WO2021185053A1 - 车道导航路径生成方法及装置、驾驶控制方法及装置 - Google Patents

车道导航路径生成方法及装置、驾驶控制方法及装置 Download PDF

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Publication number
WO2021185053A1
WO2021185053A1 PCT/CN2021/078176 CN2021078176W WO2021185053A1 WO 2021185053 A1 WO2021185053 A1 WO 2021185053A1 CN 2021078176 W CN2021078176 W CN 2021078176W WO 2021185053 A1 WO2021185053 A1 WO 2021185053A1
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Prior art keywords
road
lane
navigation path
navigation
driving
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PCT/CN2021/078176
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English (en)
French (fr)
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杜磊
马政
刘春晓
石建萍
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上海商汤临港智能科技有限公司
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Publication of WO2021185053A1 publication Critical patent/WO2021185053A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions

Definitions

  • the present disclosure relates to the field of intelligent control technology, and in particular to a method and device for generating a lane navigation path, and a driving control method and device.
  • the navigation module can provide the driving route and specific lane information for the smart mobile device, and the smart mobile device needs to rely on this information for decision-making and planning.
  • the present disclosure proposes a technical solution for intelligent control.
  • a method for generating a lane navigation path including:
  • the lanes that meet the driving rules are used to determine the lane navigation path corresponding to the road navigation path.
  • a driving control method including:
  • the driving control of the smart mobile device is performed based on the lane navigation path.
  • an apparatus for generating a lane navigation path including:
  • the acquisition module is used to acquire the road navigation path and the map file including the lane attribute information and the road attribute information;
  • a road sequence determination module configured to determine the road sequence corresponding to the road navigation path based on the road attribute information of the map file
  • a lane determination module configured to determine a lane in the road sequence that meets driving rules based on the lane attribute information in the map file;
  • the lane navigation path generation module is used to determine the lane navigation path corresponding to the road navigation path by using the lane that meets the driving rules.
  • a driving control device including:
  • the road navigation path determination module is used to determine the road navigation path based on the input information
  • a generating module configured to use the lane navigation path generation method according to any one of the first aspect to determine the lane navigation path corresponding to the road navigation path;
  • the control module is used to control the driving of the smart mobile device based on the lane navigation path.
  • an electronic device which includes:
  • a memory for storing processor executable instructions
  • the processor is configured to call the instructions stored in the memory to execute the method described in any one of the first aspect or execute the method described in the second aspect.
  • a computer-readable storage medium having computer program instructions stored thereon, and the computer program instructions implement the method of any one of the first aspects when executed by a processor, or Implement the method described in the second aspect.
  • the acquired map file and the road navigation path can be used to determine the road sequence corresponding to the road navigation path, and further combine the lane attribute information between the lanes marked in the map file to select the lane that meets the driving rules , And use the lanes that meet the driving rules to determine the lane navigation path corresponding to the road navigation path.
  • there is no need to mark the link relationship between the lanes in the map file which reduces a lot of labeling costs, and can conveniently obtain the corresponding lane navigation path according to the road navigation path, which can facilitate driving control.
  • Fig. 1 shows a flowchart of a method for generating a lane navigation path according to an embodiment of the present disclosure
  • Fig. 2 shows a schematic diagram of the structure of a lane in a road according to an embodiment of the present disclosure
  • Fig. 3 shows a flowchart of step S20 in a method for generating a lane navigation path according to an embodiment of the present disclosure
  • Fig. 4 shows a schematic diagram of a road sequence in a method for generating a lane navigation path according to an embodiment of the present disclosure
  • FIG. 5 shows a schematic diagram of determining lane turning information in a method for generating a lane navigation path according to an embodiment of the present disclosure
  • Fig. 6 shows a flowchart of step S40 in a method for generating a lane navigation path according to an embodiment of the present disclosure
  • FIG. 7 shows a flowchart of a driving control method according to an embodiment of the present disclosure
  • Fig. 8 shows a block diagram of a device for generating a lane navigation route according to an embodiment of the present disclosure
  • FIG. 9 shows a block diagram of an electronic device 800 according to an embodiment of the present disclosure.
  • FIG. 10 shows a block diagram of another electronic device 1900 implemented in accordance with the present disclosure.
  • the execution subject of the method for generating a lane navigation path in the embodiment of the present disclosure may be a data processing device.
  • the method for generating a lane navigation path may be executed by a terminal device or a server or other processing device.
  • the terminal device may be a user equipment (User Equipment, UE). ), mobile devices, user terminals, terminals, cellular phones, cordless phones, personal digital assistants (PDAs), handheld devices, computing devices, in-vehicle devices, wearable devices, etc.
  • the server can be a cloud server or a local server.
  • the method for generating a lane navigation path can be implemented by a processor invoking a computer-readable instruction stored in a memory.
  • Fig. 1 shows a flow chart of a method for generating a lane navigation path according to an embodiment of the present disclosure. As shown in Fig. 1, the method for generating a lane navigation path includes:
  • S10 Obtain a road navigation path and a map file including lane attribute information and road attribute information;
  • the map file may be a map file pre-configured in the device, or may also be a map file independently designed by a person skilled in the art based on the embodiments of the present disclosure.
