CN113327447B - Navigation reminding method, device, equipment, vehicle and storage medium - Google Patents
Navigation reminding method, device, equipment, vehicle and storage medium Download PDFInfo
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- CN113327447B CN113327447B CN202110820838.5A CN202110820838A CN113327447B CN 113327447 B CN113327447 B CN 113327447B CN 202110820838 A CN202110820838 A CN 202110820838A CN 113327447 B CN113327447 B CN 113327447B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096855—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver
- G08G1/096861—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver where the immediate route instructions are output to the driver, e.g. arrow signs for next turn
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
Abstract
The disclosure provides a navigation reminding method, a navigation reminding device, navigation reminding equipment, a vehicle and a storage medium, and relates to the field of artificial intelligence, in particular to the field of intelligent transportation. The specific implementation scheme is as follows: identifying whether each guide arrow in a guide direction board to be driven into the intersection is in irregular sequencing; if so, determining a target guide arrow in the guide direction board according to the running direction of the current navigation route at the intersection to be driven in; and performing navigation reminding according to the target guide arrow. And recognizing the guide signs in irregular sequencing, and determining and reminding lanes consistent with the driving intention under the condition of irregular sequencing, so that the condition that the user breaks rules or drifts is avoided, and the driving safety and the driving efficiency are improved.
Description
Technical Field
The present disclosure relates to the field of artificial intelligence technology, and in particular, to intelligent transportation technology.
Background
In the driving road, there may be a scene in which the guide arrow information of each lane in the driving road is not sorted in the conventional sorting manner of "left/off", "straight", and "right". For example, the order is irregular such as "straight", "left", "straight", or "right", "straight", so that there is traffic conflict between a straight vehicle and a left-turning, right-turning or turning vehicle, which affects the driving safety and efficiency.
Disclosure of Invention
The disclosure provides a navigation reminding method, a navigation reminding device, navigation reminding equipment, a vehicle and a storage medium.
According to an aspect of the present disclosure, a navigation reminding method is provided, which includes:
identifying whether each guide arrow in a guide sign to be driven into the intersection is in irregular sequencing or not;
if so, determining a target guide arrow in the guide direction board according to the driving direction of the navigation route at the intersection to be driven in;
and performing navigation reminding according to the target guide arrow.
According to another aspect of the present disclosure, there is provided a navigation reminding device, including:
the sign identification module is used for identifying whether each guide arrow in the guide sign to be driven into the intersection is in irregular sequencing or not;
the target guidance determining module is used for determining a target guidance arrow in the guidance sign according to the driving direction of the navigation route at the intersection to be driven into if the target guidance arrow is in the front of the intersection to be driven into;
and the navigation reminding module is used for carrying out navigation reminding according to the target guide arrow.
According to another aspect of the present disclosure, there is provided an electronic device including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a navigation alert method according to any embodiment of the disclosure.
According to another aspect of the present disclosure, a vehicle provided with the electronic apparatus according to the embodiment of the present disclosure is provided.
According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the navigation alert method according to any embodiment of the present disclosure.
According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the navigation alert method according to any embodiment of the present disclosure.
According to the technology of the present disclosure, the vehicle driving safety and the driving efficiency are improved.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
fig. 1 is a schematic flow chart of a navigation reminding method provided according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart diagram illustrating another navigation prompt method provided in accordance with an embodiment of the present disclosure;
FIG. 3 is a schematic view of a local navigation magnification of an intersection to be driven into according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a lane of an intersection to be driven into provided according to an embodiment of the present disclosure;
FIG. 5 is a schematic flow chart diagram illustrating another navigation prompt method provided in accordance with an embodiment of the present disclosure;
FIG. 6 is a schematic view of a travel direction and a travel angle provided in accordance with an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a navigation prompt device according to an embodiment of the disclosure;
FIG. 8 is a block diagram of an electronic device for implementing a navigation reminder method according to an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Fig. 1 is a schematic flow chart of a navigation reminder according to an embodiment of the present disclosure. The embodiment can be applied to the condition of navigation reminding in the running process of the vehicle. The navigation reminding method disclosed in this embodiment may be executed by an electronic device, and specifically may be executed by a navigation reminding device, where the navigation reminding device may be implemented by software and/or hardware and configured in a server. Referring to fig. 1, the navigation reminding method provided by the present embodiment includes:
s101, identifying whether each guide arrow in the guide direction board to enter the intersection is in irregular sequencing.
When a user drives a vehicle, the vehicle can determine the current position in real time, and whether a guide direction board exists at a preset distance in front of the current position or not is determined according to pre-downloaded road map data. And judging whether the intersection to be driven into exists at the preset distance in front of the vehicle or not according to the current position of the vehicle and the navigation route, and if so, acquiring a guide sign of the intersection to be driven into. If not, the current position of the vehicle is continuously acquired, and whether the intersection to be driven into the front exists or not is judged. The guide direction indicator is arranged beside the road and indicates the running direction of the vehicle when the vehicle passes through the intersection on different lanes. For example, the vehicle may be instructed to move forward, turn right, turn left, turn around, etc. while passing through the intersection.
