CN114355902A - Navigation enhancement display method based on high-precision map and automobile - Google Patents
Navigation enhancement display method based on high-precision map and automobile Download PDFInfo
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- CN114355902A CN114355902A CN202111554593.2A CN202111554593A CN114355902A CN 114355902 A CN114355902 A CN 114355902A CN 202111554593 A CN202111554593 A CN 202111554593A CN 114355902 A CN114355902 A CN 114355902A
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 description 2
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 description 2
- 238000000848 angular dependent Auger electron spectroscopy Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000003190 augmentative effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
-
- 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
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3658—Lane guidance
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Abstract
The invention provides a navigation enhancement display method based on a high-precision map device, which is applied to a navigation enhancement display system, wherein the navigation enhancement display system comprises the following components: a central controller; the system comprises a steering wheel key, a vehicle-mounted front camera, a vehicle-mounted navigation device, a high-precision map device, a vehicle-mounted positioning instrument, a vehicle-mounted display and a vehicle-mounted loudspeaker, wherein the steering wheel key, the vehicle-mounted front camera, the vehicle-mounted navigation device, the high-precision map device, the vehicle-mounted positioning instrument, the vehicle-mounted display and the vehicle-mounted loudspeaker are respectively connected with a central controller; the vehicle-mounted front camera, the vehicle-mounted navigation instrument and the vehicle-mounted positioning instrument are respectively connected with the high-precision map device.
Description
Technical Field
The invention belongs to the field of safe driving of automobiles, and particularly relates to a navigation augmented reality method based on a high-precision map and an automobile.
Background
At present, a driving assistance system mainly relies on a millimeter wave radar and a camera to identify lane lines and vehicle information, and realizes acceleration and deceleration and transverse control in a single lane. The vehicle navigation mainly provides the path and prompt information of the standard working condition. Some driving support vehicles are equipped with ADAS maps, and can provide information such as road types, curves, and ramps to assist the driving support system in speed control, but cannot perform lane-level positioning due to accuracy.
And the appearance of a high-precision map, the transverse precision of which reaches centimeter level, can realize lane-level positioning and more accurate scene reconstruction. When the driver does not use the driving assistance function, the high-precision map device and the visual sensor are not fully used.
Disclosure of Invention
The invention discloses a navigation enhancement method based on a high-precision map device, which comprises the high-precision map device, an ADAS module, a front intelligent camera, a vehicle-mounted navigation module and an interaction module. Road information is monitored in real time through high-precision map and sensor fusion, a navigation path is planned, and a driver is prompted through a vehicle-mounted loudspeaker and a vehicle-mounted display.
The technical scheme of the invention is as follows:
the invention provides a navigation enhancement display method based on a high-precision map device, which is applied to a navigation enhancement display system, wherein the navigation enhancement display system comprises the following components: a central controller; the system comprises a steering wheel key, a vehicle-mounted front camera, a vehicle-mounted navigation device, a high-precision map device, a vehicle-mounted positioning instrument, a vehicle-mounted display and a vehicle-mounted loudspeaker, wherein the steering wheel key, the vehicle-mounted front camera, the vehicle-mounted navigation device, the high-precision map device, the vehicle-mounted positioning instrument, the vehicle-mounted display and the vehicle-mounted loudspeaker are respectively connected with a central controller; the vehicle-mounted front camera, the vehicle-mounted navigation instrument and the vehicle-mounted positioning instrument are respectively connected with the high-precision map device;
the method comprises the following steps:
when the navigation enhancement display function of the vehicle is started, the vehicle-mounted navigation plans a navigation path based on navigation destination information input by a user;
the high-precision map device monitors road information in a second preset distance range in front of the vehicle based on front road condition information in the first preset distance range in front of the vehicle, which is output by the vehicle-mounted front camera, a navigation path output by vehicle-mounted navigation and vehicle positioning information output by a vehicle-mounted positioning instrument;
the central controller judges whether a merging demand and/or an entering ramp demand exist in a second preset distance range in front of the vehicle or not based on a navigation path output by vehicle navigation;
when the lane merging requirement is determined to exist in a second preset distance range in front of the vehicle, the central controller judges whether the lane where the vehicle is located currently is a death lane or not according to the road information, output by the high-precision map device, in the second preset distance range in front of the vehicle;
if the current lane of the vehicle is a death lane, the central controller controls the vehicle-mounted display and the vehicle-mounted loudspeaker to output first prompt information for prompting the driver to change lanes; after a driver confirms lane changing through a steering wheel key, the central controller controls the vehicle to merge into a main road based on a lane changing track generated by the high-precision map device and controls a popup window on a navigation interface of the vehicle-mounted display to display a lane changing scene;
when the situation that the vehicle has a ramp entering requirement within a second preset distance range in front of the vehicle is determined, the central controller judges whether a deceleration lane communicated with the ramp exists at the ramp position according to a navigation path output by vehicle navigation;
if a deceleration lane communicated with the ramp exists at the ramp position, whether the current lane where the vehicle is located is a target lane communicated with the deceleration lane or not is judged;
if the current lane of the vehicle is not the target lane communicated with the deceleration lane, the central controller controls the vehicle-mounted display and the vehicle-mounted loudspeaker to output second prompt information for prompting the driver to change lanes; after the driver confirms the lane change through a steering wheel key, the central controller controls the vehicle to change the lane to a deceleration lane communicated with the ramp based on the lane change track generated by the high-precision map device, and controls a popup window on a navigation interface of the vehicle-mounted display to display a ramp lane change scene.
