaller than a preset variance threshold and the running distance variation is larger than a second predetermined distance, so as to obtain a reference pitch angle of the vehicle-mounted device.

According to yet another aspect of the present disclosure, there is provided an apparatus comprising: a memory, a processor and executable instructions stored in the memory and executable in the processor, the processor implementing any of the methods described above when executing the executable instructions.

According to yet another aspect of the present disclosure, there is provided a computer-readable storage medium having stored thereon computer-executable instructions that, when executed by a processor, implement any of the methods described above.

According to still another aspect of the present disclosure, there is provided a server including: a processor and a memory; wherein the processor is configured to execute a program stored in the memory; the memory is for storing a program for: acquiring a current pitch angle of the vehicle; acquiring positioning information of the vehicle; searching interest points within a preset distance from the vehicle on a navigation map based on the positioning information of the vehicle, wherein the interest points comprise a first interest point and a second interest point; when the current pitch angle of the vehicle exceeds a preset inclination threshold and the first interest point is found, determining a navigation map of the vehicle at the first interest point; and when the second interest point is found and the difference between the current pitch angle of the vehicle and the gradient of the second interest point is within a preset angle range, determining a navigation map of the vehicle at the second interest point.

According to an embodiment of the disclosure, the program is further configured to: when the current pitch angle of the vehicle exceeds the preset inclination threshold value, acquiring the height variation of the vehicle at a first preset time interval; the determining the navigation map of the vehicle at the first point of interest when the current pitch angle of the vehicle exceeds a predetermined tilt threshold and the first point of interest is found comprises: and when the current pitch angle of the vehicle exceeds a preset inclination threshold, the height variation of the vehicle exceeds a preset height threshold, and the first interest point is found, determining a navigation map of the vehicle at the first interest point.

According to an embodiment of the disclosure, the program is further configured to: detecting a satellite navigation signal of the vehicle; the acquiring of the positioning information of the vehicle comprises: and acquiring the positioning information of the vehicle before the satellite navigation signal disappears.

According to the map navigation implementation method provided by the embodiment of the disclosure, the current pitch angle of the vehicle and the positioning information of the vehicle are obtained, the first interest point and the second interest point which are within the preset distance from the vehicle on the navigation map are searched on the basis of the positioning information of the vehicle, when the current pitch angle of the vehicle exceeds the preset inclination threshold value and the first interest point is searched, the navigation map of the vehicle at the first interest point is determined, and when the second interest point is searched and the difference between the current pitch angle of the vehicle and the gradient of the second interest point is within the preset angle range, the navigation map of the vehicle at the second interest point is determined, so that the navigation map can be correctly determined when the vehicle enters the places with different heights.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.

Fig. 1A shows a schematic diagram of an in-vehicle device in an embodiment of the present disclosure.

Fig. 1B shows a schematic diagram of another vehicle-mounted device in the embodiment of the present disclosure.

Fig. 2A shows a schematic diagram of a device coordinate system in an embodiment of the present disclosure.

Fig. 2B shows a schematic diagram of an earth coordinate system in an embodiment of the disclosure.

Fig. 3 shows a system architecture diagram in an embodiment of the present disclosure.

FIG. 4 is a flow diagram illustrating a map navigation implementation method in accordance with an exemplary embodiment.

Fig. 5 is a schematic diagram illustrating a processing procedure of step S402 shown in fig. 4 in an embodiment.

Fig. 6 shows a schematic processing procedure of step S4022 shown in fig. 5 in an embodiment.

FIG. 7 is a flow diagram illustrating another map navigation implementation method in accordance with an exemplary embodiment.

Fig. 8 is a schematic diagram illustrating a processing procedure of step S704 shown in fig. 7 in an embodiment.

Fig. 9 is a schematic diagram illustrating a processing procedure of step S7046 illustrated in fig. 8 in an embodiment.

Fig. 10 shows a schematic flow chart of navigation implementation when a vehicle enters an underground parking lot in the embodiment of the present disclosure.

Fig. 11 shows a schematic view of a navigation implementation when a vehicle enters an underground parking lot in an embodiment of the present disclosure.

FIG. 12 is a flow chart illustrating yet another map navigation implementation method according to an exemplary embodiment.

Fig. 13 is a schematic view illustrating a navigation implementation flow in the process of viaduct on a vehicle in the embodiment of the present disclosure.

Fig. 14 shows a schematic view of a navigation implementation in the case of viaduct on a vehicle in the embodiment of the present disclosure.

FIG. 15 is a block diagram illustrating a map navigation implementation, according to an example embodiment.

FIG. 16 is a block diagram illustrating another map navigation implementation, according to an example embodiment.

Fig. 17 shows a schematic structural diagram of an electronic device in an embodiment of the present disclosure.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted.

Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, apparatus, steps, etc. In other instances, well-known structures, methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the disclosure.

Further, in the description of the present disclosure, unless otherwise explicitly specified or limited, terms such as "connected" and the like are to be construed broadly, e.g., may be electrically connected or may be in communication with each other; may be directly connected or indirectly connected through an intermediate. "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise. The specific meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate.

As described above, for the problem that it is difficult for a vehicle to correctly switch a navigation route under a complex road condition, some related technologies adopt a manner of placing a specific device, such as a Radio Frequency Identification Device (RFID), a bluetooth device, and the like, and when the vehicle identifies a specific RFID signal or a bluetooth signal, it indicates that the vehicle enters a specific location, and a navigation device of the vehicle can switch to a navigation route of the specific location. However, this method requires a device to be placed at the entrance of each specific site, and the installation cost and maintenance cost of the device are very high; and for a place where no device is placed, the vehicle cannot recognize whether or not to enter.

In other related technologies, a method based on image recognition is adopted, which includes the steps of firstly obtaining the current position of a vehicle, shooting a picture of a road where the vehicle is located when the vehicle is close to a specific location, then comparing the shot picture with the picture of the specific location in a database, and judging whether the vehicle enters the specific location according to a comparison result. In this method, if the identification calculation is performed locally on the device, the calculation requirement on the Central Processing Unit (CPU) of the device is relatively high; if the data is uploaded to a server for calculation, large network flow is consumed, and the requirement on equipment is high.

Therefore, the present disclosure provides a map navigation implementation method, which includes obtaining a current pitch angle of a vehicle and positioning information of the vehicle, searching a first interest point and a second interest point on a navigation map within a predetermined distance from the vehicle based on the positioning information of the vehicle, determining a navigation map of the vehicle at the first interest point when the current pitch angle of the vehicle exceeds a predetermined tilt threshold and the first interest point is found, and determining a navigation map of the vehicle at the second interest point when the second interest point is found and a difference between the current pitch angle of the vehicle and a gradient of the second interest point is within a predetermined angle range, thereby automatically determining the navigation map when the vehicle enters a place with different height. To facilitate understanding, several terms referred to in the present disclosure are explained below.

