CN113108801A - Green wave road navigation method and device - Google Patents
Green wave road navigation method and device Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3697—Output of additional, non-guidance related information, e.g. low fuel level
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Abstract
The application provides a green wave road navigation method and a device, wherein the method comprises the following steps: the method comprises the steps of firstly determining a green wave road on a vehicle running route and a green wave speed specified by the green wave road, and then sending prompt information for prompting the green wave road and/or the green wave speed when the vehicle runs to the green wave road, so that a driver can concentrate on driving the vehicle and cannot easily miss a green wave road indicator, further timely controlling the vehicle to run on the green wave road at the green wave speed, finally directly passing through the green wave road in a green light state, reducing the starting and braking times of the vehicle, being beneficial to realizing energy conservation and emission reduction, and reducing the traffic safety hidden trouble caused by distracted driving due to the fact that the driver frequently observes the indicator.
Description
Technical Field
The present application relates to the field of navigation technologies, and in particular, to a green wave road navigation method and apparatus.
Background
The green wave road refers to a road with a specified speed, and if a vehicle passes through the road at the specified speed, the vehicle can meet a green light at the next intersection and continue to pass through the road, so that the starting and braking times of the vehicle are reduced, energy conservation and emission reduction are facilitated, and the road with the specified speed is called the green wave road.
In the prior art, a sign for indicating a green wave road is usually arranged on a traffic light, a driver needs to look up and look up the sign arranged by a traffic control department from the traffic light at one end of a green wave road starting point, determine that the current road belongs to the green wave road and the green wave speed specified by the green wave road from the sign, and then control the vehicle to run through the green wave road at the green wave speed.
By adopting the prior art, the intersection where the traffic lights are located is complex in condition and large in number of the indicating boards, so that a driver can easily miss the indicating boards on green wave roads, the speed of the vehicle cannot be timely adjusted, and other vehicles cannot reach the green wave speed or are influenced. Therefore, how to enable the driver not to miss the prompt information for observing the green wave road and enable the driver to adjust the vehicle speed to pass through the green wave road in time is a technical problem which needs to be solved urgently in the field.
Disclosure of Invention
The application provides a green wave road navigation method and device, which can prompt a driver of prompt information of a green wave road in time so that the driver can adjust the speed of the vehicle to pass through the green wave road in time.
The present application provides a green wave road navigation method in a first aspect, including: determining a green wave road on a vehicle driving route and a green wave speed specified by the green wave road; when the vehicle runs to the green wave road, sending out prompt information; the prompting information is used for prompting the green wave road and/or the green wave speed.
In an embodiment of the first aspect of the present application, the determining a green road on a driving route of a vehicle includes: determining the green wave road of the vehicle on the driving route from map data.
In an embodiment of the first aspect of the present application, when it is determined that the green wave velocity recorded in the map data is of a first type; the determining the green wave speed specified by the green wave road comprises: and determining the green wave speed according to the sign image shot by the camera arranged on the vehicle.
In an embodiment of the first aspect of the present application, when it is determined that the green wave velocity recorded in the map data is of a second type; the determining the green wave speed specified by the green wave road comprises: the green wave velocity is determined from map data.
In an embodiment of the first aspect of the present application, the link attribute information of the map data includes the type of the green wave road and the type of the green wave speed.
In an embodiment of the first aspect of the present application, the determining a green road on a driving route of a vehicle includes: and determining the green wave road and the green wave speed according to a sign image shot by a camera arranged on the vehicle.
In an embodiment of the first aspect of the present application, the prompt message includes one or more of the following: voice prompts, image prompts, animation prompts, vibration prompts, or ring prompts.
A second aspect of the present application provides a green wave road navigation device, which can be used to execute the green wave road navigation method provided in any embodiment of the first aspect of the present application, for example, the green wave road navigation device includes: the device comprises a determining module, a judging module and a control module, wherein the determining module is used for determining a green wave road on a vehicle driving route and a green wave speed specified by the green wave road; the prompting module is used for sending out prompting information when the vehicle runs to the green wave road; the prompting information is used for prompting the green wave road and/or the green wave speed.