  • the map file can be any map file that can realize road-level route navigation.
  • the map file can also include location information of different location points.
  • the map file in the embodiment of the present disclosure can be marked with road attribute information and lane attribute information.
  • the road attribute information includes the location of the road, the road name (road marking), the link relationship between the road and the road, and the lane attribute information includes the position of the lane, the identification symbol of the lane, and the identification value.
  • Fig. 2 shows a schematic diagram of the structure of a lane in a road according to an embodiment of the present disclosure.
  • the road includes two lanes in the direction of travel, which are divided by the reference line in the middle.
  • the upper three lanes are lanes for driving to the left, the three lanes below are lanes for driving to the right, and the lanes for driving to the left are
  • the lane markings are positive, and the lane markings driving to the right are negative.
  • the markings of the three lanes above can be "+", which is ignored and not shown here.
  • the markings of the three lanes below are "-", and corresponding
  • the identification value may be, for example, the above-mentioned "1", “2” and "3", wherein the closer to the reference line, the smaller the identification value of the lane.
  • the foregoing is only an exemplary description, and the present disclosure does not specifically limit the road attribute information and lane attribute information in the map file.
  • the lane attributes may also include lane line type information such as solid lines or dashed lines between lanes.
  • the road navigation path is road-level navigation information, which can represent the road-level travel route (road-level navigation path) between two locations, that is, the road navigation path can be from the start point to the end point.
  • the information of the passing roads in between, the road link relationship between the destination and the destination can be determined through the road navigation path.
  • the road navigation path between point A and point B can be roads R1-R2-R3.
  • the road navigation path may include a plurality of navigation points, the plurality of navigation points constitute a travel route between the start position and the end position, and the travel route corresponds to the road navigation path.
  • the way of obtaining the road navigation path may include generating a navigation path between the start position and the end position by using the map file according to the received start position and the end position.
  • map file of the embodiment of the present disclosure may be a high-definition map, such as a device-readable map file including lane information.
  • the road corresponding to the road navigation path can be determined according to the location information of one or more navigation points in the road navigation path in the map file, and a road corresponding to the road navigation path can be formed.
  • the lane sequence corresponding to the navigation path, and the road sequence may represent the directed sequence of roads corresponding to different navigation points in the road navigation path.
  • the road may have a corresponding road mark, and the road mark may include a road name or other identification information that can be uniquely associated with the road, such as road-i, road-j, etc., but the present disclosure does not specifically limit this.
  • the above-mentioned road sequence can be formed by determining the road signs corresponding to one or more navigation points.
  • the turning information between roads may be further determined.
  • the turning information may include straight, left, right, and U-turn. At least one.
  • the steering information of the two adjacent roads can be determined by the relationship between the two adjacent roads.
  • different roads or different regions have different driving rules
  • the embodiments of the present disclosure may configure corresponding driving rules for different location information.
  • the driving rules can be stored on the server or other device side, and the corresponding driving rules can be requested by sending the location information, or the driving rules of the present embodiment can also be stored in a map file in association, and can be configured in different location ranges
  • the driving rules corresponding to the position information can be obtained through the position information collected in real time.
  • the driving rules of the embodiments of the present disclosure may include traffic rules, for example, in the case of driving on the left side or driving on the right side, there are different traffic rules.
  • the driving rules may also include driving habit information.
  • the driving habit information may be the driver’s preferences, habits, experience and other information when driving the vehicle. For example, it may include the preferred driving speed, lane, etc. It may be information received through an input interface, or it may be data information obtained through learning of driving data (data such as speed, road image, etc.) collected in real time. In other embodiments, other rule information that can be used as the control condition of the driving parameter can be used as the driving rule of the embodiment of the present disclosure.
  • the lanes that meet the driving rules can be correspondingly determined.
  • S40 Determine the lane navigation path corresponding to the road navigation path by using the lane that meets the driving rules.
  • lanes that meet the driving rules in the determined road sequence may be used to form a lane navigation path.
  • the lane navigation path is lane-level navigation information, including navigation information used to control the driving lane of the smart mobile device.
  • the lanes that meet the driving rules can be used to determine the link relationship between the lanes to form a lane navigation path.
  • the embodiments of the present disclosure can conveniently use the road navigation path and the map file to determine the road sequence corresponding to the road navigation path, and can determine the lanes in the road sequence that meet the driving rules in the road sequence according to the driving rules, and further pass the driving requirements.
  • the regular lane and lane attribute information can determine the lane navigation path corresponding to the road navigation path.
  • the embodiment of the present disclosure does not need to mark a large amount of link data between lanes in the map file, and can conveniently and accurately determine the navigation information of the lane level.
  • the embodiment of the present disclosure can determine the road sequence corresponding to the road navigation path in the map file when the map file and the road navigation path are obtained.
  • the road navigation path may be composed of multiple navigation points, and the multiple navigation points respectively correspond to corresponding roads.
