CN115143979A

CN115143979A - Error layer setting method and device and computer readable storage medium

Info

Publication number: CN115143979A
Application number: CN202210763182.2A
Authority: CN
Inventors: 张攀
Original assignee: Guangzhou Xiaopeng Autopilot Technology Co Ltd
Current assignee: Guangzhou Xiaopeng Autopilot Technology Co Ltd
Priority date: 2022-06-29
Filing date: 2022-06-29
Publication date: 2022-10-04

Abstract

The application discloses a method and equipment for setting an error layer and a computer readable storage medium, and relates to the technical field of vehicle navigation. The method comprises the following steps: acquiring road information, and acquiring a map error area according to the road information and a preset navigation map; when the map error area is within the range of a preset intersection, determining an error entering lane and an error exiting lane corresponding to the map error area; taking a first position outside a preset intersection range on the wrong entering lane as a wrong starting point, and determining a corresponding second position on the wrong exiting lane as a wrong terminal point according to the terminal point position of the map wrong area; and setting a corresponding error map layer on a preset navigation map according to the error starting point and the error ending point. Under the condition that map errors occur at the intersection, sufficient time and space are reserved for the taking over process of the driver, so that the driver can take over the map smoothly.

Description

Error layer setting method and device and computer readable storage medium

Technical Field

The present application relates to the field of vehicle navigation technologies, and in particular, to a method and an apparatus for setting an error layer, and a computer-readable storage medium.

Background

With the rise of the intelligent driving concept, the auxiliary driving functions of various vehicles are widely applied at present. The CNGP (City Navigation Guided Pilot) needs to use a high-precision map that conforms to the real world, and then the real world changes constantly, especially in urban road scenes, and often construction and diversion are performed, so that the map does not conform to the real world, and then the CNGP function needs to be exited. However, if the high-precision map does not conform to the real world before the branch road or the intersection, the CNGP function is immediately quitted or degraded, so that the driver feels confusion and uneasy, and the taking over process of the driver is inconvenient.

The above is only for the purpose of assisting understanding of the technical solutions of the present application, and does not represent an admission that the above is prior art.

Disclosure of Invention

The present application mainly aims to provide a method, a device, and a computer readable storage medium for setting a wrong map layer, and aims to solve the technical problem that the taking over process of a driver is inconvenient due to the immediate exit of a CNGP function before a branch road or a crossing.

In order to achieve the above object, in a first aspect, the present application provides a method for setting an error layer, where the method for setting an error layer includes the following steps:

acquiring road information, and acquiring a map error area according to the road information and a preset navigation map;

when the map error area is within the range of a preset intersection, determining an error entering lane and an error exiting lane corresponding to the map error area;

taking a first position outside a preset intersection range on the wrong entering lane as a wrong starting point, and determining a corresponding second position on the wrong exiting lane as a wrong terminal point according to the terminal point position of the map wrong area;

and setting a corresponding error map layer on a preset navigation map according to the error starting point and the error ending point.

Based on the technical scheme, the first position outside the range of the preset intersection on the mistakenly-driven lane is used as the mistaken starting point, so that the situation that when a map error area appears at a branch road or the intersection, a vehicle enters the map error area, the CNGP function is immediately quitted or degraded, but the CNGP function is quitted or degraded before the vehicle enters the map error area is avoided, the driving experience of a driver is improved, and sufficient time and space are reserved for the taking-over process of the driver, so that the driver can take over the map error area smoothly. On the other hand, by setting a corresponding error layer on a preset navigation map according to an error starting point on the error entering lane and an error ending point on the error exiting lane, the setting of the error layer only aims at the entering lane and the exiting lane (namely, the error entering lane and the error exiting lane) influenced by the map error area. Therefore, the normal lane which is not influenced by the map error area cannot be influenced, vehicles running on the normal lane can normally use the CNGP function to pass through, the accuracy degree of the setting of the error map layer is improved, and the interference on the normal use of the CNGP function of the vehicles is reduced.

According to the first aspect, or any one of the above implementations of the first aspect, the step of entering a wrong-in lane and exiting a wrong-out lane corresponding to the map error area includes:

when the starting point position of the map error area is located on an entering lane in the preset intersection range, taking the entering lane in the map error area as an error entering lane, and taking a lane which runs out of the map error area in the preset intersection range as an error exiting lane;

and when the starting point position of the map error area is positioned on an outgoing lane in the preset intersection range, taking the incoming lane which is in the preset intersection range and drives to the map error area as the error incoming lane, and taking the outgoing lane in the map error area as the error outgoing lane.

