CN115235494A - Roundabout road section guiding method, device, equipment and storage medium - Google Patents
Roundabout road section guiding method, device, equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a method, a device, equipment and a storage medium for guiding a roundabout road section, wherein the method comprises the following steps: dividing a target road section into a plurality of sections of links connected end to end; judging whether the road structure of the roundabout entrance is straight, when the road structure of the roundabout entrance is not straight, detecting a first preset distance along a path by taking an entering roundabout point as a starting point to obtain a back detection end point, and calculating an entering direction based on a link where the back detection end point is located; judging whether the road structure at the roundabout exit is straight, when the road structure at the roundabout exit is not straight, using a point leaving the roundabout as a starting point, advancing a second preset distance along a path to obtain a forward-detection end point, and calculating the edge direction based on a link where the forward-detection end point is located; and outputting a steering index to guide the roundabout road section to drive according to the included angle between the edge entering direction and the edge exiting direction. The invention can obtain the accurate steering mark to accurately guide the user to drive and solve the problem of inaccurate steering action guidance at the roundabout road section.
Description
Technical Field
The invention relates to the technical field of driving navigation, in particular to a method, a device, equipment and a storage medium for guiding a roundabout road section.
Background
In current car navigation system products using standard definition map (SD map), when a vehicle is about to pass through a maneuver point, a user is informed of a correct steering action by using a steering target. The choice of the steering target is determined by calculating the angle of the turn from the entrance to the exit of the road structure, i.e. the angle between the exit direction and the entrance direction.
For a road structure of a common intersection, the current navigation system can conduct accurate steering action guidance, but for a special road structure of a rotary island, particularly for the rotary island which is irregular in shape or is connected with roads which are not equal to four, and the angles of the access roads are not vertical to the road of the rotary island body, a certain steering action guidance deviation exists. Some navigation products even avoid such a deviation by informing the user of only the exit number without outputting a turn direction. This causes the user to be unable to obtain accurate steering action guidance, which is inconvenient for driving.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method, an apparatus, a device, and a storage medium for guiding a roundabout road segment, so as to solve the problem that a steering action guidance on the roundabout road segment is inaccurate.
The technical scheme provided by the invention is as follows:
a first aspect of an embodiment of the present invention provides a method for guiding a roundabout road segment, including: dividing a target road section into a plurality of sections of links which are connected end to end; judging whether the road structure of the roundabout entrance is straight, when the road structure of the roundabout entrance is not straight, detecting a first preset distance along a path by taking an entrance roundabout point as a starting point to obtain a back detection end point, and calculating an entrance side direction based on a link where the back detection end point is located; judging whether the road structure at the roundabout exit is straight, when the road structure at the roundabout exit is not straight, using a point leaving the roundabout as a starting point, advancing a second preset distance along a path to obtain a forward-detection end point, and calculating the edge direction based on a link where the forward-detection end point is located; and outputting a steering index to guide the roundabout road section to drive according to the included angle between the edge entering direction and the edge exiting direction.
According to the roundabout road section guiding method, whether the roundabout road structure is in and out straight is judged, when the roundabout road structure is not in and out straight, the entering roundabout point is used as the starting point, the first preset distance is explored along the path to obtain the back exploration terminal point, the side entering direction is calculated based on the link where the back exploration terminal point is located, and due to the fact that the ring road is skipped through the first preset distance, the accurate side entering direction can be found when the roundabout road structure is not in and the accurate side exiting direction can be obtained in the same way, and then the turn indicator is obtained according to the included angle between the side entering direction and the side exiting direction, so that the accurate turn indicator is obtained, a user is accurately guided to drive a vehicle, and the problem that the turn indication action on the roundabout road section is inaccurate is solved.
According to the roundabout segment guidance method provided by the first aspect of the embodiment of the present invention, the first preset distance is obtained by: calculating the average radius of the circular island; multiplying the average radius of the ring island by a first preset coefficient to obtain a first preset distance; the second preset distance is obtained by the following steps: and multiplying the average radius of the ring island by a second preset coefficient to obtain a second preset distance.
In this embodiment, the average radius of the ring island is multiplied by a first preset coefficient and a second preset coefficient to obtain a first preset distance and a second preset distance, the first preset distance and the second preset distance approach the length of the ramp, and the ramp can be skipped to obtain an accurate edge entering direction and an accurate edge exiting direction.
According to a roundabout segment guidance method provided by the first aspect of the embodiment of the present invention, the calculating an incoming edge direction based on a link where the back-exploration terminal is located includes: judging whether the distance from the guide starting point to the point of entering the rotary island is smaller than a first preset distance or not; if the distance from the starting point to the roundabout point is not less than a first preset distance, judging whether the back exploration terminal point is located at the starting point of the link where the back exploration terminal point is located; if not, searching a previous shape point in the opposite direction of entering the rotary island on the link where the back exploration terminal point is located, wherein the edge entering direction is the connecting direction of the back exploration terminal point and the previous shape point; if yes, the edge entering direction is the sum of the direction angle of the head end of the link where the back exploration terminal point is located and 180 degrees; if the distance from the guide starting point to the point of entering the rotary island is less than a first preset distance, judging whether the guide starting point is located at the starting point of the link where the guide starting point is located; if not, searching a previous shape point in the opposite direction of entering the rotary island on the link where the guide starting point is located, wherein the edge entering direction is the connecting direction of the guide starting point and the previous shape point; if yes, the incoming edge direction is the direction angle of the head end of the link where the guide starting point is located plus 180 degrees.
