CN114858176A

CN114858176A - Path navigation method and device based on automatic driving

Info

Publication number: CN114858176A
Application number: CN202210384709.0A
Authority: CN
Inventors: 马少平
Original assignee: Hozon New Energy Automobile Co Ltd
Current assignee: Hozon New Energy Automobile Co Ltd
Priority date: 2022-04-13
Filing date: 2022-04-13
Publication date: 2022-08-05

Abstract

The invention discloses a path navigation method and device based on automatic driving, relates to the technical field of automatic driving of vehicles, and aims to greatly improve the success rate of an automatic driving navigation function and improve the user experience of automatic driving navigation. The main technical scheme of the invention is as follows: when the input vehicle starting point and destination are received, generating a navigation planning path according to the starting point and the destination; acquiring road network information corresponding to a navigation planning path from map data; processing the navigation planning path and the road network information by using a preset algorithm, and outputting a lane-level navigation path, wherein the lane-level navigation path is composed of a plurality of branch paths, a path dividing line between two adjacent branch paths carries a first driving direction label, each branch path is divided into a plurality of road sections, and a lane contained in each road section carries a second driving direction label; and controlling the vehicle to run to the destination according to the navigation planning path according to the lane-level navigation path.

Description

Path navigation method and device based on automatic driving

Technical Field

The invention relates to the technical field of automatic driving of vehicles, in particular to a path navigation method and device based on automatic driving.

Background

With the rapid development of information and control technology, the automatic driving technology is gradually welcomed by automobile manufacturers and users, which is a great trend of future automobile development, and driving by applying the automatic driving technology not only reduces dangerousness, but also can reduce the heavy driving operation task of the users.

Currently, in the process of automatic driving of a vehicle, road-level navigation information may be generated according to a start point and an end point set by a user on a navigation map, and used for providing a navigation planned path for automatic driving, so that the vehicle automatically controls to know at which intersection the driving direction should be changed to enter a branch path (for example, a down ramp of an expressway is required, and the like), so as to finally reach a destination according to the guidance of the navigation planned path.

However, the navigation planned route is only equivalent to informing the vehicle of which route should be traveled from the starting point to the destination, and for complex driving road conditions, the vehicle may perform conventional automatic driving operations such as lane change, passing, acceleration, deceleration, and the like according to actual needs, so that even under the premise that the navigation planned route is established, some unexpected variables may still occur. For example, when the current navigation planning path prompts that a ramp-down on a highway is to be required, if the current vehicle does not run on the rightmost lane (i.e., on the lane corresponding to the permitted ramp-down) at the moment, according to the traffic regulations, the vehicle cannot run into the branch path according to the navigation planning path any more, and only a new navigation planning path can be re-formulated to run to the destination, so that the number of unnecessary driving kilometers is increased, the driving cost and the time cost are wasted, and the user experience of automatic driving navigation is greatly reduced.

Disclosure of Invention

In view of the above, the present invention provides a method and an apparatus for path navigation based on automatic driving, and mainly aims to assist automatic driving operation by using a lane-level navigation path, so as to ensure that a vehicle travels to a destination according to a predetermined navigation planning path, greatly improve the success rate of an automatic driving navigation function, and improve the user experience of automatic driving navigation.

In order to achieve the above purpose, the present invention mainly provides the following technical solutions:

the application provides a path navigation method based on automatic driving in a first aspect, and the method comprises the following steps:

when receiving an input vehicle starting point and a vehicle destination, generating a navigation planning path according to the starting point and the destination;

acquiring road network information corresponding to the navigation planning path from map data;

processing the navigation planning path and the road network information by using a preset algorithm, and outputting a lane-level navigation path, wherein the lane-level navigation path is composed of a plurality of branch paths, a path dividing line between two adjacent branch paths carries a first driving direction label, each branch path is divided into a plurality of road sections, and a lane contained in each road section carries a second driving direction label;

and controlling the vehicle to run to reach the destination according to the navigation planning path according to the lane-level navigation path.

In some variations of the first aspect of the present application, the controlling the vehicle to travel to the destination according to the navigation plan path based on the lane-level navigation path includes:

positioning the current running position of the vehicle;

according to the current driving position of the vehicle, acquiring a target branch path and a driving front road section contained in a preset path length range from the vehicle from the lane-level navigation path;

in the automatic driving process, pre-judging vehicle automatic driving operation according to a first driving direction label corresponding to a path dividing line associated with the target branch path and a second driving direction label corresponding to each lane under the road section in front of the driving, wherein the pre-judging vehicle automatic driving operation at least comprises the following steps: lane change, overtaking, acceleration or deceleration;

and controlling the vehicle to run to reach the destination according to the navigation planning path according to the automatic driving operation of the pre-judged vehicle.