A sensor: sensors are devices or means in an apparatus that measure physical quantities and convert them into usable output signals according to a certain law. The sensor is generally composed of a sensing element and a conversion element, and the common sensors are acceleration sensors, gyroscope sensors, magnetic field sensors, GPS position sensors, air pressure sensors, and the like.

Global Positioning System (GPS): the GPS is a satellite navigation system which is developed and established by the American national defense department, has all-directional, all-weather, all-time and high precision, and can provide navigation information such as three-dimensional position, speed, precise timing and the like for global users outdoors.

Beidou satellite navigation system: the Beidou satellite navigation system is a satellite navigation system which is independently constructed and independently operated in China, provides all-weather, all-time and high-precision positioning, navigation and time service for global users, and consists of a plurality of geostationary orbit satellites, inclined geosynchronous orbit satellites and medium-circle geostationary orbit satellites to form a hybrid navigation constellation.

Point of Interest (POI): in the geographic information system, one POI may be one house, one shop, one mailbox, one bus station, one parking lot, etc.

Vehicle-mounted equipment: the mobile phone is integrated or fixed on a vehicle body, and the relative position of the mobile phone and the vehicle does not change, such as a vehicle machine, a mobile phone, a rearview mirror, a camera and the like fixed on the vehicle, as shown in fig. 1A and 1B, fig. 1A is the rearview mirror connected with the vehicle body, the mobile phone in fig. 1B is fixed inside the vehicle body, and the mobile phone and the vehicle are kept relatively still.

Device coordinate system: as shown in fig. 2A, taking the vehicle-mounted device as a mobile phone as an example, the x-axis points to the right side of the mobile phone screen, the y-axis points to the upper side of the mobile phone screen, and the z-axis is perpendicular to the mobile phone screen, and values obtained from the sensor of the vehicle-mounted device are relative to the device coordinate system.

Terrestrial coordinate system: as shown in FIG. 2B, the x ' axis points to the true east of the horizontal plane, the y ' axis points to the true north of the horizontal plane, and the z ' axis points upward perpendicular to the ground.

Fig. 3 illustrates an exemplary system architecture 30 to which the methods or apparatus of the present disclosure may be applied.

As shown in fig. 3, system architecture 30 may include terminal device 302, network 304, server 306, and navigation satellites 308. The terminal device 302 may be various electronic devices having a display screen and supporting input and output, including but not limited to a smart phone, a tablet computer, an in-vehicle device, a notebook computer, a desktop computer, a smart speaker, a smart watch, a wearable device, a virtual reality device, a smart home, and the like, where the in-vehicle device refers to a device that is integrated or fixed on a vehicle body and has no change in relative position with the vehicle, such as a vehicle machine, a rearview mirror, a camera, and the like that are fixed on the vehicle. Network 304 serves as a medium for providing communication links between terminal devices 302 and server 306. Network 304 may include various connection types, such as wired, wireless communication links, or fiber optic cables, to name a few. The server 306 may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing cloud computing services, such as an application server of a navigation application, a processing server of a main control station of a navigation system, and the like. The terminal and the server may be directly or indirectly connected through wired or wireless communication, and the application is not limited herein, and the navigation satellite 308 may be a navigation satellite of a Global Positioning System (GPS) or a navigation satellite of a beidou satellite navigation system.

A user may use terminal device 302 to interact with server 306 via network 304, and terminal device 302 may also interact with navigation satellites 308 to receive or transmit data, signals, and the like. For example, a user inputs a navigation start point and end point via terminal device 302, and terminal device 302 transmits the navigation start point and end point to server 306 via network 304. For another example, the server 306 may plan a navigation route according to the navigation request after receiving the navigation start point and the navigation end point, and transmit the navigation route to the terminal device 302 through the network 304. As another example, when the user selects "start navigation" at terminal device 302, terminal device 302 receives satellite signals from navigation satellites 308 to determine the location of terminal device 302.

Server 306 interacts with navigation satellites 308 to receive or transmit data, signals, and the like. For example, a master control station of the navigation system issues commands to the navigation satellites through the server 306, controls the satellites, schedules backup satellites when the satellites fail, and the like.

It should be understood that the number of terminal devices, networks, servers, and navigation satellites in fig. 3 is merely illustrative. There may be any number of terminal devices, networks, servers, and navigation satellites as desired for an implementation.

FIG. 4 is a flow diagram illustrating a map navigation implementation method in accordance with an exemplary embodiment. The method shown in fig. 4 may be applied to, for example, a server of the above system, and may also be applied to a terminal device of the above system.

Referring to fig. 4, a method 40 provided by an embodiment of the present disclosure may include the following steps.

In step S402, the current pitch angle of the vehicle is acquired. The pitch angle of the vehicle represents the inclination angle of the uphill slope and the downhill slope of the vehicle, and when the vehicle is on the horizontal plane, the pitch angle is 0 degree. The pitch angle of the vehicle can be acquired in real time during the running process of the vehicle so as to monitor whether the vehicle is on an uphill slope or a downhill slope. In some embodiments, for example, in a case where the vehicle-mounted device is stationary relative to the vehicle, the pitch angle of the vehicle may be obtained by comparing a current pitch angle of the vehicle-mounted device with a reference pitch angle of the vehicle-mounted device when the vehicle is on a horizontal plane, and the specific implementation may refer to fig. 5 to 6, which is not described in detail herein.

In other embodiments, for example, the pitch angle of the vehicle may be obtained by an acceleration sensor and a gyro sensor integrated on the vehicle, the acceleration value and the angular velocity value of the vehicle are measured by the acceleration sensor and the gyro sensor, respectively, and the corresponding pitch angle of the vehicle is calculated according to the acceleration and the angular velocity of the vehicle.

In step S404, the positioning information of the vehicle is acquired. In some embodiments, the current position of the vehicle, the historical position of the vehicle, satellite navigation signal information, and the like may be obtained, for example, by a satellite navigation service. A user can receive a plurality of satellite signals of a satellite navigation system through a satellite navigation module integrated in the mobile terminal, and the position of the mobile terminal is determined based on the time difference between the signal receiving time and the signal transmitting time.

In other embodiments, for example, inertial navigation technology may be used to locate the vehicle, and the inertial navigation technology may measure the acceleration of the vehicle in an inertial reference system, integrate the acceleration with time, and transform the integrated acceleration into a navigation coordinate system, so as to obtain the speed, position, etc. of the vehicle in the navigation coordinate system, and then combine with the road network information to navigate.