According to the embodiment, different edge entering direction determination mechanisms can be respectively set according to the distance between the guide starting point, namely the current position point of the vehicle, and the point entering the rotary island, different and accurate edge entering directions can be obtained through guidance at different positions, so that the accurate edge entering direction can be obtained according to the actual driving condition, and the accuracy of the obtained edge entering direction is improved.
According to the roundabout road segment guidance method provided by the first aspect of the embodiment of the present invention, the calculating an edge direction based on the link where the forward-detection end point is located includes: judging whether the distance from the guidance terminal point to the point away from the rotary island is smaller than a second preset distance or not; if the distance from the guiding terminal point to the point entering the rotary island is not less than a second preset distance, judging whether the forward detection terminal point is located at the terminal point of the link where the forward detection terminal point is located; if not, searching a next shape point on a link where the forward-detection terminal point is located in a direction away from the rotary island, wherein the edge-out direction is a connecting direction of the forward-detection terminal point and the next shape point; if so, the outgoing direction is the tail end direction angle of the link where the forward detection terminal point is located; if the distance from the guidance terminal point to the point of entering the rotary island is less than a second preset distance, judging whether the guidance terminal point is located at the terminal point of the link where the guidance terminal point is located; if not, searching a next shape point on a link where the guiding terminal point is located in a direction away from the roundabout, wherein the edge outgoing direction is a connecting direction of the guiding terminal point and the next shape point; if so, the edge-out direction is the tail end direction angle of the link where the guiding end point is located.
According to the embodiment, different edge-out direction determination mechanisms can be respectively set according to the distance between the guide terminal and the point away from the rotary island, different and accurate edge-out directions can be obtained through guidance at different positions, the accurate edge-out direction can be obtained according to the actual driving condition, and the accuracy of the obtained edge-out direction is improved.
According to the roundabout road segment guiding method provided by the first aspect of the embodiment of the present invention, the determining whether the road structure at the roundabout entrance is straight includes: calculating a rotary angle of the roundabout; judging whether the rotary angle of the rotary island is within an interval of 90 degrees plus or minus a first preset angle, when the rotary angle of the rotary island is within the interval of 90 degrees plus or minus the first preset angle, the road structure of the rotary island inlet is a straight-in road structure, otherwise, the road structure of the rotary island inlet is not a straight-in road structure; the judging whether the road structure at the rotary island outlet is straight or not comprises the following steps: calculating a rotary angle of the rotary island; and judging whether the rotary angle of the rotary island is within an interval of 90 degrees +/-a second preset angle, when the rotary angle of the rotary island is within the interval of 90 degrees +/-the second preset angle, the road structure at the rotary island outlet is straight, otherwise, the road structure at the rotary island outlet is not straight.
The embodiment can judge whether the road structures at the roundabout inlet and the roundabout outlet are straight or not through the roundabout inlet corner and the roundabout outlet corner.
According to the roundabout road segment guiding method provided by the first aspect of the embodiment of the present invention, the target road segment includes a roundabout road segment, the links include an incoming link with an incoming roundabout point as an end point and a first roundabout link with an incoming roundabout point as a start point, and an outgoing link with an outgoing roundabout point as a start point and a second roundabout link with an outgoing roundabout point as an end point; the calculating of the rotary angle of the rotary island comprises the following steps: obtaining a rotary angle of the incoming rotary island by calculating an included angle between the incoming edge link and the first rotary island link; the calculating of the rotary angle of the rotary island comprises the following steps: and obtaining the rotary angle of the rotary island by calculating the included angle between the edge-out link and the second rotary island link.
The included angle of the two links taking the point entering the rotary island as the intersection point is taken as the rotary angle of the entering rotary island, and the included angle of the two links taking the point leaving the rotary island as the intersection point is taken as the rotary angle of the leaving rotary island, so that the calculation is convenient.
According to the roundabout road segment guiding method provided by the first aspect of the embodiment of the invention, when a road structure at the roundabout entrance is straight, an entering side direction is determined based on the direction of the entering side link; when the road configuration of the roundabout exit is straight, an edge direction is determined based on the direction of the edge-out link.
The embodiment can quickly determine the edge entering direction and the edge exiting direction when the rotary island is in a straight-in straight-out shape.
A second aspect of an embodiment of the present invention provides a roundabout road section guiding device, including: the link dividing module is used for dividing the target road section into a plurality of sections of links which are connected end to end; the side entering direction calculation module is used for judging whether the road structure of the roundabout entrance is straight-in or not, when the road structure of the roundabout entrance is not straight-in, detecting a first preset distance along a path by taking an entering roundabout point as a starting point to obtain a back detection end point, and calculating the side entering direction based on a link where the back detection end point is located; the side direction calculation module is used for judging whether the road structure at the roundabout exit is straight, when the road structure at the roundabout exit is not straight, using a departure roundabout point as a starting point, carrying out forward detection for a second preset distance along a path to obtain a forward detection end point, and calculating the side direction based on a link where the forward detection end point is located; and the steering index guiding module is used for outputting a steering index guiding roundabout road section driving according to an included angle between the edge entering direction and the edge exiting direction.
