CN116817936A - Vehicle auxiliary navigation method, device and equipment under satellite signal-free scene - Google Patents
Vehicle auxiliary navigation method, device and equipment under satellite signal-free scene Download PDFInfo
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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
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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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
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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Abstract
The application provides a vehicle auxiliary navigation method, device and equipment under a satellite signal-free scene, and belongs to the field of vehicle navigation. The navigation method comprises the following steps: judging whether satellite positioning of the target vehicle at the current moment is successful or not at each preset time step; if the satellite positioning is successful, recording the current position of the vehicle at the current moment; if the satellite positioning fails, acquiring a vehicle running track, and searching a road track matched with the vehicle running track from an offline map by taking the vehicle position recorded before the satellite signal fails as a reference; judging whether the running track of the vehicle is completely matched with the road track; if the running track of the vehicle is not completely matched with the road track, retrieving the road track again; if the running track of the vehicle completely coincides with the road track, the auxiliary navigation of the vehicle at the future moment is performed based on the road track. The application realizes the auxiliary navigation of the vehicle in the environment without satellite signals and can avoid dangerous situations such as lost road, disconnection and the like.
Description
Technical Field
The present application relates to the field of vehicle navigation technologies, and in particular, to a vehicle navigation assisting method in a satellite signal-free scenario, a vehicle navigation assisting apparatus in a satellite signal-free scenario, an electronic device, and a computer-readable storage medium.
Background
The satellite signal coverage is wide, the identification accuracy is improved gradually, and accurate positioning service can be provided in remote areas where mobile communication signals are difficult to reach. This has led to a wide range of satellite positioning technologies, typified by GPS (Global Positioning System ) and beidou satellite positioning, being used in the automotive positioning field. But in some special cases the car will not receive satellite signals. For example, satellite positioning failure can be caused by the conditions that satellite positioning equipment at an automobile end is damaged, other reasons such as magnetic field exists in the automobile driving path to interfere with the reception of satellite positioning signals, and the automobile enters a signal blind area. In these cases, there is a risk of getting lost, losing links, etc. if there is no navigation system available for temporary replacement.
At present, some patents disclose solutions for positioning a vehicle without satellite signals, but most of these technologies only provide a temporary position output for the vehicle, which cannot solve the problem of vehicle navigation. For example, a vehicle positioning method, a device, an electronic device and a storage medium are proposed in chinese patent literature with publication No. CN113847914a, whose publication No. 2021 is 12/28, and the specific implementation method is as follows: the scene determining module is used for determining whether the current scene of the target vehicle is a satellite-free signal scene or not; if the scene is a satellite-free signal scene, entering a position resolving module; the position resolving module is used for resolving the current running position of the target vehicle based on a fifth-generation mobile communication positioning mode and an inertial navigation positioning mode; a generation position information module that generates current position information of the target vehicle based on a result of the calculation of the current travel position of the target vehicle; and generating current position information of the target vehicle based on a result of the calculation of the current running position of the target vehicle. Although the positioning method can generate the current position information of the vehicle, the road track cannot be provided to avoid the occurrence of lost road, disconnection and the like.
Disclosure of Invention
The application aims to provide a vehicle auxiliary navigation method, device and equipment under a satellite signal-free scene, which are used for solving the problem that a temporary position output can only be provided for a vehicle under the satellite signal-free condition in the prior art, but a navigation system capable of being temporarily replaced is lacking.
In order to achieve the above purpose, the technical scheme adopted by the application is as follows:
in a first aspect, the present application provides a vehicle assisted navigation method in a satellite signal-free scenario, the vehicle assisted navigation method comprising the steps of: judging whether satellite positioning of the target vehicle at the current moment is successful or not at each preset time step; if the satellite positioning is successful, recording the current position of the vehicle at the current moment; if the satellite positioning fails, acquiring the vehicle position recorded before the satellite signal fails and the vehicle running track from the current moment to a plurality of moments before the satellite positioning fails; determining a vehicle position recorded before the satellite signal fails as a vehicle starting position; retrieving a road track matched with the vehicle running track from an offline map by taking the starting position of the vehicle as a reference; judging whether the running track of the vehicle is completely matched with the road track; if the running track of the vehicle is not completely matched with the road track, jumping to the step of searching the road track from the offline map by taking the starting position of the vehicle as a reference so as to update the road track; if the running track of the vehicle completely coincides with the road track, the auxiliary navigation of the vehicle at the future moment is performed based on the road track.