In step S406, points of interest within a predetermined distance from the vehicle on the navigation map are found based on the positioning information of the vehicle, the points of interest including a first point of interest and a second point of interest. The points of interest may be located within a predetermined distance (e.g., 30 meters, 50 meters, 100 meters, etc.) of the location of the vehicle on the navigation map. According to the position of the vehicle which is transformed in real time, continuously searching interest points within a preset distance from the real-time position of the vehicle on a navigation map, wherein the interest points can be some places with different navigation maps at different heights in the direction vertical to the ground, the first interest point can be a place for entering downhill, such as an underground parking lot, a tunnel and the like, and the second interest point can be a place for entering uphill, such as an overpass, an air parking lot and the like; the first interest point may also be an interest point mainly determined by a vehicle inclination degree, and the second interest point may also be an interest point mainly determined by a proximity degree between the vehicle inclination degree and road network gradient information, and in a specific embodiment, reference may be made to steps S408 to S410 below.

In step S408, when the current pitch angle of the vehicle exceeds the predetermined tilt threshold and the first point of interest is found, the navigation map of the vehicle is determined. The navigation map of the vehicle may be determined when the current pitch angle of the vehicle exceeds a predetermined tilt threshold (e.g., 15 °, 20 °, 25 °, etc.) and the first point of interest is located.

In some embodiments, for example, when the vehicle is driving downhill, the pitch angle is positive, and if the current pitch angle of the vehicle is acquired to be positive and more than 15 °, and the underground parking lot is found on the navigation map within 50 meters, the vehicle is considered to enter the underground parking lot. If the used navigation system has the route information of the underground parking lot, automatically switching the navigation route into the indoor navigation route of the underground parking lot; if the used navigation system has the route information of the underground parking lot, the navigation can be automatically finished, so that the misleading of outdoor navigation information to users is avoided. When the navigation service based on the inertial navigation is adopted, the road network matching can be forbidden, and the inertial navigation result is directly given out, so that the misguiding of the positioning and navigation route based on the road network matching to the user is avoided.

In other embodiments, for example, when the vehicle travels uphill, the pitch angle is a negative value, and when the viaduct is found on the navigation map within 100 meters of the current position of the vehicle, if the obtained current pitch angle of the vehicle is a negative value and the absolute value exceeds 20 °, the vehicle may be considered to be traveling on the viaduct. If the route selected by the user at the beginning of navigation is the route under the viaduct, the navigation route can be automatically switched to the route on the viaduct at the moment, so as to avoid the inconsistency between the navigation route and the actual route of the user.

In step S410, when the second point of interest is found and the difference between the current pitch angle of the vehicle and the gradient of the second point of interest is within the predetermined angle range, the navigation map of the vehicle at the second point of interest is determined. When the viaduct is found on the navigation map within a predetermined distance (e.g. 90m, 100m or 110m, etc.) from the current position of the vehicle, the absolute value of the difference between the current pitch angle of the vehicle and the gradient of the second interest point is compared with a predetermined angle difference threshold, and when the absolute value of the difference between the current pitch angle of the vehicle and the gradient of the interest point is smaller than the predetermined angle difference threshold, the navigation map is switched to the map on the viaduct.

According to the map navigation implementation method provided by the embodiment of the disclosure, the current pitch angle of the vehicle and the positioning information of the vehicle are acquired, the first interest point and the second interest point which are within a preset distance from the vehicle on the navigation map are searched based on the positioning information of the vehicle, when the current pitch angle of the vehicle exceeds a preset inclination threshold value and the first interest point is searched, the navigation map of the vehicle at the first interest point is determined, and when the second interest point is searched and the difference between the current pitch angle of the vehicle and the gradient of the second interest point is within a preset angle range, the navigation map of the vehicle at the second interest point is determined, so that the navigation map can be correctly determined when the vehicle enters the places with different heights.

Fig. 5 is a schematic diagram illustrating a processing procedure of step S402 shown in fig. 4 in an embodiment. As shown in fig. 5, in the embodiment of the present disclosure, the step S402 may further include the following steps.

In step S4022, a reference pitch angle of the in-vehicle apparatus is acquired when the vehicle is on the horizontal plane. The pitch angle of the vehicle-mounted device when the vehicle is driven on a road that is approximately horizontal from the start may be used as its reference pitch angle. An embodiment of obtaining the reference pitch angle may refer to fig. 6, and is not described in detail herein.

Step S4024, acquiring the current pitch angle of the vehicle-mounted equipment. Since the coordinate system of the device is rotated into the terrestrial coordinate system, the coordinate system can be decomposed into three rotations of three angles around three rotation axes, so that the direction angle information of the device, including the pitch angle (rotation angle around the x-axis of the device), the roll angle (rotation angle around the y-axis of the device) and the yaw angle (rotation angle around the z-axis of the device), can be obtained through the rotation matrix R of the device. The pitch angle of the device is mainly used in this disclosure. The pitch angle of the equipment is the angle of inclination of the equipment when the horizontal ground is taken as a reference. When the equipment is horizontally placed, namely the plane of the equipment is parallel to the horizontal plane, the pitch angle is 0 degree; when the equipment rotates towards the geocentric direction (the negative direction of the z axis of the earth coordinate system) along the X axis of the equipment coordinate system, the pitch angle is a positive value; the pitch angle is positive when the device is rotated in the direction of the device coordinate system x axially away from the earth's center (positive direction of the z-axis of the earth's coordinate system). In specific implementation, the calculation may also be performed by software of the vehicle-mounted device, for example, the rotation matrix R is input, and the direction angle information of the device is output through a system function sensormanager.

In some embodiments, the rotation matrix of the onboard device may be obtained, for example, by the following method. Firstly, a triaxial acceleration measurement value A (x, y, z) ═ a (x, y, z) of the vehicle-mounted device in a device coordinate system is obtained through an acceleration sensor integrated in the vehicle-mounted device _x ，a _y ，a _z ) The acceleration sensor comprises a sensor, a low-pass filter and a high-frequency filter, wherein the acceleration sensor comprises a high-frequency acceleration sensor and a low-frequency acceleration sensor, the high-frequency acceleration sensor is connected with the low-frequency acceleration sensor, the low-frequency acceleration sensor is connected with the sensor, the high-frequency acceleration sensor is connected with the low-pass filter, and the low-frequency acceleration sensor is connected with the low-pass filter. The gravity acceleration G (x, y, z) ═ G (G) can be obtained by low-pass filtering the three components of the triaxial acceleration measurement value according to the following formula _x ，g _y ，g _z ):