The navigation system on the vehicle stores local road map data in advance, the road map data can include a road distribution plan and can also include a road real scene graph, and the road real scene graph can include guide signs on the roadside. The vehicle is at the in-process of traveling, can be according to preset road map data, constantly confirms whether the direction sign exists in the place ahead, for example, confirms whether the direction sign exists in the distance department of 500 meters in the place ahead in real time. If not, continuing to position the new current position and determining whether a guide sign exists in front. If the guide direction arrows exist, the guide direction signs in front are identified, and whether the guide direction arrows on the guide direction signs are in irregular sequencing or not is judged. The guide signs and the intersections can be stored in an associated mode, after the intersections to be driven in front are determined, the guide signs to be driven in the intersections are obtained, and whether the guide arrows in the guide signs to be driven in the intersections are in irregular sequencing or not is identified.
The arrow sequence of each guide arrow in the guide direction board can be determined through an image recognition technology or a pre-downloaded local road data packet, namely, the direction of the vehicle allowed to run at the road to be driven in by each lane of the road where the vehicle is currently located is determined. The arrow sequencing of each guide arrow in the guide direction board can comprise regular sequencing and irregular sequencing, the sequencing conditions of the regular sequencing and the irregular sequencing are preset, and whether the arrow sequencing on the guide direction board is irregular sequencing or not is judged. The regular sequencing means that the sequencing of the arrows of the lanes is related to the positions of the lanes, the arrow of the middle lane is a straight arrow, the arrow of the left lane is an indication arrow which can be used for indicating that vehicles such as left turn or left turn can turn to the left steering wheel, and the arrow of the right lane is an indication arrow which can be used for indicating that vehicles such as right turn or right turn can turn to the right steering wheel. For example, the road on which the vehicle is currently traveling is three lanes, and the guide arrows of the lanes are sorted in a regular order, such as "left/off", "straight", and "right". The other sorting mode except the regular sorting is irregular sorting, wherein the irregular sorting means that the arrow sorting of each lane is independent of the position of the lane, the middle lane can allow the vehicle to turn left or right, the left lane can allow the vehicle to turn right, the right lane can allow the vehicle to turn left, and the like. For example, the ordering may be "straight", "left", "straight", or "right", "straight", etc. in a non-regular order.
And S102, if so, determining a target guide arrow in the guide direction board according to the running direction of the current navigation route at the intersection to be driven into.
If the guide arrows in the guide indication boards of the intersection to be driven are determined to be in irregular sequencing, the driving direction of the vehicle at the intersection to be driven is determined according to the pre-planned navigation route. According to the driving direction, a target guide arrow is determined from the respective arrows in the guide sign, and the direction indicated by the target guide arrow is the driving direction of the vehicle at the intersection to be driven into. For example, if the vehicle is traveling straight in the direction of travel at the intersection to be entered, the arrow that is traveling straight in the guidance sign may be determined as the target guidance arrow.
If the guide arrows in the guide direction boards to be driven into the intersection are determined to be ordered regularly, the target guide arrows do not need to be determined. Determining the driving direction of the navigation route at the intersection to be driven into, and if the driving direction is left turn or U-turn, directly prompting the user to drive to the leftmost lane; if the driving direction is a right turn, prompting the user to drive to the rightmost lane; and if the driving direction is straight, prompting the user to go to a middle lane, wherein the middle lane is a lane except for the rightmost lane and the rightmost lane.
And S103, carrying out navigation reminding according to the target guide arrow.
After the target guide arrow is determined, a navigation prompt can be sent to the user to prompt the user to drive on the lane corresponding to the target guide arrow, for example, if the target guide arrow turns left, and the lane corresponding to the target guide arrow is the second lane on the left, the user can be prompted to drive on the second lane on the left through a voice or visual panel, so that the user can conveniently turn left at the intersection to be driven into.
According to the technology disclosed by the invention, in the running process of the vehicle, the guide direction board to be driven into the intersection is identified in real time, and whether the sequencing of the guide arrows on the guide direction board is irregular or not is determined. If so, selecting a target guide arrow from the plurality of guide arrows, wherein the direction of the target guide arrow corresponds to the driving direction, and reminding the user of driving on the lane of the target guide arrow. The method and the device have the advantages that the driving lane is determined and reminded under the condition of irregular sequencing, a correct navigation route is provided for a user, the condition that the user breaks rules or drifts is avoided, the determination precision of the driving route of the user is improved, and the driving safety and the driving efficiency are improved.
Fig. 2 is a schematic flow diagram of a navigation reminding method according to an embodiment of the present disclosure, which is optimized based on the above embodiment and is used for a situation of navigating a user during a driving process of the user.
In the embodiment of the disclosure, the target guide arrow in the guide direction board is determined according to the driving direction of the current navigation route at the intersection to be driven into, and the method can be detailed as follows: determining whether at least one candidate guide arrow matched with the driving direction of the current navigation route at the intersection to be driven exists in the guide direction board; and selecting a target guide arrow from at least one candidate guide arrow.
As shown in fig. 2, a navigation reminding method provided by an embodiment of the present disclosure may include:
s201, identifying whether each guide arrow in the guide direction board to enter the intersection is in irregular sequence.
Different irregular sorting modes are preset, and after the guide indicator is obtained, the sorting mode of the guide arrows on the guide indicator is compared with any one of the preset irregular sorting modes. And if the sequencing mode of the guide arrows on the guide indication row accords with the preset irregular sequencing mode, determining that each guide arrow in the guide indication board to be driven into the intersection is irregularly sequenced.