Based on the technical scheme, when the starting point position of the map error area is located on the entering lane in the preset intersection range, all the entering lanes in the map error area coverage are affected by the map error area, and therefore the entering lanes in the map error area are used as the wrong entering lanes. And in order to avoid the vehicle from driving out of the wrong map layer when driving into the intersection or in the intersection, the CNGP function is restarted, and the lane which is driven out of the map wrong area in the range of the preset intersection is used as the wrong driving-out lane, so that the vehicle can only drive out of the wrong map layer when entering the driving-out lane. When the starting point position of the map error area is on the outgoing lane within the range of the preset intersection, in addition to the fact that the outgoing lane within the coverage of the map error area is influenced by the map error area and needs to be used as a wrong-way outgoing lane, the incoming lane in the intersection driving to the map error area is also influenced, so that the incoming lane and the outgoing lane influenced by the map error area (namely, on the wrong-way incoming lane and the wrong-way outgoing lane) are determined according to the difference of the starting point position of the map error area in order to avoid that a vehicle just exits from the intersection as the wrong-way incoming lane.

According to the first aspect, or any one of the above implementation manners of the first aspect, before the step of determining a wrong-in lane and a wrong-out lane corresponding to the map error area when the map error area is within a preset intersection range, the step of determining the wrong-in lane and the wrong-out lane corresponding to the map error area includes:

judging whether the starting point position of the map error area is in a road range of a first preset distance with an intersection as the center;

and if the starting point position is in the road range, judging that the map error area is in a preset intersection range.

Based on the technical scheme, whether the map error area is in the preset intersection range is determined by whether the starting point position of the map error area is in the road range of the first preset distance with the intersection as the center. When the starting point position of the map error area is not within the range of the preset intersection, it indicates that the vehicle does not need to exit or degrade the CNGP function near the intersection, or the vehicle already exits or degrades the CNGP function before and is taken over by the driver. Therefore, by judging the starting point position of the error map area, whether an error map layer needs to be arranged in the preset intersection range of the intersection can be determined.

According to the first aspect, or any one of the above implementations of the first aspect, the step of using the first position outside the preset intersection range on the wrong-entry lane as a wrong starting point includes:

judging whether the number of lanes in the driving lane in the preset intersection range changes or not according to the road information;

if the number of lanes changes, taking the position from the intersection of the broken lines and the solid lines of the lane lines on the mistaken driving lane to a position deviating from the advancing direction of the vehicle by a second preset distance as a first position, and taking the first position as a starting point of the error;

and if the number of the lanes does not change, taking the position from the boundary between the preset intersection range on the wrong driving lane and the wrong driving lane to a third preset distance away from the advancing direction of the vehicle as a first position, and taking the first position as a wrong starting point.

Based on the technical scheme, when the number of lanes changes in the lane entering the intersection, the error starting point is arranged at the position where the lane line dotted line solid line meets the lane line dotted line solid line on the error entering lane to the position departing from the advancing direction of the vehicle by a second preset distance, so that the situation that the driver can change lanes on the dotted line road section of the lane in sufficient time and space after the CNGP function of the vehicle exits or degrades is ensured, the situation that the driver cannot change lanes due to the fact that the vehicle already passes through the solid line road section of the lane after the CNGP function of the vehicle exits or degrades is avoided, and the driving experience after the driver takes over is improved.

According to the first aspect, or any one of the above implementation manners of the first aspect, the step of determining a corresponding second position on the wrong-way out lane as a wrong end point according to the position information of the map wrong area includes:

judging whether the end point position of the map error area is on an outgoing lane connected with the intersection within the preset intersection range;

if the end point position is located on an outgoing lane connected with an intersection within the preset intersection range, taking the end point position of the map error area as a second position, and taking the second position as an error end point;

and if the terminal position is not on an outgoing lane connected with the intersection within the preset intersection range, taking the position from the intersection to the third preset distance of the vehicle advancing direction as a second position, and taking the second position as an error terminal.

Based on the technical scheme, whether the end point position of the map error area is located on the outgoing lane connected with the intersection in the preset intersection range is judged, so that when the end point position is located on the outgoing lane connected with the intersection, the end point position is used as an error end point, and the vehicle can recover the use of the CNGP function only when driving out of the end point position of the map error area. When the end point position is on an outgoing road connected with the intersection (namely the end point position is on the incoming road connected with the intersection or on the intersection), the position from the intersection to the third preset distance of the vehicle advancing direction is used as an error end point, so that the vehicle can recover the use of the CNGP function after being outgoing from the intersection, and the phenomenon that the CNGP function is recovered when the vehicle passes through the intersection, and the normal driving behavior of a driver when the driver passes through the intersection is influenced is avoided.

According to the first aspect, or any implementation manner of the first aspect, the step of setting a corresponding error layer on a preset navigation map according to the error starting point and the error ending point includes:

determining a corresponding wrong-entry lane road section according to the wrong-entry lane and the wrong starting point;

determining a corresponding error exit lane section according to the error exit lane and the error end point;

and setting a corresponding error map layer on a preset navigation map according to the wrong entry lane road section and the wrong exit lane road section.