According to the technical means, under the condition that satellite positioning fails, the vehicle running track from the current moment to a plurality of moments before the satellite positioning fails is read and compared with the road track searched in the off-line map of the automobile, and the road track completely matched with the vehicle running track is found, so that the auxiliary navigation of the automobile is realized. Compared with the method for predicting the current position information of the vehicle by resolving the running position at the historical moment in the prior art, the method can match the road track completely matched with the running track through repeated retrieval and comparison, so that calculation errors of a prediction algorithm can be avoided, and the generated auxiliary navigation information is ensured to be close to the real running road condition of the vehicle.
Further, the retrieving, based on the starting position of the vehicle, a road track matching the running track of the vehicle from the offline map may include: determining a target displacement based on the maximum vehicle speed allowed by the driving road section and a preset time step; defining a target retrieval area from an offline map by taking the current position of the vehicle as a center and taking target displacement as a radius; extracting a plurality of track features of a vehicle running track, wherein the track features comprise a maximum curve radius, a maximum curve angle, a maximum running speed and an elevation difference; a road track satisfying at least one track feature of a vehicle running track is retrieved in a target retrieval area.
According to the technical means, the search range can be reduced by extracting the track characteristics of the vehicle running track and screening the road track conforming to the track characteristics from the target search range, so that the road track with a certain similarity can be preliminarily matched in a short time. In addition, the running track of the vehicle in a certain time often has track characteristics of some surrounding road environments, for example, when the vehicle drives on a mountain road, a situation of sharp turning or climbing often occurs, and the maximum curve radius, the maximum curve angle and the elevation difference occurring in the process of the journey can be extracted as track characteristics under the situation of sharp turning or climbing so as to preliminarily judge which part of mountain area the vehicle is located. For another example, the specified driving speeds of the vehicle in different lanes are different, and it is possible to preliminarily determine which type of lane the vehicle is located by extracting the highest driving speed occurring during the journey as the track feature.
Further, the vehicle assisted navigation method may further include: determining azimuth angles between the travel directions of the target vehicles at different moments and the warp or weft on the offline map, and obtaining azimuth detection results; determining the distance of the target vehicle traveling along the azimuth straight line at different moments, and obtaining a distance detection result; and correcting the matching error of the vehicle running track and the road track based on the azimuth detection result and the distance detection result.
According to the technical means, the error between the vehicle running track and the road track is corrected segment by segment through the azimuth detection result and the distance detection result, so that the matching precision can be improved, and the accurate road track position can be determined.
Further, the auxiliary navigation of the vehicle based on the road track comprises: predicting the current position of the vehicle at the current moment based on the road track; updating the current position of the vehicle at the current moment to an offline map; and taking the current position of the vehicle as a starting point, and performing auxiliary navigation at the future moment on the vehicle along the road track.
According to the technical means, the vehicle running displacement from the moment before the satellite positioning failure to the moment can be estimated through the average running speed of the vehicle before the satellite signal failure and the preset time step, so that the current position of the vehicle at the moment is predicted, and the vehicle positioning under the environment without the satellite signal is realized. And the navigation can be performed by using an offline map according to the matched road track and the predicted current position of the vehicle, so that the vehicle auxiliary navigation under the satellite signal-free environment is realized, and dangerous situations such as lost road, disconnection and the like are avoided.
The application provides a vehicle auxiliary navigation device under a satellite signal-free scene, which comprises a first judging module, a recording module, an obtaining module, a starting position determining module, a searching and comparing module, a second judging module, a jump updating module and an auxiliary navigation module; the first judging module is used for judging whether satellite positioning of the target vehicle at the current moment is successful or not every preset time step; the recording module is used for recording the current position of the vehicle at the current moment under the condition that satellite positioning is successful; the acquisition module is used for acquiring the vehicle position recorded before the satellite signal is invalid and the vehicle running track from the current moment to a plurality of moments before the satellite positioning is invalid under the condition that the satellite positioning is invalid; the starting position determining module is used for determining the vehicle position recorded before the satellite signal fails as the vehicle starting position; the retrieval comparison module is used for retrieving a road track matched with the vehicle running track from an offline map by taking the vehicle starting position as a reference; the second judging module is used for judging whether the running track of the vehicle is completely matched with the road track; the jump updating module is used for jumping to the step of searching the road track from the offline map by taking the starting position of the vehicle as a reference under the condition that the running track of the vehicle is not completely matched with the road track so as to update the road track; the auxiliary navigation module is used for carrying out auxiliary navigation on the vehicle at the future moment based on the road track under the condition that the running track of the vehicle is completely matched with the road track.