In an embodiment of the second aspect of the present application, the determining module is specifically configured to determine the green wave road of the vehicle on the driving route from map data.
In an embodiment of the second aspect of the present application, when it is determined that the green wave velocity recorded in the map data is of a first type; the determining module is specifically used for determining the green wave speed according to a sign image shot by a camera arranged on the vehicle.
In an embodiment of the second aspect of the present application, when it is determined that the green wave velocity recorded in the map data is of a second type; the determining module is specifically configured to determine the green wave velocity from map data.
In an embodiment of the second aspect of the present application, the link attribute information of the map data includes the type of the green wave road and the type of the green wave speed.
In an embodiment of the second aspect of the present application, the determining module is specifically configured to determine the green wave road and the green wave speed according to a sign image captured by a camera disposed on the vehicle.
In an embodiment of the second aspect of the present application, the prompt message includes one or more of the following: voice prompts, image prompts, animation prompts, vibration prompts, or ring prompts.
A third aspect of the present application provides map data, which may be map data used in the embodiments of the first and second aspects of the present application, for example, the map data may be used for a green wave road navigation device to determine a green wave road on a running route of a vehicle and a green wave speed specified by the green wave road when the vehicle is navigated; so that the green wave road navigation device sends out prompt information when the vehicle runs to the green wave road; the prompting information is used for prompting the green wave road and/or the green wave speed.
More specifically, in the embodiment of the third aspect of the present application, the link attribute information of the map data includes the type of the green wave road and the type of the green wave speed.
A fourth aspect of the present application provides a vehicle that can be navigated using a green wave road navigation method as provided in any of the embodiments of the first aspect of the present application; alternatively, the vehicle is provided with a green wave road navigation device as provided in any embodiment of the second aspect of the present application, and the green wave road navigation device can perform navigation.
In summary, the present application provides a method and an apparatus for green wave road navigation, wherein the method includes: the method comprises the steps of firstly determining a green wave road on a vehicle running route and a green wave speed specified by the green wave road, and then sending prompt information for prompting the green wave road and/or the green wave speed when the vehicle runs to the green wave road, so that a driver can concentrate on driving the vehicle and cannot easily miss a green wave road indicator, further timely controlling the vehicle to run on the green wave road at the green wave speed, finally directly passing through the green wave road in a green light state, reducing the starting and braking times of the vehicle, being beneficial to realizing energy conservation and emission reduction, and reducing the traffic safety hidden trouble caused by distracted driving due to the fact that the driver frequently observes the indicator.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic diagram of an application scenario according to an embodiment of the present application;
FIG. 2 is a schematic flowchart illustrating an embodiment of a green wave road navigation method according to the present application;
FIG. 3 is a schematic diagram of a sign being photographed by a camera in real time;
FIG. 4 is a schematic diagram of a prompt message provided herein;
FIG. 5 is a schematic flow chart illustrating another embodiment of a green wave road navigation method provided in the present application;
FIG. 6 is a schematic illustration of a driving route planning provided herein;
fig. 7 is a schematic flowchart of a green wave road navigation method according to another embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Before formally describing the embodiments of the present application, a description will be given of the application scenarios and problems of the prior art with reference to the accompanying drawings.
Fig. 1 is a schematic diagram of an application scenario of an embodiment of the present application, and fig. 1 illustrates a green wave road navigation scenario applied in the present application, where a green wave road indicates that a traffic light at some traffic intersection can be set to change to a green light at a specific time to allow a vehicle to pass through, and meanwhile, if the vehicle passes through a certain road section at a specified speed, the vehicle can meet the green light at the next intersection and continue to pass through, so as to reduce the number of times of vehicle starting and braking, which is beneficial to achieve energy saving and emission reduction.