  • the navigation point in the embodiment of the present disclosure can be expressed in the form of location information, or a unique navigation point identification can be set for the navigation point, and the navigation point identification can be associated with the location information corresponding to the navigation point, so that the navigation can be easily determined Point the corresponding position.
  • the navigation point identifiers can be identifiers such as 1, 2, 3, etc., but they are not a specific limitation of the present disclosure.
  • the location coordinates can represent longitude and latitude.
  • the navigation points in the navigation path may be a sequence of GPS points at equal intervals. GPS points record the longitude and latitude that the navigation line will pass.
  • the location information of the navigation point can be used to determine the road corresponding to the road navigation path in the map file to form a road sequence.
  • Fig. 3 shows a flowchart of step S20 in a method for generating a lane navigation path according to an embodiment of the present disclosure.
  • the determining the road sequence corresponding to the road navigation path based on the road attribute information of the map file may include:
  • S21 Determine the road identifier corresponding to the navigation point based on the position of the navigation point in the road navigation path in the map file and the road attribute information in the map file, where the road attribute information includes location information Corresponding road signs;
  • multiple navigation points in the road navigation path in the above-mentioned embodiment may have corresponding location information, such as longitude and latitude.
  • the embodiment of the present disclosure can determine that the navigation point is in the map file.
  • the corresponding road in that is, the road where the position of the navigation point is located.
  • the road attribute information in the map file may include one or more road signs corresponding to the location information.
  • the road signs are used to distinguish different roads.
  • the road signs may include road names or other signs that can identify road sections. There is no specific restriction on this.
  • the location information in the navigation path can be used to determine the corresponding road identifier in the road attribute information.
  • the road navigation path may include navigation points a1, a2, a3...a10, and the navigation points may be associated with corresponding location information.
  • the road identifier corresponding to the navigation point in the road attribute information in the map file can be determined.
  • the determined road signs may be: road1, road1, road1, road2, road2, road3, road3, road3, road3, and road3 in order. In this way, the road sign corresponding to the navigation point can be determined.
  • the road sequence corresponding to the road navigation path may be further determined.
  • the road sequence may represent a directional sequence formed by one or more road signs in the forward direction of the navigation line. Where the road signs corresponding to adjacent navigation points are the same, the road signs can be merged to finally obtain the road sequence.
  • the obtained road sequence can be expressed as road1-road2-road3.
  • the road signs in the road sequence obtained can respectively correspond to corresponding navigation points.
  • the navigation points in the road navigation path may be located in the turning area, and the embodiment of the present disclosure may skip these navigation points in the turning area in the process of determining the road sequence.
  • the embodiment of the present disclosure may first determine whether there is a turning area in the road navigation path, and perform road sequence determination based on whether there is a turning area.
  • the turning area includes turning intersections and/or turning curves
  • the road attribute information of the map file may include information about whether there are turning areas between adjacent road signs, and may also include the type and identification of the corresponding turning areas. The identification is used to uniquely determine a turning area.
  • the deduplication results of all road signs can be used to form a road sequence.
  • the first navigation point located in the turning area and the second navigation point located outside the turning area in the road navigation path can be determined, and all navigation points may be used.
  • the position of the first navigation point in the map file is determined, the intersection identifier corresponding to the first navigation point is determined, and the position of the second navigation point in the map file is used to determine the second navigation point Corresponding road markings; based on the deduplication result of the intersection markings corresponding to the first navigation point and the road markings corresponding to the second navigation point, the road sequence corresponding to the road navigation path is determined.
  • the navigation point in the steering area may be referred to as the first navigation point, and the navigation point outside the steering area may be referred to as the second navigation point.
  • the navigation points in the road navigation path belong to the first navigation point or the second navigation point, so as to determine which navigation points are the first navigation points and which navigation points are the second navigation points.
  • the road attribute information in the map file can be used to determine the road identifier and the turning area identifier corresponding to one or more navigation points. Furthermore, it is possible to form a road sequence based on the deduplication result of the turning area identification corresponding to the first navigation point and the road identification corresponding to the second navigation point according to the traveling direction of the road navigation path.
  • Fig. 4 shows a schematic diagram of a road sequence in a method for generating a lane navigation path according to an embodiment of the present disclosure. Among them, the roads and intersections where the navigation points are located can be clearly known through the road sequence, which is convenient for subsequent processing.
  • the steering information between adjacent roads can be determined according to the navigation path between adjacent roads in the road sequence.
  • the road in the road sequence can correspond to a navigation line vector.
  • the road sign corresponds to a road
  • the road sign can correspond to the corresponding navigation point (at least two navigation points) in the road navigation path.
  • two navigation points can be selected from the navigation points corresponding to the road signs, and the navigation line vector can be determined by using the vector formed between the position information corresponding to the two navigation points.
  • the selected navigation points can be randomly selected, or according to the direction of travel of the road navigation path, two navigation points are selected from the initial preset number of navigation points, or from the final preset number of navigation points Two navigation points are selected, and the preset number is greater than or equal to 2.
  • the navigation line vector corresponding to the road sign can be determined simply and conveniently through the above method.
  • linear fitting processing can be performed on the navigation points corresponding to the road signs, the linear fitting can be performed using the position information of one or more navigation points, and the navigation line vector can be determined according to the fitting results.