According to the technical means, the vehicle auxiliary navigation device for completing the vehicle auxiliary navigation method is provided, and the road track completely matched with the vehicle running track can be found by utilizing the vehicle auxiliary navigation, so that the auxiliary navigation of the automobile without satellite signals is realized.
Further, the search comparison module may include a target displacement determination sub-module, a target search region determination sub-module, a track feature extraction sub-module, and a search sub-module; the target displacement determining submodule is used for determining target displacement based on the maximum speed allowed by the driving road section and a preset time step; the target retrieval area determining submodule is used for defining a target retrieval area from an offline map by taking the current position of the vehicle as a center and taking target displacement as a radius; the track feature extraction submodule is used for extracting a plurality of track features of a vehicle running track, wherein the track features comprise a maximum curve radius, a maximum curve angle, a maximum running speed and an elevation difference; the searching submodule is used for searching the road track which at least meets one track characteristic of the vehicle running track in the target searching area.
According to the technical means, the search range can be reduced by extracting the track characteristics of the vehicle running track and screening the road track conforming to the track characteristics from the target search range, so that the road track with a certain similarity can be preliminarily matched in a short time.
Further, the vehicle-assisted navigation device may further include a position determining module, a distance determining module, and a correction module; the azimuth determining module is used for determining azimuth angles between the travel direction of the target vehicle at different moments and the warp or weft on the offline map, and obtaining azimuth detection results; the distance determining module is used for determining the distance of the target vehicle traveling along the azimuth straight line at different moments and obtaining a distance detection result; the correction module is used for correcting the matching error of the vehicle running track and the road track based on the azimuth detection result and the distance detection result.
According to the technical means, the error between the vehicle running track and the road track is corrected segment by segment through the azimuth detection result and the distance detection result, so that the matching precision can be improved, and the accurate road track position can be determined.
Further, the auxiliary navigation module can comprise a current position prediction sub-module, a current position update sub-module and a navigation sub-module; the current position prediction submodule is used for predicting the current position of the vehicle at the current moment based on the road track; the current position updating sub-module is used for updating the current position of the vehicle at the current moment to an offline map; the navigation sub-module is used for performing auxiliary navigation on the vehicle at the future moment along the road track by taking the current position of the vehicle as a starting point.
According to the technical means, the vehicle auxiliary navigation under the satellite signal-free environment can be realized by predicting the current position of the vehicle at the current moment and navigating by using the offline map according to the matched road track and the predicted current position of the vehicle, so that dangerous situations such as lost road, disconnection and the like are avoided.
A third aspect of the present application provides an electronic device, including a processor and a memory, where at least one computer program is stored in the memory, where the at least one computer program is loaded and executed by one or more of the above processors, so that the computer implements the above-mentioned vehicle assisted navigation method.
A fourth aspect of the present application provides a computer-readable storage medium having stored therein at least one program code loaded and executed by a processor to cause a computer to implement the above-described vehicle assisted navigation method.
Through the technical scheme provided by the application, the application has at least the following technical effects:
(1) According to the application, based on the off-line map of the automobile, the road track which is completely matched with the vehicle running track is determined by carrying out multiple matching comparison on the vehicle running track before the satellite signal is invalid and the road track in the off-line map, so that the auxiliary navigation of the automobile under the environment without the satellite signal is realized, and the dangerous situations such as lost road, losing connection and the like are avoided;
the application corrects the error between the vehicle running track and the road track segment by utilizing the azimuth detection result and the distance detection result, and can help to improve the matching precision so as to determine the accurate road track position.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain, without limitation, the embodiments of the application. In the drawings:
fig. 1 is a flowchart of a method for assisting navigation of a vehicle in a satellite signal-free scenario according to a first embodiment of the present application;
FIG. 2 is a schematic diagram of a comparison and matching between a driving track and a road track according to a first embodiment of the present application;
fig. 3 is a schematic structural diagram of a vehicle navigation device in a satellite signal-free scenario according to a second embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to a third embodiment of the present application;
fig. 5 is a schematic diagram of a positioning and navigation system according to a fifth embodiment of the present application.
