CN116295478A - Navigation method and device for vehicle - Google Patents
Navigation method and device for vehicle Download PDFInfo
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- CN116295478A CN116295478A CN202310004906.XA CN202310004906A CN116295478A CN 116295478 A CN116295478 A CN 116295478A CN 202310004906 A CN202310004906 A CN 202310004906A CN 116295478 A CN116295478 A CN 116295478A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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Abstract
The application relates to the technical field of automatic driving, in particular to a navigation method and device of a vehicle, wherein the method comprises the following steps: the method comprises the steps of obtaining coordinate data of a starting point and a finishing point of a vehicle, matching a nearest lane from a pre-built lane network according to the coordinate data of the starting point and the finishing point, wherein the lane network is built based on a transverse variable lane network, calculating a shortest path based on a communication relation between the nearest lane and the lane network, obtaining a path set of the shortest path, interpolating the path set according to a preset interval to obtain a route point set, and obtaining a global navigation path. According to the method and the device for planning the shortest path in real time based on the communication relation among the lanes, the constructed lane network is utilized, the output efficiency of navigation information is improved, the accuracy and the reliability of the path planning result are guaranteed, and the vehicle navigation is more accurate and efficient.
Description
Technical Field
The present disclosure relates to the field of automatic driving technologies, and in particular, to a method and an apparatus for navigating a vehicle.
Background
With the vigorous development of artificial intelligence technology, the automatic driving technology is receiving more attention, and vehicles with automatic driving functions are becoming more and more popular.
In the related art, intelligent navigation is an important component in the automatic driving technology, and through high-precision map information, obstacle perception, vehicle position and other information, optimal path planning is reasonably performed, so that a vehicle is guided to travel to a destination.
However, in the related art, the transverse and longitudinal traffic relationship between lanes and the traffic rule constraint of the road are not fully considered in the path planning of the vehicle navigation, so that the safety and accuracy of the obtained planned path cannot be ensured, the real-time dynamic planning of the path is not realized, the working efficiency of the vehicle navigation is reduced, and the problem needs to be solved.
Disclosure of Invention
The application provides a vehicle navigation method and device, which are used for solving the problems that the safety and the accuracy of the obtained planned path cannot be ensured and the real-time dynamic planning of the path is not realized, the working efficiency of vehicle navigation is reduced and the like because the transverse and longitudinal traffic relation between lanes and the traffic rule constraint of a road are not fully considered in the path planning of vehicle navigation.
An embodiment of a first aspect of the present application provides a navigation method for a vehicle, including the steps of: acquiring coordinate data of a starting point and an ending point of a vehicle; matching a nearest lane from a pre-constructed lane network according to the coordinate data of the starting point and the ending point, wherein the lane network is constructed based on a transverse variable lane network; calculating a shortest path based on the communication relation between the nearest lane and the lane network to obtain a path set of the shortest path, interpolating the path set according to a preset interval to obtain a route point set, and obtaining a global navigation path.
According to the technical means, the embodiment of the application can conduct real-time shortest path planning based on the communication relation among the lanes, and the output efficiency of navigation information is improved by utilizing the constructed lane network, so that the accuracy and reliability of a path planning result are guaranteed, and the vehicle navigation is more accurate and efficient.
Optionally, in one embodiment of the present application, after acquiring the global navigation path, the method further includes: acquiring the current position of the vehicle; matching the current position with the nearest lane of the global navigation path; and acquiring a local navigation path based on the route of the nearest lane, which is acquired forward by a preset distance.
According to the technical means, after the global navigation path is acquired, the current position of the vehicle can be acquired, the current position is matched with the nearest lane of the global navigation path, and the route with the preset distance is acquired forward based on the nearest lane, so that the local navigation path is acquired, the path updating efficiency in the vehicle navigation process is further improved, and the use experience of a user is guaranteed.
In addition, in one embodiment of the present application, after the local navigation path is acquired, the method further includes: calculating the distance from the current traffic light, the distance from the stopping line and/or the steering signal according to the local navigation path so as to generate navigation information; and controlling the vehicle to prompt a user according to the navigation information.