In this embodiment, optionally, the identifying whether each guide arrow in the guide sign to be driven into the intersection is in an irregular sequence includes at least one of the following: if the lane corresponding to the left-turn arrow in the guide direction board is a non-inner side lane and no turn-around arrow corresponds to the lane, determining that all guide arrows in the guide direction board are in irregular sequencing; if the lane corresponding to the right-turn arrow in the guide direction board is a non-outer lane, determining that all guide arrows in the guide direction board are in irregular sequencing; and if the guide direction board has a straight arrow and a turning arrow and the lane corresponding to the straight arrow is a border lane, determining that all the guide arrows in the guide direction board are in irregular sequencing.
Specifically, the inner lane refers to the leftmost lane in the current traveling direction of the vehicle, and the outer lane refers to the rightmost lane in the traveling direction of the vehicle. In the regular ranking, the lane corresponding to the left-turn arrow is the inside lane and the lane corresponding to the right-turn arrow is the outside lane. If the lane corresponding to the left-turn arrow in the guide direction board is a non-inner side lane, namely the left-turn arrow is not the leftmost lane and the lane corresponding to the turning arrow does not exist, it can be determined that each guide arrow in the guide direction board is in irregular sequencing. And if the lane corresponding to the right-turn arrow in the guide direction board is a non-outer lane, namely the right-turn arrow is not the rightmost lane, determining that all the guide arrows in the guide direction board are in irregular sequencing. And if the straight arrow and the turning arrow exist in the guide indication board, and the lane corresponding to the straight arrow is a border lane, wherein the border lane refers to the leftmost lane and/or the rightmost lane, determining that each guide arrow in the guide indication board is in irregular sequencing. The method has the advantages that the recognition efficiency and accuracy of the irregular sequencing can be improved by presetting the sequencing mode of the irregular sequencing, and further the driving efficiency and accuracy are improved.
S202, if yes, determining whether at least one candidate guide arrow matched with the driving direction of the current navigation route at the intersection to be driven into exists in the guide direction board.
And if the guide arrows in the guide signs to be driven into the intersection are determined to be in irregular sequencing, selecting one or more candidate guide arrows matched with the current navigation route in the driving direction of the intersection to be driven into the intersection from the guide arrows. The candidate guidance arrow matched with the driving direction of the current navigation route at the intersection to be driven into can mean that the driving direction indicated by the guidance arrow is the same as or different from the driving direction of the current navigation route at the intersection to be driven into. For example, in the navigation route, the vehicle needs to turn left at the intersection to be driven, and if one left-turning arrow and two straight-going arrows exist in the guidance sign, the left-turning arrow is a candidate guidance arrow. If no guide arrow identical to the driving direction exists, the guide arrow similar to the driving direction is searched for from the guide direction boards to be used as a candidate guide arrow. For example, a left-turn arrow and a left-turn arrow may be regarded as arrows of similar directions.
In this embodiment, optionally, determining whether there is at least one candidate guidance arrow matching the driving direction of the current navigation route at the intersection to be driven into the guidance sign includes: identifying whether a standard guide arrow which is the same as the driving direction of the current navigation route at the intersection to be driven into exists in the guide direction board; if not, determining at least one derivative guide arrow of the standard guide arrows according to the driving direction, and taking the derivative guide arrow as a candidate guide arrow.
Specifically, the candidate guidance arrow may include a standard guidance arrow and a derivative guidance arrow, and if the driving direction of the candidate guidance arrow is completely the same as the driving direction of the current navigation route at the intersection to be driven into, the candidate guidance arrow is the standard guidance arrow. The derived guide arrow means that the driving direction of the candidate guide arrow may be different from the driving direction of the current navigation route at the intersection to be entered, but the turning direction of the steering wheel indicated by the candidate guide arrow is the same as the required turning direction of the steering wheel when the current navigation route is to be entered, and the turning direction of the steering wheel may be that the steering wheel turns left or right. That is, the user controls the steering wheel to rotate in the same direction as the required rotation direction indicated in the navigation route on the lane corresponding to the derivative guide arrow, but the steering wheel rotates by a different angle. For example, in the navigation route, the vehicle needs to turn around to the left by 180 degrees at the intersection to be driven to enter another road, and the driving direction indicated by the derived guide arrow is that the vehicle turns to the left by 90 degrees at the intersection to be driven. That is, the direction in which the derivative steering arrow and the vehicle actually need to turn are both left-handed, but the angles of rotation are different. And if the standard guide arrow which is completely the same as the driving direction of the current navigation route at the intersection to be driven does not exist in the guide direction board, determining whether a derivative guide arrow exists or not, and determining the derivative guide arrow as a candidate guide arrow. If a standard guide arrow is present, then no derivative guide arrow need be determined. The method has the advantages that the derived guide arrow can be determined under the condition that the standard guide arrow does not exist, the most appropriate lane is provided for the user, the user is prevented from changing the route temporarily, the violation of regulations is reduced under the condition that the original navigation route is not changed, and the navigation precision and the driving efficiency are improved.
In this embodiment, optionally, if the standard guide arrow is a turning arrow, the derivative guide arrow is a straight arrow; if the standard guide arrow is a u-turn arrow, the derived guide arrow is a left-turn arrow.