In the formula, g _x，t 、g _y，t 、g _z，t Respectively representing the components of the gravity acceleration at the time t in three axes in the equipment coordinate system; α is a low-pass filter coefficient, which can be set to be equal to 0.85, 0.9 or 0.95 according to actual conditions; g is a radical of formula _x，t-1 、g _y，t-1 、g _z，t-1 Respectively representing the components of the gravity and gravity velocity at the time of t-1 in three axes in an equipment coordinate system; a is _x，t 、a _y，t 、a _z，t Respectively, representing the triaxial acceleration measurements at time t. The method can simultaneously acquire the three-axis geomagnetic induction intensity measurement value M (x, y, z) ═ M (M) of the vehicle-mounted equipment in the equipment coordinate system through the magnetometer sensor integrated in the vehicle-mounted equipment _x ，m _y ，m _z ). Then, the rotation matrix R can be obtained from the three-axis gravitational acceleration and the three-axis geomagnetic induction strength measurement values obtained by equation (1). The rotation matrix of the device is a matrix for converting the device coordinate system into the terrestrial coordinate system, i.e. the vector in the device coordinate system is mapped to the vector in the terrestrial coordinate system. The triaxial gravity acceleration is a vector G with the numerical value of G (x, y, z), and the direction of the resultant vector is vertically towards the geocentric; the triaxial geomagnetic induction strength is also a vector M with a value M (x, y, z), and the resultant vector direction is in a horizontal north-south orientation regardless of environmental influences and declination. Therefore, cross multiplication can be carried out on the resultant vector of the gravitational acceleration and the resultant vector of the geomagnetic induction intensity to obtain a horizontal east-west vector; then the calculated vector in the horizontal east-west direction and the gravity acceleration resultant vector are cross-multiplied to obtain a horizontal north-south direction vector again; and finally, forming a rotation matrix by the two calculated horizontal vectors and the gravity acceleration resultant vector. In specific implementation, the calculation may be performed by software of the vehicle-mounted device, for example, after a (x, y, z) is obtained by the acceleration sensor through the acceleration obtaining software, G (x, y, z) is obtained by low-pass filtering the a (x, y, z) through the gravity acceleration calculating software, and M (x, y, z) is obtained by the magnetometer sensor through the magnetic induction intensity obtaining software, and then G (x, y, z) and M (x, y, z) are used as inputs, and an Android system function is usedRotationMatrix () may output a rotation matrix R. The software may also be integrated into an application to implement the above-described functionality, and is not limited herein.

Step S4026, subtracting the reference pitch angle of the vehicle-mounted device from the current pitch angle of the vehicle-mounted device to obtain the pitch angle of the vehicle.

According to the method provided by the embodiment of the disclosure, the pitch angle of the vehicle is obtained by obtaining the reference pitch angle of the vehicle-mounted device on the horizontal plane and subtracting the reference pitch angle of the vehicle-mounted device from the current pitch angle of the vehicle-mounted device, so that the inclination angles of the upper slope and the lower slope during the driving of the vehicle are obtained through the vehicle-mounted device, and the navigation route is automatically switched by combining the information of the interest points on the map during navigation.

Fig. 6 shows a schematic processing procedure of step S4022 shown in fig. 5 in an embodiment. As shown in fig. 6, in the embodiment of the present disclosure, the step S4022 may further include the following steps.

Step S40222, acquiring a pitch angle sample value of the vehicle-mounted apparatus at a second predetermined time interval. The pitch angle sample value of the vehicle-mounted device may be recorded at a second predetermined time interval (e.g., 0.1s, 0.2s, 0.25s, etc.).

Step S40224, obtains a running distance change of the vehicle for a predetermined length of time. The operating distance of the vehicle-mounted device may be recorded at a third predetermined time interval (e.g., 0.8s, 1s, 1.2s, etc.) while the pitch angle of the vehicle-mounted device is being sampled. The vehicle-mounted device can be located at a third preset time interval, the distance between two adjacent positions is calculated, and then the distances are accumulated, so that the running distance change of the vehicle-mounted device within a preset time length (such as 15s, 20s or 25s and the like) can be obtained.

Step S40226, when the variance of all pitch angle sampling values in a preset time length is smaller than a preset variance threshold and the change of the running distance is larger than a second preset distance, calculating the mean value of all pitch angle sampling values in the preset time length to obtain the reference pitch angle of the vehicle-mounted equipment. If the variance of the pitch angle samples over the predetermined period of time is less than a predetermined variance threshold (e.g., 0.8, 1, or 1.2, etc.) and the operating distance of the equipment is greater than a second predetermined distance (e.g., 15, 20, or 25 meters, etc.), the vehicle may be considered approximately traveling on a level road for the predetermined period of time, and the pitch angle samples over the period of time may be averaged to provide the reference pitch angle.

According to the method provided by the embodiment of the disclosure, the pitch angle of the vehicle-mounted device is sampled at the second preset time interval, the running distance change of the vehicle in a period of time is obtained, and when the variance of all the pitch angle sampling values in the period of time is smaller than the preset variance threshold value and the running distance change is larger than the second preset distance, the mean value of all the pitch angle sampling values in the period of time is calculated to be used as the reference pitch angle of the vehicle-mounted device, so that the reference pitch angle of the vehicle-mounted device in the actual running process of the vehicle can be obtained, and the accuracy of obtaining the pitch angle of the vehicle is improved.

FIG. 7 is a flowchart illustrating another map navigation implementation method different from FIG. 4 described above, in accordance with an exemplary embodiment. The method shown in fig. 7 may be applied to, for example, a server of the above system, and may also be applied to a terminal device of the above system. As shown in fig. 7, it is different from the above-described embodiment in the precondition of determining the navigation map of the vehicle.

Referring to fig. 7, a method 70 provided by an embodiment of the present disclosure may include the following steps.

In step S702, the current pitch angle of the vehicle is acquired. For a specific implementation, refer to step S402, which is not described herein again.

In step S704, when the current pitch angle of the vehicle exceeds a predetermined inclination threshold, the amount of change in the height of the vehicle is acquired at first predetermined time intervals. The predetermined inclination threshold may comprise a predetermined downhill inclination threshold, which indicates that the vehicle is inclined downwards, i.e. is descending downhill, when the current pitch angle of the vehicle is positive, and the vehicle altitude change monitoring may be activated when the predetermined downhill inclination threshold (e.g. 10 °, 15 °, 20 °, etc.) is exceeded, to obtain the vehicle altitude change at a first predetermined time interval (e.g. 0.8s, 1s, 1.5s, etc.).

In some embodiments, for example, the height variation of the vehicle may be obtained by performing a quadratic integration on the z-axis component of the acceleration of the vehicle with respect to time, and specific embodiments may refer to fig. 8 to 9, which are not described in detail herein.

In other embodiments, for example, a position altitude sensor may be used to obtain the altitude change of the vehicle position, and the position altitude sensor integrates an air pressure sensor and a GPS module, and combines the air pressure detected data with the low resolution altitude data measured by the GPS module to detect the altitude of the vehicle position.

In step S706, the positioning information of the vehicle is acquired. The current position of the vehicle, the historical position of the vehicle, including the positioning information of the vehicle before the satellite navigation signal disappears, and the like may be obtained through the satellite navigation service.