In some modified embodiments of the first aspect of the present application, the obtaining road network information corresponding to the navigation planned path from the map data includes:

acquiring a plurality of road intersections associated with the navigation planning path from the map data;

sequencing the road junctions according to the sequence of the road junctions of the navigation planning driving route;

taking the road between any two adjacent road junctions in the sequence as a branch path;

acquiring the road length and the number of lanes contained in the branch path from the map data;

and forming road network information corresponding to the navigation planning path according to the branch path, the road length contained in the branch path and the number of lanes.

In some modified embodiments of the first aspect of the present application, the processing the navigation planned path and the road network information by using a preset algorithm to output a lane-level navigation path includes:

analyzing a branch path, the road length and the lane number contained in the branch path from the road network information;

determining the driving direction of a path dividing line between the branch paths of the navigation planning driving path according to the navigation planning path, and marking a first driving direction label;

dividing the branch path into a plurality of road sections according to the road length and the number of lanes contained in the branch path and preset length intervals to obtain the number of lanes contained in each road section;

determining the driving direction of the lane under the road section of the navigation planning driving path according to the navigation planning path, and marking a second driving label;

and constructing a lane-level navigation path corresponding to the navigation planning path according to the branch path, the first driving direction label corresponding to the path dividing line, the road section and the second driving direction label corresponding to each lane under the road section.

In some modified embodiments of the first aspect of the present application, the determining, according to the navigation planned route, a traveling direction of a route dividing line between the branch routes of the navigation planned traveling route, and labeling a first traveling direction includes:

according to the navigation planning path, determining the sequence of the branch paths of the navigation planning driving path, and sequencing the plurality of branch paths;

taking a connecting line between any two adjacent branch paths as a path dividing line from the sorting;

and determining a driving direction corresponding to the path dividing line of the navigation planning driving path according to the navigation planning path, and marking a first driving direction label, wherein the first driving direction label is one of leftward driving, rightward driving and straight driving.

In some modified embodiments of the first aspect of the present application, the determining, according to the navigation planned route, a driving direction of the lane in the road segment of the navigation planned driving route, and applying a second driving label includes:

according to the navigation planning path, determining the sequence of the road sections of the navigation planning driving path under the branch path, and sequencing the plurality of road sections;

selecting the road sections with preset number from the tail position of the sequence as target road sections, and taking the road sections except the target road sections under the branch path as other road sections;

marking a straight-going direction label on each lane under the other road sections;

determining a direction label corresponding to each lane under the target road section according to a first driving direction label corresponding to a path dividing line between the branch path and the next adjacent branch path;

and constructing a second driving direction label corresponding to each lane under the branch path according to the straight driving direction label corresponding to each lane under the other road sections and the driving direction label corresponding to each lane under the target road section.

A second aspect of the present application provides an automatic driving-based route guidance apparatus, including:

a receiving unit for receiving an input vehicle starting point and destination;

the generating unit is used for generating a navigation planning path according to the starting point and the destination;

the acquisition unit is used for acquiring road network information corresponding to the navigation planning path from map data;

the processing unit is used for processing the navigation planning path and the road network information by using a preset algorithm and outputting a lane-level navigation path, wherein the lane-level navigation path is composed of a plurality of branch paths, a path dividing line between two adjacent branch paths carries a first driving direction label, each branch path is divided into a plurality of road sections, and a lane contained in each road section carries a second driving direction label;

and the control unit is used for controlling the vehicle to run to the destination according to the navigation planning path according to the lane-level navigation path.

In some modified embodiments of the second aspect of the present application, the control unit includes:

the positioning module is used for positioning the current running position of the vehicle;

the acquisition module is used for acquiring a target branch path and a road section ahead of driving, which are contained in a preset path length range of the vehicle, from the lane-level navigation path according to the current driving position of the vehicle;

a pre-judging module, configured to pre-judge a vehicle automatic driving operation according to a first driving direction label corresponding to a path dividing line associated with the target branch path and a second driving direction label corresponding to each lane on a road section ahead of the driving in an automatic driving process, where the pre-judging vehicle automatic driving operation at least includes: lane change, overtaking, acceleration or deceleration;

and the control module is used for controlling the vehicle to run to reach the destination according to the navigation planning path according to the pre-judged automatic driving operation of the vehicle.

In some modified embodiments of the second aspect of the present application, the acquisition unit includes:

an obtaining module, configured to obtain, from the map data, a plurality of road junctions associated with the navigation planned path;

the sequencing module is used for sequencing the road junctions according to the sequence of the road junctions of the navigation planning driving route;

the determining module is used for taking a road between any two adjacent road junctions in the sequence as a branch path;

the acquiring module is further used for acquiring the road length and the number of lanes contained in the branch path from the map data;

and the composition module is used for composing road network information corresponding to the navigation planning path according to the branch path, the road length contained in the branch path and the number of lanes.