Specifically, derivative guide arrows corresponding to different standard guide arrows may be predefined, for example, the standard guide arrow is a turning arrow, and the corresponding derivative guide arrow is a straight arrow; the standard guide arrow is a U-turn arrow, and the corresponding derivative guide arrow is a left-turn arrow; the standard guide arrow is a left-turn arrow, and the corresponding derivative guide arrow is a turning arrow. The method has the advantages that when no standard guide arrow exists, the derivative guide arrow can be found quickly through the preset incidence relation between the standard guide arrow and the derivative guide arrow, the error in judging the direction of the derivative guide arrow is avoided, and the navigation precision and efficiency are improved.
S203, if yes, selecting a target guide arrow from at least one candidate guide arrow.
And if at least one candidate guide arrow exists, selecting a target guide arrow from the candidate guide arrows. If the standard guide arrows exist, the derived guide arrows may not be determined, that is, all of the candidate guide arrows are standard guide arrows, and if the standard guide arrows do not exist, all of the candidate guide arrows are derived guide arrows. When the target guide arrow is selected, the target guide arrow may be selected randomly, or the lane where the vehicle is currently located may be determined first, then the lanes of the candidate guide arrows may be determined, and the candidate guide arrow corresponding to the lane of the candidate guide arrow closest to the current lane may be determined as the target guide arrow.
And S204, performing navigation reminding according to the target guide arrow.
After the target guide arrow is determined, the lane corresponding to the target guide arrow is determined, and the user is prompted to enter the lane corresponding to the target guide arrow. For example, in the navigation route, the vehicle needs to travel to the left at the intersection to be driven, and the second left lane of the road where the vehicle is currently located is a guide arrow turning to the left, so that the user can be prompted to turn to the left on the second left lane.
In this embodiment, optionally, the navigating and prompting according to the target guide arrow includes: displaying a guide sign panel according to the guide sign; a target guide arrow is displayed in a guide sign panel in a protruding manner; and/or, superposing and displaying standard guide arrows at the positions of the target guide arrows in the guide sign panel.
Specifically, install display panel on the vehicle, at the vehicle in-process of traveling, display panel can show current route in real time and travel the progress, when the vehicle traveles and is close to the crossing, can show the direction sign panel of crossing department. After the target guide arrow is determined, the target guide arrow is highlighted on a guide sign panel of the vehicle. For example, the guidance arrow of three lanes of "left turn", "straight", and "right turn" is displayed on the guidance signboard panel, the target guidance arrow is "left turn", and the arrow of "left turn" may be highlighted on the panel. If the standard guide arrow does not exist on the guide direction indication board panel, the standard guide arrow can be displayed in a superposition mode in the position of the target guide arrow in the guide direction indication board panel. For example, if the target guide arrow of the guide sign is a derivative guide arrow, that is, the driving direction displayed by the target guide arrow does not completely coincide with the actual required driving direction of the vehicle, a standard guide arrow may be superimposed and displayed on the position of the target guide arrow, so that the user can determine the actual required driving direction on the lane corresponding to the target guide arrow. For example, if the target guide arrow is a left turn and the standard guide arrow is a u-turn, the u-turn arrow may be superimposed on the left-turning shoulder. The beneficial effect who sets up like this lies in, can make the user directly perceivedly look over target direction arrow and corresponding lane, in time change lane, avoids violating regulations, improves efficiency of going and road safety.
In this embodiment, optionally, the navigating and prompting according to the target guide arrow includes: selecting a target entering lane from a target entering road of the current navigation route at the intersection to be driven according to a target guiding arrow; selecting a target exit lane from a target exit road of the current navigation route to be driven into the intersection; and displaying a local navigation enlarged image of the intersection to be driven into according to the target entering lane and the target exiting lane.
Specifically, the road where the vehicle is currently located is a target entry road, and the target entry road is a road connected with the intersection to be driven into, that is, the vehicle enters the intersection to be driven into through the target entry road. The lane corresponding to the target guide arrow is determined, the lane is a target entering lane, the target entering lane is displayed on a display panel of the vehicle, for example, the target entering road and the intersection to be entered are displayed, and a driving route entering the intersection to be entered is displayed on the target entering lane of the target entering road.
The road after exiting from the intersection to be driven in is planned in advance in the navigation route, the road entering again after exiting from the lane to be driven in is taken as a target exit road, and a plurality of lanes can be planned on the target exit road. An entry is selected from a plurality of lanes of the target exit road to identify an exit lane. When the vehicle exits the intersection to be driven in, the lane entering the target exit road is the target exit lane, and the lane closest to the target entry lane in the target exit road can be determined as the target exit lane. And connecting the target entering lane with the target exiting lane through a route. And displaying a local navigation enlarged image of the intersection to be driven into on a display panel of the vehicle, wherein the local navigation enlarged image shows that the vehicle needs to be driven into the intersection to be driven into from the target entering lane and then driven into the target exiting lane from the intersection to be driven into so as to finish the driving process of the intersection to be driven into. Fig. 3 is a schematic view of a local navigation magnification of a road junction to be driven into. In fig. 3, the target entry lane is the fourth lane on the left side of the target entry road, the target exit lane is the leftmost lane of the target exit road, the target guidance arrow in fig. 3 is a left turn, and the superimposed standard guidance arrow is a u-turn. The beneficial effect who sets up like this lies in, and the user can directly perceivedly see direction arrow and corresponding lane, in time changes the lane, can look over in real time through the local navigation enlargedly whether the route that oneself was walked is unanimous with the navigation route, avoids the vehicle to break rules and regulations, improves efficiency of going and road safety.