Based on the technical scheme, the corresponding wrong-in lane road section and the wrong-out lane road section are respectively determined through the wrong-in lane, the wrong-out lane and the wrong-out end point, and then the corresponding wrong map layer is arranged on the preset navigation map. Therefore, when the vehicle runs according to the preset navigation map with the wrong map layer, if the vehicle enters the wrong entering lane section, the exit or degradation of the CNGP function is carried out. And when the wrong-way-out lane road section is driven out, the CNGP function is restarted. Thus, even if a map error area exists within the preset intersection range, the vehicle does not exit or degrade the CNGP function when the vehicle does not enter the wrong-entry lane section. Therefore, the accuracy of wrong layer setting is improved, and the interference on the normal use of the vehicle CNGP function is reduced.

According to the first aspect, or any one implementation manner of the first aspect, the step of setting a corresponding error layer on a preset navigation map according to the wrong-way road segment further includes:

determining a corresponding connection virtual lane according to the wrong entering lane road section and the wrong exiting lane road section;

and adding the connecting virtual lane to the wrong layer of the preset navigation map.

Based on the technical scheme, the connecting virtual lanes corresponding to the wrong entering lane section and the wrong exiting lane section are added to the wrong layer of the preset navigation map. On one hand, when the end position of the map error area is in front of or in the intersection, the vehicle is prevented from re-starting the CNGP function in front of or in the intersection with complex vehicle conditions. On the other hand, when the starting point position of the map error area is behind the intersection, the vehicle with the CNGP function started can be prevented from driving to the map error area (such as a construction area, a lane change area and the like) on the outgoing lane in the intersection.

According to the first aspect, or any implementation manner of the first aspect, the error layer setting method further includes the following steps:

and when the map error area is not in the range of the preset intersection, taking the lane in the map error area as a wrong lane, taking the position of the starting point of the map error area as a wrong starting point, and taking the position of the end point of the map error area as a wrong end point.

Based on the technical scheme, for the condition that the map error area is not in the range of the preset intersection, the actual starting point position and the actual end point position of the map error area can be directly adopted as the corresponding error starting point and error end point, so that the corresponding error lane section is determined according to the error lane, the error starting point and the error end point, and the corresponding error layer is arranged on the preset navigation map. Therefore, the actual starting position and the actual end position of the map error area do not need to be adjusted, and convenience in setting of the error map layer is improved.

In a second aspect, the present application provides an error layer setting device, where the error layer setting device includes: memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the method as set forth in the first aspect above or any one of the possible implementations of the first aspect.

Any implementation manner of the second aspect and the second aspect corresponds to any implementation manner of the first aspect and the first aspect, respectively. For technical effects corresponding to any one implementation manner of the second aspect and the second aspect, reference may be made to the technical effects corresponding to any one implementation manner of the first aspect and the first aspect, and details are not repeated here.

In a third aspect, the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of the first aspect described above or any of its possible implementation forms.

Any one implementation manner of the third aspect and the third aspect corresponds to any one implementation manner of the first aspect and the first aspect, respectively. For technical effects corresponding to any one implementation manner of the third aspect and the third aspect, reference may be made to the technical effects corresponding to any one implementation manner of the first aspect and the first aspect, and details are not described here again.

In a fourth aspect, the present application provides a computer program comprising instructions for carrying out the method of the first aspect described above or any one of the possible implementations of the first aspect.

Any one implementation manner of the fourth aspect and the fourth aspect corresponds to any one implementation manner of the first aspect and the first aspect, respectively. For technical effects corresponding to any one implementation manner of the fourth aspect and the fourth aspect, reference may be made to the technical effects corresponding to any one implementation manner of the first aspect and the first aspect, and details are not described here again.

Drawings

Fig. 1 is a schematic structural diagram of an error layer setting device in a hardware operating environment according to an embodiment of the present application;

fig. 2 is a schematic flowchart illustrating an embodiment of an error layer setting method according to the present application;

fig. 3 is an exemplary diagram of a scene of an intersection in the error layer setting method of the present application;

fig. 4 is a schematic view of a scene of a map error area on a driving lane within a preset intersection range in the error layer setting method of the present application;

fig. 5 is a schematic view of a scene of a map error area on an outgoing lane within a preset intersection range in the error layer setting method of the present application;

fig. 6 is a scene schematic diagram of another embodiment of the error layer setting method according to the present application.

The implementation, functional features and advantages of the object of the present application will be further explained with reference to the embodiments, and with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The term "and/or" herein is merely an association relationship describing an associated object, and means that there may be three relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone.

The terms "first" and "second," and the like in the description and in the claims of the embodiments of the present application, are used for distinguishing between different objects and not for describing a particular order of the objects. For example, the first target object and the second target object, etc. are specific sequences for distinguishing different target objects, rather than describing target objects.

In the embodiments of the present application, words such as "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.