According to the roundabout road section guiding device provided by the second aspect of the embodiment of the invention, whether the roundabout road structure is straight-in or straight-out is judged, when the roundabout road structure is not straight-in, the roundabout point is taken as a starting point, the first preset distance is explored back along the path to obtain the back exploration terminal point, the side entering direction is calculated based on the link where the back exploration terminal point is located, and as the ramp is skipped through the first preset distance, the accurate side entering direction can be found when the roundabout road structure is not straight-in, and the accurate side exiting direction is obtained in the same way, and then the steering target is obtained according to the included angle between the side entering direction and the side exiting direction, so that the user is accurately guided to drive through the accurate steering target, and the problem of inaccurate steering action guidance of the roundabout road section is solved.
A third aspect of an embodiment of the present invention provides an electronic device, including: the information guidance system comprises a memory and a processor, wherein the memory and the processor are connected with each other in a communication mode, the memory stores computer instructions, and the processor executes the computer instructions so as to execute the roundabout segment guidance method according to any one of the first aspect of the embodiments of the present invention.
A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium, where computer instructions are stored, where the computer instructions are configured to cause a computer to execute the roundabout segment guidance method according to any one of the first aspect of the embodiments of the present invention.
Drawings
In order to more clearly express the technical scheme of the embodiment of the present invention, the drawings used in the description of the embodiment will be briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a method for guiding a roundabout road segment according to an embodiment of the present invention;
FIG. 2 is a road condition display diagram of the calculated incoming direction according to the embodiment of the present invention;
FIG. 3 is a schematic diagram comparing prior art and output redirectors in embodiments of the present invention;
FIG. 4 is a road condition display diagram of a rotary corner of a roundabout according to the embodiment of the present invention;
fig. 5 is a flowchart of a method for guiding a roundabout segment according to another embodiment of the present invention;
fig. 6 is a block diagram of a guidance device for a roundabout road segment according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electronic device in an embodiment of the invention.
Detailed Description
In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
An embodiment of the present invention provides a roundabout road segment guiding method, configured to provide accurate guidance when a vehicle travels through a roundabout road segment, and referring to fig. 1, the method includes:
step S101, dividing the target road section into a plurality of sections of links connected end to end.
Specifically, the target road segment is a road segment including a rotary island, which currently needs to be navigated.
Specifically, links, also called links, are navigation map industry terms, and in the SD map, each road is abstracted as a set of segment links, and each link is divided by intersections on actual roads. For each link, the link is abstracted into a linear line combination in the SD map, and the connection point of the line segments is a shape point, also called an inflection point, which indicates that the route direction has changed. Each link includes at least two shape points, a head end and a tail end.
And step S102, judging whether the road structure of the roundabout entrance is straight, when the road structure of the roundabout entrance is not straight, detecting a first preset distance along a path by taking an entering roundabout point as a starting point to obtain a back detection end point, and calculating the entering direction based on a link where the back detection end point is located.
In particular, straight-in refers to a road configuration in which a host vehicle travels in an incoming direction to directly enter the rotary. The incoming direction refers to the direction in which a straight portion pointing nearly to the center of the roundabout exists before the path enters the roundabout. In addition, the road structure of the rotary island also comprises a cut-in and a cut-out, wherein the cut-in is a road structure which needs to rotate a certain angle before the vehicle runs into the rotary island along the edge entering direction; and cutting the road structure into a road structure which needs to rotate a certain angle in the direction from the driving to the edge-exit after the vehicle leaves the rotary island. When not straight-in, i.e. cut-in scenario, there will be a section of road turning before entering the rotary, such as a ramp entering the rotary (in cut-in scenario, the path starts to turn from the incoming direction to the road portion of the rotary/cut-out scenario, the path starts from the road portion leaving the rotary to the outgoing direction). At this time, when the entering direction is calculated, if the entering direction is calculated by a link nearest to the roundabout, the direction of the turning link is obtained, and the entering direction cannot be accurately obtained. In order to avoid the influence of a turning road section, a return detection end point is obtained by returning a first preset distance along a path, and the entering direction can be accurately calculated based on a method of calculating the entering direction of a link where the return detection end point is located.
For example, calculating the incoming direction based on the link where the back-probing end point is located is mainly to determine the incoming direction according to the direction of the link where the back-probing end point is located. For example, in one embodiment, the direction of the connection line between the first shape point and the last shape point of the link where the back-probing end point is located is taken as the edge-entering direction. In other embodiments, the connecting line of the two shape points near the back detection end point can also be used as the edge entering direction.
In a preferred embodiment, as shown in FIG. 2, the roundabout segments in FIG. 2 are not straight in and are not straight out. P I To enter the roundabout point, from point P I Detecting a first preset distance along the path to obtain a detection end point P IR Back end point P IR Then, a shape point P is found from the link to the opposite direction of the driving direction IB A 1 is to P IB P IR The connecting line direction of (2) is taken as the incoming edge direction.
And step S103, judging whether the road structure at the rotary island exit is straight, when the road structure at the rotary island exit is not straight, advancing a second preset distance along the path by taking the point of leaving the rotary island as a starting point to obtain a forward detection end point, and calculating the edge direction based on the link where the forward detection end point is located.