In some modified embodiments of the second aspect of the present application, the processing unit includes:

the analysis module is used for analyzing a branch path, the road length contained in the branch path and the number of lanes from the road network information;

the first determining module is used for determining the driving direction of a path dividing line between the branch paths of the navigation planning driving path according to the navigation planning path and marking a first driving direction label;

the dividing module is used for dividing the branch path into a plurality of road sections according to the road length and the number of the lanes contained in the branch path and preset length intervals to obtain the number of the lanes correspondingly contained in each road section;

the second determination module is used for determining the driving direction of the lane under the road section of the navigation planning driving path according to the navigation planning path and marking a second driving label;

and the construction module is used for constructing a lane-level navigation path corresponding to the navigation planning path according to the branch path, the first driving direction label corresponding to the path dividing line, the road section and the second driving direction label corresponding to each lane under the road section.

In some variations of the second aspect of the present application, the first determining module comprises:

the determining submodule is used for determining the sequence of the branch paths of the navigation planning driving path according to the navigation planning path;

a sorting submodule for sorting the plurality of branch paths;

the determining submodule is further configured to use a connecting line between any two adjacent branch paths in the sorting as a path dividing line;

the determining submodule is also used for determining a driving direction corresponding to the path dividing line of the navigation planning driving path according to the navigation planning path;

and the marking submodule is used for marking a first driving direction label on the path dividing line, wherein the first driving direction label is one of leftwards driving, rightwards driving and straight driving.

In some variations of the second aspect of the present application, the second determining module comprises:

the determining submodule is used for determining the sequence of the road sections of the navigation planning driving path under the branch path according to the navigation planning path;

the sequencing submodule is used for sequencing a plurality of road sections;

the determining submodule is further configured to select a preset number of road segments from the last ranked position as a target road segment, and to use road segments other than the target road segment under the branch path as other road segments;

the marking submodule is used for marking a straight-going direction label on each lane under the other road sections;

the marking submodule is further used for determining a direction label corresponding to each lane under the target road section according to a first driving direction label corresponding to a path dividing line between the branch path and the next adjacent branch path;

and the construction submodule is used for constructing a second driving direction label corresponding to each lane under the branch path according to the straight driving direction label corresponding to each lane under the other road sections and the driving direction label corresponding to each lane under the target road section.

A third aspect of the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements an autopilot-based route guidance method as described above.

A fourth aspect of the present application provides an electronic device, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor when executing the computer program implementing the autopilot-based path navigation method as described above.

By the technical scheme, the technical scheme provided by the invention at least has the following advantages:

the invention provides a path navigation method and a device based on automatic driving, which can generate an optimal navigation planned path according to a starting point and a destination of a vehicle and simultaneously acquire road network information corresponding to the navigation planned path from map data, thereby processing the navigation planned path and the road network information by utilizing a preset algorithm and outputting a lane-level navigation path. The lane-level navigation path comprises a plurality of branch paths, a first driving direction label carried by a branch path associated path dividing line and a second driving direction label corresponding to each lane contained in a road section under the branch path, which is equivalent to dividing an original navigation planning path into smaller road areas and marking a driving direction label on each road area, so that the lane-level navigation path can be used for prejudging the automatic driving operation in the automatic driving process so as to actively and effectively participate in the automatic driving decision, and accordingly, the vehicle can be controlled to drive to reach the destination according to the navigation planning path. Compared with the prior art, the problems that: the road-level navigation information is adopted to assist automatic driving operation, so that the problem that the user experience of automatic driving navigation is greatly reduced because a navigation path has to be planned again is difficult to avoid. The invention uses the lane-level navigation path to assist the automatic driving operation, can ensure that the vehicle runs to reach the destination according to the established navigation planning path, greatly improves the success rate of the automatic driving navigation function, and improves the user experience of the automatic driving navigation.

The above description is only an overview of the technical solutions of the present invention, and the present invention can be implemented in accordance with the content of the description so as to make the technical means of the present invention more clearly understood, and the above and other objects, features, and advantages of the present invention will be more clearly understood.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 is a flow chart of route navigation based on automatic driving according to an embodiment of the present invention;

FIG. 2 is a partial screenshot of an exemplary lane-level navigation path provided in accordance with an embodiment of the present invention;

FIG. 3 is a flowchart of another route guidance method based on automatic driving according to an embodiment of the present invention;

fig. 4 is a schematic diagram illustrating road network information corresponding to a navigation planning path according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a branch path and a heading label applied thereto in accordance with an embodiment of the invention;

FIG. 6 is a schematic view illustrating an automated drive down ramp according to an embodiment of the present invention;

FIG. 7 is a schematic diagram illustrating an automated drive-thru maneuver according to an embodiment of the present invention;

FIG. 8a illustrates an exemplary following ramp down according to an embodiment of the present invention;

FIG. 8b is a schematic illustration of an exemplary overtaking ramp down according to an embodiment of the present invention;

FIG. 9 is a block diagram of an automatic driving-based route guidance device according to an embodiment of the present invention;

fig. 10 is a block diagram of another route guidance device based on automatic driving according to an embodiment of the present invention.