According to the technical means, after the local navigation path is acquired, the distance from the current traffic light, the distance from the stop line and/or the steering signal can be calculated according to the local navigation path so as to generate navigation information, and the vehicle is controlled to prompt the user according to the navigation information, so that the acquired navigation path meets the constraint of traffic rules, and the safety of the user in the process of planning the path running is ensured.
Specifically, in one embodiment of the present application, before matching the nearest lane, the method further includes: traversing all map lane data to construct a transverse variable lane network based on traffic passing attributes of two parallel homodromous adjacent lanes; in path planning, traversing all lane central line data, respectively outputting a first point and a last point as nodes of a lane network according to the direction of a lane, and constructing lane network nodes; the lane network is constructed based on the laterally variable lane network and the lane network nodes.
According to the technical means, the lane network can be obtained by constructing the transverse variable lane network and constructing the lane network nodes, and the lane network with the transverse and longitudinal communication relationship can be obtained by fully considering the traffic relationship among lanes, so that necessary lane related data is provided for further planning of the road.
An embodiment of a second aspect of the present application provides a navigation device for a vehicle, including: the acquisition module is used for acquiring coordinate data of a starting point and an ending point of the vehicle; the matching module is used for matching the nearest lane from a pre-constructed lane network according to the coordinate data of the starting point and the ending point, wherein the lane network is constructed based on a transverse variable lane network; the navigation module is used for calculating the shortest path based on the communication relation between the nearest lane and the lane network to obtain a path set of the shortest path, interpolating the path set according to a preset interval to obtain a route point set, and obtaining a global navigation path.
Optionally, in one embodiment of the present application, the navigation module includes: the first acquisition unit is used for acquiring the current position of the vehicle after acquiring the global navigation path; the matching unit is used for matching the current position with the nearest lane of the global navigation path; and the second acquisition unit is used for acquiring a local navigation path based on the route of the nearest lane, which is acquired forward by a preset distance.
In addition, in one embodiment of the present application, the method further includes: the calculation module is used for calculating the distance from the current traffic light, the distance from the stop line and/or the steering signal according to the local navigation path after the local navigation path is acquired so as to generate navigation information; and the prompt module is used for controlling the vehicle to prompt a user according to the navigation information.
Specifically, in one embodiment of the present application, the matching module includes: the traversing unit is used for traversing all map lane data to construct a transverse variable lane network based on the traffic passing attributes of two parallel equidirectional adjacent lanes before the closest lanes are matched; the first construction unit is used for traversing all lane central line data in path planning, respectively outputting a first point and a last point as nodes of a lane network according to the direction of a lane, and constructing lane network nodes; and a second construction unit for constructing the lane network based on the lane network node and the lane network node.
An embodiment of a third aspect of the present application provides a vehicle, including: the navigation system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the navigation method of the vehicle according to the embodiment.
A fourth aspect of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements a method of navigating a vehicle as above.
The beneficial effects of this application:
(1) According to the method and the device for planning the shortest path in real time based on the communication relation among the lanes, the constructed lane network is utilized, the output efficiency of navigation information is improved, the accuracy and the reliability of the path planning result are guaranteed, and the vehicle navigation is more accurate and efficient.
(2) According to the method and the device for obtaining the route of the vehicle navigation, after the global navigation route is obtained, the current position of the vehicle is obtained, the current position is matched with the nearest lane of the global navigation route, the route with the preset distance is obtained forwards based on the nearest lane, and therefore the local navigation route is obtained, the route updating efficiency in the vehicle navigation process is improved, and the use experience of a user is guaranteed.
(3) According to the method and the system, the lane network can be obtained by constructing the transverse variable lane network and the lane network nodes, the lane network is obtained by fully considering the traffic relation among lanes, the lane network with the transverse and longitudinal communication relation is obtained, and therefore necessary lane related data are provided for further planning of roads.
Additional aspects and advantages of the application 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 application.
