CN115973164A - Vehicle navigation auxiliary driving method, medium and device - Google Patents
Vehicle navigation auxiliary driving method, medium and device Download PDFInfo
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Abstract
The invention discloses a vehicle piloting auxiliary driving method, medium and device, wherein the method comprises the following steps: acquiring a navigation instruction and a learning instruction, generating a navigation route according to the navigation instruction, and starting feature information acquisition and storage of a road section without high-precision map coverage in the navigation route according to the learning instruction; generating a prior data map corresponding to a road section which is not covered by a high-precision map in the navigation route, generating a complete navigation auxiliary driving route according to the prior data map and the high-precision map, and performing navigation assistance on vehicle driving according to the complete navigation auxiliary driving route; the method can assist the vehicle driving behavior in complete navigation under the condition that the high-precision map of part of the navigation route is lost, so as to improve the driving experience of a user.
Description
Technical Field
The present disclosure relates to the field of vehicle assistant driving technologies, and in particular, to a vehicle navigation assistant driving method, a computer-readable storage medium, and a vehicle navigation assistant driving apparatus.
Background
The piloting assistance means assisting the driving behavior of the vehicle (for example, controlling the cruising speed, merging into the main road, entering into the ramp, controlling the timing of changing the lane, etc.) of the driver according to the navigation information (for example, the navigation path, the speed limit information, the traffic flow state information, etc.).
In the related art, there is a serious dependency on a high-precision map when performing navigation assistance. That is, the navigation assistance function can be turned on only in a road segment covered with a high-precision map. Therefore, when a user starts navigation assistance to drive, if a high-precision map does not cover a road section (such as a remote road in a city, a part of high-speed high-driving road and the like), the vehicle exits the navigation assistance state; the experience of the driver on the navigation auxiliary function is seriously influenced.
Disclosure of Invention
The present invention is directed to solving, at least in part, one of the technical problems in the related art. Therefore, an object of the present invention is to provide a vehicle navigation driving assistance method capable of performing complete navigation assistance on a vehicle driving behavior under the condition that a high-precision map is partially missing so as to improve the driving experience of a user.
The vehicle navigation auxiliary driving method comprises the following steps: acquiring a navigation instruction and a learning instruction, generating a navigation route according to the navigation instruction, and starting feature information acquisition and storage of a road section without high-precision map coverage in the navigation route according to the learning instruction; and generating a prior data map corresponding to a road section which is not covered by the high-precision map in the navigation route, generating a complete navigation auxiliary driving route according to the prior data map and the high-precision map, and performing navigation assistance on vehicle driving according to the complete navigation auxiliary driving route.
According to the vehicle navigation auxiliary driving method, firstly, a navigation instruction and a learning instruction are obtained, a navigation route is generated according to the navigation instruction, and characteristic information collection and storage of a road section without high-precision map coverage in the navigation route are started according to the learning instruction; then, generating a prior data map corresponding to a road section without high-precision map coverage in the navigation route, generating a complete navigation auxiliary driving route according to the prior data map and the high-precision map, and performing navigation assistance on vehicle driving according to the complete navigation auxiliary driving route; by the arrangement, when a user starts navigation assistance on a road section corresponding to a complete navigation auxiliary driving route, the high-precision map can be used for navigation assistance on the road section with the high-precision map, and the corresponding prior data map can be used for navigation assistance on the road section without the high-precision map; the dependence of the navigation assistance on the high-precision map is reduced, and the navigation assistance function stop caused by the loss of the high-precision map of part of road sections in the process of using the navigation assistance by a user is avoided; the driving experience of the user is improved.
In some embodiments, generating the prior data map corresponding to the section without high-precision map coverage in the navigation route includes: acquiring first positioning information of a vehicle in real time, and judging whether the first positioning information has a corresponding high-precision map or not; and if not, acquiring corresponding first road characteristic information by using a vehicle sensor, and generating a prior data map according to the first road characteristic information.
In some embodiments, the first road characteristic information includes lane model information, road component information, road attribute information, and a characteristic map layer in which the vehicle sensors are located.
In some embodiments, the vehicle sensors include high definition cameras, high precision inertial navigation, lidar, and millimeter wave radar.
In some embodiments, before generating the complete pilot-assisted driving route according to the a priori data map and the high precision map, the method further comprises: acquiring second positioning information of the vehicle in real time, and judging whether the second positioning information has a corresponding prior data map; if yes, acquiring corresponding second road characteristic information by using a vehicle sensor; comparing the second road characteristic information with the first road characteristic information to obtain a coincidence value between the second road characteristic information and a corresponding prior data map; judging whether the coincidence value is larger than a preset coincidence value threshold value or not; if yes, the corresponding prior data map is considered to pass verification; and if not, the second road characteristic information is used for carrying out optimized coverage on the corresponding prior data map.