In this embodiment, optionally, the navigating and prompting according to the target guide arrow includes: and prompting to drive into a lane corresponding to the target guide arrow by voice.
Specifically, after the target guide arrow and the corresponding lane are determined, the vehicle can send out voice prompt to inform the user of the required steering operation, lane changing times and the like at the intersection to be driven, so that the user is prompted to drive the target into the lane as early as possible, the condition that the user changes the lane at the intersection to cause violation of regulations is avoided, and the driving safety and the driving efficiency are improved.
The first reminding time can be determined according to the distance between the current position of the vehicle and the intersection to be driven into and/or the lane change times between the lane where the vehicle is located and the target entering lane. For example, the more the number of lane changes between the lane where the vehicle is located and the target entering lane, the earlier the first reminding time is, and the earlier the lane change is prompted to the user. The reminding frequency can be adjusted according to the distance between the current position of the vehicle and the intersection to be driven into. For example, the closer the distance between the current position of the vehicle and the intersection to be driven into, the higher the frequency of the warning. The reminding mode can be a display reminding mode and/or a voice reminding mode. Fig. 4 is a schematic diagram of a lane to be driven into an intersection. The current position of the vehicle is on the lane A, and the vehicle is going to go from the lane A to the lane C. When the vehicle converges into the lane B, the vehicle display panel can immediately pop up a local navigation enlarged view, and simultaneously, the vehicle display panel can report and remind that the vehicle please turn around the lane 3 and other lanes can not turn around. After the vehicle enters the lane B, the vehicle can be intensively broadcasted and displayed according to the sequence of the distances of 500 meters, 200 meters and 100 meters from the intersection to be driven. If the vehicle is within 100 meters of the intersection to be driven into, the enlarged image is not blanked continuously until the vehicle turns around at the intersection.
After the guide arrows on the guide signs to be driven into the intersection are determined to be in irregular sequencing, candidate guide arrows are searched from the guide arrows, and the candidate guide arrows can be consistent with or inconsistent with the steering required by actual driving. And determining a target guide arrow from the candidate guide arrows, and sending a navigation prompt to the user. By determining the candidate navigation arrows, the vehicle keeps the original driving plan, the flexibility and the diversity of the determination of the driving path are improved, and the change of the path is reduced. Through the identification of the guide direction boards which are sorted irregularly, the lanes consistent with the driving intentions are determined and reminded under the condition of irregular sorting, so that the condition that the user breaks rules or drifts is avoided, and the driving safety and the driving efficiency are improved.
Fig. 5 is a schematic flow diagram of a navigation reminding method according to an embodiment of the present disclosure, which is optimized based on the above embodiment and is used for a situation of navigating a user during a driving process of the user. As shown in fig. 5, a navigation reminding method provided by an embodiment of the present disclosure may include:
s501, identifying whether each guide arrow in the guide direction board to be driven into the intersection is in irregular sequencing.
And S502, if so, determining the driving angle at the intersection to be driven into according to the local driving path of the navigation route at the intersection to be driven into.
If the guide arrows in the guide sign of the intersection to be driven into are determined to be in irregular sequencing, a local driving path of the navigation route at the intersection to be driven into is obtained, wherein the local driving path is a driving path that a vehicle drives into the intersection to be driven into from the current position and then drives out from the intersection to be driven into another road. The road where the vehicle is located at present is a target entering road, and the road where the vehicle enters after exiting from the intersection to be entered is a target exiting road. And determining an included angle between the target entering road and the target exiting road, and determining the included angle as the driving angle of the vehicle at the intersection to be driven into. The travel angle may be 0 to 180 degrees with the current travel direction of the vehicle being the positive direction.
And S503, determining the driving direction of the intersection to be driven into according to the driving angle.
Wherein the correlation between the driving angle and the driving direction is preset. For example, if the driving angle is within 45 degrees to the left and right of the positive direction of the vehicle, it can be determined that the driving direction of the vehicle at the intersection to be driven into is straight; if the driving angle is within 45-135 degrees on the left side of the positive direction, determining that the driving direction of the vehicle at the intersection to be driven into is a left turn; if the driving angle is within 45-135 degrees on the right side of the positive direction, determining that the driving direction of the vehicle at the intersection to be driven into is a right turn; and if the driving angle is within 45 degrees from the left and the right of the opposite driving direction of the vehicle, determining that the driving direction of the vehicle at the intersection to be driven into is the U-turn. Fig. 6 is a schematic view of a driving direction and a driving angle. After the driving angle is determined, the driving direction of the vehicle at the intersection to be driven can be directly determined, the surface driving direction is judged wrongly, the target guide arrow can be conveniently determined according to the driving direction, and the determination efficiency and accuracy of the target guide arrow are improved.
And S504, determining a target guide arrow in the guide direction board according to the running direction of the current navigation route at the intersection to be driven.
And S505, performing navigation reminding according to the target guide arrow.
The method and the device for identifying the direction indicator board of the intersection identify the direction indicator board to be driven into the intersection in real time in the driving process of the vehicle, and determine whether the sequence of the direction arrows on the direction indicator board is irregular or not. If so, determining the driving direction of the vehicle according to the driving angle of the vehicle in the navigation route, selecting a target guide arrow from the plurality of guide arrows according to the driving direction, and reminding a user of driving on the lane of the target guide arrow. The method and the device have the advantages that the driving lane is determined and reminded under the condition of irregular sequencing, a correct navigation route is provided for a user, the condition that the user breaks rules or drifts is avoided, the determination precision of the driving route of the user is improved, and the driving safety and the driving efficiency are improved.