Description of the reference numerals
101-a first judging module; 102-a recording module; 103-an acquisition module; 104-a starting position determining module; 105-retrieving a comparison module; 106-a second judging module; 107-jump update module; 108-an assisted navigation module; 109-an azimuth determination module; 110-a distance determination module; a 111-correction module; 201-a processor; 202-memory.
Detailed Description
Further advantages and effects of the present application will become readily apparent to those skilled in the art from the disclosure herein, by referring to the accompanying drawings and the preferred embodiments. The application may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present application. It should be understood that the preferred embodiments are presented by way of illustration only and not by way of limitation.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present application by way of illustration, and only the components related to the present application are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. In the present application, "first," "second," etc. are merely for convenience of description and for convenience of distinction, and are not to be construed as indicating or implying relative importance.
The application will be described in detail below with reference to the drawings in connection with embodiments.
Example 1
The first embodiment of the application provides a vehicle auxiliary navigation method under a satellite signal-free scene, which is based on the following principle: firstly, positioning in a satellite positioning mode is preferred, positioning detection is carried out on the vehicle at intervals of delta t, whether the vehicle can be positioned by the current satellite positioning signal is judged, if the vehicle can be positioned by the satellite, the vehicle position information of satellite positioning is used as the current vehicle position, and the corresponding time is t 0 The method comprises the steps of carrying out a first treatment on the surface of the Otherwise, the satellite positioning failure is considered, the current vehicle position recorded before the satellite positioning failure is taken as a reference, and the position of the vehicle is read (t 0 -k·Δt)～t 0 The running track of the vehicle in the period is compared with the road track of the off-line map of the vehicle to find out the matched track, so that the position and navigation information of the vehicle are determined, and positioning and navigation are realized.
As shown in fig. 1, the vehicle assisted navigation method includes the steps of:
step S101, starting navigation, and performing satellite positioning on the vehicle once every predetermined time step (denoted as Δt).
Step S102, judging whether satellite positioning of the vehicle at the current moment is successful or not at every preset time step.
Step S103A, if the satellite positioning is successful, the current time is recorded as t 0 And record t 0 The current position of the vehicle at the moment is recorded as the initial position of the vehicle. By constantly cycling through this process, the vehicle initial position can be updated continuously.
Step S103B, if satellite positioning fails, the current time is recorded as t 0 And obtain t 0 Coordinates of initial position of vehicle at time (t) 0 -k·Δt)～t 0 The travel track of the vehicle during this time.
Here, k is a constant, and the value of k may be adjusted according to the matching result. The larger k is, the longer the time, the longer the vehicle track is read, the higher the subsequent matching accuracy is, but the more time and effort are spent.
The first k value may be used for matching when the first match after the satellite signal has disappeared; and in the second to nth matching after the satellite signal disappears, using a second k value to perform matching, wherein the first k value is larger than the second k value. The larger k value is used in the first matching, which is favorable for determining the accurate position; the use of smaller k values after successful matching is beneficial to reducing the matching time.
Step S104, retrieving the road track matched with the vehicle running track from the offline map.
Illustratively, the process of retrieving a road trajectory matching the vehicle travel trajectory from the offline map may include, but is not limited to, the following sub-steps S1041-S1044.
Substep S1041, determining the target displacement based on the maximum vehicle speed allowed by the driving road section and the predetermined time step.
That is, the target displacement is the product of the highest vehicle speed allowed by the traveling road section and a predetermined time step.
In the substep S1042, a target search area is defined from the offline map with the current position of the vehicle as the center and the target displacement as the radius.
In order to ensure that the road track of the real running of the vehicle can be obtained, the position coordinates of the vehicle recorded before the failure of the satellite signal need to be obtained, a search area is defined by taking the coordinates as the center and taking the maximum vehicle speed allowed by the current road section multiplied by deltat as the radius, a plurality of roads are covered in the search area, and one road track can be completely matched with the running track of the vehicle.
Substep S1043, extracting a plurality of track features of the vehicle travel track, the track features including a maximum curve radius, a maximum curve angle, a maximum travel speed, and an elevation difference.
Different driving road sections have unique geographic properties, so that the driving track of a vehicle in a certain time often has track characteristics of surrounding road environments. For example, when the vehicle is driving on a mountain road, a situation of sharp turning or climbing often occurs, and the maximum curve radius, the maximum curve angle and the elevation difference occurring in the process of the journey can be extracted as track features under the situation of sharp turning or climbing, so as to preliminarily judge which part of mountain area the vehicle is located. For another example, the specified driving speeds of the vehicle in different lanes are different, and it is possible to preliminarily determine which type of lane the vehicle is located by extracting the highest driving speed occurring during the journey as the track feature.