In some embodiments, before generating the complete pilot-assisted driving route according to the a priori data map and the high precision map, the method further comprises: if the second positioning information has a corresponding prior data map, accessing the corresponding prior data map to a decision-making system to perform virtual control on the vehicle and generate a predicted track corresponding to the virtual control; comparing the predicted track corresponding to the virtual control with an actual track generated when a driver drives a vehicle to obtain a similarity value between the predicted track and the actual track; judging whether the similarity value is larger than a preset similarity threshold value or not; and if so, the corresponding prior data map is considered to be verified.
In some embodiments, before generating the complete pilot-assisted driving route according to the a priori data map and the high precision map, the method further comprises: judging whether the prior data maps corresponding to the navigation route are verified; and if so, considering that the learning of the pilot auxiliary driving route corresponding to the navigation route is finished, so as to generate a complete pilot auxiliary driving route according to all verified prior data maps and high-precision maps after the learning is finished.
In some embodiments, piloting assistance to vehicle driving according to the piloting assistance driving route comprises: acquiring third positioning information of the vehicle in real time, and judging whether the third positioning information has a corresponding high-precision map or not; if so, performing navigation assistance on vehicle driving according to the high-precision map; and if not, using a corresponding prior data map to carry out navigation assistance on the vehicle driving.
In a second aspect, a computer-readable storage medium according to an embodiment of the present invention has a vehicle navigation assist driving program stored thereon, which when executed by a processor implements the vehicle navigation assist driving method as described above.
According to the computer-readable storage medium of the embodiment of the invention, the vehicle navigation auxiliary driving program is stored, so that when the vehicle navigation auxiliary driving program is executed by the processor, a user can realize that when the navigation auxiliary is started on a road section corresponding to a navigation auxiliary driving route, the user has a road section with a high-precision map, can use the high-precision map for navigation assistance, but does not have the road section with the high-precision map, and can use a corresponding prior data map for navigation assistance; the dependence of the navigation assistance on the high-precision map is reduced, and the navigation assistance function stop caused by the loss of the high-precision map of part of road sections in the process of using the navigation assistance by a user is avoided; the driving experience of the user is improved.
In a third aspect, a vehicle navigation assistance driving apparatus according to an embodiment of the present invention includes: the navigation module is used for acquiring a navigation instruction and a learning instruction, generating a navigation route according to the navigation instruction, and starting feature information acquisition and storage of a road section without high-precision map coverage in the navigation route according to the learning instruction; the learning module is used for generating a prior data map corresponding to a road section without high-precision map coverage in the navigation route, and generating a complete navigation auxiliary driving route according to the prior data map and the high-precision map; and the auxiliary driving module is used for carrying out navigation assistance on vehicle driving according to the complete navigation auxiliary driving route.
According to the vehicle navigation auxiliary driving device provided by the embodiment of the invention, the navigation module is used for acquiring a navigation instruction and a learning instruction, generating a navigation route according to the navigation instruction, and starting the characteristic information acquisition and storage of a road section without high-precision map coverage in the navigation route according to the learning instruction; the learning module is used for generating a prior data map corresponding to a road section without high-precision map coverage in the navigation route and generating a complete navigation auxiliary driving route according to the prior data map and the high-precision map; the auxiliary driving module is used for carrying out navigation assistance on vehicle driving according to the complete navigation auxiliary driving route; by the arrangement, when the user starts the pilot assistance on the road section corresponding to the pilot-assisted driving route, the road section with the high-precision map can be used for the pilot assistance, and the road section without the high-precision map can be used for the pilot assistance by using the corresponding prior data map; the dependence of the navigation assistance on the high-precision map is reduced, and the navigation assistance function stop caused by the loss of the high-precision map of part of road sections in the process of using the navigation assistance by a user is avoided; the driving experience of the user is improved.
In some embodiments, generating the prior data map corresponding to the section of the navigation route without high-precision map coverage includes: acquiring first positioning information of a vehicle in real time, and judging whether the first positioning information has a corresponding high-precision map or not; if not, acquiring corresponding first road characteristic information by using a vehicle sensor, and generating a prior data map according to the first road characteristic information.
In some embodiments, the first road characteristic information comprises lane model information, road component information, road attribute information, and a characteristic map layer of the vehicle sensor locations.