Specifically, straight-out refers to a road configuration that is oriented in the outbound direction immediately after the own vehicle leaves the rotary island. The direction of the edge-out refers to a direction in which a straight portion nearly pointing to the center of the roundabout exists after the path leaves the roundabout. When not straight out, there may be a turn before leaving the roundabout, such as a ramp leaving the roundabout. When the edge direction is calculated, if the edge direction is calculated by a road section closest to the roundabout, the direction of the turning road section is obtained, and the edge direction cannot be accurately obtained. In order to avoid the influence of the turning section, a forward-detection terminal point is obtained by advancing a second preset distance along the path, and the edge direction can be accurately calculated based on the method for calculating the edge direction of the link where the forward-detection terminal point is located.
For example, the edge direction calculated based on the link where the forward-detection end point is located is determined mainly according to the direction of the link where the forward-detection end point is located. In one embodiment, the direction of the connection line of the first shape point and the last shape point of the link where the forward end point is located is taken as the edge exit direction. In other embodiments, the connecting line of the two shape points near the forward-detection end point can also be used as the edge-out direction.
In a preferred embodiment, as shown in FIG. 2. P O To leave the roundabout point, from point P O Advancing a second preset distance along the driving direction to obtain a advancing terminal point P OR Advancing to the end point P OR Then, the next shape point P is searched from the link to the driving direction OF A 1 is to P OR P OF The connecting line direction of (1) is taken as the edge outgoing direction.
Specifically, the first preset distance and the second preset distance may be set according to the actual configuration of the roundabout, and the specific length thereof is not limited by the embodiment. In the embodiment, for the scene that the angles of the connecting roads entering and exiting the rotary island are not vertical enough and are intersected in the tangential direction, the steering calculation is carried out by focusing on the direction trend of the users entering and exiting the rotary island in the macroscopic view, and the steering misjudgment caused by the corner cut can be effectively avoided.
And step S104, outputting a steering index to guide the roundabout road section to drive according to the included angle between the edge entering direction and the edge exiting direction.
Specifically, after the edge entering direction and the edge exiting direction are obtained, the direction angle of the edge entering direction is subtracted from the direction angle of the edge exiting direction to obtain the included angle between the edge entering direction and the edge exiting direction.
It should be noted that the actual representation of the turn indicator is the included angle between the edge entering direction and the edge exiting direction, and the larger the included angle is, the larger the rotation angle indicated by the turn indicator is. For example, the angle between the incoming and outgoing directions is 90 ±. + -
At 10 deg., a turn indicator indicating a 90 deg. turn to the right is output.
The current high-quality navigation system adopts a 16-way steering indicator to prompt a user to exit from a correct exit in advance aiming at the rotary island. The steering of the steering target different from 4-direction or 8-direction steering target can be obtained by relatively rough calculation of the turn angle of driving in and driving out, the accuracy requirement of the steering target of 16-direction steering target is higher, the included angle between the edge-entering direction and the edge-exiting direction obtained by calculation in the embodiment can skip the turning road section, the accuracy is accurate, the accuracy requirement of the steering target of 16-direction steering target can be met, and the steering guidance by using the steering target of 16-direction steering target becomes possible. For the scene that the road connected with the rotary island is 3 or more than 4, the direction is more accurate than the direction of 4, 8 and 16 direction steering targets. As shown in fig. 3, when the method of the embodiment calculates the roundabout turning indicator, an accurate turning indicator can be obtained, and the turning indicator obtained in the prior art does not skip a turning road section, so that the output of the turning indicator does not conform to the actual road condition.
According to the roundabout road section guiding method, whether the roundabout road structure is straight in or straight out is judged, when the roundabout road structure is not straight in, the roundabout point is used as the starting point, the first preset distance is detected back along the path to obtain the back detection end point, the side entering direction is calculated based on the link where the back detection end point is located, the roundabout is skipped through the first preset distance, the accurate side entering direction can be found when the roundabout road structure is not straight in, the accurate side exiting direction is obtained in the same way, and then the turn indicator is obtained according to the included angle between the side entering direction and the side exiting direction, so that the accurate turn indicator is obtained, the driving of a user is accurately guided, and the problem that the turn direction guiding action on the roundabout road section is inaccurate is solved.
In one embodiment, the first predetermined distance is obtained by: calculating the average radius of the roundabout; multiplying the average radius of the ring island by a first preset coefficient to obtain a first preset distance; the second preset distance is obtained by the following steps: and multiplying the average radius of the ring island by a second preset coefficient to obtain a second preset distance.
Specifically, the average radius of the roundabout is calculated by the following method:
and taking a plurality of points on the roundabout, calculating the curvatures of all arcs taking two adjacent points as end points, and calculating the curvature average value, wherein the average radius of the roundabout is the reciprocal of the curvature average value. For ease of computation, in one embodiment, the roundabout map may be first zoomed, for example, zoomed out by 10 6 Multiplying and then calculating the curvature average value, so that the average radius R =10 of the roundabout at the moment 6 Average value of curvature.
Illustratively, in order to be able to truly approximate the ramp, the first preset distance and the second preset coefficient are both
In this embodiment, the average radius of the ring island is multiplied by a first preset coefficient and a second preset coefficient to obtain a first preset distance and a second preset distance, the first preset distance and the second preset distance approach the length of the ramp, and the ramp can be skipped to obtain an accurate edge entering direction and an accurate edge exiting direction. The mode that the first preset distance and the second preset distance are determined by the multiple of the radius of the rotary island can meet the actual road condition of each rotary island, accurate edge entering directions and edge exiting directions can be obtained by accurately skipping ramps, and the application range is wide. For the roundabout with a less regular shape, as long as the roundabout is substantially circular, the practical physical significance can be generated by approximating the ramp by a multiple of the radius, so that the point taking of the trend conjecture is reasonable.