By extracting a plurality of track features of the vehicle running track and screening out the road track conforming to the track features from the target search range, the search range can be further narrowed, and the road track with a certain similarity can be preliminarily matched in a shorter time.
Substep S1044, retrieving, in the target retrieval area, a road trajectory that satisfies at least one trajectory characteristic of the vehicle travel trajectory.
Step S105, judging whether the vehicle running track and the road track completely coincide.
For example, as shown in fig. 2, the comparison and matching schematic diagram of the vehicle driving track and the road track is shown, the starting point position and the end point position of the vehicle driving track are taken as references, the vehicle driving track and the road track can be split into a plurality of small sections, and if the vehicle driving track in at least one small section is not matched with the road track, the vehicle driving track and the road track can be judged to be incompletely matched; otherwise, if the vehicle running track and the road track in each small section are completely matched, the vehicle running track and the road track can be judged to be completely matched, so that the route information and the longitude and latitude of the position of the vehicle can be obtained.
Step S106A, if the vehicle running track is not completely matched with the road track, jumping to the step of searching the road track from the offline map by taking the initial position of the vehicle as a reference so as to update the road track.
For example, the process of updating the road track includes, but is not limited to, the following sub-steps S1061A-S1063A.
Substep S1061A, determining azimuth angles between the travel direction of the target vehicle at different moments and the warp or weft on the offline map, and obtaining an azimuth detection result.
Substep S1062A, determining the distance traveled by the target vehicle along the azimuth straight line at different moments, and obtaining a distance detection result.
In the substep S1063A, a matching error between the vehicle travel track and the road track is corrected based on the azimuth detection result and the distance detection result.
When the vehicle running track and the map road track are matched, the matching error of the vehicle running track and the road track is corrected section by section through the azimuth detection result and the distance detection result at different moments, and the road track with higher matching precision can be updated and obtained.
Step S106B, if the running track of the vehicle completely coincides with the road track, the auxiliary navigation of the vehicle at the future moment is performed based on the road track.
Illustratively, the process of assisting navigation of the vehicle at a future time based on the road trajectory includes, but is not limited to, the following sub-steps S1061B-S1063B.
Substep S1061B, based onRoad track, forecast t 0 The current position of the vehicle at the moment.
For example, the road on which the vehicle is currently traveling can be determined from the road track obtained by matching, and the vehicle speed (t) can be calculated by multiplying the time step by the average speed of the vehicle recorded before the satellite signal fails 0 -Δt)～t 0 Distance S travelled during this time Δt The method comprises the steps of carrying out a first treatment on the surface of the Before the satellite signal fails (t 0 - Δt) time-registered vehicle position L t0-Δt Based on the fact that the vehicle is in (t 0 -Δt)～t 0 Distance S travelled during this time Δt For the increment, the vehicle at t can be estimated 0 Vehicle position at time.
Further, the satellite signal may be used before failure (t 0 - Δt) the azimuth recorded at moment is referenced, along the straight direction of the azimuth, by a distance S Δt Position calibration for increment, thereby estimating estimated vehicle at t 0 Vehicle position at time.
Substep S1062B, t 0 The current position of the vehicle at the moment is updated to the offline map.
Substep S1063B starts with the current position of the vehicle and proceeds to the future time (e.g., t 0 +k.DELTA.t).
In theory, the accuracy of positioning can be controlled to about 50m even when the vehicle is traveling fast, as long as the sensor of the vehicle is sufficiently sensitive, the speed of processing calculation is sufficiently fast, and the positioning interval Δt is sufficiently small.
In the vehicle assisted navigation, whether satellite positioning is possible is first tried every Δt time, and if satellite positioning is possible, satellite positioning with higher accuracy and faster update speed is preferentially used.
The implementation environment of the embodiment of the present application may include at least one terminal and a server, and the method is executed on the terminal or the server, respectively. The terminal and the server can be in communication connection to realize interactive transmission of information. The terminal may be any electronic product that can perform man-machine interaction with a user through one or more modes of a keyboard, a touch pad, a touch screen, voice interaction, and the like, for example, a PC (Personal Computer ), a PPC (Pocket Personal Computer, palm computer), a tablet computer, and the like.