In some embodiments, the vehicle sensors include high definition cameras, high precision inertial navigation, lidar, and millimeter wave radar.
In some embodiments, before generating the complete pilot-assisted driving route according to the a priori data map and the high precision map, the method further comprises: acquiring second positioning information of the vehicle in real time, and judging whether the second positioning information has a corresponding prior data map; if yes, acquiring corresponding second road characteristic information by using a vehicle sensor; comparing the second road characteristic information with the first road characteristic information to obtain a coincidence value between the second road characteristic information and a corresponding prior data map; judging whether the coincidence value is larger than a preset coincidence value threshold value or not; if yes, the corresponding prior data map is considered to pass verification; and if not, the second road characteristic information is used for carrying out optimized coverage on the corresponding prior data map.
In some embodiments, before generating the complete pilot-assisted driving route according to the a priori data map and the high precision map, the method further comprises: if the second positioning information has a corresponding prior data map, accessing the corresponding prior data map to a decision-making system to perform virtual control on the vehicle and generate a predicted track corresponding to the virtual control; comparing the predicted track corresponding to the virtual control with an actual track generated when a driver drives a vehicle to obtain a similarity value between the predicted track and the actual track; judging whether the similarity value is larger than a preset similarity threshold value or not; and if so, the corresponding prior data map is considered to pass the verification.
In some embodiments, before generating the complete pilot-assisted driving route according to the a priori data map and the high precision map, the method further comprises: judging whether the prior data maps corresponding to the navigation route are verified; and if so, considering that the learning of the pilot auxiliary driving route corresponding to the navigation route is finished, so as to generate a complete pilot auxiliary driving route according to all verified prior data maps and high-precision maps after the learning is finished.
In some embodiments, piloting assistance for vehicle driving according to the piloting assistance driving route includes: acquiring third positioning information of the vehicle in real time, and judging whether the third positioning information has a corresponding high-precision map or not; if so, performing navigation assistance on vehicle driving according to the high-precision map; and if not, using the corresponding prior data map to carry out navigation assistance on the vehicle driving.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a schematic flow diagram of a vehicle piloting assist driving method according to an embodiment of the invention;
FIG. 2 is a flow diagram illustrating a pilot-assisted driving route learning process according to an embodiment of the present invention;
FIG. 3 is a flow chart illustrating a pilot-assisted driving route verification process according to an embodiment of the present invention;
FIG. 4 is a flow chart illustrating a pilot-assisted driving route verification process according to another embodiment of the present invention;
FIG. 5 is a flow chart illustrating a procedure for using a pilot-assisted route according to an embodiment of the present invention;
fig. 6 is a block diagram of a vehicle navigation assistance driving apparatus according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present invention and should not be construed as limiting the present invention.
A vehicle piloting assist driving method of an embodiment of the present invention is described below with reference to the drawings.
Referring to fig. 1, fig. 1 is a schematic flow chart of a vehicle navigation assistant driving method according to an embodiment of the present invention, as shown in fig. 1, the vehicle navigation assistant driving method includes the following steps:
s101, acquiring a navigation instruction and a learning instruction, generating a navigation route according to the navigation instruction, and starting to acquire and store characteristic information of a road section without high-precision map coverage in the navigation route according to the learning instruction.
As an example, assuming that a common route of a user is not fully covered by a high-precision map, if a conventional navigation aid function is used, there is a problem that the navigation aid function stops when a road section without the high-precision map is covered; according to the vehicle navigation auxiliary driving method provided by the embodiment of the invention, firstly, a user inputs a navigation instruction; specifically, the navigation instruction may include navigation start point information and navigation end point information; then generating a corresponding navigation route according to the navigation starting point information and the navigation end point information; and then, acquiring a learning instruction input by a user, and starting learning of a pilot auxiliary driving route corresponding to the navigation route according to the learning instruction so as to carry out pilot assistance of vehicle driving according to the learned pilot auxiliary driving route after learning is finished.
S102, generating a prior data map corresponding to a road section without high-precision map coverage in the navigation route, generating a complete pilot auxiliary driving route according to the prior data map and the high-precision map, and performing pilot assistance on vehicle driving according to the complete pilot auxiliary driving route.
In some embodiments, generating the prior data map corresponding to the section of the navigation route without high-precision map coverage includes: acquiring first positioning information of a vehicle in real time, and judging whether the first positioning information has a corresponding high-precision map or not; if not, a vehicle sensor is used for collecting corresponding first road characteristic information, and a prior data map is generated according to the first road characteristic information.