In one embodiment, calculating the incoming direction based on the link where the back-probing end point is located includes:
firstly, whether the distance from the guide starting point to the point of entering the rotary island is smaller than a first preset distance is judged. Specifically, the guidance starting point is a starting point of the current vehicle navigation, and may be generally understood as a current vehicle position.
Secondly, if the distance from the starting point to the roundabout point is not less than a first preset distance, judging whether the back exploration terminal point is located at the starting point of the link where the back exploration terminal point is located; if not, searching a previous shape point in the opposite direction of entering the rotary island on the link where the back exploration terminal point is located, wherein the entering direction is the connecting direction of the back exploration terminal point and the previous shape point; if yes, the incoming edge direction is the sum of the direction angle of the head end of the link where the back detection end point is located and 180 degrees.
If the distance from the guide starting point to the point of entering the rotary island is less than a first preset distance, judging whether the guide starting point is located at the starting point of the link where the guide starting point is located; if not, searching a previous shape point in the opposite direction of entering the rotary island on the link where the guide starting point is located, wherein the edge entering direction is the connecting direction of the guide starting point and the previous shape point; if yes, the incoming side direction is the leading end direction angle of the link where the guiding starting point is located plus 180 degrees.
In the prior art, each roundabout entrance is often fixed to output an identical steering target, and actually, the steering of the vehicle should be different when the vehicle is located at different positions, for example, on a turning road section before entering the roundabout, the real orientation of the vehicle at the moment should be changed at all times, so that the corresponding steering target should be output when the vehicle is located at different positions, and the steering target output according to the prior art cannot be changed according to the position of the vehicle, and the result is not accurate enough. According to the embodiment, different edge entering direction determining mechanisms are respectively arranged according to the distance between the guide starting point, namely the current position point of the vehicle, and the point of entering the rotary island, so that different and accurate edge entering directions can be obtained in different positions for guiding, the accurate edge entering direction can be obtained according to the actual driving condition, and the output steering target is more accurate.
In one embodiment, calculating the edge direction based on the link where the forward-end point is located includes:
firstly, whether the distance from the guide terminal point to the roundabout point is smaller than a second preset distance or not is judged. Specifically, the guidance terminal is a terminal of the current vehicle navigation, and may be generally understood as a vehicle heading to a destination.
Secondly, if the distance from the guiding terminal point to the point of entering the rotary island is not less than a second preset distance, judging whether the forward detection terminal point is located at the terminal point of the link where the forward detection terminal point is located; if not, searching a next shape point on a link where the forward-detection terminal point is located in a direction away from the rotary island, wherein the edge-out direction is a connecting direction of the forward-detection terminal point and the next shape point; if yes, the edge-out direction is the tail end direction angle of the link where the forward-detection end point is located.
If the distance from the guide terminal point to the roundabout point is smaller than a second preset distance, judging whether the guide terminal point is located at the terminal point of the link where the guide terminal point is located; if not, searching a next shape point on a link where the guiding end point is located in a direction away from the rotary island, wherein the edge outgoing direction is a connecting line direction of the guiding end point and the next shape point; if so, the edge-out direction is the end direction angle of the link where the guiding end point is located.
This embodiment can be according to the guide terminal point and the distance size that leaves the rotary island point, set up different side direction determination mechanism respectively, the guide can both obtain differently in different positions, accurate side direction, make it can obtain accurate side direction according to the actual driving condition, combine the above-mentioned definite method of income limit direction, can obtain the contained angle that more accords with the side direction of going out and income limit direction of actual road conditions, this embodiment is according to the actual position of guide starting point and guide terminal point, set up different side direction of going into and side direction determination mechanism respectively, the guide can both obtain differently in different positions, accurate side direction of going into and side direction of going out, make it can obtain accurate side direction of going into and output direction according to the actual driving condition, and then make the steering indicator of output more accurate.
In an alternative embodiment, the determining whether the road structure at the entrance of the roundabout is straight includes:
calculating a rotary angle of the roundabout; judging whether the rotary angle of the rotary island is within an interval of 90 degrees plus or minus a first preset angle, when the rotary angle of the rotary island is within the interval of 90 degrees plus or minus the first preset angle, the road structure of the rotary island inlet is straight, otherwise, the road structure of the rotary island inlet is not straight;
judging whether the road structure at the rotary island outlet is straight or not, comprising the following steps:
calculating a rotary angle of the rotary island;
and judging whether the rotary angle of the rotary island is within an interval of 90 degrees +/-a second preset angle, when the rotary angle of the rotary island is within the interval of 90 degrees +/-the second preset angle, the road structure at the rotary island outlet is straight, otherwise, the road structure at the rotary island outlet is not straight.
Specifically, the turning angle refers to an angle rotated from the vehicle clockwise/counterclockwise along the path from one direction to the other. The rotary angle of the roundabout refers to an included angle between the advancing direction of the vehicle and the tangent line of the roundabout when the vehicle enters the roundabout. The rotary angle of the rotary island refers to an included angle between the advancing direction of the vehicle and the tangent line of the rotary island when the vehicle leaves the rotary island. The method for calculating the corner entering the roundabout is to find a point entering the roundabout, wherein the point entering the roundabout can also be understood as an intersection point of a non-roundabout road section and a roundabout road section when a vehicle enters the roundabout, and the advancing direction of the vehicle and the tangent line of the roundabout at the point when the vehicle leaves the roundabout are determined, so that the corner entering the roundabout is determined. And determining the rotary angle of the rotary island by the same method.