The server may be a server, or may be a server cluster formed by a plurality of servers, or may be a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDNs (Content Delivery Network, content delivery networks), and basic cloud computing services such as big data and artificial intelligence platforms.
Example two
A second embodiment of the present application provides a vehicle auxiliary navigation device in a satellite signal-free scenario, as shown in fig. 3, which includes a first determining module 101, a recording module 102, an obtaining module 103, a starting position determining module 104, a search comparison module 105, a second determining module 106, a jump updating module 107, an auxiliary navigation module 108, an azimuth determining module 109, a distance determining module 110, and a correction module 111.
The first determining module 101 is configured to determine whether satellite positioning of the target vehicle at the current moment is successful every predetermined time step.
The recording module 102 is configured to record a current position of the vehicle at a current time when the satellite positioning is successful.
The acquiring module 103 is configured to acquire, in the event of a satellite positioning failure, a vehicle position recorded before the satellite signal fails, and a vehicle running track from a current time to a plurality of times before the satellite positioning failure.
The starting position determination module 104 is configured to determine a vehicle position recorded before a satellite signal failure as a vehicle starting position.
The retrieval comparison module 105 is used for retrieving the road track matched with the vehicle running track from the offline map based on the starting position of the vehicle.
The second determining module 106 is configured to determine whether the vehicle driving track and the road track completely coincide.
The jump updating module 107 is configured to jump to the step of retrieving the road track from the offline map based on the initial position of the vehicle to update the road track when the vehicle running track does not completely coincide with the road track.
The auxiliary navigation module 108 is configured to perform auxiliary navigation at a future time on the vehicle based on the road track when the vehicle driving track completely coincides with the road track.
The azimuth determining module 109 is configured to determine azimuth angles between the travel direction of the target vehicle at different moments and the longitude or latitude lines on the offline map, and obtain an azimuth detection result.
The distance determining module 110 is configured to determine distances of the target vehicle traveling along the azimuth straight line at different moments, and obtain a distance detection result.
The correction module 111 is configured to correct a matching error between a vehicle driving track and a road track based on the azimuth detection result and the distance detection result.
Further, in this embodiment, the search comparison module may include a target displacement determination sub-module, a target search region determination sub-module, a trajectory feature extraction sub-module, and a retrieval sub-module. The target displacement determination submodule is used for determining target displacement based on the maximum vehicle speed allowed by the driving road section and a preset time step. The target retrieval area determining submodule is used for defining a target retrieval area from an offline map by taking the current position of the vehicle as a center and taking target displacement as a radius. The track feature extraction submodule is used for extracting a plurality of track features of the vehicle running track. The plurality of trajectory features may include a maximum curve radius, a maximum curve angle, a maximum travel speed, and an elevation difference. The retrieval sub-module is used for retrieving the road track which at least meets one track characteristic of the vehicle running track in the target retrieval area.
Further, in this embodiment, the auxiliary navigation module may include a current position prediction sub-module, a current position update sub-module, and a navigation sub-module. The current position prediction submodule is used for predicting the current position of the vehicle at the current moment based on the road track. The current position updating sub-module is used for updating the current position of the vehicle at the current moment to the offline map. The navigation sub-module is used for performing auxiliary navigation of the vehicle at a future moment along the road track by taking the current position of the vehicle as a starting point.
It should be noted that, when the apparatus provided in fig. 3 implements the functions thereof, only the division of the functional modules is used for illustration, in practical application, the functional modules may be allocated to be implemented by different functional modules, that is, the internal structure of the device is divided into different functional modules, so as to implement all or part of the functions described above. In addition, the apparatus and the method embodiments provided in the foregoing embodiments belong to the same concept, and specific implementation processes of the apparatus and the method embodiments are detailed in the method embodiments and are not repeated herein.
Example III
A third embodiment of the present application provides an electronic device, see fig. 4, comprising a processor 201 and a memory 202, in which at least one computer program is stored, which is loaded and executed by one or more of the above processors, to cause the computer to implement the vehicle assisted navigation method as described in the first embodiment.
Of course, the electronic device may also have components such as a wired or wireless network interface, a keyboard, and an input/output interface, so as to perform input/output, and the electronic device may also include other components for implementing the functions of the device, which are not described herein.
Example IV
A fourth embodiment of the present application provides a computer-readable storage medium having at least one program code stored therein, the program code being loaded and executed by a processor to cause a computer to implement the vehicle-assisted navigation method as described in the first embodiment.