In step S708, a first point of interest is located within a first predetermined distance of the location of the vehicle on the navigation map. It is also possible to detect the satellite navigation signal of the vehicle and, when the amount of change in the altitude of the vehicle exceeds a predetermined altitude threshold (e.g. 5 meters, 8 meters, 10 meters, etc.) and the satellite navigation signal disappears, to find the first point of interest within a first predetermined distance (e.g. 20 meters, 25 meters, 30 meters, etc.) of the position of the vehicle located before the satellite navigation signal disappears. For indoor places such as underground parking lots and aerial parking lots, satellite navigation signals disappear when a vehicle runs in the indoor places, and whether an indoor parking lot exists nearby can be found through the position located last before the vehicle disappears. When the GPS module of the GPS navigation system does not output a GPS positioning result to an external in-vehicle device or application of the vehicle for a certain time (e.g., 1.5s, 2s, or 2.5s, etc.), the GPS signal may be considered to disappear.

In step S710, when the current pitch angle of the vehicle exceeds a predetermined tilt threshold, the height variation of the vehicle exceeds a predetermined height threshold, and the first point of interest is found, a navigation map of the vehicle at the first point of interest is determined. The first interest point can comprise an underground parking lot, and if the acquired current pitch angle of the vehicle exceeds a preset inclination threshold value and the height change exceeds 8 meters, and meanwhile, when the underground parking lot is found on a navigation map within 30 meters of the last positioning position before the satellite navigation signal disappears, the vehicle can be considered to enter the underground parking lot, and the navigation map in the underground parking lot is automatically switched; if the acquired current pitch angle of the vehicle is a negative value and the height change exceeds 5 meters, and the viaduct is found within 20 meters of the current positioning position of the vehicle, the vehicle can be considered to be driven onto the viaduct, and if the navigation map is a map under the viaduct, the navigation map can be automatically switched to a map on the viaduct at the moment.

According to the method provided by the embodiment of the disclosure, the height variation of the vehicle is obtained at a first preset time interval when the current pitch angle of the vehicle exceeds a preset inclination threshold, and when the height variation of the vehicle exceeds the preset height threshold and a first interest point is found within a preset distance of a positioning position, the navigation map of the vehicle at the first interest point is determined, so that whether the vehicle enters the places with different heights or not can be judged by combining the information of the adjacent interest points on the basis of detecting the pitch angle of the vehicle, and the accuracy of time for map switching during navigation is improved.

Fig. 8 is a schematic diagram illustrating a processing procedure of step S704 shown in fig. 7 in an embodiment. As shown in fig. 8, in the embodiment of the present disclosure, the step S704 may further include the following steps.

Step S7042, the acceleration of the vehicle on the horizontal plane is acquired. It may be determined that the vehicle is traveling on a horizontal surface according to the method of fig. 6, the acceleration sample values of the vehicle-mounted device may be recorded through the acceleration sensor at a second predetermined time interval (e.g., 0.1s, 0.2s, 0.25s, etc.) while the pitch angle sample values of the vehicle-mounted device are acquired at the second predetermined time interval, and then the average of all the acceleration sample values within the predetermined time interval is calculated to obtain the acceleration of the vehicle-mounted device on the horizontal surface, i.e., the acceleration of the vehicle on the horizontal surface. The sampling interval of the acceleration and the sampling interval of the pitch angle may also be different, and are not limited herein. Here, only the z-axis component a of the terrestrial coordinate system of the acceleration of the in-vehicle apparatus on the horizontal plane can be obtained _e，z0 For calculating the height variation, the detailed embodiment may refer to step S7044.

Step S7044, an acceleration sample value of the vehicle is acquired at a first predetermined time interval when the current pitch angle of the vehicle exceeds a predetermined tilt threshold. In some embodiments, for example, the rotation matrix R may be used to sample a value a of an acceleration of the vehicle-mounted device in the device coordinate system(x, y, z) rotating, namely cross multiplying the rotation matrix R and the triaxial acceleration vector A to obtain the acceleration A under the terrestrial coordinate system _e (x，y，z)：

A _e ＝R×A (2)

Then A therein _e The z-axis component of (a) is the acceleration value a of the device relative to the earth's center _e，z 。

And step S7046, obtaining the height variation of the vehicle according to the acceleration of the vehicle on the horizontal plane and the acceleration sampling value. Since the acceleration of the vehicle is not constant in the actual running process, the acceleration in a short time interval can be approximately regarded as a fixed value, and the altitude change in a certain time period is obtained by calculating the altitude change in each time interval. Reference is made to fig. 9 for a specific embodiment, which is not described herein again.

According to the method provided by the embodiment of the disclosure, when the current pitch angle of the vehicle exceeds the preset inclination threshold, the height variation of the vehicle is obtained according to the acceleration sampling value of the vehicle and the acceleration on the horizontal plane which are obtained at the first preset time interval, so that whether the vehicle runs up and down a slope or not is further judged, and the accuracy of judging the running state of the vehicle is improved.

Fig. 9 is a schematic diagram illustrating a processing procedure of step S7046 illustrated in fig. 8 in an embodiment. As shown in fig. 9, in the embodiment of the present disclosure, the step S7046 may further include the following steps.

And step S70462, subtracting the acceleration of the vehicle on the horizontal plane from the acceleration sampled value of the vehicle to obtain the acceleration of the vehicle moving towards the geocentric direction in the first preset time interval. When the pitch angle of the vehicle exceeds a predetermined tilt threshold, i.e. the upward or downward tilt angle is greater than a predetermined tilt threshold, the vehicle altitude change monitoring is turned on, this time being the initial time t for calculating the altitude change ₀ The initial speed v in the vertical direction, which can be approximated when the vehicle has just started to ascend or descend a slope _z0 0. The change in height of the vehicle is acquired at a first predetermined time interval Δ t (e.g., 0.9s, 1s, or 1.1s, etc.), which may be first determined at a time t ₁ ，t ₂ ，...t _i (t _i -t _i-1 ＝Δt，i＞0) The acceleration of the vehicle is sampled to obtain an acceleration z-axis component a _e，zi . The acceleration z-axis component a on the horizontal plane obtained by step S7042 _e，z0 Can be approximated by gravitational acceleration, and a _e，zi -a _e，z0 The acceleration is an acceleration that moves the vehicle (vehicle-mounted device) in the direction of the earth's center.

And step S70464, obtaining the initial speed of the vehicle at a first preset time interval according to the acceleration of the vehicle moving towards the geocentric direction. The initial speed of the vehicle at the first predetermined time interval of the sampling is the instantaneous speed at the sampling time point, which is the time point t _i Vehicle running speed v _i Can be calculated from the following formula:

v _i ＝v _i-1 +(a _e，zi -a _e，z0 )△t (3)

in step S70466, the height variation amount of the vehicle is calculated based on the initial speed of the vehicle at the first predetermined time interval and the acceleration of the vehicle moving in the geocentric direction. At a point in time t _i Vehicle relative to t ₀ Height change Δ H of _i Can be calculated from the following formula:

in the formula,. DELTA.h _i At a time point t _i Altitude change during the first delta t period. At may also be a variable value, i.e. sampled at random time intervals over a range.