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The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a flowchart of a navigation method of a vehicle according to an embodiment of the present application;
FIG. 2 is a logic flow diagram of a method of navigation of a vehicle in accordance with one embodiment of the present application;
fig. 3 is a schematic structural view of a navigation device of a vehicle according to an embodiment of the present application;
fig. 4 is a schematic structural view of a vehicle according to an embodiment of the present application.
Wherein, the navigation device of the 10-vehicle; a 100-acquisition module, a 200-matching module and a 300-navigation module; 401-memory, 402-processor and 403-communication interface.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.
The following describes a navigation method and apparatus for a vehicle according to embodiments of the present application with reference to the accompanying drawings. Aiming at the problems that the safety and the accuracy of the obtained planned route cannot be guaranteed and the real-time dynamic planning of the route is not realized and the working efficiency of vehicle navigation is reduced due to the fact that the transverse and longitudinal traffic relation among lanes and the traffic rule constraint of a road are not fully considered in the route planning of the vehicle navigation mentioned in the background center, the application provides a vehicle navigation method. Therefore, the problems that the safety and the accuracy of the obtained planned path cannot be ensured, the real-time dynamic planning of the path is not realized, the working efficiency of the vehicle navigation is reduced and the like due to insufficient consideration of the transverse and longitudinal traffic relation among lanes and the traffic rule constraint of the road in the path planning of the vehicle navigation are solved.
Specifically, fig. 1 is a flow chart of a navigation method of a vehicle according to an embodiment of the present application.
As shown in fig. 1, the navigation method of the vehicle includes the steps of:
in step S101, coordinate data of a start point and an end point of a vehicle is acquired.
It may be understood that, in the embodiment of the present application, the starting point of the vehicle may be the current position of the vehicle, the destination of the vehicle may be the destination of the vehicle, and the coordinate data of the starting point and the destination may be the coordinate position information of the lane network pre-constructed in the following steps.
The embodiment of the application can acquire the coordinate data of the starting point and the ending point of the vehicle, so as to obtain the position information of the starting point of the path to be planned, and further carry out the path planning in the following steps.
In step S102, the nearest lane is matched from a pre-established lane network based on the transversely variable lane network, based on the coordinate data of the start point and the end point.
It can be understood that the pre-constructed lane network in the embodiment of the present application may be a network layer including multiple lane line interactions and parallel information, and may be based on a horizontal variable lane network, by combining with a horizontal feasibility change, to perform construction and acquisition of the lane network.
In some embodiments, global path planning may be performed by using a shortest path algorithm, such as Dijkstra algorithm, based on a pre-constructed lane network, so as to obtain a global path, and further obtain a lane with the closest distance in the lane network according to coordinate data of a start point and an end point in the pre-constructed lane network, so as to obtain a matching result.
According to the method and the device for the lane network navigation, the nearest lane can be matched from the pre-built lane network according to the coordinate data of the starting point and the ending point, and the lane network is built based on the transverse variable lane network, so that the optimal lane with the shortest distance from the starting point is obtained, the lane network is adapted to further planning, and the intelligent level of the navigation process is improved.
Specifically, in one embodiment of the present application, before matching the nearest lane, the method further includes: traversing all map lane data to construct a transverse variable lane network based on traffic passing attributes of two parallel homodromous adjacent lanes; in path planning, traversing all lane central line data, respectively outputting a first point and a last point as nodes of a lane network according to the direction of a lane, and constructing lane network nodes; and constructing a lane network based on the transverse variable lane network and the lane network nodes.
It can be appreciated that the traffic attribute of two parallel co-adjacent lanes in the embodiment of the present application may include a variable road state and an invariable road state, and if the two parallel co-adjacent lanes are in the variable road state, a laterally variable road is created between the two lanes. The lane node may be a starting point located on the lane center line along the direction of travel of the lane to connect two intersecting lanes.
In the actual execution process, because a plurality of lane lines are parallel in road traffic, lane change in the transverse direction needs to be considered, whether the lane can be changed leftwards or rightwards or not can be judged according to the lane central line data in the high-precision map and the attribute affecting lane change in the left and right lane line attributes, such as a solid line, a broken line and the like, if the lane change requirement is met, a connecting line is constructed at the starting points of the central lines of the two lanes, the lane change direction is given, and all map lane data are traversed, so that the transverse variable lane network is obtained.