  • the linear fitting method may include the least square method, or other methods may also be used, and the present disclosure does not specifically limit it. In this way, the accuracy of the navigation line vector can be improved.
  • the steering information between the adjacent roads can be determined according to the relationship between the navigation line vectors corresponding to two adjacent road signs. . Wherein, it can be determined whether it is necessary to turn according to the angle between the navigation line vectors corresponding to two adjacent roads.
  • the angle between the navigation line vectors corresponding to any two road signs in the road sequence can be obtained, and if the angle between the two navigation line vectors is less than the angle threshold, the two road signs can be determined
  • the turning information between is going straight.
  • the way to determine the angle between two navigation line vectors can include Among them, ⁇ represents the angle between the navigation line vectors, and a and b respectively represent two navigation line vectors.
  • the angle threshold may be a preset value, such as a value less than 30 degrees, but the present disclosure does not specifically limit this.
  • the steering direction can be further determined according to the two navigation line vectors.
  • the product between the navigation line vectors corresponding to two adjacent roads is greater than the product threshold, it is determined that the turning information between the two adjacent roads is turning in the first direction; in response to the two adjacent roads
  • the product between the navigation line vectors corresponding to the roads is less than or equal to the product threshold, and it is determined that the turning information between the two adjacent roads is turning in the second direction.
  • the first direction and the second direction are different directions.
  • the first direction is the right side, and the second direction may be the left side.
  • v1 and v2 respectively represent the navigation line vector between two adjacent lanes.
  • the steering information can be determined.
  • the product threshold can be zero, so that the steering direction can be easily determined by the positive and negative values of the product result.
  • the applicable lanes on the road and the lane navigation path corresponding to the link relationship between the lanes can be further determined.
  • determining the lane that meets the driving rule in the road sequence may include: using identification symbols corresponding to the lane marked in the map file to determine the lane that meets the driving rule in the road sequence.
  • the corresponding lane markings can be assigned to the lanes in the road in the map file.
  • the lane markings may include marking symbols and marking values, and the markings may indicate the driving of the lane.
  • the identification value can be used to identify the position of the lane in the road.
  • the lanes on both sides of the reference line can be assigned different identification symbols, such as the first identification symbol "+” and the second identification symbol "-", where the "+” is ignored and not displayed.
  • the embodiment of the present disclosure may first determine the driving rule before performing step S30. For example, according to the location area corresponding to the location information of one or more navigation points in the road navigation route, the server may request the driving rules for determining the location area. For example, the location area may be required to meet the traffic rules for driving on the left side or driving on the right side. , When the traffic rule for driving on the left side is met, it is determined that the driving rule is the first driving rule.
  • the driving rule is determined to be the second driving rule, the first driving rule is different from the second driving rule, and the first driving rule is used to specify the regulatory information for driving on the left side.
  • the second driving rule is used to stipulate the regulatory information for driving on the right side.
  • the embodiment of the present disclosure can use the identification symbols of the lanes marked in the map file to determine the lanes that meet the driving rules among one or more roads in the road sequence. It is simple and convenient.
  • the implementation of the present disclosure can also determine the non-motorized lane as a lane that does not meet the driving rules. Since there can also be non-motorized lanes on both sides of the lane, the lane attribute information in the map file The third identification symbol can also be assigned to non-motorized lanes. By excluding the non-motorized lane corresponding to the third identification symbol, the lane information that meets the driving rules of the lane can be further reduced, the accuracy of the lane link relationship is improved, and the driving control is improved. safety.
  • step S40 may be executed to determine the lane navigation path corresponding to the road navigation path by using the lane that meets the driving rule.
  • Fig. 6 shows a flowchart of step S40 of a method for generating a lane navigation path according to an embodiment of the present disclosure. Among them, as described in the above-mentioned embodiment, in the case of obtaining the road sequence, the embodiment of the present disclosure can also obtain the steering information between adjacent roads of the road sequence. Lane navigation path.
  • the determining the lane navigation path corresponding to the road navigation path by using the lane that meets the driving rules and the steering information includes:
  • the lane attribute information of the map file may first obtain the identification value marked for the lane that meets the driving rule, and the priority of the lane may be determined according to the identification value and the turning information between the lanes.
  • the priority of the lanes in the two adjacent roads is determined according to the direct proportion of the lane identification values in the two adjacent roads ;
  • the priority of the lanes in the two adjacent roads is determined according to the inverse proportion of the lane identification values in the two adjacent roads. That is to say, the embodiment of the present disclosure can when the steering information between two adjacent lanes is turning to the left, the greater the identification value of the lane, the lower the priority of the lane. On the contrary, in the adjacent lane When the steering information between two lanes is to turn right, the identification value of the lane is larger, and the priority of the lane is higher.
  • S42 Determine the lane navigation path corresponding to the lane navigation path by using the priority corresponding to the lane that satisfies the driving rule.
  • the link relationship between the lanes with the highest priority may be determined as the lane link relationship corresponding to the lane navigation path, so as to generate the lane navigation path based on the determined lane link relationship.