For example, two roads between traffic lights a-B and B-C in the scene shown in fig. 1 may be recorded as green roads, so that after a vehicle passes through traffic light a when traffic light a is green, if the vehicle continues to travel on the green road between traffic lights a and B at a green speed of 60km/h indicated by the indicator, the vehicle can reach traffic light B and just be green, and the vehicle can pass through traffic light B without stopping; similarly, after the vehicle passes through the traffic light B, if the vehicle continues to travel on the green road between the traffic light B and the traffic light C at the green wave speed of 40km/h indicated by the indicator, the vehicle can also pass through the traffic light C without stopping, just when the traffic light C arrives at the traffic light C. In the above scenario, the roads a-B and B-C between adjacent traffic lights may be referred to as green-wave roads, and the speed defined by the green-wave road may be referred to as a green-wave speed, so that the vehicle travels on the green-wave road at the green-wave speed, and the traffic lights may be exactly green when passing through the traffic light at the end of the green-wave road.
In a conventional application scenario, a road segment after an indicator is presented to a vehicle driver passing through a green wave road as the green wave road by providing the indicator at the starting point of the green wave road, and a predetermined green wave speed of the green wave road is presented. For example, when a driver drives a vehicle over the start of a green road between traffic lights A-B in FIG. 1, the driver can learn that the subsequent road segment A-B is a green road and that the prescribed green speed is 60km/h by looking at the indicator "green speed 60 km/h" suspended under traffic light A. Subsequently, the driver can adjust the speed of the vehicle and control the vehicle to keep driving to the traffic light B at the green wave speed.
However, when a vehicle passes through a green wave road in the existing scene, a driver needs to look up and check the signs arranged by a traffic control department in order to determine the current green wave road and the specified green wave speed, and particularly, under the conditions of complex traffic conditions and large number of signs at a crossroad, the driver easily misses the signs on the green wave road carelessly, so that the vehicle speed cannot be adjusted in time, and other vehicles cannot reach the green wave speed or are influenced; meanwhile, the driver frequently observes the sign and also influences the normal driving of the current vehicle, and further influences traffic safety.
Therefore, in order to solve the technical problem that a driver easily misses out of a green wave road sign in the scene, the application provides a green wave road navigation method, the driver sends out prompt information for prompting the green wave speed when the vehicle passes through the green wave road, and the current green wave speed of the driver is prompted, so that the driver can know the green wave road and the green wave speed under the condition that the sign is not observed, the vehicle speed is adjusted to pass through the green wave road, the vehicle starting and braking times are reduced, energy conservation and emission reduction are facilitated, and meanwhile, the influence on traffic safety caused by the fact that the driver observes the sign can be reduced.
The technical solution of the present application will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 2 is a schematic flowchart of an embodiment of a green wave road navigation method provided in the present application, and as shown in fig. 2, the green wave road navigation method provided in the present embodiment includes:
s101: a green wave road on a vehicle travel route is determined, and a green wave speed specified by the green wave road.
Specifically, the execution main body of the embodiment may be any terminal device with related data processing, for example, a mobile phone, a tablet computer, a notebook computer, etc.; or the execution subject may also be a chip in an electronic device, such as a CPU or GPU. In a specific implementation, the embodiment of the present application may be implemented by a terminal device provided in a vehicle for navigation in an application scenario as shown in fig. 1, where the navigation includes, but is not limited to, navigation of a green wave speed of a green wave road through which the vehicle passes.
In S101, the terminal device as the execution subject first determines a green wave road present on the vehicle travel route and further determines a green wave speed specified by the green wave road in order to navigate the green wave speed on the green wave road that the vehicle passes through.
Wherein the driving route may be preset in advance; or planned according to a target position input by a vehicle driver; alternatively, the driving route to be traveled by the vehicle may be determined based on the current direction of travel of the vehicle.