As an implementation of each navigation reminding method, an embodiment of an execution device for implementing the navigation reminding method is also provided in the embodiments of the present application.
Fig. 7 is a schematic structural diagram of a navigation reminding device according to an embodiment of the present application, which is capable of executing the navigation reminding method provided by the embodiment of the present application, and the navigation reminding device is configured on a server and has functional modules and beneficial effects corresponding to the execution method. As shown in fig. 7, the apparatus 700 may include:
the sign identification module 701 is used for identifying whether each guide arrow in the guide sign to be driven into the intersection is in irregular sequencing;
a target guidance determining module 702, configured to determine a target guidance arrow in the guidance sign according to the driving direction of the current navigation route at the intersection to be driven into if the target guidance direction is the same as the driving direction of the current navigation route;
and the navigation reminding module 703 is configured to perform navigation reminding according to the target guide arrow.
According to the embodiment of the disclosure, the guide direction board to be driven into the intersection is identified in real time in the driving process of the vehicle, and whether the sequencing of the guide arrows on the guide direction board is irregular sequencing or not is determined. If so, selecting a target guide arrow from the plurality of guide arrows, wherein the direction of the target guide arrow corresponds to the driving direction, and reminding the user of driving on the lane of the target guide arrow. The method and the device have the advantages that the driving lane is determined and reminded under the condition of irregular sequencing, a correct navigation route is provided for a user, the condition that the user breaks rules or drifts is avoided, the determination precision of the driving route of the user is improved, and the driving safety and the driving efficiency are improved.
Optionally, the target direction determining module 702 includes:
the candidate arrow determining unit is used for determining whether at least one candidate guide arrow matched with the driving direction of the current navigation route at the intersection to be driven into exists in the guide direction board;
and the target arrow determining unit is used for selecting the target guide arrow from the at least one candidate guide arrow.
Optionally, the candidate arrow determining unit includes:
the arrow mark identification subunit is used for identifying whether a standard guide arrow mark which is the same as the driving direction of the current navigation route at the intersection to be driven into exists in the guide direction board;
and the derived arrow determining subunit is used for determining at least one derived guide arrow of the standard guide arrows according to the driving direction if the standard guide arrows are not used, and taking the derived guide arrow as the candidate guide arrow.
Optionally, if the standard guide arrow is a turning arrow, the derivative guide arrow is a straight arrow;
and if the standard guide arrow is a turning arrow, the derivative guide arrow is a left-turning arrow.
Optionally, the navigation reminding module 703 includes:
the panel display unit is used for displaying a guide direction board panel according to the guide direction board;
a target arrow display unit for displaying the target guide arrow in a protruding manner in the guide signboard panel; and/or the presence of a gas in the atmosphere,
and the standard arrow superposition unit is used for superposing and displaying the standard guide arrow at the target guide arrow position in the guide sign panel.
Optionally, the navigation reminding module 703 includes:
the target entering lane selecting unit is used for selecting a target entering lane from the target entering roads of the intersection to be entered by the navigation route according to the target guiding arrow;
the target exit lane selection unit is used for selecting a target exit lane from the target exit road of the current navigation route at the intersection to be driven in;
and the navigation map display unit is used for displaying a local navigation enlarged view of the intersection to be driven in according to the target entering lane and the target exiting lane.
Optionally, the navigation reminding module 703 includes:
and the voice reminding unit is used for reminding the driver of driving into the lane corresponding to the target guide arrow by voice.
Optionally, the sign recognition module 701 includes:
the left-turn arrow identification unit is used for determining that all guide arrows in the guide direction board are in irregular sequencing if a lane corresponding to a left-turn arrow in the guide direction board is a non-inner side lane and no lane corresponding to a turn-around arrow is available;
the right-turn arrow identification unit is used for determining that all guide arrows in the guide direction board are in irregular sequencing if lanes corresponding to the right-turn arrow in the guide direction board are non-outer lanes;
and the straight arrow identification unit is used for determining that each guide arrow in the guide direction board is in irregular sequencing if a straight arrow and a steering arrow exist in the guide direction board and a lane corresponding to the straight arrow is a border lane.
Optionally, the apparatus 700 further includes:
the driving angle determining module is used for determining the driving angle of the intersection to be driven into according to the local driving path of the navigation route at the intersection to be driven into;
and the driving direction determining module is used for determining the driving direction of the intersection to be driven into according to the driving angle.
The navigation reminding device can execute the navigation reminding method provided by any embodiment of the disclosure, and has corresponding functional modules and beneficial effects for executing the navigation reminding method.
In the technical scheme disclosed by the invention, the acquisition, storage, application and the like of the navigation route all accord with the regulations of related laws and regulations, and do not violate the good customs of the public order.
The present disclosure also provides an electronic device, a vehicle, a readable storage medium, and a computer program product according to embodiments of the present disclosure.
FIG. 8 illustrates a schematic block diagram of an example electronic device 800 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 8, the apparatus 800 includes a computing unit 801 which can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)802 or a computer program loaded from a storage unit 808 into a Random Access Memory (RAM) 803. In the RAM803, various programs and data required for the operation of the device 800 can also be stored. The calculation unit 801, the ROM802, and the RAM803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to bus 804.