  • roadi and roadj are two adjacent road signs in a road sequence, where the road corresponding to the road may have two lanes that meet the driving rules, and the lane marking values may be 1 and 2. If roadi and roadj are turning to the left, the priority of the lane with road marking 1 is the highest lane. If roadi and roadj are turning to the right, the priority of the lane with road marking 2 is The highest lane.
  • the lane with the highest priority of the previous road of the two adjacent roads can be determined as the lane with the highest priority among the two roads.
  • the road sequence corresponding to the navigation point, the turning information between the roads, and the link relationship between the lanes in the corresponding road can be determined simply and conveniently.
  • the configured map file may be used to obtain the road sequence corresponding to the road navigation path.
  • one or more navigation points can be used to find the road id where the navigation point is located in the map file. If the navigation point is located in the intersection, these points can be skipped. Then the road ids obtained by the query are merged, and finally the road sequence of Road_i->Road_j->Road_k is obtained, and the navigation point information corresponding to one or more roads is saved at the same time.
  • Figure 4 shows a schematic diagram of the road sequence obtained.
  • roads and intersections can be assigned corresponding identifiers.
  • Navigation line represents a road navigation path
  • road i, Road j, and Road k can represent road identifiers
  • Junction1 and Junction2 can represent intersection identifiers.
  • the steering information between adjacent roads in the road sequence can be further determined.
  • the roads in the road sequence can be traversed, and for a segment of road, the navigation line vector of the road is obtained according to the corresponding navigation point of the road on the road navigation path, as shown in v1 and v2 in Fig. 5.
  • the angle between the two vectors can be judged. If the angle is less than a certain threshold (angle threshold), it is considered to be straight; otherwise, it is judged whether to turn left or right according to the sign of the cross multiplication of the two vectors.
  • angle threshold a certain threshold
  • the lane attribute information in the map file in the embodiment of the present disclosure can be assigned to the corresponding lane Identification symbol and identification value, combined with Figure 2, the left lane identification symbol on the reference line of the reference line is positive, and the right lane identification symbol is negative.
  • the lanes are filtered to meet the rules Lane. For example, under the right-hand traffic rule, the lanes with the positive id are filtered out, and the lanes with the negative id are reserved. At the same time, non-motorized lanes can be filtered out.
  • the remaining lanes are sorted. Under the right traffic rules, if it is a left turn, the lane with the smallest absolute value is selected as the main lane (the lane with the highest priority), and if it is a right turn, the lane with the largest absolute value is selected as the main lane.
  • the above operations are performed on one or more sections of roads, and the final link relationship table of the entire lane can be obtained.
  • Table 1 shows a lane link relationship table obtained according to a possible embodiment of the present disclosure.
  • the first column represents road ID (roadID)
  • the second column represents priority lane (Lane ID priority)
  • the third column can represent other lanes (Lane ID). ID others)
  • the embodiment of the present disclosure may also provide alternative lanes, and the priority of the alternative lanes may be determined according to the obtained lane priority order.
  • the road sequence obtained according to the road navigation path can be:
  • road_5_2 road_5_1—road_1_1—road_1_2—road_2—road-3—road_4_1—road_4_2—road_5_3—road_5_2, correspondingly, the preferred lane identifiers on the road with different lanes are: -2, -3, -1, -1, -1, -1, -1, -1.
  • the third column also lists other lanes that can be used as alternatives.
  • the embodiments of the present disclosure can use the acquired map file and the road navigation path to determine the road sequence corresponding to the road navigation path, and further use the driving rules to determine the lanes that meet the driving rules in one or more roads in the sequence.
  • the lane navigation path corresponding to the road navigation path can be determined.
  • the writing order of the steps does not mean a strict execution order but constitutes any limitation on the implementation process.
  • the specific execution order of each step should be based on its function and possibility.
  • the inner logic is determined.
  • the present disclosure also provides a driving control method, a road navigation path generation device, electronic equipment, computer-readable storage media, and programs, all of which can be used to implement any of the lane navigation path generation methods provided in the present disclosure, and the corresponding technical solutions and Description and refer to the corresponding records in the method section, and will not repeat them.
  • FIG. 7 shows a flowchart of a driving control method according to an embodiment of the present disclosure.
  • the driving control method may include:
  • the driving control method can be applied to any movable device (smart mobile device) to control the movement of the movable device.
  • the movable device may be an electric vehicle, a toy vehicle, an intelligent robot, etc., which is not specifically limited in the present disclosure.
  • an information input device such as a touch screen
  • the map file can determine the road navigation path between the starting point and the ending point according to the input information.
  • the information input device can also receive the road navigation path transmitted by other devices.
  • the embodiment of the present disclosure does not specifically limit the way of obtaining the road navigation path.
  • S200 Use the lane navigation path generation method to determine the lane navigation path corresponding to the road navigation path;
  • the lane navigation path generation method described above in the embodiment of the present disclosure may be used to obtain the lane navigation path corresponding to the road navigation path.
  • S300 Perform driving control on the smart mobile device based on the lane navigation path.
  • the smart mobile device can be controlled according to the lane navigation path.