Alternatively, the computer readable storage medium may be a Read-0nlymemory (ROM), a random access memory (Random Access Memory, RAM), a compact disk Read-only (Compact Disc Read-0nlymemory, cd-ROM), a magnetic tape, a floppy disk, a compact disk data storage device, and the like. Those skilled in the art will appreciate that all or part of the steps in implementing the methods of the embodiments described above may be implemented by a program stored in a storage medium, including instructions for causing a single-chip microcomputer, chip or processor (processor) to perform all or part of the steps of the methods of the embodiments described herein. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Example five
A fifth embodiment of the present application provides an intelligent vehicle on which a positioning and navigation system is mounted for implementing auxiliary positioning and navigation functions in case of failure of satellite positioning of the vehicle.
As shown in fig. 5, the positioning and navigation system includes a satellite positioning subsystem, an offline map, a position detection subsystem, a distance detection subsystem, and a matching processing subsystem. The satellite positioning subsystem is used for satellite positioning of the automobile at intervals of delta t. The azimuth detection subsystem is used for detecting an included angle (namely an azimuth angle) between the travel direction of the vehicle and the longitude or latitude line on the offline map. The distance detection subsystem is used for detecting the distance of the vehicle in the straight line of the azimuth angle. The matching processing subsystem is used for judging whether satellite positioning is successful or not by acquiring the vehicle position provided by the satellite positioning system, and under the condition that satellite positioning is invalid, the road track which is matched with the vehicle running track is found in the vehicle offline map by processing the data such as the running track before the satellite signal is invalid, the azimuth detection result, the distance detection result and the like, so that the position and the navigation information of the vehicle are determined, and positioning and navigation are realized. It should be noted that the principles of the matching processing subsystem and the method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which is not described herein again.
Equivalent changes or transformations, readjustments and substitutions will be apparent to those skilled in the art based on the present application, or may be applied directly or indirectly to other related technical fields, which are within the scope of the present application. Therefore, while the application has been described in connection with the above embodiments, it is to be understood that the application is not limited to the specific embodiments disclosed and that many other equivalent embodiments may be made without departing from the spirit and scope of the application as defined by the appended claims.
Claims (10)
1. The vehicle auxiliary navigation method under the satellite signal-free scene is characterized by comprising the following steps of:
judging whether satellite positioning of the target vehicle at the current moment is successful or not at each preset time step;
if the satellite positioning is successful, recording the current position of the vehicle at the current moment;
if the satellite positioning fails, acquiring the vehicle position recorded before the satellite signal fails and the vehicle running track from the current moment to a plurality of moments before the satellite positioning fails;
determining a vehicle position recorded before the satellite signal fails as a vehicle starting position;
retrieving a road track matched with the vehicle running track from an offline map by taking the starting position of the vehicle as a reference;
judging whether the running track of the vehicle is completely matched with the road track;
if the running track of the vehicle is not completely matched with the road track, jumping to the step of searching the road track from the offline map by taking the starting position of the vehicle as a reference so as to update the road track;
if the running track of the vehicle completely coincides with the road track, the auxiliary navigation of the vehicle at the future moment is performed based on the road track.
2. The method for assisting navigation of a vehicle in a satellite signal-free scenario according to claim 1, wherein the retrieving a road track matching a vehicle travel track from an offline map based on a vehicle start position comprises:
determining a target displacement based on the maximum vehicle speed allowed by the driving road section and a preset time step;
defining a target retrieval area from an offline map by taking the current position of the vehicle as a center and taking target displacement as a radius;
extracting a plurality of track features of a vehicle running track, wherein the track features comprise a maximum curve radius, a maximum curve angle, a maximum running speed and an elevation difference;
a road track satisfying at least one track feature of a vehicle running track is retrieved in a target retrieval area.
3. The vehicle assisted navigation method in a satellite signal free scenario of claim 1, further comprising:
determining azimuth angles between the travel directions of the target vehicles at different moments and the warp or weft on the offline map, and obtaining azimuth detection results;
determining the distance of the target vehicle traveling along the azimuth straight line at different moments, and obtaining a distance detection result;
and correcting the matching error of the vehicle running track and the road track based on the azimuth detection result and the distance detection result.