Preferably, the method further comprises:
and if the position of the ramp does not have a deceleration lane communicated with the ramp or the current lane of the vehicle is a target lane communicated with the deceleration lane, controlling a popup window on a navigation interface of the vehicle-mounted display to display the ramp speed limit value.
Preferably, the road information within the second predetermined distance range ahead of the vehicle traveling provided by the high-precision map device includes: the method comprises the steps of obtaining first information whether a merging road exists in a second preset distance range before the vehicle runs, second information whether a ramp exists in the second preset distance range before the vehicle runs, third information including the total number of lanes at the current position of the vehicle and the total number of lanes at a second preset distance position before the vehicle runs, and fourth information including a speed limit value at the current position of the vehicle and a ramp speed limit value.
The invention also provides an automobile comprising the navigation enhancement display method based on the high-precision map.
The invention has the beneficial effects that: firstly, the system provides lane-level road traffic information, and the lane-level road traffic information is more accurately displayed to a user; 2. the system calculates the lane changing path, and reduces the burden of a driver.
Drawings
FIG. 1 is a block diagram of a navigation enhanced display device according to an embodiment of the present invention;
FIG. 2 is a flowchart of a navigation enhancement display method according to an embodiment of the present invention;
FIG. 3 is a diagram of a merge popup window according to an embodiment of the present invention.
Detailed Description
The invention is further described with reference to the accompanying drawings in which:
the invention provides a navigation enhancement display device based on a high-precision map, which comprises:
a central controller; the system comprises a steering wheel key, a vehicle-mounted front camera, a vehicle-mounted navigation device, a high-precision map device, a vehicle-mounted positioning instrument, a vehicle-mounted display and a vehicle-mounted loudspeaker, wherein the steering wheel key, the vehicle-mounted front camera, the vehicle-mounted navigation device, the high-precision map device, the vehicle-mounted positioning instrument, the vehicle-mounted display and the vehicle-mounted loudspeaker are respectively connected with a central controller. The vehicle-mounted front camera outputs front road condition information including the road condition within a first preset distance range in front of the vehicle to the central controller, and provides the front road condition information within the first preset distance range in front of the vehicle to the high-precision map device. Vehicle navigation is used for the driver to set the destination, and vehicle positioning instruments (RTK and GNSS) are used for providing real-time vehicle positioning information to a high-precision map device and a central controller. The central controller performs decision control and control signal output, and the output decision signal prompts a user through a vehicle-mounted loudspeaker and a vehicle-mounted display.
The central controller receives instructions fed back by a user based on the prompt information based on the hard-wire signals input by the keys of the steering wheel.
In this embodiment, the driver selects to turn on the navigation enhancement display function or turn off the navigation enhancement display function based on the demand. Specifically, the driver can input a command through hardware or a command on the in-vehicle display to turn on or off the function. When the navigation enhanced display function is not opened, the display interface of the vehicle-mounted display is displayed according to the navigation path output by the vehicle-mounted navigation, namely the display mode at the moment is consistent with the conventional display mode.
As shown in fig. 2, after the driver starts the navigation enhancement display function, in this embodiment, the following process is executed:
a driver sets destination information through vehicle-mounted navigation, and the vehicle-mounted navigation plans a navigation path based on the destination information input by the driver (the process is the prior art);
the high-precision map device monitors road information in the 2km ahead of the vehicle in real time and outputs the following information:
a) and the merging situation in the 2km ahead (second preset distance range) of the vehicle is as follows: and whether the vehicle has first information of the lane merging within 2km ahead of the running vehicle.
b) And the ramp condition in the 2km ahead (second preset distance range) of the vehicle is as follows: and whether the vehicle has the second information of the ramp within 2km ahead of the running vehicle.
c) The third information comprises the total number of lanes at the current position of the vehicle and the total number of lanes at the position 2km ahead of the vehicle; for example, the total number of lanes La and ID of lanes at the current position of the vehicle is 1 from the left, and the lane IDs are accumulated to the right; the total number of lanes Lb and lane ID at the position 2km ahead of the vehicle, starting from the left and being 1, are accumulated to the right.
d) And fourth information containing the speed limit value of the current position of the vehicle and the speed limit value at a second preset distance position in front of the vehicle.