  • the embodiments of the present disclosure can implement the acquisition of the positioning information of the smart mobile device, and determine the current status of the smart mobile device based on the positioning information and the lane navigation path.
  • the driving lane so as to control the smart mobile device to drive on the determined lane, and at the same time, it can also output the prompt information of the lane.
  • FIG. 8 shows a block diagram of a device for generating a lane navigation path according to an embodiment of the present disclosure. As shown in FIG. 8, the device includes:
  • the obtaining module 10 is used to obtain a road navigation path and a map file including lane attribute information and road attribute information;
  • the road sequence determination module 20 is configured to determine the road sequence corresponding to the road navigation path based on the road attribute information of the map file;
  • the lane determination module 30 is configured to determine the lane in the road sequence that meets the driving rules based on the lane attribute information in the map file;
  • the lane navigation route generation module 40 is used for determining the lane navigation route corresponding to the road navigation route by using the lane that meets the driving rules.
  • the road sequence determination module is also used to:
  • the road identifier corresponding to the navigation point is determined, and the road attribute information includes information corresponding to the location information.
  • a road sequence corresponding to the road navigation path is determined.
  • the road sequence determination module is used to:
  • the road sequence is determined by using the deduplication result of the road signs corresponding to one or more navigation points in the road navigation path.
  • the road sequence determination module is also used to:
  • a first navigation point located in the turning area and a second navigation point located outside the turning area in the road navigation path are determined, and the turning area includes intersections and / Or turn into a curve;
  • the road sequence corresponding to the navigation path is determined based on the deduplication result of the turning area identifier corresponding to the first navigation point and the road identifier corresponding to the second navigation point.
  • the lane determination module is further configured to determine a lane that satisfies the driving rules in the road sequence based on the traffic rules for driving on the left before the lane attribute information in the map file is determined, Determine that the driving rule is the first driving rule;
  • the driving rule is a second driving rule, and the first driving rule and the second driving rule are different.
  • the lane determination module is also used to:
  • the identification symbols corresponding to the lanes marked in the map file are used to determine the lanes that meet the driving rules in the road sequence.
  • the road sequence determination module is further configured to: determine the turning information between adjacent roads in the road sequence based on road signs in the road sequence;
  • the lane navigation path generation module is further used to determine the lane navigation path corresponding to the road navigation path by using the lane that meets the driving rules and the steering information.
  • the road sequence determination module is also used to:
  • the steering information between the adjacent roads corresponding to the adjacent road signs is determined.
  • the road sequence determination module is also used to:
  • the road sequence determination module is further configured to perform the determination based on the navigation line vectors corresponding to the adjacent road signs in the road sequence to determine the distance between the adjacent roads corresponding to the adjacent road signs.
  • the steering information of includes at least one of the following methods:
  • the lane navigation path generation module is also used to:
  • the lane navigation path corresponding to the road navigation path is determined.
  • the lane navigation path generation module is also used to:
  • the priority of the lane that meets the driving rule is determined.
  • the lane navigation path generation module is also used to:
  • the lane navigation path generation module :
  • the lane with the highest priority among the lanes meeting the driving rules is determined as the lane constituting the lane navigation path.
  • a driving control device including:
  • the road navigation path determination module is used to determine the road navigation path based on the input information
  • a generating module configured to use the lane navigation path generation method according to any one of the first aspect to determine the lane navigation path corresponding to the road navigation path;
  • the control module is used to control the driving of the smart mobile device based on the lane navigation path.
  • an electronic device including:
  • a memory for storing processor executable instructions
  • the processor is configured to call the instructions stored in the memory to execute the method described in any one of the first aspect or execute the method described in the second aspect.
  • a computer-readable storage medium having computer program instructions stored thereon, and the computer program instructions implement the method of any one of the first aspects when executed by a processor, or Implement the method described in the second aspect.
  • the functions or modules contained in the device provided in the embodiments of the present disclosure can be used to execute the methods described in the above method embodiments.
  • the functions or modules contained in the device provided in the embodiments of the present disclosure can be used to execute the methods described in the above method embodiments.
  • the embodiments of the present disclosure also provide a computer-readable storage medium on which computer program instructions are stored, and the computer program instructions implement the above-mentioned method when executed by a processor.
  • the computer-readable storage medium may be a non-volatile computer-readable storage medium.
  • An embodiment of the present disclosure also provides an electronic device, including: a processor; a memory for storing executable instructions of the processor; wherein the processor is configured as the above-mentioned method.
  • the electronic device can be provided as a terminal, server or other form of device.
  • FIG. 9 shows a block diagram of an electronic device 800 implemented according to the present disclosure.
  • the electronic device 800 may be a mobile phone, a computer, a digital broadcasting terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, and other terminals.
  • the electronic device 800 may include one or more of the following components: a processing component 802, a memory 804, a power supply component 806, a multimedia component 808, an audio component 810, an input/output (I/O) interface 812, and a sensor component 814 , And communication component 816.
  • the processing component 802 generally controls the overall operations of the electronic device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations.
  • the processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the foregoing method.