In addition, in the path planning, the starting point and the end point of the lane line are judged by the line segment node numbers, in order to enable the corresponding line segments to be accurately matched, lane network nodes are required to be constructed, and the first point and the last point on the lane center line are respectively output as the nodes of the lane network according to the direction of the lane by traversing all lane center line data. And obtaining the required lane network according to the obtained transverse variable lane network, the lane network nodes and the lane center line.
According to the method and the system, the lane network can be obtained by constructing the transverse variable lane network and the lane network nodes, the lane network is obtained by fully considering the traffic relation among lanes, the lane network with the transverse and longitudinal communication relation is obtained, and therefore necessary lane related data are provided for further planning of roads.
In step S103, calculating the shortest path based on the communication relationship between the nearest lane and the lane network, obtaining a path set of the shortest path, and interpolating the path set according to a preset interval to obtain a route point set, thereby obtaining a global navigation path.
It can be understood that, in the embodiment of the present application, the path set of the shortest path may be a lane ID set of the shortest path, and interpolation of the path set according to a preset interval may finally output a route point set with a certain lane interval, so as to obtain a global navigation path.
The preset interval is set by those skilled in the art according to the actual situation, and is not specifically limited herein.
In some embodiments, the distance from the starting point to the destination point to the lane node may be calculated based on the constructed lane network, so as to match the distance to the nearest lane network node, further determine the corresponding nearest lane according to the node attribute, search the shortest route from the starting point lane to the destination lane by using Dijkstra algorithm, obtain the global path lane line ID set according to the constructed lane network, obtain the lane center line point set by using the lane line ID, process the obtained point set by using the interpolation method, and obtain the track points with an interval of 1 meter, thereby ensuring the smoothness of the global path.
According to the method and the device for obtaining the route point set, the shortest route can be calculated based on the communication relation between the nearest lane and the lane network, the route set of the shortest route is obtained, the route point set is obtained through interpolation of the route set according to the preset interval, and the global navigation route is obtained, so that the navigation requirement of a user is met, the reliability of planning the route is ensured, and the driving experience in the navigation process of the user is improved.
Optionally, in one embodiment of the present application, after acquiring the global navigation path, the method further includes: acquiring the current position of the vehicle; matching the current position with the nearest lane of the global navigation path; and acquiring a local navigation path based on the route of which the nearest lane is forward acquired by a preset distance.
It may be understood that in the embodiment of the present application, since the global path planning has more data of the entire route planned according to the start point and the end point, local path pushing needs to be performed according to the real-time position of the vehicle, positioning data may be transmitted in real time through the vehicle end positioning function, and matched with the global path track point, so as to obtain the nearest lane in the global path, and based on the nearest lane, the route with the preset distance is obtained forward, for example, a route with 2 km may be obtained forward to explore a range within 2 km, so that the local navigation path is pushed to the vehicle.
The preset distance is set by a person skilled in the art according to the actual situation, and is not particularly limited herein.
According to the method and the device for obtaining the route of the vehicle navigation, after the global navigation route is obtained, the current position of the vehicle is obtained, the current position is matched with the nearest lane of the global navigation route, the route with the preset distance is obtained forwards based on the nearest lane, and therefore the local navigation route is obtained, the route updating efficiency in the vehicle navigation process is improved, and the use experience of a user is guaranteed.
In addition, in one embodiment of the present application, after acquiring the local navigation path, the method further includes: calculating the distance from the current distance traffic light, the distance from the stopping line and/or the steering signal according to the local navigation path so as to generate navigation information; and controlling the vehicle to prompt the user according to the navigation information.
It may be understood that, in the embodiment of the present application, the navigation information may include a distance between the current vehicle position and a traffic light, a distance between the current vehicle position and a stop line, and a steering signal of a lane where the current vehicle position is located, and serve as auxiliary information to guide the vehicle to travel and make a decision, so as to prompt a user, for example, the navigation information in the current vehicle traveling state may be prompted to the user through an in-vehicle intelligent voice function.