That is, in S101, the terminal device for navigation needs to acquire two contents: 1. a green wave road on a vehicle travel route; 2. green wave speed defined by green wave road. These two parameters may be acquired simultaneously or separately.
In a first specific implementation, the terminal device may obtain the green road and the green speed from the map data at the same time. The terminal device acquires map data including a driving route in advance before navigating the vehicle, and determines a green wave road on the driving route according to a record of the map data. The map data may be stored in the terminal device in advance, or may be acquired by the terminal device through a network.
For example, the terminal device may plan a driving route of the vehicle in accordance with a current position where the vehicle is currently located, based on a target position input by the driver, and determine whether a green wave road exists on the driving route of the vehicle and a green wave speed specified by the green wave road, based on a record in the map data after the planning is completed.
Accordingly, the provider of the map data needs to add the green road and the speed specified by the green road to the map data when creating the map data. For example, when a provider makes map data, the provider may collect the notice boards of different green wave roads by using the map collection vehicle, determine the green wave speed specified by the green wave road by using the notice boards, and make a special link attribute information for the green wave road in the map data by combining the position of the green wave road, where the link attribute information may include the green wave road and the green wave speed specified by the green wave road.
In a second specific implementation, the terminal device may determine a green wave road from the map data, and determine a green wave speed from a sign image captured by a camera provided on the vehicle.
In this case, the green road sign may be marked as a second type, for example, "dynamic", after the green road is marked in the map data. Subsequently, in the navigation process, only the green wave road can be determined according to the map data, but the currently specified green wave speed of the green wave road cannot be directly determined. Accordingly, for signs with green speed that do not change in the first embodiment, the map data may be labeled as a first type, e.g., "static", for green speed. Therefore, when the vehicle is about to run to the starting point of the green wave road, the front road can be shot in real time through the camera arranged on the vehicle, and the green wave speed can be determined according to the shot indicator image.
For example, fig. 3 is a schematic diagram of a camera shooting a sign in real time, wherein, assuming that a green wave road is ahead in a vehicle driving direction, the camera arranged on the vehicle shoots an intersection, the obtained image includes the sign with a green wave speed of 60km/h, and then, a terminal device serving as an execution body can recognize the image shown in fig. 3 through an image recognition algorithm, so as to determine the green wave speed.
Optionally, the relative position of the indicator is fixed, and the position of the indicator can be stored in the map data, so that after the vehicle runs to the position, the indicator is shot through the camera specially, and the identification efficiency of the indicator is improved; further alternatively, in the image shown in fig. 3, since the position of the sign is usually set above the image, the terminal device can recognize the sign only from the upper half of the image, and the recognition efficiency of the sign can be similarly improved.
In a third specific implementation manner, the terminal device may obtain the green wave road and the green speed specified by the green wave road according to the sign image shot by the camera arranged on the vehicle.
In this case, the map data may not store information on the green road and the green speed, and the camera of the vehicle may continuously photograph the front of the vehicle during driving. And after the image shown in fig. 3 is obtained, the terminal device recognizes the information of the sign through an image recognition algorithm, thereby determining that the road in front is a green wave road and further determining the green wave speed.
Optionally, the third implementation manner may also be applied to the field of automatic driving, and the execution main body may be a device for automatic driving, and the device may continuously perform recognition through images acquired by the camera, so as to recognize a green wave road and a sign of a green wave speed.
S102: when the vehicle runs to the green wave road, prompt information is sent out for prompting that the current road is the green wave road and/or for prompting the green wave speed specified by the current road.
Specifically, in S102, the terminal device as the execution subject may acquire the current position of the vehicle through a positioning module provided on the vehicle in real time, and determine whether the green road is about to be reached. And sending out prompt information when the vehicle runs to a green wave road according to the position of the vehicle.