In some embodiments, the first road characteristic information comprises lane model information, road component information, road attribute information, and a characteristic map layer in which the vehicle sensors are located.
In some embodiments, the vehicle sensors include high definition cameras, high precision inertial navigation, lidar, and millimeter wave radar.
As an example, in the driving process of a vehicle, first positioning information of the vehicle is obtained in real time through a positioning module of the vehicle, and whether corresponding high-precision map coverage exists in the first positioning information is judged by combining with high-precision map information; if not, turning on a vehicle sensor; collecting first road characteristic information corresponding to the first positioning information; preferably, the first road characteristic information includes a lane model (for example, connection relationship between detailed information of lanes and lanes), road component information (for example, traffic sign information, gantry information, road rod information, roadside and road surface object information, etc.), road attribute information (for example, curvature of road, road heading, road gradient and cross slope information) and a characteristic map layer where vehicle sensors are located. And then, carrying out big data processing on the acquired first road characteristic information through an SLAM algorithm to generate a prior data map for self positioning and planning, and storing the prior data map in an intelligent driving area controller.
As another example, vehicle sensors include high definition cameras, high precision inertial navigation, lidar, and millimeter wave radar. The high-definition camera is used for collecting forward-looking, backward-looking and around-looking perception information around the vehicle, and is used for lane trajectory line identification and visual SLAM positioning to establish a visual SLAM map; the high-precision inertial navigation is mainly used for high-precision positioning of vehicles, and combines visual SLAM positioning to obtain vehicle fusion positioning so as to realize centimeter-level positioning of the vehicles under various working conditions; the laser radar is mainly used for collecting laser perception information of the surrounding environment of the vehicle, generating point cloud data and establishing a laser SLAM map; the millimeter wave radar is mainly used for collecting millimeter wave sensing information of the surrounding environment of the vehicle and establishing a millimeter wave SLAM map; then, the intelligent driving area controller fuses the visual SLAM map, the vehicle fusion positioning, the laser SLAM map and the millimeter wave SLAM map through a deep learning algorithm to obtain a prior data map; specifically, the timestamp and the feature point may be correlated, and the correlated data may be re-projected to world coordinates to generate a prior data map, where the prior data map is a 4D environment sensing map and includes a road information attribute.
In some embodiments, to ensure the accuracy of the prior data map, the generated prior data map is further verified; before generating a pilot-assisted driving route according to the prior data map and the high-precision map, the method further comprises the following steps: acquiring second positioning information of the vehicle in real time, and judging whether the second positioning information has a corresponding prior data map or not; if yes, acquiring corresponding second road characteristic information by using a vehicle sensor; comparing the second road characteristic information with the first road characteristic information to obtain a coincidence value between the second road characteristic information and the corresponding prior data map; judging whether the coincidence value is larger than a preset coincidence value threshold value or not; if yes, the corresponding prior data map is considered to pass verification; and if not, optimally covering the corresponding prior data map by using the second road characteristic information.
That is, under the same spatial coordinate, the second road characteristic information (such as lane line, gradient, curvature, etc.) is compared with the first road characteristic information at the same positioning point (for example, the lane line information is fitted with the two results to obtain the corresponding coincidence value according to the coincidence degree) to obtain the coincidence value. Preferably, the preset compliance threshold value may be selected to be 95%.
As an example, assume that the user starts a navigation route after learning of a pilot auxiliary route corresponding to the navigation route in the above manner; in the normal driving process of a user, the user inputs a navigation instruction; after determining the current navigation route of the user according to the navigation instruction, judging whether the current navigation route passes through a learned pilot auxiliary route; if so, acquiring second positioning information of the vehicle in real time in the running process of the current navigation route, and judging whether the second positioning information has a corresponding prior data map; if the first road characteristic information exists, the vehicle sensor is started to acquire the second road characteristic information, and if the second road characteristic information does not exist, the second road characteristic information is not acquired for verification; then, comparing the first road characteristic information of the second road characteristic information to obtain a coincidence value between the second road characteristic information and a corresponding prior data map; and when the coincidence value is lower than the preset coincidence value threshold value, optimizing and covering the prior data map by using the second road characteristic information.