  • the processing component 802 may include one or more modules to facilitate the interaction between the processing component 802 and other components.
  • the processing component 802 may include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.
  • the memory 804 is configured to store various types of data to support operations in the electronic device 800. Examples of these data include instructions for any application or method to operate on the electronic device 800, contact data, phone book data, messages, pictures, videos, etc.
  • the memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable and Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Magnetic Disk or Optical Disk.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read-only memory
  • EPROM erasable and Programmable Read Only Memory
  • PROM Programmable Read Only Memory
  • ROM Read Only Memory
  • Magnetic Memory Flash Memory
  • Magnetic Disk Magnetic Disk or Optical Disk.
  • the power supply component 806 provides power for various components of the electronic device 800.
  • the power supply component 806 may include a power management system, one or more power supplies, and other components associated with the generation, management, and distribution of power for the electronic device 800.
  • the multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and the user.
  • the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user.
  • the touch panel includes one or more touch sensors to sense touch, sliding, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure related to the touch or slide operation.
  • the multimedia component 808 includes a front camera and/or a rear camera. When the electronic device 800 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera can receive external multimedia data. Each front camera and rear camera can be a fixed optical lens system or have focal length and optical zoom capabilities.
  • the audio component 810 is configured to output and/or input audio signals.
  • the audio component 810 includes a microphone (MIC), and when the electronic device 800 is in an operation mode, such as a call mode, a recording mode, and a voice recognition mode, the microphone is configured to receive an external audio signal.
  • the received audio signal may be further stored in the memory 804 or transmitted via the communication component 816.
  • the audio component 810 further includes a speaker for outputting audio signals.
  • the I/O interface 812 provides an interface between the processing component 802 and a peripheral interface module.
  • the above-mentioned peripheral interface module may be a keyboard, a click wheel, a button, and the like. These buttons may include, but are not limited to: home button, volume button, start button, and lock button.
  • the sensor component 814 includes one or more sensors for providing the electronic device 800 with various aspects of state evaluation.
  • the sensor component 814 can detect the on/off status of the electronic device 800 and the relative positioning of the components.
  • the component is the display and the keypad of the electronic device 800.
  • the sensor component 814 can also detect the electronic device 800 or the electronic device 800.
  • the position of the component changes, the presence or absence of contact between the user and the electronic device 800, the orientation or acceleration/deceleration of the electronic device 800, and the temperature change of the electronic device 800.
  • the sensor component 814 may include a proximity sensor configured to detect the presence of nearby objects when there is no physical contact.
  • the sensor component 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications.
  • the sensor component 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
  • the communication component 816 is configured to facilitate wired or wireless communication between the electronic device 800 and other devices.
  • the electronic device 800 can access a wireless network based on a communication standard, such as WiFi, 2G, or 3G, or a combination thereof.
  • the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel.
  • the communication component 816 further includes a near field communication (NFC) module to facilitate short-range communication.
  • the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.
  • RFID radio frequency identification
  • IrDA infrared data association
  • UWB ultra-wideband
  • Bluetooth Bluetooth
  • the electronic device 800 may be implemented by one or more application-specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field-available A programmable gate array (FPGA), controller, microcontroller, microprocessor, or other electronic components are implemented to implement the above methods.
  • ASIC application-specific integrated circuits
  • DSP digital signal processors
  • DSPD digital signal processing devices
  • PLD programmable logic devices
  • FPGA field-available A programmable gate array
  • controller microcontroller, microprocessor, or other electronic components are implemented to implement the above methods.
  • a non-volatile computer-readable storage medium such as the memory 804 including computer program instructions, which can be executed by the processor 820 of the electronic device 800 to complete the foregoing method.
  • FIG. 10 shows a block diagram of another electronic device 1900 according to an embodiment of the present disclosure.
  • the electronic device 1900 may be provided as a server.
  • the electronic device 1900 includes a processing component 1922, which further includes one or more processors, and a memory resource represented by a memory 1932, for storing instructions executable by the processing component 1922, such as application programs.
  • the application program stored in the memory 1932 may include one or more modules each corresponding to a set of instructions.
  • the processing component 1922 is configured to execute instructions to perform the above-described methods.
  • the electronic device 1900 may also include a power supply component 1926 configured to perform power management of the electronic device 1900, a wired or wireless network interface 1950 configured to connect the electronic device 1900 to a network, and an input output (I/O) interface 1958 .
  • the electronic device 1900 can operate based on an operating system stored in the memory 1932, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM or the like.
  • a non-volatile computer-readable storage medium is also provided, such as the memory 1932 including computer program instructions, which can be executed by the processing component 1922 of the electronic device 1900 to complete the foregoing method.
  • the present disclosure may be a system, method and/or computer program product.
  • the computer program product may include a computer-readable storage medium loaded with computer-readable program instructions for enabling a processor to implement various aspects of the present disclosure.
  • the computer-readable storage medium may be a tangible device that can hold and store instructions used by the instruction execution device.
  • the computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing.