Detailed Description

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

The embodiment of the invention provides a route navigation method based on automatic driving, as shown in fig. 1, the method uses a lane-level navigation route to assist automatic driving operation, and can ensure that a vehicle can travel to a destination according to a set navigation planning route, and the embodiment of the invention provides the following specific steps:

101. and when the input vehicle starting point and destination are received, generating a navigation planning path according to the starting point and the destination.

In the embodiment of the invention, in order to conveniently realize the automatic driving navigation function, the vehicle terminal side provides a human-computer interaction interface, so that a user can operate related automatic driving requirement configuration in the interface, for example, a current starting point where the vehicle is located and a destination to be driven are input, the vehicle terminal generates a plurality of corresponding navigation paths, the navigation paths provide a planned path which can be driven from the starting point to the destination of the vehicle for the user, and an optimal path can be determined from the planned path as the navigation path of the automatic driving task by the touch selection of the user in the interface.

102. And acquiring road network information corresponding to the navigation planning path from the map data.

The map data may be provided by third-party software, such as a high-grade map or a Baidu map. These third party software may provide more accurate map data including, for example, building, road networks, water bridges, and the like.

In the embodiment of the present invention, after the navigation planned path is determined, road network information related to the navigation planned path may be obtained by means of the map data, where the road network information includes, but is not limited to, road junctions involved in the navigation planned path, connection relationships between the road junctions, a road divided into a plurality of parts based on the road junctions, the number of lanes included in each part of the road, lane lengths, connection relationships between the lanes, and the like.

103. And processing the navigation planning path and the road network information by using a preset algorithm, and outputting a lane-level navigation path.

The lane-level navigation path is composed of a plurality of branch paths, a path dividing line between every two adjacent branch paths carries a first driving direction label, each branch path is divided into a plurality of road sections, and lanes contained in each road section carry second driving direction labels.

In the embodiment of the invention, the navigation planning path provides a path to be followed by automatic driving of a vehicle, the road network information is equivalent to providing a road network related to the navigation planning path, and accordingly, data in two aspects are integrated and processed by using a preset algorithm, so that a lane-level navigation path is output.

The lane-level navigation path is different from a navigation planning path and is composed of a plurality of branch paths which are sequenced according to the sequence of navigation planning driving paths, and the sequenced branch paths can be spliced to form a complete navigation planning path. A path dividing line exists between any two adjacent branch paths, and each branch path can be further divided into a plurality of road sections, and each road section comprises a lane. In the embodiment of the invention, the driving direction of the vehicle is planned according to the navigation, the driving direction label is marked on the path dividing line to be used as the first driving direction label, and the driving direction label is marked on each lane to be used as the second driving direction label.

In the embodiment of the invention, the lane-level navigation path is equivalent to the original navigation planning path which is divided into smaller road areas, and a driving direction label is marked on each road area.

Illustratively, the embodiment of the present invention provides a partial screenshot of an exemplary lane-level navigation Path, as shown in fig. 2, the intercepted navigation planned Path is illustrated in fig. 2, fig. 2 shows 4 branch paths (Path1, Path2, Path3, and Path4), the navigation planned Path involves 3 branch paths (Path1, Path2, and Path3), and the branch Path Pah4 is unrelated to the navigation planned Path, so that the navigation planned Path is formed by splicing the paths 1, Path2, and Path 3.

Between the

paths

1 and 2, and between the

paths

2 and 3, there are Path dividing lines, and there are "arrows with directions" at the Path dividing lines, for representing the driving direction labels (i.e., the first driving direction labels) corresponding to the Path dividing lines. Inside the branch paths (Path1, Path2, and Path3), the branch paths are divided into a plurality of sections by link dividing lines (i.e., broken lines within each branch Path), so that each branch Path has a plurality of links, each link contains a lane, and a "directional arrow" is shown on the lane to represent a driving direction label (i.e., a second driving direction label) corresponding to the lane.

104. And controlling the vehicle to run to the destination according to the navigation planning path according to the lane-level navigation path.

In the embodiment of the present invention, as shown in fig. 2, the partial screenshot of the lane-level navigation path may be used for planning and deciding to participate in the automatic driving control operation during the automatic driving of the vehicle for the first driving direction label corresponding to the path dividing line and the second driving direction label on the related lane.

For example, at a position 100 meters away from a lower ramp entrance of a highway ahead of the navigation planning path, the lane-level navigation path will not only feed back a target branch path and a target lane existing in front of the lower ramp entrance, but also further feed back a first driving direction label (for example, the driving direction in front of the lower ramp entrance is merging to the rightmost lane) associated with the target branch path and a second driving direction label (for example, the direction indicated by merging to the right along with the forward driving) carried by the target lane.

Illustratively, such a similar situation is avoided: when the current navigation planning path prompts that the expressway on-ramp down is about to be needed, if the current vehicle does not run on the rightmost lane (namely, the lane corresponding to the allowed on-ramp down), the vehicle can not drive into the branch path according to the navigation planning path according to the traffic regulations.