As another example, a road segment identifier which has a priori data map and is not verified to pass is stored through a database; after a user starts learning of a navigation route corresponding to the pilot auxiliary route in the mode; in the normal driving process of a user, the user inputs a navigation instruction; after a current navigation route of a user is determined according to a navigation instruction, inquiring a database according to the current navigation route to judge whether the current navigation route passes through a road section with prior data map, wherein the prior data map does not verify the passing road section; if yes, generating an electronic fence corresponding to the road section; secondly, acquiring second positioning information of the vehicle in real time in the running process of the current navigation route, and judging whether the second positioning information passes through the electronic fence or not; if so, starting a vehicle sensor to collect second road characteristic information, and carrying out optimized coverage on the prior data map through the second road characteristic information when the coincidence value between the second road characteristic information and the prior data map is greater than a preset coincidence value threshold; if the navigation route is not passed through the prior data map, or the prior data map of the passed road section is verified to pass, the operation is not carried out.
In some embodiments, to further ensure the accuracy of the prior data map, before generating the pilot-assisted driving route according to the prior data map and the high-precision map, the method further includes: if the second positioning information has the corresponding prior data map, accessing the corresponding prior data map into a decision-making system to perform virtual control on the vehicle and generate a predicted track corresponding to the virtual control; comparing the predicted track corresponding to the virtual control with an actual track generated by a driver driving a vehicle to obtain a similarity value between the predicted track and the actual track; judging whether the similarity value is larger than a preset similarity threshold value or not; if yes, the corresponding prior data map is considered to be verified.
It should be noted that, in the above manner, the determination of whether the prior data map passes the verification may also be performed by comparing the second road characteristic information with the prior data map. For example, first, comparing the second road characteristic information with a prior data map to obtain a corresponding coincidence value; judging whether the coincidence value is greater than a preset coincidence value threshold (preferably, the preset coincidence value threshold can be selected to be 95%; it needs to be noted that the preset coincidence value threshold can be adjusted according to actual needs, and the value of the preset coincidence value threshold is not specifically limited); if yes, the priori data map is considered to pass verification; or when the coincidence value is larger than the preset coincidence value threshold value, the current scene is considered to be successfully verified, and the number of times of successful verification is increased by 1; and then, judging whether the verification success times are larger than a preset time threshold value or not, and if so, determining that the prior data map passes the verification.
In some embodiments, before generating the pilot-assisted driving route according to the prior data map and the high-precision map, the method further comprises: judging whether the prior data maps corresponding to the navigation route are verified; if so, the navigation auxiliary driving route is considered to be completely learned corresponding to the navigation route, so that the navigation auxiliary driving route is generated according to all the verified prior data maps and the high-precision map after the learning is completed.
In some embodiments, piloting assistance to vehicle driving according to a piloting assistance driving route includes: acquiring third positioning information of the vehicle in real time, and judging whether the third positioning information has a corresponding high-precision map or not; if so, performing navigation assistance on vehicle driving according to the high-precision map; and if not, using the corresponding prior data map to carry out navigation assistance on the vehicle driving.
In addition, it should be noted that when a user finishes learning to obtain a corresponding pilot-assisted driving route, the user can share the pilot-assisted driving route (for example, a corresponding file of the pilot-assisted driving route is sent to a receiver; or a file corresponding to the pilot-assisted driving route is sent to a cloud platform); therefore, other users can conveniently acquire the shared pilot-assisted driving route in demand, and the learning time of the pilot-assisted driving route is saved.
In one embodiment of the present invention, a vehicle piloting assistance driving method includes: and the method comprises the steps of pilot auxiliary driving route learning, pilot auxiliary driving route verification and pilot auxiliary driving route use.
As shown in fig. 2, the pilot-assisted driving route learning includes:
s201, acquiring a navigation instruction and a learning instruction.
S202, first positioning information of the vehicle is obtained.
S203, judging whether the first positioning information has a corresponding high-precision map or not; if not, step S204 is executed.
And S204, acquiring first road characteristic information through a sensor.
And S205, generating a prior data map according to the first road characteristic information.
As shown in fig. 3, the pilot-assisted driving route verification includes:
s301, obtaining second positioning information of the vehicle in real time.
S302, judging whether the second positioning information of the vehicle has a corresponding prior data map; if so, step S303 is performed.
And S303, collecting corresponding second road characteristic information by using a vehicle sensor.
S304, the second road characteristic information is compared with the prior data map to obtain a coincidence value between the second road characteristic information and the corresponding prior data map.
S305, judging whether the coincidence value is larger than a preset coincidence value threshold value; if yes, go to step S307; if not, step S306 is executed.
And S306, optimizing and covering the corresponding prior data map by using the second road characteristic information.
And S307, passing the verification.
As shown in fig. 4, the pilot-assisted driving route verification further includes:
s401, second positioning information of the vehicle is obtained in real time.