And the central controller judges whether a merging requirement or a leaving requirement exists within the range of 2km ahead of the vehicle according to a navigation path provided by vehicle navigation.
If yes, the central controller specifically needs third information in the road information based on the road information provided by the high-precision map device, wherein the third information is used for identifying the change of the number of lanes and judging whether the lane where the vehicle is located is a death lane or not; if the lane where the vehicle is located is not the death lane, controlling the vehicle-mounted display to display according to a navigation interface provided by the original vehicle-mounted navigation; and if the current lane is a disappearing lane, outputting first prompt information for reminding a driver to change lanes through the vehicle-mounted display and the vehicle-mounted loudspeaker. After the driver confirms through the steering wheel key based on the first prompt information, the central controller judges the possibility of lane changing according to the lane changing track provided by the high-precision map device and the surrounding environment detected by the vehicle-mounted front camera in real time, and detects the surrounding environment all the time. The high-precision map device plans a lane changing track according to a navigation path, and fits a vehicle track equation to calculate a running track by combining the road curvature of the lane and the target lane and the distance between the lane and the vehicle. The central controller also controls a pop-up window scene reconstruction interface of the vehicle-mounted display to display a recommended lane changing track and guides a driver to change lanes.
As shown in fig. 3, when the vehicle travels in the rightmost lane L3, the high-precision map device detects that a lane front cut, Lb < La, has occurred before the vehicle travels, and a lane change is necessary (the vehicle travels in the cut lane, i.e., the vehicle has a demand for merging into the main lane). A represents the current position of the vehicle, B represents the intersection point of the lane changing track of the vehicle and two lanes, C represents the final centering of the vehicle to the position point of the target lane after lane changing, and the actual lane changing process is as follows:
a represents the current position of the vehicle, B represents the intersection point of the lane changing track of the vehicle and two lanes, C represents the final centering of the vehicle to the position point of the target lane after lane changing, and the actual lane changing process is as follows:
1) a- > B: the high-precision map device positions an initial lane change point B according to a running track equation and plans a running track curve LAB;
2) b- > C: the central controller controls the vehicle to enter a target lane (namely a main road needing to be converged), and the vehicle position is continuously corrected according to the running track of the vehicle.
3) And when the vehicle keeps parallel to the lane for 0.5s, the display interface of the vehicle-mounted display returns to the navigation interface.
If the ramp exists, namely a ramp exit (Lb & gtLa) exists on the navigation path, the central controller judges whether a deceleration lane communicated with the ramp exists or not based on the navigation path; if the deceleration lane exists, judging whether the current lane of the vehicle is a target lane communicated with the deceleration lane or not based on a high-precision map device; if the current lane of the vehicle is not the target lane communicated with the deceleration lane, the central controller controls the vehicle-mounted display and the vehicle-mounted loudspeaker to output second display information for reminding the driver of changing lanes; after the driver confirms through the steering wheel key, the central controller controls the popup window of the vehicle-mounted controller to display the lane changing track according to the ramp speed limit value, and the vehicle-mounted controller directly enters the deceleration lane from the target lane communicated with the ramp so as to enter the ramp. If no deceleration lane exists, the central controller controls the pop-up window of the vehicle-mounted controller to display according to the ramp speed limit value.