The embodiment of the invention provides a route navigation method based on automatic driving, which generates an optimal navigation planning route according to a starting point and a destination of a vehicle, and simultaneously acquires road network information corresponding to the navigation planning route from map data, thereby processing the navigation planning route and the road network information by using a preset algorithm and outputting a lane-level navigation route. The lane-level navigation path comprises a plurality of branch paths, a first driving direction label carried by a branch path associated path dividing line and a second driving direction label corresponding to each lane contained in a road section under the branch path, which is equivalent to dividing an original navigation planning path into smaller road areas and marking a driving direction label on each road area, so that the lane-level navigation path can be used for prejudging the automatic driving operation in the automatic driving process so as to actively and effectively participate in the automatic driving decision, and accordingly, the vehicle can be controlled to drive to reach the destination according to the navigation planning path. Compared with the prior art, the problems that: the road-level navigation information is adopted to assist automatic driving operation, so that the problem that the user experience of automatic driving navigation is greatly reduced because a navigation path has to be planned again is difficult to avoid. The embodiment of the invention uses the lane-level navigation path to assist the automatic driving operation, can ensure that the vehicle runs to reach the destination according to the set navigation planning path, greatly improves the success rate of the automatic driving navigation function, and improves the user experience of the automatic driving navigation.

In order to describe the above embodiment in more detail, another route guidance method based on automatic driving is further provided in the embodiment of the present invention, as shown in fig. 3, which is a more detailed explanation of the above embodiment, and the following specific steps are provided for the embodiment of the present invention:

201. and when the input vehicle starting point and destination are received, generating a navigation planning path according to the starting point and the destination.

In the embodiment of the present invention, for the explanation of this step, refer to step 101, which is not described herein again.

202. And acquiring road network information corresponding to the navigation planning path from the map data.

For the embodiment of the present invention, the road network information is equivalent to a road network related to the navigation planned path, and the detailed explanation of the specific implementation method for obtaining the road network information corresponding to the navigation planned path is as follows:

firstly, a plurality of road forks related to a navigation planning path are obtained from map data, the road forks are sequenced according to the sequence of the road forks of the navigation planning driving path, and a road between any two adjacent road forks in the sequence is used as a branch path.

Next, the road length and the number of lanes included in the branch route are acquired from the map data.

And finally, forming road network information corresponding to the navigation planning path according to the branch path, the road length and the number of lanes contained in the branch path.

Illustratively, the embodiment of the present invention exemplifies a schematic diagram of road network information corresponding to a navigation planning Path, as shown in fig. 4, fig. 4 shows 4 branch paths (Path1, Path2, Path3, and Path4), the navigation planning Path relates to 3 branch paths (Path1, Path2, and Path3), and the branch Path Pah4 is unrelated to the navigation planning Path, so that the navigation planning Path is formed by splicing the Path1, the Path2, and the Path 3. The road length and the number of lanes contained in each branch Path can be acquired from the map data, and the road network information corresponding to the navigation planning Path is formed by using the Path1, the Path2 and the Path3 as well as the road length and the number of lanes contained in each branch Path.

203. And processing the navigation planning path and the road network information by using a preset algorithm, and outputting a lane-level navigation path.

In the embodiment of the present invention, the present step can be explained as follows:

firstly, analyzing a branch path, road length and lane number contained in the branch path from road network information, determining the driving direction of a path dividing line between the branch paths of a navigation planning driving path according to the navigation planning path, and marking a first driving direction label.

Specifically, in the embodiment of the present invention, according to the navigation planned path, the order of the branch paths of the navigation planned driving route is determined, the plurality of branch paths are sorted, and the connection line between any two adjacent branch paths is used as the path dividing line in the sorting.

And further, according to the navigation planning path, determining a driving direction corresponding to the path dividing line of the navigation planning driving path, and marking a first driving direction label, wherein the first driving direction label is one of leftward driving, rightward driving and straight driving.

Illustratively, the embodiment of the present invention provides a schematic diagram of a branch Path and a driving direction label applied to the branch Path, as shown in fig. 5, 4 branch paths (Path1, Path2, Path3, and Path4) are shown, the navigation planning Path involves 3 branch paths (Path1, Path2, and Path3), the branch Path Pah4 is independent of the navigation planning Path, so that the navigation planning Path is formed by splicing the paths 1, Path2, and Path3, a Path division line exists between the

paths

1 and 2, the

paths

2 and 3, and a "arrow with a direction" is shown at the Path division line for characterizing the driving direction label (i.e., the first driving direction label) corresponding to the Path division line.

Secondly, dividing the branch path into a plurality of road sections according to the road length and the number of lanes contained in the branch path and a preset length interval to obtain the number of lanes contained in each road section, determining the driving direction of the lanes under the navigation planning driving path road section according to the navigation planning path, and marking a second driving label.

Specifically, according to the navigation planning path, the sequence of the road sections of the navigation planning driving path is determined under the branch path, the plurality of road sections are sequenced, a preset number of road sections are selected from the tail of the sequencing to serve as target road sections, and the road sections except the target road sections under the branch path are used as other road sections.