Optionally, the prompt information may be a voice prompt, for example: "the road ahead is a green wave road", "the green wave speed of the green wave road ahead is 60 km/h", "the green wave speed is 60 km/h", and the like; or the prompt message can be an image prompt or an animation prompt, the image prompt and the animation prompt can also comprise an image of a green wave road displayed in a map form, and the prompt can be displayed on a display screen of the vehicle, a front windshield of the vehicle or a rearview mirror of the vehicle; for example, fig. 4 is a schematic diagram of a prompt message provided by the present application, wherein a text prompt message such as "green road, green speed 60 km/h" may be displayed in a UI interface of a display screen provided on a vehicle; or, the prompt information may also be a vibration prompt or a ringing prompt, where the vibration and ringing may be sent by the terminal device itself, or may also be sent by controlling the mobile phone of the driver.
In summary, the green wave road navigation method provided in this embodiment can provide navigation and prompt of a green wave road and a green wave speed for a driver of a vehicle, and the terminal device can replace the driver to determine the green wave road and the green wave speed on a driving route and send prompt information to the driver when the vehicle drives to the green wave road, so that the driver can concentrate on driving the vehicle and cannot easily miss an inattentive green wave road sign, and then control the vehicle to drive on the green wave road at the green wave speed in time, and finally directly pass through the green wave road in a green light state, thereby reducing the vehicle starting and braking times, facilitating energy saving and emission reduction, and reducing the traffic safety hazard brought by the driver who frequently observes the sign and is distracted from driving.
More specifically, the above embodiment may be applied to navigation of a green road if the planned road includes the green road after planning a driving route according to a target position specified by a driver of the vehicle. For example, fig. 5 is a schematic flowchart of another embodiment of the green wave road navigation method provided in the present application, which may be used as a further description of the method shown in fig. 2. The terminal device serving as the execution subject can receive a navigation request sent by a user of the vehicle, and the navigation request comprises a target position which the user wishes to navigate. And then, the terminal equipment determines the current position of the current vehicle according to a positioning module on the vehicle, and plans the driving route of the vehicle according to the current position and the target position, so as to navigate the driver of the vehicle according to the driving route.
The terminal equipment judges whether a planned driving route passes through a green wave road or not, and if not, continues to navigate to a target position; if so, after the vehicle runs to the starting point of the green wave road, whether the green wave speed of the green wave road is included in the map data is judged. If the map data comprises the green wave speed, the terminal equipment directly sends out prompt information according to the map data to prompt the start of a green wave road and prompt the specified green wave speed of the green wave road; when the map data does not include the green wave speed, the terminal equipment identifies the indicator in the image through the image around the vehicle acquired by the camera by using an image identification algorithm, and then determines the green wave speed of the green wave road, so as to send out prompt information. Finally, after the vehicle travels to the midpoint of the green road, the terminal device may continue to send out the prompt message to prompt the driver that the green road has ended and continue to navigate to the target location. The navigation modes of roads other than the green wave road are not limited by the application.
Further, when the embodiment of the application is applied to planning of a driving route according to a target position specified by a driver of a vehicle, the terminal device has the capability of green wave road navigation, and the passing time of the vehicle can be effectively reduced based on the green wave road, so that the terminal device can enable the vehicle to pass through as many green wave roads as possible when the driving route is planned.
For example, fig. 6 is a schematic diagram of a driving route planning provided by the present application, wherein when the terminal device receives a navigation request from a driver of the vehicle to a Y position when the vehicle is located at an X position, the terminal device can reach the Y position when determining a route L2 even though a shortest route L1 is generated and the shortest distance is 5km when planning the route, and L2 passes through at least one green wave road Z, although L2 is slightly longer than L1 by 5.2km, the green wave road passed by L2 can enable the vehicle to reach the Y position from the X position more quickly, so that the terminal device takes a route L2 passing through at least one green wave road as a planned driving route of the vehicle, and performs further navigation. It is understood that, when planning a travel route, the terminal device may set a distance threshold (e.g., 1km) between the route L2 passing through the green road and the shortest route L1, and the route L2 smaller than the threshold may achieve the purpose of reducing the travel time of the vehicle, and thus may be planned as a route having a priority on distance. Alternatively, the terminal device may set a time threshold (for example, 5 minutes) between the time required for the X-Y position to pass through the route L2 of the green wave road and the route L1 in which the time required for the X-Y position is shortest when planning the route, and the route L2 smaller than the threshold may achieve the purpose of reducing the vehicle travel time, and thus may plan as a time-prioritized route.