Illustratively, in an embodiment, the first predetermined angle and the second predetermined angle are both (360 °/16), and when the inbound/outbound rotary angle is within a range of 90 ° ± (360 °/16), i.e., [67.5 °,112.5 ° ], the straight-in/straight-out determination condition is considered to be satisfied.
The embodiment can judge whether the road structures at the roundabout inlet and the roundabout outlet are straight or not through the roundabout inlet corner and the roundabout outlet corner.
In an alternative embodiment, the target segment comprises a roundabout segment, and the links comprise an incoming link with an incoming roundabout point as an end point and a first roundabout link with an incoming roundabout point as a starting point, and an outgoing link with an outgoing roundabout point as a starting point and a second roundabout link with an outgoing roundabout point as an end point.
Calculating a rotary angle of the rotary island, comprising:
and calculating an included angle between the edge entering link and the first rotary island link to obtain the rotary angle of the rotary island.
And calculating the rotary angle of the rotary island, including:
and calculating the included angle between the side link and the second roundabout link to obtain the roundabout corner.
Specifically, in a left rudder scenario (driver on the left side of the cockpit):
corner theta of ring island I = first roundabout link head end direction angle-180 ° -incoming link end direction angle |%360 °. For each link, according to the corresponding actual road direction, the starting side is the head end, and the ending side is the tail end. The head end direction angle refers to an angle of an extension line starting from the east direction and rotating counterclockwise to the opposite direction of the head end and the link; the end direction angle is an angle from the east to the end of the link starting from the opposite direction and rotating counterclockwise to the same direction as the link, and the value ranges of the two angles are [0 DEG, 360 deg ]. To avoid the occurrence of a calculated island-in rotation angle theta I The angle is larger than 360 degrees, after 180 degrees and the tail end direction angle of the incoming edge link are subtracted from the head end direction angle of the first roundabout link, the first roundabout link is divided by 360 degrees and the remainder is taken, and the incoming roundabout corner theta is obtained I . As shown in figure 4 of the drawings,θ Ia is the head end direction angle, theta, of the first rotary island link Ib Is the end directional angle of the incoming link.
Corner theta of ring-out island o = leading end directional angle of outgoing side link-180 ° -trailing end directional angle of second rotary island link |%360 °. Likewise, to avoid the occurrence of a calculated rotary island angle θ o The angle is larger than 360 degrees, after the head end direction angle of the outgoing edge link is subtracted by 180 degrees and the tail end direction angle of the second rotary island link, the head end direction angle of the outgoing edge link is divided by 360 degrees, the remainder is taken, and the rotary angle theta of the rotary island is obtained o 。
Similarly, in the right rudder scenario (driver on the right side of the cockpit):
corner theta of ring island I = head end directional angle of the first roundabout link-end directional angle of the incoming edge link |%360 °.
Corner theta of ring-out island o = | head end direction angle of outgoing side link-end direction angle of second roundabout link |%360 °.
In the embodiment, the included angle of the two links taking the point entering the roundabout as the intersection point is taken as the roundabout entering corner, and the included angle of the two links taking the point leaving the roundabout as the intersection point is taken as the roundabout exiting corner, so that the calculation is convenient.
In one embodiment, when the road configuration of the roundabout entrance is straight, determining an incoming edge direction based on the direction of the incoming edge link;
when the road configuration of the roundabout exit is straight, the side direction is determined based on the direction of the side exit link.
Specifically, when the road configuration of the roundabout entrance is straight, the end direction angle of the incoming side link is used as the incoming side direction; and when the outgoing edge meets the straight-out condition, using the head-end direction angle of the outgoing edge link plus 180 degrees as the outgoing edge direction.
The embodiment can quickly determine the edge entering direction and the edge exiting direction when the rotary island is in a straight-in straight-out shape.
FIG. 5 is an overall flowchart of an embodiment of the present invention. As shown in fig. 5, the workflow of the embodiment of the present invention includes:
firstly, calculating a rotary angle of an incoming rotary island and a rotary angle of an outgoing rotary island;
secondly, judging whether the road structure of the rotary island is straight-in or straight-out, when the road structure of the rotary island is straight-in or straight-out, calculating the edge entering direction or the edge exiting direction by adopting a distance approximation method, namely the method of the step S102 and the step S103, and when the road structure of the rotary island is not straight-in or straight-out, directly calculating the edge entering direction and the edge entering direction, namely determining the edge entering direction based on the direction of the edge entering link and determining the edge entering direction based on the direction of the edge exiting link in the method;
and finally, calculating an included angle between the incoming side direction and the outgoing side direction, acquiring a steering mark according to the included angle, and guiding the vehicle to run according to the steering mark.
It should be noted that, the steps of calculating the edge entering direction and the edge exiting direction may be serial or parallel, and the sequence of the steps in the above embodiments may be interchanged without departing from the principle of the present invention.