In the embodiment of the present invention, the plurality of road segments included in each branch route are divided into two groups according to the distance from the route dividing line between the branch route and the next adjacent branch route. One of the groups includes a plurality of road segments farther from the path dividing line, which is identified as "other road segments" in the embodiment of the present invention, and the other group includes a plurality of road segments closer to the path dividing line, which is identified as "target road segments" in the embodiment of the present invention.

The purpose of this operation is mainly to consider: for one branch path, according to the navigation planning driving direction, an adjacent previous branch path and a path dividing line (marked as a first path dividing line) thereof and an adjacent next branch path and a path dividing line (marked as a second path dividing line) thereof exist; for the automatic driving of the vehicle, because the 'other road sections' are closer to the first path dividing line, the automatic driving is in a straight-going direction, and the problem of entering the next branch path does not need to be considered; however, the "target link" is closer to the second path division line, the change of the driving direction should be sufficiently considered to facilitate the driving into the next branch path, and therefore, on the "target link", the driving direction on each lane under the "target link" should be marked according to the driving direction (i.e., the first driving direction label) corresponding to the second path division line instead of the straight driving direction.

Accordingly, each lane under the "other road section" is marked with a straight-going direction label. And determining a direction label corresponding to each lane under the target road section according to the first driving direction label corresponding to the path dividing line between the branch path and the next adjacent branch path. And constructing a second driving direction label corresponding to each lane under the branch path according to the straight driving direction label corresponding to each lane under the 'other road sections' and the driving direction label corresponding to each lane under the 'target road sections'.

It should be noted that, in the embodiment of the present invention, the driving direction labels are identified by the words "first" and "second" for the purpose of clearly distinguishing: the first driving direction label is actually a branch path level label; the second heading label is actually a lane-level label.

And finally, constructing a lane-level navigation path corresponding to the navigation planning path according to the branch path, the first driving direction label corresponding to the path dividing line, the road section and the second driving direction label corresponding to each lane under the road section.

For example, as explained in fig. 2, the description is omitted here.

Next, the embodiment of the present invention will be explained in detail with reference to steps 204-207 for the application of the lane-level navigation path in the automatic driving process.

204. And positioning the current driving position of the vehicle.

205. And acquiring a target branch path and a road section ahead of the vehicle, which are included in a preset path length range from the vehicle, from the lane-level navigation path according to the current driving position of the vehicle.

In the embodiment of the present invention, after the navigation planning path is formulated, in the automatic driving process, along with the continuous change of the complex road condition, the automatic driving operation may also be changed accordingly, such as: when the automatic driving routine operations such as lane change, overtaking, deceleration and acceleration are required, the driving operation is continuously changed according to the actual road condition, so that the automatic driving is stable and safe.

In order to adapt to road conditions with complex changes and achieve better automatic driving experience, for a vehicle in an automatic driving process, based on the current driving position of the vehicle, the embodiment of the invention can utilize a lane-level navigation path to participate in planning and decision-making of automatic driving operation within a front preset distance range.

Accordingly, it is first necessary to acquire a target branch route and a road segment ahead of the vehicle included in a preset route length range from the vehicle from the lane-level navigation route. And secondly, further acquiring a first driving direction label corresponding to a path dividing line associated with the target branch path and a second driving direction label corresponding to each lane under a road section in front of driving from the lane-level navigation path.

206. And in the automatic driving process, pre-judging the automatic driving operation of the vehicle according to a first driving direction label corresponding to a path dividing line associated with the target branch path and a second driving direction label corresponding to each lane under a road section in front of driving.

207. And controlling the vehicle to run to the destination according to the navigation planning path according to the automatic driving operation of the pre-judged vehicle.

In the embodiment of the present invention, the prejudgment operation made by means of the lane-level navigation path during the automatic driving includes, but is not limited to: lane change, passing, acceleration or deceleration, and the like.

Example scenario 1, an exemplary embodiment of the present invention illustrates a schematic diagram of an automatically driven down ramp, as shown in fig. 6, a down ramp is required for a distance X meters ahead according to a navigation planning path, then a branch path and an associated path dividing line connected at the distance X meters ahead can be further known according to a lane-level navigation path, a road segment and a lane under the road segment included in the branch path within the X meters can be further known, and a first driving direction tag corresponding to the path dividing line and a second driving direction tag corresponding to the lane can be further known, for example, a "directional arrow" and a "directional arrow" on the lane are further known at the path dividing line shown in fig. 6, and a vehicle terminal can determine, according to the current driving position of the vehicle, where the lane needs to be changed ahead (otherwise, the vehicle cannot drive into the down ramp according to traffic regulations) and the lane needs to be changed into the rightmost lane (that the down ramp is allowed) according to the lane-level navigation path The lanes of the ramp).