According to the method and the device for the navigation route planning, after the local navigation route is obtained, the distance from the current traffic light, the distance from the stop line and/or the steering signal are calculated according to the local navigation route so as to generate navigation information, and the vehicle is controlled to prompt the user according to the navigation information, so that the obtained navigation route meets the constraint of traffic rules, and the safety of the user in the process of planning the route to travel is ensured.
As shown in fig. 2, the working contents of the embodiment of the present application are described in detail below with a specific embodiment.
Step S201: and acquiring high-precision map data.
That is, the relevant data in the high-precision map is acquired.
Step S202: a lane center line is acquired.
That is, lane center line data in the high-precision map data is acquired.
Step S203: and constructing a transverse variable lane network.
That is, by using the lane center line data in the high-precision map, according to the attribute affecting lane change in the left and right lane edge attributes, such as solid lines and broken lines, whether the lane can be changed leftwards or rightwards is judged, connecting lines are constructed at the starting points of the two lane center lines capable of being changed, the lane changing directions are given, all lane center lines are traversed in sequence, and transverse connecting lines are constructed for the lane changing center lines, so that a transverse variable lane network is formed.
Step S204: and (5) constructing lane nodes.
That is, the start point and the end point of each center line are output for the lane center line data, and the lane node data is constructed.
Step S205: a lane network is acquired.
That is, the lane network for global path planning is constructed by combining the lane node center line data and the lane node center line data, and the lane network has a transverse and longitudinal communication relationship, so that the lane-level navigation requirement is met.
Step S206: the start/end coordinates are obtained.
That is, the start/end coordinates required by the user are obtained.
Step S207: and (5) lane line matching.
That is, based on the constructed lane network, the distances from the start point and the end point to the lane nodes are calculated first, the nearest nodes are matched, and then the corresponding nearest lanes are determined according to the node attributes.
Step S208: global path planning.
That is, the Dijkstra algorithm is used to search the nearest route from the start lane to the end lane, and a global path lane line ID set is obtained.
Step S209: and (5) path interpolation trajectory processing.
That is, a lane center line ID set of the path is obtained, a lane center line point set is obtained, the point set is processed by an interpolation method, track points with an interval of 1 meter are obtained, and the smoothness of the overall path is ensured.
Step S210: a real-time vehicle position is obtained.
That is, the real-time vehicle position is obtained by the positioning data transmitted in real time by the vehicle-end positioning module.
Step S211: matching the nearest path point.
That is, matching is performed with the global path trajectory point according to the real-time vehicle position coordinates, matching to the nearest path point.
Step S212: and calculating navigation information.
That is, navigation information such as the current distance to traffic light, distance to stop line, and turn signal is calculated from the current position.
Step S213: the local path is output.
That is, a range of two kilometers is searched forward from the nearest route point, and the navigation information is combined and outputted to the vehicle as a local route.
According to the vehicle navigation method, the coordinate data of the starting point and the ending point of the vehicle can be obtained, so that the nearest lane is matched from the pre-constructed lane network according to the coordinate data of the starting point and the ending point, wherein the lane network is constructed based on the transverse variable lane network, the shortest path is calculated based on the communication relation between the nearest lane and the lane network, the path set of the shortest path is obtained, the path set is interpolated according to the preset interval to obtain the path point set, the global navigation path is obtained, the output efficiency of navigation information is improved, the accuracy and the reliability of the path planning result are guaranteed, and the vehicle navigation is more accurate and efficient. Therefore, the problems that the safety and the accuracy of the obtained planned path cannot be ensured, the real-time dynamic planning of the path is not realized, the working efficiency of the vehicle navigation is reduced and the like due to insufficient consideration of the transverse and longitudinal traffic relation among lanes and the traffic rule constraint of the road in the path planning of the vehicle navigation are solved.
Next, a navigation device of a vehicle according to an embodiment of the present application will be described with reference to the accompanying drawings.
Fig. 3 is a block schematic diagram of a navigation device of a vehicle according to an embodiment of the present application.