An embodiment of the present invention further provides a roundabout road section guiding device, as shown in fig. 6, the device includes:
the link dividing module 601 is configured to divide a target road segment into a plurality of end-to-end links; for details, reference is made to the corresponding parts of the above method embodiments, and details are not repeated herein.
The entering direction calculating module 602 is configured to determine whether a road structure at the roundabout entrance is a straight-in road, and when the road structure at the roundabout entrance is not a straight-in road, perform a back-exploration for a first preset distance along a path by using an entering roundabout point as a starting point to obtain a back-exploration terminal point, and calculate an entering direction based on a link where the back-exploration terminal point is located; for details, reference is made to the corresponding parts of the above method embodiments, and details are not repeated herein.
An edge-out direction calculation module 603, configured to determine whether a road structure at an exit of the roundabout is straight, and when the road structure at the exit of the roundabout is not straight, forward-exploring a second preset distance along the path by using a point away from the roundabout as a starting point to obtain a forward-exploring end point, and calculating an edge direction based on a link where the forward-exploring end point is located; for details, reference is made to the corresponding parts of the above method embodiments, which are not described herein again.
And a steering guiding module 604, configured to output a steering guiding ring island road segment for driving according to an included angle between the entering direction and the exiting direction. For details, reference is made to the corresponding parts of the above method embodiments, which are not described herein again.
According to the roundabout road section guiding device provided by the embodiment of the invention, the roundabout point is taken as the starting point, the return detection end point is obtained by returning and detecting the first preset distance along the path, the edge entering direction is calculated based on the link where the return detection end point is located, even if the roundabout is irregular in shape or the connection road is not equal to four, and the angles of the in-out road and the in-out road are not perpendicular to the roundabout body road, the accurate edge entering direction can be found by skipping the circle road through the return detection first preset distance, the accurate edge exiting direction is obtained in the same way, then the steering indicator is obtained according to the included angle between the edge entering direction and the edge exiting direction, the user is accurately guided to drive through the accurate steering indicator, and the problem of inaccurate steering action guidance in the roundabout road section is solved.
An embodiment of the present invention further provides an electronic device, including: the memory 702 and the processor 701 are communicatively connected, the memory 702 stores computer instructions, and the processor 701 executes the computer instructions to execute the roundabout segment guidance method according to the above method embodiment of the present invention, as shown in fig. 7, and includes the memory 702 and the processor 701, where the processor 701 and the memory 702 may be connected through a bus or other means. Processor 701 may be a Central Processing Unit (CPU). The processor 701 may also be other general purpose processors, digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations thereof. The memory 702, which is a non-transitory computer storage medium, may be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the corresponding program instructions/modules in embodiments of the present invention. The processor 701 executes various functional applications and data processing of the processor 701 by executing non-transitory software programs, instructions and modules stored in the memory 702, that is, implements the roundabout segment guidance method in the above method embodiment. The memory 702 may include a storage program area and a storage data area, wherein the storage program area may store an operating device, an application program required for at least one function; the storage data area may store data created by the processor 701, and the like. Further, the memory 702 may include high-speed random access memory 702, and may also include non-transitory memory 702, such as at least one piece of disk memory 702, flash memory device, or other non-transitory, solid-state memory 702. In some embodiments, the memory 702 may optionally include memory 702 located remotely from the processor 701, and such remote memory 702 may be coupled to the processor 701 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof. One or more modules are stored in the memory 702, which when executed by the processor 701 performs the roundabout segment guidance method as in the above-described method embodiments. The specific details of the electronic device may be understood according to the related descriptions and effects corresponding to the method embodiments, and are not described herein again.
Embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the instructions, when executed by a processor, implement the steps of the method for guiding a roundabout road segment in the foregoing embodiments. The storage medium is also stored with audio and video stream data, characteristic frame data, an interactive request signaling, encrypted data, preset data size and the like. The storage medium may be a magnetic disk, an optical disk, a Read-only memory (ROM), a Random Access Memory (RAM), a flash memory (FlashMemory), a hard disk (hard disk drive, abbreviated as HDD) or a Solid State Drive (SSD), etc.; the storage medium may also comprise a combination of memories of the kind described above. Those skilled in the art will appreciate that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can include the processes of the embodiments of the methods described above when executed. The storage medium may be a magnetic disk, an optical disk, a Read-only memory (ROM), a Random Access Memory (RAM), a flash memory (FlashMemory), a hard disk (hard disk drive, abbreviated as HDD) or a Solid State Drive (SSD), etc.; the storage medium may also comprise a combination of memories of the kind described above.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A roundabout segment guidance method, comprising:
dividing a target road section into a plurality of sections of links which are connected end to end;
judging whether the road structure of the roundabout entrance is straight, when the road structure of the roundabout entrance is not straight, detecting a first preset distance along a path by taking an entering roundabout point as a starting point to obtain a back detection end point, and calculating an entering direction based on a link where the back detection end point is located;
judging whether the road structure at the roundabout exit is straight, when the road structure at the roundabout exit is not straight, using a point leaving the roundabout as a starting point, advancing a second preset distance along a path to obtain a forward-detection end point, and calculating the edge direction based on a link where the forward-detection end point is located;
and outputting a steering index to guide the roundabout road section to drive according to the included angle between the edge entering direction and the edge exiting direction.
2. The roundabout segment guidance method according to claim 1, wherein the first preset distance is obtained by:
calculating the average radius of the circular island;
multiplying the average radius of the ring island by a first preset coefficient to obtain a first preset distance;
the second preset distance is obtained by the following steps:
and multiplying the average radius of the ring island by a second preset coefficient to obtain a second preset distance.