S402, judging whether the second positioning information of the vehicle has a corresponding prior data map; if so, step S403 is performed.
And S403, accessing the corresponding prior data map into the decision-making system to perform virtual control on the vehicle, and generating a predicted track corresponding to the virtual control.
S404, comparing the predicted track corresponding to the virtual control with the actual track generated when the driver drives the vehicle to obtain a similarity value between the predicted track and the actual track.
S405, judging whether the similarity value is larger than a preset similarity threshold value or not; if yes, go to step S406; if not, step S407 is executed.
S406, the corresponding prior data map is considered to pass the verification, and the prior data map passing the verification is verified so as to stop the optimization of the prior data map.
S407, prompting the user that the verification fails and the current data needs to be covered so as to carry out the second verification.
S408, judging whether all the prior data maps in the learning of the pilot-assisted driving route corresponding to the prior data map are verified; if so, step S409 is performed.
And S409, generating a piloting auxiliary driving route according to the verified prior data map and the high-precision map.
As shown in fig. 5, pilot assisted route usage includes:
s501, acquiring a navigation instruction, and generating a navigation route according to the navigation instruction.
S502, judging whether the navigation instruction has a corresponding pilot auxiliary driving route or not; if so, step S503 is executed.
And S503, acquiring third positioning information of the vehicle in real time.
S504, judging whether the third positioning information has a corresponding high-precision map or not; if yes, step S505 is executed, and if no, step S506 is executed.
And S505, performing navigation assistance on the vehicle driving according to the high-precision map.
And S506, using the corresponding prior data map to carry out navigation assistance on the vehicle driving.
In summary, according to the vehicle navigation assistant driving method provided by the embodiment of the invention, firstly, a navigation instruction and a learning instruction are obtained, a navigation route is generated according to the navigation instruction, and the characteristic information acquisition and storage of a road section without high-precision map coverage in the navigation route are started according to the learning instruction; then, generating a prior data map corresponding to a road section without high-precision map coverage in the navigation route, generating a complete navigation auxiliary driving route according to the prior data map and the high-precision map, and performing navigation assistance on vehicle driving according to the complete navigation auxiliary driving route; by the arrangement, when the user starts the pilot assistance on the road section corresponding to the pilot-assisted driving route, the road section with the high-precision map can be used for the pilot assistance, and the road section without the high-precision map can be used for the pilot assistance by using the corresponding prior data map; the dependence of the navigation assistance on the high-precision map is reduced, and the navigation assistance function stop caused by the loss of the high-precision map of part of road sections in the process of using the navigation assistance by a user is avoided; the driving experience of the user is improved.
In order to achieve the above embodiments, an embodiment of the present invention proposes a computer-readable storage medium having a vehicle navigation assist driving program stored thereon, which, when executed by a processor, implements the vehicle navigation assist driving method as described above.
According to the computer-readable storage medium of the embodiment of the invention, the vehicle navigation auxiliary driving program is stored, so that when the vehicle navigation auxiliary driving program is executed by the processor, a user can realize that when the navigation auxiliary is started on a road section corresponding to a navigation auxiliary driving route, the user has a road section with a high-precision map, can use the high-precision map for navigation assistance, but does not have the road section with the high-precision map, and can use a corresponding prior data map for navigation assistance; the dependence of the navigation assistance on the high-precision map is reduced, and the navigation assistance function stop caused by the loss of the high-precision map of part of road sections in the process of using the navigation assistance by a user is avoided; the driving experience of the user is improved.
In order to implement the above embodiments, the embodiment of the present invention provides a vehicle piloting auxiliary driving apparatus; as shown in fig. 6, the vehicle navigation assistance driving apparatus includes: a navigation module 601, a learning module 602, and a driver assistance module 603.
The navigation module 601 is configured to obtain a navigation instruction and a learning instruction, generate a navigation route according to the navigation instruction, and start learning of a pilot-assisted driving route corresponding to the navigation route according to the learning instruction;
the learning module 602 is configured to generate a priori data map corresponding to a road segment without high-precision map coverage in the navigation route, and generate a pilot-assisted driving route according to the priori data map and the high-precision map;
the assistant driving module 603 is configured to assist the vehicle driving according to the pilot assistant driving route.
In some embodiments, generating the prior data map corresponding to the section of the navigation route without high-precision map coverage includes: acquiring first positioning information of a vehicle in real time, and judging whether the first positioning information has a corresponding high-precision map or not; and if not, acquiring corresponding first road characteristic information by using a vehicle sensor, and generating a prior data map according to the first road characteristic information.