In the description of the embodiments of the present application, the meaning of "a plurality" means two or more unless otherwise specified. For example, a plurality of processing units refers to two or more processing units; the plurality of systems refers to two or more systems.

For clarity and conciseness of description of the following embodiments, first, a brief introduction of an implementation scheme of an error layer setting method is given:

with the rise of the intelligent driving concept, the current auxiliary driving functions of various vehicles are widely applied. The CNGP (City Navigation Guided Pilot) needs to use a high-precision map that conforms to the real world, however, the real world changes constantly, especially in urban road scenes, and it is often constructed and redirected, which results in that the map does not conform to the real world, and at the same time, for complex scenes such as road construction, it is not suitable to use the CNGP function, so that, in order to ensure the use safety of the CNGP, a way of setting a wrong map layer is usually adopted at present, so that the CNGP is degraded in an area where the map does not conform to the real world, such as from the CNGP to an LCC (Lane Centering Control), or the CNGP function is exited, thereby taking over the driver. However, if the map does not match the real world before the branch road or the intersection, the CNGP function immediately exits or degrades at the branch road or the intersection, which may cause confusion and uneasy feeling for the driver and make the taking over process more inconvenient for the driver.

The application designs a wrong layer setting method, which is characterized in that the actual starting point position of a map wrong area in a preset intersection range is preposed, and then a corresponding wrong layer is set, so that the problems of poor driving feeling of a driver, inconvenience in taking over and the like caused by exiting or degrading the CNGP function at a branch road or an intersection at once are solved.

In some embodiments, the position information of the map error area is determined by acquiring road information and obtaining the map error area according to the road information and a preset navigation map. And when the map error area is within the range of the preset intersection, determining a wrong-in lane and a wrong-out lane corresponding to the map error area, thereby determining the input lane and the output lane influenced by the map error area. The first position outside the range of the preset intersection on the wrong driving lane is used as a wrong starting point, so that the actual starting point of the map wrong area is arranged in front of the first position outside the range of the preset intersection on the wrong driving lane (namely the driving lane influenced by the map wrong area), and the first position is used as the wrong starting point of the wrong map layer, thereby avoiding that the vehicle CNGP function immediately exits or degrades when the map wrong area appears at a branch road or the intersection, and the CNGP function exits or degrades at the first position outside the range of the preset intersection on the driving intersection, so that a driver has sufficient time and space to take over the vehicle. And then determining a corresponding second position on the wrong driving-out lane as a wrong terminal according to the terminal position of the map wrong area, thereby determining the second position where the vehicle can re-start the CNGP function as the wrong terminal of the wrong map layer. And finally, setting a corresponding error map layer on a preset navigation map according to the error starting point and the error ending point. On one hand, the first position outside the range of the preset intersection on the mistakenly driving lane is used as the mistaken starting point, so that the situation that when a map error area appears at a branch road or the intersection, a vehicle enters the map error area and then exits or degrades the CNGP function is avoided, the CNGP function is exited or degraded before entering the map error area, the driving experience of a driver is improved, and sufficient time and space are reserved for the taking-over process of the driver, so that the driver can take over smoothly. On the other hand, due to the setting of the wrong map layer, only the entering lane and the exiting lane influenced by the wrong map area are set. Therefore, the normal lane which is not influenced by the map error area can not be influenced, the vehicle running on the normal lane can normally use the CNGP function to pass, the accuracy of wrong layer setting is improved, and the interference on the normal use of the CNGP function of the vehicle is reduced.

As shown in fig. 1, fig. 1 is a schematic structural diagram of an error layer setting device in a hardware operating environment according to an embodiment of the present application.

As shown in fig. 1, the error layer setting device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to implement connection communication among these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.

Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the error layer setting apparatus, and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.

As shown in fig. 1, the memory 1005, which is a storage medium, may include therein an operating system, a data storage module, a network communication module, a user interface module, and a computer program.

In the error layer setting device shown in fig. 1, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the error layer setting device of the present invention may be set in the error layer setting device, and the error layer setting device invokes a computer program stored in the memory 1005 through the processor 1001 and executes the error layer setting method provided in the embodiment of the present application.

It should be understood that the above description is only an example for better understanding of the technical solution of the present embodiment, and is not intended to limit the present embodiment.

The following describes the error layer setting method in detail with reference to a flowchart of an embodiment of the error layer setting method shown in fig. 2.

Referring to fig. 2, an embodiment of the error layer setting method of the present application specifically includes:

step S100, acquiring road information, and acquiring a map error area according to the road information and a preset navigation map;

in some embodiments, an execution main body of the error layer setting method of the present application is an error layer setting device, such as a vehicle-mounted device, a mobile terminal device, a server, and the like, which is not limited in this application embodiment. The road information may include information of an intersection position, a lane attribute, a lane direction, the number of branch road parts, a road condition, and the like. The intersection information can be acquired in real time through information acquisition devices such as a laser radar, a camera and a positioning device which are carried by a vehicle, and the actual road condition of the intersection can also be determined through acquiring the road information. And comparing the road information with road information in a preset navigation map, thereby determining an area in the preset navigation map, which is not in accordance with the actual road condition, and obtaining the map error area.