According to the method provided by the embodiment of the disclosure, the acceleration in a short time interval can be approximately considered as a fixed value, and the altitude change in each time interval is calculated to obtain the altitude change in a certain time period, so as to further judge whether the vehicle runs up and down a slope, and improve the accuracy of judging the running state of the vehicle.

Fig. 10 is a schematic view of a navigation implementation flow when a vehicle enters an underground parking lot according to fig. 4 to 9. As shown in fig. 10, navigation is started (S1002) when the vehicle is started; firstly, calculating the pitch angle p of equipment under the stable running state of a vehicle on a horizontal road surface ₀ And the z-axis component a of the acceleration _z0 (S1004); then continuously recording the current pitch angle p of the equipment ₁ (S1006), and judges p ₁ -p ₀ Whether or not greater than p _th1 (S1008), when p is judged ₁ -p ₀ <p _th1 Returning to S1006; when determining p ₁ -p ₀ >p _th1 Time-on vehicle height change detection according to a _z0 Sampling the height change Δ H of a vehicle at certain time intervals ₁ (S1010); determination of Δ H ₁ Whether or not it is greater than H _th1 And whether the GPS signal disappears (S1012), if Δ H ₁ Not more than H _th1 Or the GPS does not disappear, the S1010 is returned; if Δ H ₁ Greater than H _th1 If the GPS signal disappears, whether an underground parking lot exists near the last GPS location is searched on the map (S1014), and if not, the step returns to S1006; if there is an underground parking lot near the last GPS location on the map, it is determined that the vehicle has arrived at the underground parking lot, and the navigation route is switched to the underground parking lot (S1016), and a navigation route switching process is ended (S1018).

Fig. 11 is a schematic view of a navigation implementation of a vehicle entering an underground parking lot according to fig. 4-9. As shown in FIG. 11, when the vehicle is running on a horizontal road, the pitch angle of the in-vehicle apparatus is p ₀ (ii) a Then the vehicle starts to descend downhill p ₁ -p ₀ >0; when p is ₁ -p ₀ >p _th1 When the vehicle completely inclines to be parallel to the slope road surface, starting vehicle height change detection; when Δ H ₁ >H _th1 When the vehicle arrives at the underground parking lot, the navigation route is switched to the indoor route of the parking lot.

FIG. 12 is a flowchart illustrating yet another map navigation implementation method different from FIG. 4 above, in accordance with an exemplary embodiment. The method shown in fig. 12 can be applied to, for example, a server of the above system, and also to a terminal device of the above system. As shown in fig. 12, it is also different from the above-described embodiment in the precondition of determining the navigation map of the vehicle.

Referring to fig. 12, a method 120 provided by the embodiment of the present disclosure may include the following steps.

In step S1202, the current pitch angle of the vehicle is acquired.

In step S1204, positioning information of the vehicle is acquired.

The specific implementation of steps S1202 to S1204 can refer to steps S402 to S404, which are not described herein again.

In step S1206, a second point of interest is located within a third predetermined distance of the location of the vehicle on the navigation map. The second interest point may include an overpass, and during the driving of the vehicle, the navigation application may continuously detect whether the current location point of the vehicle has an entrance to the overpass within a third predetermined distance (e.g., 90m, 100m, 110m, etc.) in front of the navigation route, and if the entrance to the overpass exists, turn on the overpass detection, that is, start to acquire the current pitch angle of the vehicle.

In step S1208, when the second interest point is found, the gradient of the second interest point is obtained. The gradient of an interest point having gradient information such as a viaduct can be obtained from the road network information in the map database.

In step S1210, when a difference between a current pitch angle of the vehicle and a gradient of the point of interest is within a predetermined angle range, a navigation map of the vehicle on the overpass is determined. For example, the absolute value of the difference between the current pitch angle of the vehicle and the gradient of the point of interest may be compared with a predetermined angle difference threshold, and the navigation route may be switched to the route on the overpass when the absolute value of the difference between the current pitch angle of the vehicle and the gradient of the point of interest is less than the predetermined angle difference threshold.

According to the method provided by the embodiment of the disclosure, the second interest point is searched within the third preset distance of the position of the vehicle on the navigation map, the navigation map of the vehicle is determined according to the result of comparing the current pitch angle of the vehicle with the gradient of the second interest point, and whether the vehicle enters the places with different heights is judged by combining the interest point, the road gradient information of the interest point and the change of the vehicle inclination angle, so that the accuracy of the map switching time during navigation is improved to a certain extent.

Fig. 13 is a schematic view of a navigation implementation process in the case of viaduct on a vehicle according to fig. 12. As shown in fig. 13, the navigation is started (S1302) at the start of the vehicle, and the vehicle is continuously detected in the current navigation routeWhether a viaduct entrance exists 100 meters ahead of the current position of the vehicle or not (S1304); when the entrance of the overpass is detected (S1306), the apparatus current pitch angle variation Δ p is compared ₂ And judging | p x-delta p of the overpass gradient p (S1308) in the road network data ₂ Whether | is less than p _th2 (S1310), where Δ p ₂ ＝p ₂ -p ₀ (the pitch angle is the pitch angle of the vehicle), if not, the step returns to S1308, and the current pitch angle variation is updated; if | p x- Δ p ₂ |<p _th2 It is determined that the vehicle is traveling on the overpass (S1313), the navigation route is switched to the route on the overpass, and one navigation route switching process is ended (S1314).

Fig. 14 is a schematic view of navigation implementation in overpass on a vehicle according to fig. 12-13. As shown in fig. 14, when the vehicle is running on a horizontal road, the pitch angle of the vehicle-mounted device is p 0; when detecting that the viaduct entrance exists in 100m in front of the route, starting the viaduct monitoring to obtain the pitch angle variation delta p of the equipment ₂ (ii) a Then the vehicle starts to go uphill, Δ p ₂ ＝p ₂ -p ₀ <0; when | p x- Δ p ₂ |<p _th2 And when the vehicle enters the viaduct, the navigation route is switched to the route on the viaduct.

FIG. 15 is a block diagram illustrating a map navigation implementation, according to an example embodiment. The apparatus shown in fig. 15 can be applied to, for example, a server side of the system described above, and can also be applied to a terminal device of the system described above.

Referring to fig. 15, an apparatus 150 provided by an embodiment of the present disclosure may include a pitch angle acquisition module 1502, a positioning acquisition module 1504, a point of interest finding module 1506, and a map determination module 1508.

The pitch angle acquisition module 1502 may be used to acquire a current pitch angle of the vehicle.