As shown in fig. 3, the navigation device 10 of the vehicle includes: an acquisition module 100, a matching module 200 and a navigation module 300.
The acquiring module 100 is configured to acquire coordinate data of a start point and an end point of a vehicle.
And the matching module 200 is used for matching the nearest lane from a pre-constructed lane network according to the coordinate data of the starting point and the ending point, wherein the lane network is constructed based on a transverse variable lane network.
The navigation module 300 is configured to calculate a shortest path based on a connection relationship between a nearest lane and a lane network, obtain a path set of the shortest path, interpolate the path set according to a preset interval to obtain a route point set, and obtain a global navigation path.
Optionally, in one embodiment of the present application, the navigation module 300 includes: the device comprises a first acquisition unit, a matching unit and a second acquisition unit.
The first acquisition unit is used for acquiring the current position of the vehicle after acquiring the global navigation path.
And the matching unit is used for matching the current position with the nearest lane of the global navigation path.
And the second acquisition unit is used for acquiring the local navigation path based on the route of the preset distance of the nearest lane.
Optionally, in one embodiment of the present application, the apparatus 10 further comprises: the device comprises a calculation module and a prompt module.
The calculation module is used for calculating the distance from the current traffic light, the distance from the stop line and/or the steering signal according to the local navigation path after the local navigation path is acquired so as to generate navigation information;
and the prompt module is used for controlling the vehicle to prompt the user according to the navigation information.
Optionally, in one embodiment of the present application, the matching module 200 includes: the device comprises a traversing unit, a first constructing unit and a second constructing unit.
The traversing unit is used for traversing all map lane data to construct a transverse variable lane network based on traffic passing attributes of two parallel equidirectional adjacent lanes before the closest lanes are matched.
The first construction unit is used for traversing all lane central line data in path planning, respectively outputting a first point and a last point as nodes of a lane network according to the direction of the lane, and constructing lane network nodes.
And the second construction unit is used for constructing the lane network based on the transverse variable lane network and the lane network nodes.
It should be noted that the foregoing explanation of the navigation method embodiment of the vehicle is also applicable to the navigation device of the vehicle of this embodiment, and will not be repeated here.
According to the navigation device of the vehicle, the coordinate data of the starting point and the ending point of the vehicle can be obtained, so that the nearest lane is matched from the pre-constructed lane network according to the coordinate data of the starting point and the ending point, wherein the lane network is constructed based on the transverse variable lane network, the shortest path is calculated based on the communication relation between the nearest lane and the lane network, the path set of the shortest path is obtained, the path set is interpolated according to the preset interval to obtain the path point set, the global navigation path is obtained, the output efficiency of navigation information is improved, the accuracy and the reliability of the path planning result are guaranteed, and the vehicle navigation is more accurate and efficient. Therefore, the problems that the safety and the accuracy of the obtained planned path cannot be ensured, the real-time dynamic planning of the path is not realized, the working efficiency of the vehicle navigation is reduced and the like due to insufficient consideration of the transverse and longitudinal traffic relation among lanes and the traffic rule constraint of the road in the path planning of the vehicle navigation are solved.
Fig. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
The processor 402 implements the navigation method of the vehicle provided in the above-described embodiment when executing a program.
Further, the vehicle further includes:
a communication interface 403 for communication between the memory 401 and the processor 402.
A memory 401 for storing a computer program executable on the processor 402.
If the memory 401, the processor 402, and the communication interface 403 are implemented independently, the communication interface 403, the memory 401, and the processor 402 may be connected to each other by a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, an external device interconnect (Peripheral Component, abbreviated PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 4, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 401, the processor 402, and the communication interface 403 are integrated on a chip, the memory 401, the processor 402, and the communication interface 403 may complete communication with each other through internal interfaces.
The processor 402 may be a central processing unit (Central Processing Unit, abbreviated as CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC), or one or more integrated circuits configured to implement embodiments of the present application.