3. The roundabout road segment guiding method according to claim 1, wherein the calculating an incoming direction based on the link where the back-exploration terminal is located comprises:
judging whether the distance from the guide starting point to the point of entering the rotary island is smaller than a first preset distance or not;
if the distance from the starting point to the point entering the rotary island is not less than the first preset distance, judging whether the back exploration terminal point is located at the starting point of the link where the back exploration terminal point is located;
if not, searching a previous shape point in the opposite direction of entering the rotary island on the link where the back exploration terminal point is located, wherein the edge entering direction is the connecting direction of the back exploration terminal point and the previous shape point;
if so, adding 180 degrees to the head end direction angle of the link where the back detection end point is located in the edge entering direction;
if the distance from the guide starting point to the point of entering the rotary island is less than a first preset distance, judging whether the guide starting point is located at the starting point of the link where the guide starting point is located;
if not, searching a previous shape point in the opposite direction of entering the rotary island on the link where the guide starting point is located, wherein the edge entering direction is the connecting direction of the guide starting point and the previous shape point;
if yes, the incoming edge direction is the direction angle of the head end of the link where the guide starting point is located plus 180 degrees.
4. The roundabout segment guidance method according to claim 1 or 3, wherein the calculating an edge direction based on the link where the forward-tracking end point is located includes:
judging whether the distance from the guidance terminal point to the point away from the rotary island is smaller than a second preset distance or not;
if the distance from the guiding terminal point to the point entering the rotary island is not less than a second preset distance, judging whether the forward detection terminal point is located at the terminal point of the link where the forward detection terminal point is located;
if not, searching a next shape point on a link where the forward-detection terminal point is located in a direction away from the rotary island, wherein the edge-out direction is a connecting direction of the forward-detection terminal point and the next shape point;
if so, the edge outgoing direction is the terminal direction angle of the link where the forward detection terminal point is located;
if the distance from the guide terminal point to the roundabout point is smaller than a second preset distance, judging whether the guide terminal point is located at the terminal point of the link where the guide terminal point is located;
if not, searching a next shape point on a link where the guiding terminal point is located in a direction away from the roundabout, wherein the edge outgoing direction is a connecting direction of the guiding terminal point and the next shape point;
if so, the edge-out direction is the tail end direction angle of the link where the guiding end point is located.
5. The method for guiding the roundabout segment according to claim 1, wherein the determining whether the road structure at the entrance of the roundabout is straight comprises:
calculating a rotary angle of the roundabout;
judging whether the rotary angle of the rotary island is within an interval of 90 degrees plus or minus a first preset angle, when the rotary angle of the rotary island is within the interval of 90 degrees plus or minus the first preset angle, the road structure at the rotary island inlet is straight, otherwise, the road structure at the rotary island inlet is not straight;
the judging whether the road structure at the rotary island outlet is straight or not comprises the following steps:
calculating a rotary angle of the rotary island;
and judging whether the rotary angle of the rotary island is within an interval of 90 degrees +/-a second preset angle, when the rotary angle of the rotary island is within the interval of 90 degrees +/-the second preset angle, the road structure at the rotary island outlet is straight, otherwise, the road structure at the rotary island outlet is not straight.
6. The method for guiding the roundabout segments according to claim 5, wherein the target segments comprise the roundabout segments, and the links comprise an incoming link with an incoming roundabout point as a terminal point and a first roundabout link with an incoming roundabout point as a starting point, and an outgoing link with an outgoing roundabout point as a starting point and a second roundabout link with an outgoing roundabout point as a terminal point;
the calculating of the rotary angle of the rotary island comprises the following steps:
obtaining a rotary angle of the incoming rotary island by calculating an included angle between the incoming edge link and the first rotary island link;
the calculating of the rotary angle of the rotary island comprises the following steps:
and calculating an included angle between the edge-out link and the second rotary island link to obtain a rotary island corner.
7. The roundabout road segment guiding method according to claim 6, wherein when a road configuration of a roundabout entrance is straight, an entering-side direction is determined based on a direction of the entering-side link;
when the road configuration of the roundabout exit is straight, an edge direction is determined based on the direction of the edge-out link.
8. A rotary island road section guiding device, comprising:
the link dividing module is used for dividing the target road section into a plurality of sections of links which are connected end to end;
the side entering direction calculation module is used for judging whether the road structure at the roundabout entrance is straight, when the road structure at the roundabout entrance is not straight, detecting a first preset distance along a path by taking an entering roundabout point as a starting point to obtain a back detection end point, and calculating the side entering direction based on a link where the back detection end point is located;
the side direction calculation module is used for judging whether the road structure at the roundabout exit is straight, when the road structure at the roundabout exit is not straight, using a departure roundabout point as a starting point, carrying out forward detection for a second preset distance along a path to obtain a forward detection end point, and calculating the side direction based on a link where the forward detection end point is located;
and the steering index guiding module is used for outputting a steering index guiding roundabout road section driving according to an included angle between the edge entering direction and the edge exiting direction.
9. An electronic device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the roundabout segment guidance method according to any one of claims 1 to 7.
10. A computer-readable storage medium storing computer instructions for causing a computer to execute the roundabout segment guidance method according to any one of claims 1 to 7.
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