Example scene 2, an embodiment of the present invention illustrates a schematic diagram of an automatically driven overtaking vehicle, as shown in fig. 7, a vehicle a and a vehicle B, where the vehicle a is a rear vehicle and the vehicle B is a front vehicle in a driving direction, and fig. 7 shows a lane-level navigation path, as shown in the diagram, "arrow with direction", it is to be noted that the vehicle a is the rear vehicle, if the left overtaking vehicle at this time will cause driving into a left branch path, which will deviate from a navigation planned path, and therefore, as shown in fig. 7, a first driving direction label carried on a path dividing line of the left branch path is a "right driving arrow" for representing suppression of left overtaking, and accordingly, the vehicle will predict that the vehicle cannot overtake at this point in the automatic driving process, and continue predicting that the vehicle is driven to change lane to the right, so as well as to achieve the purpose of overtaking the front vehicle B.

Example scenario 3, an embodiment of the present invention illustrates a schematic diagram of another off-ramp, such as the following off-ramp shown in fig. 8a and the passing off-ramp shown in fig. 8B, where vehicle a is the rear vehicle and vehicle B is the front vehicle in the driving direction in fig. 8a and 8B. The driving direction label included in the lane-level navigation route shown in fig. 8a directs the vehicle a to continue following the vehicle B without passing through until reaching the route division line with the next adjacent branch route, and drives into the off-ramp of the branch route as indicated by the "directional arrow".

And a driving direction label included in the lane-level navigation path shown in fig. 8B, since the front is far away from the next adjacent branch path, the left side of the vehicle a is guided to change lane and pass through the vehicle B, and when the vehicle travels the adjacent path dividing line, the vehicle is guided to travel into the off-ramp of the branch path according to the 'arrow with direction'.

Further, as an implementation of the method shown in fig. 1 and fig. 3, an embodiment of the present invention provides a route guidance device based on automatic driving. The embodiment of the apparatus corresponds to the embodiment of the method, and for convenience of reading, details in the embodiment of the apparatus are not repeated one by one, but it should be clear that the apparatus in the embodiment can correspondingly implement all the contents in the embodiment of the method. The device is applied to improving the success rate of autopilot navigation function, and specifically as shown in fig. 9, the device includes:

a receiving unit 31 for receiving an input of a vehicle start point and a destination;

a generating unit 32, configured to generate a navigation planning path according to the starting point and the destination;

an obtaining unit 33, configured to obtain road network information corresponding to the navigation planned path from map data;

a processing unit 34, configured to process the navigation planning path and the road network information by using a preset algorithm, and output a lane-level navigation path, where the lane-level navigation path is composed of multiple branch paths, a path dividing line between two adjacent branch paths carries a first driving direction label, each branch path is divided into multiple road segments, and a lane included in each road segment carries a second driving direction label;

and the control unit 35 is configured to control the vehicle to travel to the destination according to the navigation planned path according to the lane-level navigation path.

As shown in fig. 10, the control unit 35 includes:

the positioning module 351 is used for positioning the current running position of the vehicle;

an obtaining module 352, configured to obtain, according to the current driving position of the vehicle, a target branch path and a road section ahead of the driving included in a preset path length range from the lane-level navigation path;

the pre-judging module 353 is configured to, in an automatic driving process, pre-judge a vehicle automatic driving operation according to a first driving direction label corresponding to a path dividing line associated with the target branch path and a second driving direction label corresponding to each lane in a road section ahead of the driving, where the pre-judged vehicle automatic driving operation at least includes: lane change, overtaking, acceleration or deceleration;

and the control module 354 is configured to control the vehicle to travel to the destination according to the navigation planned path according to the pre-determined automatic driving operation of the vehicle.

As shown in fig. 10, the acquiring unit 33 includes:

an obtaining module 331, configured to obtain, from the map data, a plurality of road junctions associated with the navigation planned path;

the sequencing module 332 is configured to sequence the plurality of road junctions according to the sequence of the road junctions of the navigation planning driving route;

a determining module 333, configured to use a road between any two adjacent road junctions in the ranking as a branch path;

the obtaining module 331 is further configured to obtain, from the map data, a road length and a number of lanes included in the branch path;

the composition module 334 is configured to compose road network information corresponding to the navigation planning path according to the branch path, the road length and the number of lanes included in the branch path.

As shown in fig. 10, the processing unit 34 includes:

the analyzing module 341 is configured to analyze a branch path, a road length included in the branch path, and a number of lanes from the road network information;

the first determining module 342 is configured to determine, according to the navigation planned route, a driving direction of a route dividing line between the branch routes of the navigation planned driving route, and mark a first driving direction label;

the dividing module 343 is configured to divide the branch path into multiple road segments according to the road length and the number of lanes included in the branch path and according to a preset length interval, so as to obtain the number of lanes included in each road segment;

the second determining module 344 is configured to determine, according to the navigation planned path, a driving direction of the lane in the road segment of the navigation planned driving route, and mark a second driving label;

the building module 345 is configured to build a lane-level navigation path corresponding to the navigation planning path according to the branch path, the first driving direction label corresponding to the path dividing line, the road segment, and the second driving direction label corresponding to each lane under the road segment.