Step S200, when the map error area is within a preset intersection range, determining a wrong-in lane and a wrong-out lane corresponding to the map error area;

in this embodiment, the intersection may be an intersection in different intersection forms, such as a cross, an X-shape, a T-shape, a Y-shape, a staggered intersection, a compound intersection, and the like. It can be understood that the preset intersection range is a range set by a user or a manufacturer for determining whether the map error area is close to the intersection, that is, the preset intersection range includes not only the intersection itself but also an incoming lane and an outgoing lane of a preset length connected to the intersection itself. Referring to fig. 3, fig. 3 is an exemplary diagram of a scene of an intersection in the error layer setting method of the present application. For example, the dotted line in fig. 3 is a boundary point of a preset intersection range, where the preset intersection range includes a road range enclosed by the dotted line, that is, the intersection itself and an entering lane and an exiting lane within a distance from the dotted line to the intersection itself; or road ranges within preset radius distances (such as 10m, 15m, 20m and the like) by taking the intersection as the center, and the area, the position and the shape of the preset intersection range can be set according to specific requirements. When the map error area is within the range of the preset intersection, determining an entering lane and an exiting lane which need to pass through the map error area according to the coverage range of the map error area, thereby determining the entering lane (namely, the wrong entering lane) and the exiting lane (namely, the wrong exiting lane) influenced by the map error area.

In some embodiments, when the map error area is within the preset intersection range, the step S200 of determining a wrong-in lane and a wrong-out lane corresponding to the map error area includes:

step S210, when the starting point position of the map error area is on the entering lane in the preset intersection range, taking the entering lane in the map error area as an error entering lane, and taking the lane which exits the map error area in the preset intersection range as an error exiting lane;

referring to fig. 4, fig. 4 is a schematic view of a scene of a map error area on an entering lane within a preset intersection range in the error layer setting method of the present application. And when the starting point position of the map error area is located on an entering lane within the range of the preset intersection, taking the entering lane within the map error area as an error entering lane, wherein the error entering lane can be all entering lanes in contact with the map error area. Therefore, the driving lane influenced by the map error area is determined, and since the vehicle with the route starting point position in the map error area on the driving lane may drive out from any driving lane of the intersection, the lane driving out from the map error area within the preset intersection range is required to be used as the error driving lane. In this embodiment, the entering lane and the exiting lane that may be affected by the map error area when the starting point position of the map error area is on the entering lane within the preset intersection range are determined.

Step S220, when the starting point position of the map error area is on the outgoing lane within the preset intersection range, taking the incoming lane within the preset intersection range that is driven to the map error area as the wrong-in lane, and taking the outgoing lane within the map error area as the wrong-out lane.

Referring to fig. 5, fig. 5 is a schematic view of a scene of a map error area on an outgoing lane within a preset intersection range in the error layer setting method of the present application, and when a starting point position of the map error area is on the outgoing lane within the preset intersection range, an incoming lane driving to the map error area within the preset intersection range is taken as the error incoming lane. For example, the intersection is an intersection, the map error region is located on an exit lane at the right of the intersection, an entry lane above the intersection for left-turning to the map error region is an error entry lane, an entry lane at the left of the intersection for straight-going to the map error region is an error entry lane, and an entry lane below the intersection for right-turning to the map error region is an error entry lane. Since the other outgoing lanes are not affected by the map error area, the outgoing lane within the map error area may be regarded as an erroneous outgoing lane. Thereby avoiding the influence on the normal lane, i.e., the vehicle can still normally use the CNGP function without entering the wrong-in lane and the wrong-out lane as described above.

In some embodiments, step S200 further includes, before:

step S210, judging whether the starting point position of the map error area is in a road range of a first preset distance with an intersection as the center;

step S211, if the starting point position is in the road range, it is determined that the map error area is in a preset intersection range.

In this embodiment, the starting point position of the map error area may be an intersection point of the map error area and a lane in a direction in which the vehicle is driven toward the map error area. Referring to fig. 3, fig. 3 is an exemplary diagram of a scene of an intersection in the error layer setting method of the present application. As shown in fig. 3, the preset intersection range includes the intersection and a lane section within a first preset distance from the intersection, and it is determined whether the starting point position of the map error area is within a road range within the first preset distance (e.g., 10m, 15m, 20m, etc.) from the center of the intersection, where the first preset distance is a distance that a user or a manufacturer can set according to specific requirements, and is used for determining whether the map error area approaches the intersection, so as to determine whether the vehicle needs to exit or degrade the CNGP function near the intersection. And if the starting point position of the map error area is in the road range, judging that the map error area is in a preset intersection range. When the starting point of the map error region is within the preset intersection range, it can be determined that the vehicle needs to perform exit or degradation of the CNGP function near the intersection.