A number of components in the device 800 are connected to the I/O interface 805, including: an input unit 806, such as a keyboard, a mouse, or the like; an output unit 807 such as various types of displays, speakers, and the like; a storage unit 808, such as a magnetic disk, optical disk, or the like; and a communication unit 809 such as a network card, modem, wireless communication transceiver, etc. The communication unit 809 allows the device 800 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
Computing unit 801 may be a variety of general and/or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and the like. The calculation unit 801 executes the respective methods and processes described above. For example, in some embodiments, the navigation alert method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 808. In some embodiments, part or all of the computer program can be loaded and/or installed onto device 800 via ROM802 and/or communications unit 809. When loaded into RAM803 and executed by computing unit 801, may perform one or more of the steps of the navigation prompt method described above. Alternatively, in other embodiments, the computing unit 801 may be configured to perform the navigation reminder method by any other suitable means (e.g., by means of firmware).
The electronic device 800 is arranged on the vehicle, and the navigation reminding method provided by any embodiment of the disclosure can be realized.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program code, when executed by the processor or controller, causes the functions/acts specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on 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.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome. The server may also be a server of a distributed system, or a server incorporating a blockchain.
Artificial intelligence is the subject of research that makes computers simulate some human mental processes and intelligent behaviors (such as learning, reasoning, thinking, planning, etc.), both at the hardware level and at the software level. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing, and the like; the artificial intelligence software technology mainly comprises a computer vision technology, a voice recognition technology, a natural language processing technology, a machine learning/deep learning technology, a big data processing technology, a knowledge map technology and the like.
Cloud computing (cloud computing) refers to a technology system that accesses a flexibly extensible shared physical or virtual resource pool through a network, where resources may include servers, operating systems, networks, software, applications, storage devices, and the like, and may be deployed and managed in a self-service manner as needed. Through the cloud computing technology, high-efficiency and strong data processing capacity can be provided for technical application such as artificial intelligence and block chains and model training.
It should be understood that various forms of the flows shown above, reordering, adding or deleting steps, may be used. For example, the steps described in this disclosure may be performed in parallel or sequentially or in a different order, as long as the desired results of the technical solutions provided by this disclosure can be achieved, and are not limited herein.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.
Claims (19)
1. A navigation reminding method comprises the following steps:
identifying whether each guide arrow in a guide sign to be driven into the intersection is in irregular sequencing, wherein the irregular sequencing means that the arrow sequencing of each lane is irrelevant to the position of the lane;
if so, determining a target guide arrow in the guide direction board according to the driving direction of the navigation route at the intersection to be driven in;
performing navigation reminding according to the target guide arrow;
wherein, according to the driving direction of the current navigation route at the intersection to be driven into, determining a target guide arrow in the guide direction board, comprises:
determining whether at least one candidate guide arrow matched with the driving direction of the current navigation route at the intersection to be driven exists in the guide direction board;
if so, selecting the target guide arrow from the at least one candidate guide arrow;
wherein the candidate leading arrows comprise a standard leading arrow and a derivative leading arrow;
the standard guide arrow indicates that the driving direction indicated by the candidate guide arrow is completely the same as the driving direction of the navigation route at the intersection to be driven into;
the derived guide arrow indicates that the driving direction indicated by the candidate guide arrow is different from the driving direction of the current navigation route at the intersection to be driven into, but the rotating direction of the steering wheel indicated by the candidate guide arrow is consistent with the rotating direction of the steering wheel of the current navigation route at the intersection to be driven into.
2. The method of claim 1, wherein the determining whether at least one candidate guide arrow matching the driving direction of the current navigation route at the intersection to be driven into exists in the guide sign comprises:
identifying whether a standard guide arrow which is the same as the driving direction of the current navigation route at the intersection to be driven into exists in the guide direction board;
if not, determining at least one derivative guide arrow of the standard guide arrows according to the driving direction, and taking the derivative guide arrow as the candidate guide arrow.
3. The method of claim 2, wherein if the standard guide arrow is a turn arrow, the derivative guide arrow is a straight arrow;
and if the standard guide arrow is a turning arrow, the derivative guide arrow is a left-turning arrow.
4. The method of claim 2, wherein the performing a navigation prompt according to the target guide arrow comprises:
displaying a guide sign panel according to the guide sign;
highlighting the target guide arrow in the guide sign panel; and/or the presence of a gas in the atmosphere,
and superposing and displaying the standard guide arrow at the target guide arrow position in the guide direction board panel.
5. The method of claim 2, wherein the performing a navigation prompt according to the target guide arrow comprises:
selecting a target entering lane from the target entering road of the current navigation route at the intersection to be entered according to the target guiding arrow;
selecting a target exit lane from the target exit road of the current navigation route to be driven into the intersection;
and displaying a local navigation enlarged view of the intersection to be driven into according to the target entering lane and the target exiting lane.
6. The method of claim 2, wherein the performing a navigation prompt according to the target guide arrow comprises:
and prompting to drive into the lane corresponding to the target guide arrow by voice.