The location acquisition module 1504 may be used to acquire location information of a vehicle.

The point of interest finding module 1506 may be operable to find points of interest on the navigation map within a predetermined distance from the vehicle based on the location information of the vehicle, the points of interest including a first point of interest and a second point of interest.

The map determination module 1508 may be configured to determine a navigation map of the vehicle at the first point of interest when the current pitch angle of the vehicle exceeds a predetermined tilt threshold and the first point of interest is located.

The map determination module 1508 may also be used to determine a navigation map of the vehicle at the second point of interest when the second point of interest is located and a difference between a current pitch angle of the vehicle and a grade of the second point of interest is within a predetermined angular range.

FIG. 16 is a block diagram illustrating another map navigation implementation in accordance with an exemplary embodiment. The apparatus shown in fig. 16 can be applied to, for example, a server side of the system described above, and can also be applied to a terminal device of the system described above.

Referring to fig. 16, the apparatus 160 provided in the embodiment of the present disclosure may include an acceleration acquisition module 1601, a pitch angle acquisition module 1602, a distance detection module 16021, an altitude monitoring module 1603, a positioning acquisition module 1604, a navigation signal monitoring module 1605, a point of interest searching module 1606, and a map determination module 1608.

The acceleration acquisition module 1601 is operable to acquire an acceleration of the vehicle on a horizontal plane; when the current pitch angle of the vehicle exceeds a preset inclination threshold value, an acceleration sampling value of the vehicle is obtained at a first preset time interval.

The pitch angle acquisition module 1602 may be used to acquire a current pitch angle of the vehicle.

The pitch angle obtaining module 1602 is further configured to obtain a reference pitch angle of the vehicle-mounted device when the vehicle is on a horizontal plane; acquiring a current pitch angle of the vehicle-mounted equipment; and subtracting the reference pitch angle of the vehicle-mounted equipment from the current pitch angle of the vehicle-mounted equipment to obtain the pitch angle of the vehicle.

The pitch angle acquisition module 1602 may be further configured to acquire a pitch angle sampling value of the vehicle-mounted device at a second predetermined time interval.

The pitch angle obtaining module 1602 is further configured to calculate a mean value of all pitch angle sampling values within a predetermined time length when the variance of all pitch angle sampling values within the predetermined time length is smaller than a preset variance threshold and the change of the running distance is greater than a second predetermined distance, so as to obtain a reference pitch angle of the vehicle-mounted device.

The distance detection module 16021 may be used to obtain a change in the travel distance of the vehicle over a predetermined length of time.

The height monitoring module 1603 may be used to acquire the amount of change in the height of the vehicle at a first predetermined time interval when the pitch angle of the vehicle exceeds a predetermined tilt threshold. The predetermined tilt threshold may comprise a predetermined downhill tilt threshold.

The height monitoring module 1603 can also be used for obtaining the height variation of the vehicle according to the acceleration of the vehicle on the horizontal plane and the acceleration sampling value of the vehicle.

The height monitoring module 1603 can be further used for subtracting the acceleration value of the vehicle from the acceleration of the vehicle on the horizontal plane to obtain the acceleration of the vehicle moving towards the geocentric direction within a first preset time interval; obtaining the initial speed of the vehicle at a first preset time interval according to the acceleration of the vehicle moving towards the geocentric direction; and calculating the height change quantity of the vehicle according to the initial speed of the vehicle at the first preset time interval and the acceleration of the vehicle moving towards the geocentric direction.

The location acquisition module 1604 may be used to acquire location information of a vehicle.

The location obtaining module 1604 is further configured to obtain location information of the vehicle before the satellite navigation signal disappears.

The navigation signal monitoring module 1605 may be used to detect satellite navigation signals of the vehicle.

The point of interest lookup module 1606 may be used to determine a first point of interest or a second point of interest on a navigation map based on location information of the vehicle.

The point of interest lookup module 1606 may also be configured to lookup the underground parking lot within a first predetermined distance of the location of the vehicle on the navigational map.

The interest point searching module 1606 may further be configured to search for the overpass within a third predetermined distance from the location of the vehicle on the navigation map; and when the interest point is found, obtaining the gradient of the viaduct.

The map determination module 1608 may be configured to determine a navigation map of the vehicle at the first point of interest when the current pitch angle of the vehicle exceeds the predetermined tilt threshold and the first point of interest is located.

The map determination module 1608 may also be configured to determine a navigation map of the vehicle at the second point of interest when the second point of interest is located and a difference between a current pitch angle of the vehicle and a grade of the second point of interest is within a predetermined angular range.

The map determination module 1608 may also be configured to determine a navigation map of the vehicle at the first point of interest when the current pitch angle of the vehicle exceeds the predetermined tilt threshold, the amount of height change of the vehicle exceeds the predetermined height threshold, and the first point of interest is located.

The map determination module 1608 may be further configured to determine a navigation map of the vehicle at the underground parking lot based on inertial navigation technology when the underground parking lot is located within a first predetermined distance of the position of the vehicle located before the satellite navigation signal disappears after the current pitch angle of the vehicle exceeds the predetermined downhill pitch threshold, the amount of change in the altitude of the vehicle exceeds the predetermined altitude threshold, and the satellite navigation signal disappears.

The map determination module 1608 may be further configured to determine a navigation map of the vehicle on the overpass when the overpass is located within a third predetermined distance of the location of the vehicle on the navigation map and a difference between a current pitch angle of the vehicle and a grade of the overpass is within a predetermined angular range.

The specific implementation of each module in the apparatus provided in the embodiment of the present disclosure may refer to the content in the foregoing method, and is not described here again.

Fig. 17 shows a schematic structural diagram of an electronic device in an embodiment of the present disclosure. It should be noted that the apparatus shown in fig. 17 is only an example of a computer system, and should not bring any limitation to the function and the scope of the application of the embodiments of the present disclosure.

As shown in fig. 17, the apparatus 1700 includes a Central Processing Unit (CPU)1701 which can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)1702 or a program loaded from a storage portion 1708 into a Random Access Memory (RAM) 1703. In the RAM 1703, various programs and data necessary for the operation of the device 1700 are also stored. The CPU1701, ROM 1702, and RAM 1703 are connected to one another by a bus 1704. An input/output (I/O) interface 1705 is also connected to the bus 1704.

The following components are connected to the I/O interface 1705: an input section 1706 including a keyboard, a mouse, and the like; an output portion 1707 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 1708 including a hard disk and the like; and a communication section 1709 including a network interface card such as a LAN card, a modem, or the like. The communication section 1709 performs communication processing via a network such as the internet. A driver 1710 is also connected to the I/O interface 1705 as necessary. A removable medium 1711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 1710 as necessary, so that a computer program read out therefrom is mounted into the storage portion 1708 as necessary.