Step S300, taking a first position outside a preset intersection range on the wrong driving-in lane as a wrong starting point, and determining a corresponding second position on the wrong driving-out lane as a wrong terminal point according to the terminal point position of the map wrong area;

in this embodiment, when the map error area is within the preset intersection range, a first position outside the preset intersection range on the wrong-way entering lane may be used as an error starting point, and a distance between the first position and the preset intersection range may be set according to specific requirements, for example, the first position may be a boundary of the preset intersection range on the wrong-way entering lane, and may also be a position away from the boundary by a preset distance (e.g., 10m, 15m, 20m, etc.). When the vehicle arrives at the wrong starting point on the wrong entering lane, the exit or degradation of the CNGP function is carried out, and because the first position is out of the preset intersection range of the intersection, enough time and space can be reserved for the driver to smoothly take over the vehicle with the exit or degradation of the CNGP function. Then, according to the different end point positions of the map error area, a corresponding second position on the error exiting lane can be determined as an error end point.

In some embodiments, the step S300 of determining a corresponding second position on an outgoing lane of the intersection as a wrong end point according to the position information of the map wrong area includes:

step S310, judging whether the end point position of the map error area is on an outgoing lane connected with the intersection in the preset intersection range;

step S311, if the end position is on an outgoing lane connected with an intersection within the preset intersection range, taking the end position of the map error area as a second position and taking the second position as an error end point;

step S312, if the end point position is not located on the exit lane connected to the intersection within the preset intersection range, taking a position from the intersection to a third preset distance in the vehicle advancing direction as a second position, and taking the second position as an error end point.

Referring to fig. 5, fig. 5 is a schematic view of a scene of a map error area on an outgoing lane within a preset intersection range in the error layer setting method of the present application. And judging whether the end point position of the map error area is positioned on an exit lane connected with the intersection within the preset intersection range. When the end point position is on an outgoing lane connected with an intersection within the preset intersection range, the vehicle is shown to be separated from the map error area after leaving the intersection, so that the actual end point position of the map error area can be used as a second position, and the second position can be used as an error end point. When the end point position is not located on an outgoing lane connected with the intersection within the preset intersection range (namely, the end point position is located in the intersection or on the incoming lane within the preset intersection range), the map error area can be separated when the vehicle does not exit from the intersection, and then the position from the intersection to a third preset distance in the advancing direction of the vehicle can be used as a second position, and the second position is used as an error end point.

In this embodiment, by determining whether the end point position of the map error area is on the outgoing lane connected to the intersection within the preset intersection range, when the end point position is on the outgoing lane connected to the intersection, the end point position is used as the error end point, so that the vehicle can recover the use of the CNGP function only when driving out of the end point position of the map error area. When the end point position is on an outgoing road connected with the intersection (namely the end point position is on the incoming road connected with the intersection or on the intersection), the position from the intersection to the third preset distance of the vehicle advancing direction is used as an error end point, so that the vehicle can recover the use of the CNGP function after being outgoing from the intersection, and the phenomenon that the CNGP function is recovered when the vehicle passes through the intersection, and the normal driving behavior of a driver when the driver passes through the intersection is influenced is avoided.

And S400, setting a corresponding error layer on a preset navigation map according to the error starting point and the error ending point.

In this embodiment, after obtaining the wrong-start point on each wrong-entry lane and the wrong-end point on each wrong-exit lane, the corresponding wrong-way segment, i.e., the segment of the lane from the wrong-start point to the wrong-end point, may be determined. And further setting a corresponding error map layer on a preset navigation map according to the error lane section. Therefore, when the vehicle runs according to the preset navigation map with the wrong map layer, if the vehicle enters the wrong lane section, the CNGP function quits or degrades. And when the wrong-way road section is driven out, the CNGP function is restarted.

In some embodiments, the step S400 of setting a corresponding error layer on a preset navigation map according to the error starting point and the error ending point includes:

step S410, determining a corresponding wrong-entry lane road section according to the wrong-entry lane and the wrong starting point;

step S420, determining a corresponding error exit lane road section according to the error exit lane and the error end point;

and step S430, setting a corresponding error layer on a preset navigation map according to the wrong entering lane section and the wrong exiting lane section.

In this embodiment, a corresponding wrong-way entry lane section may be determined according to the wrong-way entry lane and the wrong-way start point, and a corresponding wrong-way exit lane section may be determined according to the wrong-way exit lane and the wrong-way end point. And then setting a corresponding error map layer on a preset navigation map according to the wrong entry lane road section and the wrong exit lane road section. Therefore, when the vehicle runs according to the preset navigation map with the wrong map layer, if the vehicle enters the wrong entering lane section, the exit or degradation of the CNGP function is carried out. And when the wrong-way-out lane road section is driven out, the CNGP function is restarted. Thus, even if a map error area exists within the preset intersection range, the vehicle does not exit or degrade the CNGP function when the vehicle does not enter the wrong-entry lane section. Therefore, the accuracy of wrong layer setting is improved, and the interference on the normal use of the vehicle CNGP function is reduced.