7. The method of any of claims 1-6, wherein the identifying whether the directional arrows in the directional sign to be driven into the intersection are in irregular order comprises at least one of:
if the lane corresponding to the left-turn arrow in the guide indication board is a non-inner side lane and no turn-around arrow corresponds to the lane, determining that all guide arrows in the guide indication board are in irregular sequencing;
if the lane corresponding to the right-turn arrow in the guide direction board is a non-outer lane, determining that all guide arrows in the guide direction board are in irregular sequencing;
and if the guide direction board has a straight arrow and a turning arrow and the lane corresponding to the straight arrow is a border lane, determining that all the guide arrows in the guide direction board are in irregular sequencing.
8. The method of any of claims 1-7, further comprising:
determining a driving angle at the intersection to be driven into according to the local driving path of the navigation route at the intersection to be driven into;
and determining the driving direction at the intersection to be driven into according to the driving angle.
9. A navigation reminder device comprising:
the direction board identification module is used for identifying whether each guide arrow in the guide direction board to be driven into the intersection is in irregular sequencing or not, wherein the irregular sequencing means that the arrow sequencing of each lane is irrelevant to the position of the lane;
the target guidance determining module is used for determining a target guidance arrow in the guidance sign according to the driving direction of the navigation route at the intersection to be driven into if the target guidance arrow is in the intersection to be driven into;
the navigation reminding module is used for carrying out navigation reminding according to the target guide arrow;
wherein the target guidance determination module comprises:
the candidate arrow determining unit is used for determining whether at least one candidate guide arrow matched with the driving direction of the current navigation route at the intersection to be driven into exists in the guide direction board;
a target arrow determining unit, configured to select the target guide arrow from the at least one candidate guide arrow;
wherein the candidate guide arrows comprise standard guide arrows and derivative guide arrows;
the standard guide arrow indicates that the driving direction indicated by the candidate guide arrow is completely the same as the driving direction of the current navigation route at the intersection to be driven into;
the derived guide arrow indicates that the driving direction indicated by the candidate guide arrow is different from the driving direction of the current navigation route at the intersection to be driven into, but the rotating direction of the steering wheel indicated by the candidate guide arrow is consistent with the rotating direction of the steering wheel of the current navigation route at the intersection to be driven into.
10. The apparatus of claim 9, wherein the candidate arrow determination unit comprises:
the arrow mark identifying subunit is used for identifying whether a standard guide arrow mark which is the same as the driving direction of the navigation route at the intersection to be driven into exists in the guide direction board or not;
and the derived arrow determining subunit is used for determining at least one derived guide arrow of the standard guide arrows according to the driving direction if the standard guide arrow is not the candidate guide arrow, and taking the derived guide arrow as the candidate guide arrow.
11. The apparatus of claim 10, wherein if the standard guide arrow is a turn arrow, the derivative guide arrow is a straight arrow;
and if the standard guide arrow is a turning arrow, the derived guide arrow is a left-turning arrow.
12. The apparatus of claim 10, wherein the navigation reminder module comprises:
the panel display unit is used for displaying a guide sign panel according to the guide sign;
a target arrow display unit for displaying the target guide arrow in a highlighted manner in the guide sign panel; and/or the presence of a gas in the gas,
and the standard arrow superposition unit is used for superposing and displaying the standard guide arrow at the target guide arrow position in the guide direction board panel.
13. The apparatus of claim 10, wherein the navigation reminder module comprises:
the target entering lane selecting unit is used for selecting a target entering lane from the target entering road of the current navigation route at the intersection to be driven into according to the target guide arrow;
the target exit lane selection unit is used for selecting a target exit lane from the target exit road of the current navigation route at the intersection to be driven in;
and the navigation map display unit is used for displaying a local navigation enlarged view of the intersection to be driven in according to the target entering lane and the target exiting lane.
14. The apparatus of claim 10, wherein the navigation alert module comprises:
and the voice reminding unit is used for reminding the driver of driving into the lane corresponding to the target guide arrow by voice.
15. The apparatus of any of claims 9-14, wherein the sign identification module comprises:
the left-turn arrow recognition unit is used for determining that each guide arrow in the guide direction board is in irregular sequencing if a lane corresponding to the left-turn arrow in the guide direction board is a non-inner side lane and no lane corresponding to a turning arrow is formed;
the right-turn arrow identification unit is used for determining that all guide arrows in the guide direction board are in irregular sequencing if lanes corresponding to the right-turn arrow in the guide direction board are non-outer lanes;
and the straight arrow identification unit is used for determining that each guide arrow in the guide direction board is in irregular sequencing if a straight arrow and a steering arrow exist in the guide direction board and a lane corresponding to the straight arrow is a border lane.
16. The apparatus of any of claims 9-15, further comprising:
the driving angle determining module is used for determining the driving angle at the intersection to be driven into according to the local driving path of the navigation route at the intersection to be driven into;
and the driving direction determining module is used for determining the driving direction of the intersection to be driven into according to the driving angle.
17. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-8.
18. A vehicle provided with an electronic device as claimed in claim 17.
19. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-8.
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| CN114537168A (en) * | 2022-02-10 | 2022-05-27 | 北京三快在线科技有限公司 | Charging and battery replacing reminding method and device, readable storage medium and electronic equipment |
| CN114719878B (en) * | 2022-04-06 | 2023-04-21 | 北京百度网讯科技有限公司 | Vehicle navigation method, device, system, electronic equipment and computer medium |
| CN114792476B (en) * | 2022-04-28 | 2024-03-05 | 北京百度网讯科技有限公司 | Navigation broadcasting method, device, electronic equipment and storage medium |
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