In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via the communication portion 1709, and/or installed from the removable media 1711. The above-described functions defined in the system of the present disclosure are executed when the computer program is executed by the Central Processing Unit (CPU) 1701.

As another aspect, the present disclosure also provides a computer-readable medium, which may be contained in the apparatus described in the above embodiments; or may be separate and not incorporated into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to comprise: acquiring a current pitch angle of the vehicle; acquiring positioning information of a vehicle; searching interest points within a preset distance from the vehicle on the navigation map based on the positioning information of the vehicle, wherein the interest points comprise a first interest point and a second interest point; when the current pitch angle of the vehicle exceeds a preset inclination threshold value and the first interest point is found, determining a navigation map of the vehicle at the first interest point; and when the second interest point is found and the difference between the current pitch angle of the vehicle and the gradient of the second interest point is within a preset angle range, determining the navigation map of the vehicle at the second interest point.

It should be noted that the computer readable media shown in the present disclosure may be computer readable signal media or computer readable storage media or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer-readable signal medium may include a propagated data signal with computer-readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.

As another aspect, the present disclosure also provides a server, including a processor and a memory, where the memory is used to store a program, the processor is used to execute the program stored in the memory, and the processor can implement the method described above when executing the program.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The modules described in the embodiments of the present disclosure may be implemented by software or hardware. The described modules may also be provided in a processor, which may be described as: a processor includes a pitch angle acquisition module, a positioning acquisition module, a point of interest finding module, and a map determination module. The names of these modules do not in some cases constitute a limitation on the module itself, and for example, the pitch angle acquisition module may also be described as a "module that measures the pitch angle of the vehicle by a sensor".

Exemplary embodiments of the present disclosure are specifically illustrated and described above. It is to be understood that the present disclosure is not limited to the precise arrangements, instrumentalities, or instrumentalities described herein; on the contrary, the disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A map navigation implementation method is characterized by comprising the following steps:

acquiring a current pitch angle of the vehicle;

acquiring positioning information of the vehicle;

searching interest points within a preset distance from the vehicle on a navigation map based on the positioning information of the vehicle, wherein the interest points comprise a first interest point and a second interest point, the first interest point is an interest point judged by the inclination degree of the vehicle, and the second interest point is an interest point judged by the proximity degree of the inclination degree of the vehicle and the road network gradient information;

when the current pitch angle of the vehicle exceeds a preset inclination threshold and the first interest point is found, determining a navigation map of the vehicle at the first interest point;

when the second interest point is found and the difference between the current pitch angle of the vehicle and the gradient of the second interest point is within a preset angle range, determining a navigation map of the vehicle at the second interest point;

the method further comprises the following steps:

when the current pitch angle of the vehicle exceeds the preset inclination threshold value, acquiring the height variation of the vehicle at a first preset time interval;

the determining the navigation map of the vehicle at the first point of interest when the current pitch angle of the vehicle exceeds a predetermined tilt threshold and the first point of interest is found comprises:

and when the current pitch angle of the vehicle exceeds a preset inclination threshold, the height variation of the vehicle exceeds a preset height threshold, and the first interest point is found, determining a navigation map of the vehicle at the first interest point.

2. The method according to claim 1, wherein the obtaining the amount of change in the height of the vehicle at the first predetermined time interval comprises:

acquiring the acceleration of the vehicle on a horizontal plane;

acquiring an acceleration sampling value of the vehicle at the first preset time interval;

and obtaining the height variation of the vehicle according to the acceleration of the vehicle on a horizontal plane and the acceleration sampling value of the vehicle.

3. The method of claim 2, wherein the obtaining the change in height of the vehicle from the acceleration of the vehicle in the horizontal plane and the sampled acceleration values of the vehicle comprises:

subtracting the acceleration sampling value of the vehicle from the acceleration of the vehicle on a horizontal plane to obtain the acceleration of the vehicle moving towards the geocentric direction in the first preset time interval;

obtaining the initial speed of the vehicle at the first preset time interval according to the acceleration of the vehicle moving towards the geocentric direction;

and calculating the height variation of the vehicle according to the initial speed of the vehicle at the first preset time interval and the acceleration of the vehicle moving towards the geocentric direction.

4. The method of claim 2 or 3, further comprising:

detecting satellite navigation signals of the vehicle;

the acquiring of the positioning information of the vehicle comprises:

and acquiring the positioning information of the vehicle before the satellite navigation signal disappears.

5. The method of claim 4, wherein the predetermined tilt threshold comprises a predetermined downhill tilt threshold;

the first point of interest comprises a subterranean parking lot;

the determining the navigation map of the vehicle at the first point of interest comprises:

determining a navigation map of the vehicle at the underground parking lot based on inertial navigation technology.

6. The method of claim 1, wherein the second point of interest comprises an overpass;

the finding the second point of interest includes:

when the viaduct is found, acquiring the gradient of the viaduct;

the determining the navigation map of the vehicle at the second point of interest comprises:

and determining a navigation map of the vehicle on the viaduct.

7. The method of claim 1, wherein the obtaining a current pitch angle of the vehicle comprises:

when the vehicle is on the horizontal plane, acquiring a reference pitch angle of the vehicle-mounted equipment;

acquiring a current pitch angle of the vehicle-mounted equipment;

and subtracting the reference pitch angle of the vehicle-mounted equipment from the current pitch angle of the vehicle-mounted equipment to obtain the current pitch angle of the vehicle.

8. The method of claim 7, wherein obtaining a reference pitch angle of an onboard device when the vehicle is on a horizontal plane comprises:

acquiring a pitch angle sampling value of the vehicle-mounted equipment at a second preset time interval;

obtaining a running distance change of the vehicle within a preset time length;

and when the variance of all pitch angle sampling values in the preset time length is smaller than a preset variance threshold value and the change of the running distance is larger than a preset running distance, calculating the mean value of all pitch angle sampling values in the preset time length to obtain the reference pitch angle of the vehicle-mounted equipment.

9. A computer-readable storage medium having stored thereon computer-executable instructions, which when executed by a processor, implement the method of any one of claims 1-8.

10. A server, comprising:

a processor and a memory;

wherein the processor is configured to execute a program stored in the memory;

the memory is for storing a program for:

acquiring a current pitch angle of the vehicle;

acquiring positioning information of the vehicle;

the program is also for:

11. The server of claim 10, wherein the program is further configured to:

detecting a satellite navigation signal of the vehicle;

the acquiring of the positioning information of the vehicle comprises:

12. The server according to claim 11, wherein the predetermined tilt threshold comprises a predetermined downhill tilt threshold;

the first point of interest comprises a subterranean parking lot;

13. The server of claim 10, wherein the second point of interest comprises an overpass;

the finding the second point of interest includes:

when the viaduct is found, acquiring the gradient of the viaduct;

and determining a navigation map of the vehicle on the viaduct.