In the embodiment, the map error area is obtained by obtaining the road information and according to the road information and the preset navigation map. When the map error area is within the range of a preset intersection, determining a wrong-in lane and a wrong-out lane corresponding to the map error area; and taking a first position outside a preset intersection range on the mistakenly entering lane as a mistaken starting point, and determining a corresponding second position on the mistakenly exiting lane as a mistaken end point according to the end point position of the map mistaken area. The first position outside the range of the preset intersection on the mistakenly-driving lane is used as the mistaken starting point, so that the situation that when a map error area appears at a branch road or the intersection, a vehicle enters the map error area and then exits or degrades the CNGP function is avoided, the CNGP function is exited or degraded before the vehicle enters the map error area, the driving experience of a driver is improved, and sufficient time and space are reserved for the taking-over process of the driver, so that the driver can take over the vehicle smoothly. And setting a corresponding error layer on a preset navigation map according to the error starting point on the error entering lane and the error ending point on the error exiting lane. Due to the arrangement of the error layer, only the entering lane and the exiting lane (namely the error entering lane and the error exiting lane) influenced by the map error area are targeted. Therefore, the normal lane which is not influenced by the map error area cannot be influenced, vehicles running on the normal lane can normally use the CNGP function to pass through, the accuracy degree of the setting of the error map layer is improved, and the interference on the normal use of the CNGP function of the vehicles is reduced.

Further, in another embodiment of the error layer setting method of the present application, the step S300 of using the first position outside the preset intersection range on the wrong entering lane as an error starting point includes:

step S320, judging whether the number of the lanes of the driving lane in the preset intersection range changes or not according to the road information;

step S321, if the number of lanes changes, taking the position from the intersection of the dashed and solid lines of the lane on the wrong driving lane to a second preset distance away from the advancing direction of the vehicle as a first position, and taking the first position as a wrong starting point;

step S322, if there is no lane number change, taking a position from a boundary between the preset intersection range on the wrong-way entering lane and the wrong-way entering lane to a third preset distance away from the vehicle advancing direction as a first position, and taking the first position as a wrong starting point.

Referring to fig. 4, when the map error area is within a preset intersection range, according to the road information, it is determined whether there is a change in the number of lanes (such as an increase in the number of lanes or a decrease in the number of lanes) in the driving lane within the preset intersection range. If the number of lanes of the entering lane in the range of the preset intersection changes, taking the position from the intersection of the lane line on the wrong entering lane and the solid line to a second preset distance (such as 10m, 20m, 30m and the like) away from the advancing direction of the vehicle as a first position, and taking the first position as a wrong starting point. For example, the point on the wrong-way lane where the number of lanes changes to a position 10m to 30m away from the vehicle heading direction may be used as the first position, thereby leaving more space and time for the driver to change lanes. If the number of lanes does not change in the entering lane within the preset intersection range, taking a position from a boundary between the preset intersection range on the wrong entering lane and the wrong entering lane to a third preset distance (such as 5m, 10m, 15m and the like) deviating from the advancing direction of the vehicle as a first position, and taking the first position as a wrong starting point. Therefore, the vehicle CNGP function can be quitted or degraded before the vehicle enters the range of the preset intersection, and the condition that the vehicle CNGP function is quitted or degraded when the vehicle approaches the intersection is avoided.

In this embodiment, when there is a lane number change in the entering lane within the preset intersection range, the wrong starting point is set at the intersection of the lane line and the solid line on the wrong entering lane to a position away from the vehicle advancing direction by a second preset distance, so that it is ensured that the driver can change lanes in the dotted line section of the lane with sufficient time and space after the vehicle CNGP function exits or degrades, and it is avoided that the driver cannot change lanes due to the fact that the vehicle has already entered the solid line section of the lane after the vehicle CNGP function exits or degrades, thereby improving the driving experience after the driver takes over.

Further, in another embodiment of the error layer setting method of the present application, the step S430 of setting a corresponding error layer on a preset navigation map according to the wrong-way road segment further includes:

step S440, determining a corresponding connection virtual lane according to the wrong-way entering lane road section and the wrong-way exiting lane road section;

step S441, adding the connection virtual lane to a wrong layer of the preset navigation map.