4. The method for assisting navigation of a vehicle in a satellite signal-free scenario of claim 1, wherein assisting navigation of the vehicle based on the road trajectory comprises:
predicting the current position of the vehicle at the current moment based on the road track;
updating the current position of the vehicle at the current moment to an offline map;
and taking the current position of the vehicle as a starting point, and performing auxiliary navigation at the future moment on the vehicle along the road track.
5. The vehicle auxiliary navigation device under the satellite signal-free scene is characterized by comprising a first judging module, a recording module, an acquisition module, a starting position determining module, a retrieval comparison module, a second judging module, a jump updating module and an auxiliary navigation module;
the first judging module is used for judging whether satellite positioning of the target vehicle at the current moment is successful or not every preset time step;
the recording module is used for recording the current position of the vehicle at the current moment under the condition that satellite positioning is successful;
the acquisition module is used for acquiring the vehicle position recorded before the satellite signal is invalid and the vehicle running track from the current moment to a plurality of moments before the satellite positioning is invalid under the condition that the satellite positioning is invalid;
the starting position determining module is used for determining the vehicle position recorded before the satellite signal fails as the vehicle starting position;
the retrieval comparison module is used for retrieving a road track matched with the vehicle running track from an offline map by taking the vehicle starting position as a reference;
the second judging module is used for judging whether the running track of the vehicle is completely matched with the road track;
the jump updating module is used for jumping to the step of searching the road track from the offline map by taking the starting position of the vehicle as a reference under the condition that the running track of the vehicle is not completely matched with the road track so as to update the road track;
the auxiliary navigation module is used for carrying out auxiliary navigation on the vehicle at the future moment based on the road track under the condition that the running track of the vehicle is completely matched with the road track.
6. The vehicle assisted navigation device of claim 5, wherein the search comparison module comprises a target displacement determination sub-module, a target search region determination sub-module, a trajectory feature extraction sub-module, and a search sub-module;
the target displacement determining submodule is used for determining target displacement based on the maximum speed allowed by the driving road section and a preset time step;
the target retrieval area determining submodule is used for defining a target retrieval area from an offline map by taking the current position of the vehicle as a center and taking target displacement as a radius;
the track feature extraction submodule is used for extracting a plurality of track features of a vehicle running track, wherein the track features comprise a maximum curve radius, a maximum curve angle, a maximum running speed and an elevation difference;
the searching submodule is used for searching the road track which at least meets one track characteristic of the vehicle running track in the target searching area.
7. The vehicle assisted navigation device of claim 5 in a satellite signal free scenario, further comprising an azimuth determination module, a distance determination module, and a correction module;
the azimuth determining module is used for determining azimuth angles between the travel direction of the target vehicle at different moments and the warp or weft on the offline map, and obtaining azimuth detection results;
the distance determining module is used for determining the distance of the target vehicle traveling along the azimuth straight line at different moments and obtaining a distance detection result;
the correction module is used for correcting the matching error of the vehicle running track and the road track based on the azimuth detection result and the distance detection result.
8. The vehicle assisted navigation device in a satellite signal free scenario of claim 5, wherein the assisted navigation module comprises a current location prediction sub-module, a current location update sub-module, and a navigation sub-module;
the current position prediction submodule is used for predicting the current position of the vehicle at the current moment based on the road track;
the current position updating sub-module is used for updating the current position of the vehicle at the current moment to an offline map;
the navigation sub-module is used for performing auxiliary navigation on the vehicle at the future moment along the road track by taking the current position of the vehicle as a starting point.
9. An electronic device comprising a processor and a memory, wherein the memory stores at least one computer program that is loaded and executed by one or more of the processors to cause the computer to implement the vehicle assisted navigation method of any of claims 1-4.
10. A computer-readable storage medium having stored therein at least one program code that is loaded and executed by a processor to cause a computer to implement the vehicle assisted navigation method of any of claims 1-4.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118049995A (en) * | 2024-04-16 | 2024-05-17 | 暨南大学 | On-board intelligent navigation method based on guard-inertial combination technology |
| CN118049995B (en) * | 2024-04-16 | 2024-07-05 | 暨南大学 | On-board intelligent navigation method based on guard-inertial combination technology |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118049995A (en) * | 2024-04-16 | 2024-05-17 | 暨南大学 | On-board intelligent navigation method based on guard-inertial combination technology |
| CN118049995B (en) * | 2024-04-16 | 2024-07-05 | 暨南大学 | On-board intelligent navigation method based on guard-inertial combination technology |
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