In some embodiments, the first road characteristic information includes lane model information, road component information, road attribute information, and a characteristic map layer in which the vehicle sensors are located.
In some embodiments, the vehicle sensors include high definition cameras, high precision inertial navigation, lidar, and millimeter wave radar.
In some embodiments, before generating the pilot-assisted driving route according to the prior data map and the high-precision map, the method further comprises: acquiring second positioning information of the vehicle in real time, and judging whether the second positioning information has a corresponding prior data map; if yes, acquiring corresponding second road characteristic information by using a vehicle sensor; comparing the second road characteristic information with the first road characteristic information to obtain a coincidence value between the second road characteristic information and a corresponding prior data map; judging whether the coincidence value is larger than a preset coincidence value threshold value or not; and if not, the second road characteristic information is used for carrying out optimized coverage on the corresponding prior data map.
In some embodiments, before generating the pilot-assisted driving route according to the prior data map and the high-precision map, the method further comprises: if the second positioning information has a corresponding prior data map, accessing the corresponding prior data map to a decision-making system to perform virtual control on the vehicle and generate a predicted track corresponding to the virtual control; comparing the predicted track corresponding to the virtual control with an actual track generated when a driver drives a vehicle to obtain a similarity value between the predicted track and the actual track; judging whether the similarity value is larger than a preset similarity threshold value or not; and if so, the corresponding prior data map is considered to be verified.
In some embodiments, before generating the pilot-assisted driving route according to the prior data map and the high-precision map, the method further comprises: judging whether the prior data maps corresponding to the navigation route are verified; and if so, considering that the learning of the pilot auxiliary driving route corresponding to the navigation route is finished, so as to generate the pilot auxiliary driving route according to all the verified prior data maps and the high-precision map after the learning is finished.
In some embodiments, piloting assistance for vehicle driving according to the piloting assistance driving route includes: acquiring third positioning information of the vehicle in real time, and judging whether the third positioning information has a corresponding high-precision map or not; if so, performing navigation assistance on vehicle driving according to the high-precision map; and if not, using the corresponding prior data map to carry out navigation assistance on the vehicle driving.
It should be noted that the above description about the vehicle navigation driving assisting method is also applicable to the vehicle navigation driving assisting device, and is not repeated herein.
In summary, according to the vehicle navigation assistant driving device in the embodiment of the present invention, the navigation module is configured to obtain a navigation instruction and a learning instruction, generate a navigation route according to the navigation instruction, and start learning a navigation assistant driving route corresponding to the navigation route according to the learning instruction; the learning module is used for generating a prior data map corresponding to a road section without high-precision map coverage in the navigation route and generating a navigation auxiliary driving route according to the prior data map and the high-precision map; the auxiliary driving module is used for carrying out navigation assistance on vehicle driving according to the navigation auxiliary driving route; by the arrangement, when the user starts the navigation assistance on the road section corresponding to the navigation assistance driving route, the road section with the high-precision map can be used for the navigation assistance, and the road section without the high-precision map can be used for the navigation assistance by using the corresponding prior data map; the dependence of the navigation assistance on the high-precision map is reduced, and the navigation assistance function stop caused by the loss of the high-precision map of part of road sections in the process of using the navigation assistance by a user is avoided; the driving experience of the user is improved.
In order to achieve the above embodiments, an embodiment of the present invention proposes a vehicle equipped with a vehicle navigation assistance driving apparatus as described above.
In summary, the vehicle according to the embodiment of the invention is provided with the vehicle navigation auxiliary driving device as described above; when a user uses the navigation assistance, the vehicle navigation driving assistance device is used for assisting the user in navigating; the high-precision map can be used for navigation assistance when the high-precision map exists on a road section; when no high-precision map exists in the road section, using a corresponding prior data map to carry out navigation assistance; thereby reducing the dependence of the navigation assistance on the high-precision map; the navigation auxiliary function stop caused by the fact that part of road sections are not covered by high-precision maps is avoided, and user experience is improved.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following technologies, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, but are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are exemplary and not to be construed as limiting the present invention, and that changes, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A vehicle piloting assistant driving method is characterized by comprising the following steps:
acquiring a navigation instruction and a learning instruction, generating a navigation route according to the navigation instruction, and starting feature information acquisition and storage of a road section without high-precision map coverage in the navigation route according to the learning instruction;
and generating a prior data map corresponding to a road section which is not covered by the high-precision map in the navigation route, generating a complete navigation auxiliary driving route according to the prior data map and the high-precision map, and performing navigation assistance on vehicle driving according to the complete navigation auxiliary driving route.