After the wrong-way entry lane segment and the wrong-way exit lane segment are obtained, a connecting virtual lane corresponding to the wrong-way entry lane segment and the wrong-way exit lane segment may be determined. The connecting virtual lane is a virtual lane for connecting the wrong-entry lane section and the wrong-exit lane section in the intersection. And adding the connecting virtual lane to the wrong layer of the preset navigation map. In this embodiment, the connection virtual lane corresponding to the wrong-entry lane section and the wrong-exit lane section is also added to the wrong map layer, so that, on one hand, when the end position of the map wrong area is in front of or inside the intersection, the vehicle is prevented from re-starting the CNGP function in front of or inside the intersection with complicated vehicle conditions. On the other hand, when the starting point position of the map error area is behind the intersection, the vehicle with the CNGP function started can be prevented from driving to the map error area (such as a construction area, a lane change area and the like) on the driving lane in the intersection.

Further, the following describes the error layer setting method in detail with reference to a scene schematic diagram of another embodiment of the error layer setting method shown in fig. 6.

Referring to fig. 6, in another embodiment of the error layer setting method according to the present application, before the step of setting the corresponding error layer on the preset navigation map according to the error starting point and the error ending point in step S400, the method further includes:

step S450, when the map error area is not in the preset intersection range, taking the lane in the map error area as a wrong lane, taking the starting point position of the map error area as a wrong starting point, and taking the end point position of the map error area as a wrong end point.

Referring to fig. 6, a map error area may also occur outside the preset intersection range. When the map error area is not in the preset intersection range, the lane in the map error area can be used as a wrong lane, the starting point position of the map error area is directly used as a wrong starting point, and the end point position of the map error area is used as a wrong end point. In this embodiment, for the case that the map error area is not within the preset intersection range, the actual starting point position and the actual end point position of the map error area may be directly adopted as the corresponding error starting point and error end point, so as to determine the corresponding error lane road segment according to the error lane, the error starting point and the error end point, and set the corresponding error map layer on the preset navigation map. Therefore, the actual starting position and the actual end position of the map error area do not need to be adjusted, and convenience in setting of the error map layer is improved.

In addition, an embodiment of the present application further provides a computer storage medium, where a computer program is stored in the computer storage medium, and when the computer program is executed by a processor, the operation in the error layer setting method provided in the foregoing embodiment is implemented, and specific steps are not described here again.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity/action/object from another entity/action/object without necessarily requiring or implying any actual such relationship or order between such entities/actions/objects; the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or system comprising the element.

For the apparatus embodiment, since it is substantially similar to the method embodiment, it is described relatively simply, and reference may be made to some descriptions of the method embodiment for relevant points. The above-described apparatus embodiments are merely illustrative, wherein elements described as separate components may or may not be physically separate. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the application. One of ordinary skill in the art can understand and implement without inventive effort.

The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present application may be substantially or partially embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, a vehicle, or a network device) to execute the method according to the embodiments of the present application.

The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.

Claims

1. A method for setting an error layer is characterized by comprising the following steps:

2. The error map layer setting method according to claim 1, wherein the step of determining a wrong-in lane and a wrong-out lane corresponding to the map error area when the map error area is within a preset intersection range comprises:

and when the starting point position of the map error area is positioned on an outgoing lane in the preset intersection range, taking the incoming lane in the preset intersection range, which is driven to the map error area, as the error incoming lane, and taking the outgoing lane in the map error area as the error outgoing lane.

3. The error map layer setting method according to claim 1, wherein the step of determining a wrong-in lane and a wrong-out lane corresponding to the map error area when the map error area is within a preset intersection range comprises:

judging whether the starting point position of the map error area is in a road range of a first preset distance taking an intersection as a center or not;

4. The wrong layer setting method according to claim 1, wherein said step of using the first position outside the range of the preset intersection on the wrong entering lane as the wrong starting point comprises:

5. The error layer setting method according to claim 1, the step of determining a corresponding second position on the wrong-way driving-out lane as a wrong terminal according to the position information of the map wrong area comprises the following steps:

judging whether the end point position of the map error area is positioned on an outgoing lane connected with the intersection within the preset intersection range;

6. The method for setting an error layer according to claim 1, wherein the step of setting a corresponding error layer on a preset navigation map according to the error start point and the error end point includes:

determining a corresponding error driving-out lane road section according to the error driving-out lane and the error terminal;

and setting a corresponding error layer on a preset navigation map according to the error entering lane road section and the error exiting lane road section.

7. The wrong layer setting method according to claim 6, wherein said step of setting a corresponding wrong layer on a preset navigation map according to said wrong-way road section further comprises:

determining a corresponding connection virtual lane according to the wrong-entry lane road section and the wrong-exit lane road section;

8. The method as claimed in any one of claims 1 to 7, wherein the step of setting a corresponding error layer on a preset navigation map according to the error start point and the error end point further comprises:

9. The utility model provides an error picture layer sets up equipment which characterized in that, error picture layer sets up equipment includes: memory, processor and computer program stored on the memory and executable on the processor, which computer program, when executed by the processor, carries out the steps of the method according to any one of claims 1 to 8.

10. A computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when being executed by a processor, the computer program implements the steps of the error layer setting method according to any one of claims 1 to 8.