Claims (4)
1. A navigation enhancement display method based on a high-precision map device is applied to a navigation enhancement display system, and is characterized in that the navigation enhancement display system comprises: a central controller; the system comprises a steering wheel key, a vehicle-mounted front camera, a vehicle-mounted navigation device, a high-precision map device, a vehicle-mounted positioning instrument, a vehicle-mounted display and a vehicle-mounted loudspeaker, wherein the steering wheel key, the vehicle-mounted front camera, the vehicle-mounted navigation device, the high-precision map device, the vehicle-mounted positioning instrument, the vehicle-mounted display and the vehicle-mounted loudspeaker are respectively connected with a central controller; the vehicle-mounted front camera, the vehicle-mounted navigation instrument and the vehicle-mounted positioning instrument are respectively connected with the high-precision map device;
the method comprises the following steps:
when the navigation enhancement display function of the vehicle is started, the vehicle-mounted navigation plans a navigation path based on navigation destination information input by a user;
the high-precision map device monitors road information in a second preset distance range in front of the vehicle based on front road condition information in the first preset distance range in front of the vehicle, which is output by the vehicle-mounted front camera, a navigation path output by vehicle-mounted navigation and vehicle positioning information output by a vehicle-mounted positioning instrument;
the central controller judges whether a merging demand and/or an entering ramp demand exist in a second preset distance range in front of the vehicle or not based on a navigation path output by vehicle navigation;
when the lane merging requirement is determined to exist in a second preset distance range in front of the vehicle, the central controller judges whether the lane where the vehicle is located currently is a death lane or not according to the road information, output by the high-precision map device, in the second preset distance range in front of the vehicle;
if the current lane of the vehicle is a death lane, the central controller controls the vehicle-mounted display and the vehicle-mounted loudspeaker to output first prompt information for prompting the driver to change lanes; after a driver confirms lane changing through a steering wheel key, the central controller controls the vehicle to merge into a main road based on a lane changing track generated by the high-precision map device and controls a popup window on a navigation interface of the vehicle-mounted display to display a lane changing scene;
when the situation that the vehicle has a ramp entering requirement within a second preset distance range in front of the vehicle is determined, the central controller judges whether a deceleration lane communicated with the ramp exists at the ramp position according to a navigation path output by vehicle navigation;
if a deceleration lane communicated with the ramp exists at the ramp position, whether the current lane where the vehicle is located is a target lane communicated with the deceleration lane or not is judged;
if the current lane of the vehicle is not the target lane communicated with the deceleration lane, the central controller controls the vehicle-mounted display and the vehicle-mounted loudspeaker to output second prompt information for prompting the driver to change lanes; after the driver confirms the lane change through a steering wheel key, the central controller controls the vehicle to change the lane to a deceleration lane communicated with the ramp based on the lane change track generated by the high-precision map device, and controls a popup window on a navigation interface of the vehicle-mounted display to display a ramp lane change scene.
2. The method of claim 1, further comprising:
and if the position of the ramp does not have a deceleration lane communicated with the ramp or the current lane of the vehicle is a target lane communicated with the deceleration lane, controlling a popup window on a navigation interface of the vehicle-mounted display to display the ramp speed limit value.
3. The method of claim 1, wherein the road information provided by the high-precision map device within a second predetermined distance range ahead of the vehicle comprises: the method comprises the steps of obtaining first information whether a merging road exists in a second preset distance range before the vehicle runs, second information whether a ramp exists in the second preset distance range before the vehicle runs, third information including the total number of lanes at the current position of the vehicle and the total number of lanes at a second preset distance position before the vehicle runs, and fourth information including a speed limit value at the current position of the vehicle and a ramp speed limit value.
4. An automobile, characterized by comprising the high-precision map-based navigation enhancement display method of any one of claims 1 to 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111554593.2A CN114355902B (en) | 2021-12-17 | 2021-12-17 | Navigation enhancement display method based on high-precision map and automobile |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111554593.2A CN114355902B (en) | 2021-12-17 | 2021-12-17 | Navigation enhancement display method based on high-precision map and automobile |
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| CN114355902A true CN114355902A (en) | 2022-04-15 |
| CN114355902B CN114355902B (en) | 2024-02-09 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08313291A (en) * | 1995-05-24 | 1996-11-29 | Matsushita Electric Ind Co Ltd | On-vehicle navigation apparatus |
| JPH09178505A (en) * | 1995-12-27 | 1997-07-11 | Pioneer Electron Corp | Drive assist system |
| CN206410712U (en) * | 2017-01-16 | 2017-08-15 | 德尔福电子(苏州)有限公司 | A kind of vehicle-mounted high-precision track navigation system |
| KR20170101758A (en) * | 2016-02-26 | 2017-09-06 | 자동차부품연구원 | Augmented Reality Head Up Display Navigation |
| CN107521411A (en) * | 2017-07-18 | 2017-12-29 | 吉林大学 | A kind of track level navigation augmented reality device for aiding in driver |
| CN113359698A (en) * | 2021-05-06 | 2021-09-07 | 前海七剑科技(深圳)有限公司 | Vehicle navigation method, device, computer equipment and storage medium |
-
2021
- 2021-12-17 CN CN202111554593.2A patent/CN114355902B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08313291A (en) * | 1995-05-24 | 1996-11-29 | Matsushita Electric Ind Co Ltd | On-vehicle navigation apparatus |
| JPH09178505A (en) * | 1995-12-27 | 1997-07-11 | Pioneer Electron Corp | Drive assist system |
| KR20170101758A (en) * | 2016-02-26 | 2017-09-06 | 자동차부품연구원 | Augmented Reality Head Up Display Navigation |
| CN206410712U (en) * | 2017-01-16 | 2017-08-15 | 德尔福电子(苏州)有限公司 | A kind of vehicle-mounted high-precision track navigation system |
| CN107521411A (en) * | 2017-07-18 | 2017-12-29 | 吉林大学 | A kind of track level navigation augmented reality device for aiding in driver |
| CN113359698A (en) * | 2021-05-06 | 2021-09-07 | 前海七剑科技(深圳)有限公司 | Vehicle navigation method, device, computer equipment and storage medium |
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