In addition, the green wave road navigation method provided in the foregoing embodiment of the present application may also be applied to the field of automatic driving, for example, fig. 7 is a flowchart of another embodiment of the green wave road navigation method provided in the present application, an execution subject of the method may be a terminal device, or may be an automatic driving module for automatic driving in a vehicle, and this embodiment continues to be described with the terminal device as an example, and then the method may be combined with any of the foregoing embodiments, or may be executed alone.
Specifically, the green wave road navigation method provided by this embodiment includes:
s201: a green wave road on a vehicle travel route is determined, and a green wave speed specified by the green wave road.
The specific implementation manner of S201 may refer to the description in S101, and is not described again. And the driving route can also be planned using the manner shown in fig. 6.
S202: the vehicle is controlled to traverse the green road at a green speed.
Specifically, when the terminal device determines a green wave road on the vehicle travel route and a prescribed green wave speed, the vehicle may be controlled to travel at the green wave speed after the vehicle reaches the green wave road. The present application does not limit the specific implementation of the autonomous vehicle traveling at a certain speed.
Alternatively, since the green wave speed on the green wave road is a constant value, if the vehicle is not in the automatic driving mode, after the green wave road and the green wave speed are determined in S201, the terminal device may automatically switch to the automatic driving mode in S202, control the vehicle to travel at the green wave speed on the green wave road instead of the driver, and after the green wave road is ended, stop the automatic driving mode, and resume the driving of the vehicle by the driver. It is understood that the terminal device sends out the prompt message when switching and stopping the automatic driving mode, and performs the switching or stopping after receiving the confirmation of the driver.
In conclusion, the green wave road navigation method provided by the embodiment can enable the automatic driving vehicle to pass through the green wave road directly at a green wave speed and in a green light state finally, so that the starting and braking times of the vehicle are reduced, and the energy conservation and emission reduction are facilitated; meanwhile, the automatic driving vehicle can replace a driver to drive at a green wave speed on a green wave road, and the automation degree of the automatic driving vehicle is improved.
In the embodiments provided in the present application, the methods provided in the embodiments of the present application are introduced. In order to implement each function in the method provided by the embodiment of the present application, the autopilot module as an execution subject may include a hardware structure and/or a software module, and each function is implemented in the form of a hardware structure, a software module, or a hardware structure and a software module. Whether any of the above-described functions is implemented as a hardware structure, a software module, or a hardware structure plus a software module depends upon the particular application and design constraints imposed on the technical solution.
For example, the green wave road navigation method provided in the above embodiments of the present application may also be executed by a green wave road navigation device. The green wave road navigation device may include: the device comprises a determining module, a judging module and a judging module, wherein the determining module is used for determining a green wave road on a vehicle driving route and a green wave speed specified by the green wave road; the prompting module is used for sending out prompting information when the vehicle runs to a green wave road; the prompting information is used for prompting a green wave road and/or a green wave speed.
Optionally, the determining module is specifically configured to determine a green wave road of the vehicle on the driving route from the map data.
Alternatively, when it is determined that the green wave velocity recorded in the map data is of the first type; the determining module is specifically used for determining the green wave speed according to the sign images shot by the cameras arranged on the vehicle.
Alternatively, when it is determined that the green wave velocity recorded in the map data is of the second type; the determining module is specifically configured to determine a green wave velocity from the map data.
Optionally, the link attribute information of the map data includes a type of the green wave road and a type of the green wave speed.
Optionally, the determining module is specifically configured to determine a green wave road and a green wave speed according to a sign image captured by a camera provided on the vehicle.