2. The vehicle piloting assistance driving method as claimed in claim 1, wherein generating the prior data map corresponding to the section of the navigation route without high-precision map coverage comprises:
acquiring first positioning information of a vehicle in real time, and judging whether the first positioning information has a corresponding high-precision map or not;
and if not, acquiring corresponding first road characteristic information by using a vehicle sensor, and generating a prior data map according to the first road characteristic information.
3. The vehicle navigation assistance method of claim 2, wherein the first road characteristic information includes lane model information, road component information, road attribute information, and a characteristic map layer in which the vehicle sensor is located.
4. The vehicle piloting assist driving method as in claim 2, wherein the vehicle sensor comprises a high definition camera, a high precision inertial navigation, a lidar, and a millimeter wave radar.
5. The vehicle piloting assistance driving method as claimed in claim 2, further comprising, before generating a complete piloting assistance driving route from the a priori data map and the high precision map:
acquiring second positioning information of the vehicle in real time, and judging whether the second positioning information has a corresponding prior data map or not;
if yes, acquiring corresponding second road characteristic information by using a vehicle sensor;
comparing the second road characteristic information with the first road characteristic information to obtain a coincidence value between the second road characteristic information and a corresponding prior data map;
judging whether the coincidence value is larger than a preset coincidence value threshold value or not;
if yes, the corresponding prior data map is considered to pass verification;
and if not, the second road characteristic information is used for carrying out optimized coverage on the corresponding prior data map.
6. The vehicle piloting assistance driving method of claim 5, further comprising, before generating a complete piloting assistance driving route from the a priori data map and the high accuracy map:
if the second positioning information has a corresponding prior data map, accessing the corresponding prior data map to a decision-making system to perform virtual control on the vehicle and generate a predicted track corresponding to the virtual control;
comparing the predicted track corresponding to the virtual control with an actual track generated when a driver drives a vehicle to obtain a similarity value between the predicted track and the actual track;
judging whether the similarity value is larger than a preset similarity threshold value or not;
and if so, the corresponding prior data map is considered to pass the verification.
7. The vehicle navigation driving aid method according to claim 6, further comprising, before generating a complete navigation driving aid route from the prior data map and the high-precision map:
judging whether the prior data maps corresponding to the navigation route are verified;
and if so, considering that the learning of the pilot auxiliary driving route corresponding to the navigation route is finished, so as to generate a complete pilot auxiliary driving route according to all verified prior data maps and high-precision maps after the learning is finished.
8. The vehicle pilot-assisted driving method according to claim 1, wherein pilot-assisting the driving of the vehicle according to the complete pilot-assisted driving route includes:
acquiring third positioning information of the vehicle in real time, and judging whether the third positioning information has a corresponding high-precision map or not;
if so, performing navigation assistance on vehicle driving according to the high-precision map;
and if not, using the corresponding prior data map to carry out navigation assistance on the vehicle driving.
9. A computer-readable storage medium, characterized in that a vehicle piloting assistance driving program is stored thereon, which when executed by a processor implements the vehicle piloting assistance driving method according to any one of claims 1 to 8.
10. A vehicle piloting assist drive device, comprising:
the navigation module is used for acquiring a navigation instruction and a learning instruction, generating a navigation route according to the navigation instruction, and starting feature information acquisition and storage of a road section without high-precision map coverage in the navigation route according to the learning instruction;
the learning module is used for generating a prior data map corresponding to a road section without high-precision map coverage in the navigation route and generating a complete navigation auxiliary driving route according to the prior data map and the high-precision map;
and the auxiliary driving module is used for carrying out navigation assistance on vehicle driving according to the complete navigation auxiliary driving route.
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| CN202211562732.0A CN115973164A (en) | 2022-12-07 | 2022-12-07 | Vehicle navigation auxiliary driving method, medium and device |
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| CN202211562732.0A CN115973164A (en) | 2022-12-07 | 2022-12-07 | Vehicle navigation auxiliary driving method, medium and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116394981A (en) * | 2023-06-07 | 2023-07-07 | 北京集度科技有限公司 | Vehicle control method, automatic driving prompting method and related devices |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116394981A (en) * | 2023-06-07 | 2023-07-07 | 北京集度科技有限公司 | Vehicle control method, automatic driving prompting method and related devices |
| CN116394981B (en) * | 2023-06-07 | 2023-09-01 | 北京集度科技有限公司 | Vehicle control method, automatic driving prompting method and related devices |
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