The present embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the navigation method of a vehicle as above.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 present application. In this specification, schematic representations of the above terms are not necessarily directed 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 N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless explicitly defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing 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 N wires, a portable computer cartridge (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). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via 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 is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (10)
1. A method of navigating a vehicle, comprising the steps of:
acquiring coordinate data of a starting point and an ending point of a vehicle;
matching a nearest lane from a pre-constructed lane network according to the coordinate data of the starting point and the ending point, wherein the lane network is constructed based on a transverse variable lane network; and
calculating a shortest path based on the communication relation between the nearest lane and the lane network to obtain a path set of the shortest path, interpolating the path set according to a preset interval to obtain a route point set, and obtaining a global navigation path.
2. The method of claim 1, further comprising, after acquiring the global navigation path:
acquiring the current position of the vehicle;
matching the current position with the nearest lane of the global navigation path;
and acquiring a local navigation path based on the route of the nearest lane, which is acquired forward by a preset distance.
3. The method of claim 2, further comprising, after acquiring the local navigation path:
calculating the distance from the current traffic light, the distance from the stopping line and/or the steering signal according to the local navigation path so as to generate navigation information;
and controlling the vehicle to prompt a user according to the navigation information.
4. The method of claim 1, further comprising, prior to matching the nearest lane:
traversing all map lane data to construct a transverse variable lane network based on traffic passing attributes of two parallel homodromous adjacent lanes;
in path planning, traversing all lane central line data, respectively outputting a first point and a last point as nodes of a lane network according to the direction of a lane, and constructing lane network nodes;
the lane network is constructed based on the laterally variable lane network and the lane network nodes.
5. A navigation device for a vehicle, comprising:
the acquisition module is used for acquiring coordinate data of a starting point and an ending point of the vehicle;
the matching module is used for matching the nearest lane from a pre-constructed lane network according to the coordinate data of the starting point and the ending point, wherein the lane network is constructed based on a transverse variable lane network; and
the navigation module is used for calculating the shortest path based on the communication relation between the nearest lane and the lane network to obtain a path set of the shortest path, interpolating the path set according to a preset interval to obtain a route point set, and obtaining a global navigation path.
6. The apparatus of claim 5, wherein the navigation module comprises:
the first acquisition unit is used for acquiring the current position of the vehicle after acquiring the global navigation path;
the matching unit is used for matching the current position with the nearest lane of the global navigation path;
and the second acquisition unit is used for acquiring a local navigation path based on the route of the nearest lane, which is acquired forward by a preset distance.
7. The apparatus as recited in claim 6, further comprising:
the calculation module is used for calculating the distance from the current traffic light, the distance from the stop line and/or the steering signal according to the local navigation path after the local navigation path is acquired so as to generate navigation information;
and the prompt module is used for controlling the vehicle to prompt a user according to the navigation information.
8. The apparatus of claim 5, wherein the matching module comprises:
the traversing unit is used for traversing all map lane data to construct a transverse variable lane network based on the traffic passing attributes of two parallel equidirectional adjacent lanes before the closest lanes are matched;
the first construction unit is used for traversing all lane central line data in path planning, respectively outputting a first point and a last point as nodes of a lane network according to the direction of a lane, and constructing lane network nodes;
and a second construction unit for constructing the lane network based on the lane network node and the lane network node.
9. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the method of navigating a vehicle as claimed in any one of claims 1 to 4.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for realizing the navigation method of a vehicle according to any one of claims 1-4.
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|---|---|---|---|
| CN202310004906.XA CN116295478A (en) | 2023-01-03 | 2023-01-03 | Navigation method and device for vehicle |
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| CN202310004906.XA CN116295478A (en) | 2023-01-03 | 2023-01-03 | Navigation method and device for vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117232548A (en) * | 2023-11-10 | 2023-12-15 | 北京赛目科技股份有限公司 | Path planning method and device, electronic equipment and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117232548A (en) * | 2023-11-10 | 2023-12-15 | 北京赛目科技股份有限公司 | Path planning method and device, electronic equipment and storage medium |
| CN117232548B (en) * | 2023-11-10 | 2024-03-01 | 北京赛目科技股份有限公司 | Path planning method and device, electronic equipment and storage medium |
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