Optionally, the reminder information comprises one or more of: voice prompts, image prompts, animation prompts, vibration prompts, or ring prompts.
Furthermore, the methods in the embodiments of the present application may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are performed in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer program or instructions may be stored in or transmitted over a computer-readable storage medium. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server that integrates one or more available media. The usable medium may be a magnetic medium, such as a floppy disk, a hard disk, a magnetic tape; or optical media, such as CD-ROM, DVD; it may also be a semiconductor medium, such as a Solid State Disk (SSD), a Random Access Memory (RAM), a read-only memory (ROM), a register, and the like. 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. In addition, the ASIC may reside in a network device or a terminal device. Of course, the processor and the storage medium may reside as discrete components in a transmitting device or a receiving device.
Further, the embodiment of the present application also provides map data, where the map data may be map data used when determining a green wave road and a green wave speed in the foregoing embodiment of the present application. For example, the map data may be used for a green road navigation device to determine a green road on a vehicle travel route and a green speed specified by the green road when navigating the vehicle; so that the green wave road navigation device sends prompt information when the vehicle runs to a green wave road; the prompting information is used for prompting a green wave road and/or a green wave speed. Optionally, the link attribute information of the map data includes the type of the green wave road and the green wave speed.
In addition, the embodiment of the application also provides a vehicle, and the vehicle can be navigated by using the green wave road navigation method provided in any embodiment of the application; alternatively, the vehicle is provided with a green wave road navigation device as provided in any embodiment of the present application, and the green wave road navigation device can perform navigation.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A green wave road navigation method is characterized by comprising the following steps:
determining a green wave road on a vehicle driving route and a green wave speed specified by the green wave road;
when the vehicle runs to the green wave road, sending out prompt information; the prompting information is used for prompting the green wave road and/or the green wave speed.
2. The method of claim 1, wherein the determining the green wave road on the vehicle travel route comprises:
determining the green wave road of the vehicle on the driving route from map data.
3. The method of claim 2, wherein the green wave velocity recorded in the map data is of a first type when it is determined;
the determining the green wave speed specified by the green wave road comprises:
and determining the green wave speed according to the sign image shot by the camera arranged on the vehicle.
4. The method of claim 2, wherein the green wave velocity recorded in the map data is of a second type when determined;
the determining the green wave speed specified by the green wave road comprises:
the green wave velocity is determined from map data.
5. The method according to claim 3 or 4,
the link attribute information of the map data includes the type of the green wave road and the type of the green wave speed.
6. The method of claim 1, wherein the determining the green wave road on the vehicle travel route comprises:
and determining the green wave road and the green wave speed according to a sign image shot by a camera arranged on the vehicle.
7. The method of claim 1,
the reminder information includes one or more of:
voice prompts, image prompts, animation prompts, vibration prompts, or ring prompts.
8. A green wave road navigation device, comprising:
the device comprises a determining module, a judging module and a control module, wherein the determining module is used for determining a green wave road on a vehicle driving route and a green wave speed specified by the green wave road;
the prompting module is used for sending out prompting information when the vehicle runs to the green wave road; the prompting information is used for prompting the green wave road and/or the green wave speed.
9. A map data, characterized in that,
the map data is used for determining a green wave road on a vehicle driving route and a green wave speed specified by the green wave road when the green wave road navigation device navigates the vehicle; so that the green wave road navigation device sends out prompt information when the vehicle runs to the green wave road; the prompting information is used for prompting the green wave road and/or the green wave speed.
10. A vehicle, characterized in that it is navigated using the green wave road navigation method according to any of claims 1-7.
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| CN202010026873.5A CN113108801A (en) | 2020-01-10 | 2020-01-10 | Green wave road navigation method and device |
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| CN202010026873.5A CN113108801A (en) | 2020-01-10 | 2020-01-10 | Green wave road navigation method and device |
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Application publication date: 20210713 |