As shown in fig. 10, the first determining module 342 includes:

the determining submodule 3421 is configured to determine, according to the navigation planned path, a sequence of the branch paths of the navigation planned driving route;

a sorting sub-module 3422 for sorting a plurality of the branch paths;

the determining sub-module 3421 is further configured to use a connection line between any two adjacent branch paths in the sorting as a path dividing line;

the determining submodule 3421 is further configured to determine, according to the navigation planned path, a driving direction corresponding to the path dividing line of the navigation planned driving route;

the marking sub-module 3423 is configured to mark the path dividing line with a first driving direction label, where the first driving direction label is one of left driving, right driving, and straight driving.

As shown in fig. 10, the second determining module 344 includes:

the determining submodule 3441 is configured to determine, according to the navigation planned path, a sequence of the road segments of the navigation planned driving route under the branch path;

a ranking submodule 3442 configured to rank the plurality of road segments;

the determining submodule 3441 is further configured to select a preset number of the road segments from the last ranked position as target road segments, and to use the road segments under the branch path except the target road segments as other road segments;

the marking submodule 3443 is used for marking a straight direction label on each lane under the other road sections;

the marking submodule 3443 is further configured to determine a direction label corresponding to each lane in the target road segment according to a first driving direction label corresponding to a path dividing line between the branch path and an adjacent next branch path;

the constructing submodule 3444 is configured to construct a second driving direction label corresponding to each lane on the branch path according to the straight direction label corresponding to each lane on the other road segment and the driving direction label corresponding to each lane on the target road segment.

In summary, the embodiments of the present invention provide a route navigation method and apparatus based on automatic driving, and the embodiments of the present invention generate an optimal navigation planned route according to a start point and a destination of a vehicle, and simultaneously acquire road network information corresponding to the navigation planned route from map data, so as to process the navigation planned route and the road network information by using a preset algorithm, and output a lane-level navigation route. The lane-level navigation path comprises a plurality of branch paths, a first driving direction label carried by a branch path associated path dividing line and a second driving direction label corresponding to each lane contained in a road section under the branch path, which is equivalent to dividing an original navigation planning path into smaller road areas and marking a driving direction label on each road area, so that the lane-level navigation path can be used for prejudging the automatic driving operation in the automatic driving process so as to actively and effectively participate in the automatic driving decision, and accordingly, the vehicle can be controlled to drive to reach the destination according to the navigation planning path. The embodiment of the invention uses the lane-level navigation path to assist the automatic driving operation, can ensure that the vehicle runs to reach the destination according to the set navigation planning path, greatly improves the success rate of the automatic driving navigation function, and improves the user experience of the automatic driving navigation.

The automatic driving-based path navigation device comprises a processor and a memory, wherein the receiving unit, the generating unit, the acquiring unit, the processing unit, the control unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.

The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, lane-level navigation paths are used for assisting automatic driving operation by adjusting kernel parameters, vehicles can be guaranteed to run to reach destinations according to established navigation planning paths, the success rate of the automatic driving navigation function is greatly improved, and the user experience of automatic driving navigation is improved.

An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the automatic driving-based path navigation method as described above.

An embodiment of the present invention provides an electronic device, including: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor when executing the computer program implementing the autopilot-based path navigation method as described above.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a device includes one or more processors (CPUs), memory, and a bus. The device may also include input/output interfaces, network interfaces, and the like.

The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip. The memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent insertion, improvement, etc. made within the spirit and principle of the present application should be included in the scope of claims of the present application.

Claims

1. An autopilot-based route guidance method, the method comprising:

2. The method of claim 1, wherein controlling the vehicle to travel to the destination according to the navigation plan based on the lane-level navigation path comprises:

positioning the current running position of the vehicle;

according to the current driving position of the vehicle, acquiring a target branch path and a road section in front of driving included in a preset path length range from the vehicle from the lane-level navigation path;

3. The method according to claim 1, wherein the obtaining of the road network information corresponding to the navigation planned path from the map data comprises:

4. The method according to claim 3, wherein said processing said navigation planning path and said road network information by using a preset algorithm, and outputting a lane-level navigation path, comprises:

5. The method of claim 4, wherein determining a driving direction of a path split line between the branch paths of a navigation plan driving path according to the navigation plan path and labeling the first driving direction comprises:

6. The method of claim 4, wherein determining the driving direction of the lane in the section of the navigation planning driving route according to the navigation planning path and marking a second driving label comprises:

7. An autopilot-based route guidance device, the device comprising:

a receiving unit for receiving an input vehicle starting point and destination;

8. The apparatus of claim 7, wherein the control unit comprises:

and the control module is used for controlling the vehicle to run to reach the destination according to the navigation planned path according to the pre-judged automatic driving operation of the vehicle.

9. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, implements the autopilot-based path navigation method according to one of claims 1 to 6.

10. An electronic device, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the processor when executing the computer program implementing the autopilot-based path navigation method according to one of claims 1 to 6.