  • Non-exhaustive list of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) Or flash memory), static random access memory (SRAM), portable compact disk read-only memory (CD-ROM), digital versatile disk (DVD), memory stick, floppy disk, mechanical encoding device, such as a printer with instructions stored thereon
  • RAM random access memory
  • ROM read-only memory
  • EPROM erasable programmable read-only memory
  • flash memory flash memory
  • SRAM static random access memory
  • CD-ROM compact disk read-only memory
  • DVD digital versatile disk
  • memory stick floppy disk
  • mechanical encoding device such as a printer with instructions stored thereon
  • the computer-readable storage medium used here is not interpreted as the instantaneous signal itself, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (for example, light pulses through fiber optic cables), or through wires Transmission of electrical signals.
  • the computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to various computing/processing devices, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and/or a wireless network.
  • the network may include copper transmission cables, optical fiber transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers.
  • the network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network, and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing/processing device .
  • the computer program instructions used to perform the operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or in one or more programming languages.
  • Source code or object code written in any combination, the programming language includes object-oriented programming languages such as Smalltalk, C++, etc., and conventional procedural programming languages such as "C" language or similar programming languages.
  • Computer-readable program instructions can be executed entirely on the user's computer, partly on the user's computer, executed as a stand-alone software package, partly on the user's computer and partly executed on a remote computer, or entirely on the remote computer or server implement.
  • the remote computer can be connected to the user's computer through any kind of network-including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, using an Internet service provider to connect to the user's computer) connect).
  • LAN local area network
  • WAN wide area network
  • an electronic circuit such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), can be customized by using the status information of the computer-readable program instructions.
  • the computer-readable program instructions are executed to realize various aspects of the present disclosure.
  • These computer-readable program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine that makes these instructions when executed by the processor of the computer or other programmable data processing device , A device that implements the functions/actions specified in one or more blocks in the flowcharts and/or block diagrams is produced. It is also possible to store these computer-readable program instructions in a computer-readable storage medium. These instructions make computers, programmable data processing apparatuses, and/or other devices work in a specific manner, so that the computer-readable medium storing the instructions includes An article of manufacture, which includes instructions for implementing various aspects of the functions/actions specified in one or more blocks in the flowcharts and/or block diagrams.
  • each block in the flowchart or block diagram may represent a module, program segment, or part of an instruction, and the module, program segment, or part of an instruction contains one or more components for realizing the specified logical function.
  • Executable instructions may also occur in a different order from the order marked in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, or they can sometimes be executed in the reverse order, depending on the functions involved.
  • each block in the block diagram and/or flowchart, and the combination of the blocks in the block diagram and/or flowchart can be implemented by a dedicated hardware-based system that performs the specified functions or actions Or it can be realized by a combination of dedicated hardware and computer instructions.

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Abstract

一种车道导航路径生成方法及装置、驾驶控制方法及装置、计算机设备、计算机可读存储介质及计算机程序，该车道导航路径生成方法包括：获取道路导航路径和包括有车道属性信息和道路属性信息的地图文件（S10）；基于地图文件的道路属性信息，确定道路导航路径对应的道路序列（S20）；基于地图文件中的车道属性信息，确定道路序列中满足行驶规则的车道（S30）；利用满足行驶规则的车道，确定与道路导航路径对应的车道导航路径（S40）。

Description

车道导航路径生成方法及装置、驾驶控制方法及装置
本申请要求在2020年3月20日提交中国专利局、申请号为202010202055.6、申请名称为“车道导航路径生成方法及装置、驾驶控制方法及装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本公开涉及智能控制技术领域，尤其涉及一种车道导航路径生成方法及装置、驾驶控制方法及装置。
背景技术
自动驾驶中很重要的一个模块就是导航模块。导航模块可以为智能移动设备提供行驶的路线以及具体的车道信息，智能移动设备需要依靠这些信息进行决策规划。
针对城市公路或高速路，同一段路上会有多条车道，因此智能移动设备驾驶需要精确到具体车道上。
发明内容
本公开提出了一种智能控制的技术方案。
根据本公开的一方面，提供了一种车道导航路径生成方法，包括：
获取道路导航路径和包括有车道属性信息和道路属性信息的地图文件；
基于所述地图文件的道路属性信息，确定所述道路导航路径对应的道路序列；
基于所述地图文件中的车道属性信息，确定所述道路序列中满足行驶规则的车道；
利用满足行驶规则的车道，确定与所述道路导航路径对应的车道导航路径。
根据本公开的第二方面，提供了一种驾驶控制方法，包括：
基于输入信息确定道路导航路径；
利用所述第一方面中任意一项所述的车道导航路径生成方法，确定所述道路导航路径对应的车道导航路径；
基于所述车道导航路径对智能移动设备进行驾驶控制。
根据本公开的第三方面，提供了一种车道导航路径生成装置，包括：
获取模块，用于获取道路导航路径和包括有车道属性信息和道路属性信息的地图文件；
道路序列确定模块，用于基于所述地图文件的道路属性信息，确定所述道路导航路径对应的道路序列；
车道确定模块，用于基于所述地图文件中的车道属性信息，确定所述道路序列中满足行驶规则的车道；
车道导航路径生成模块，用于利用满足行驶规则的车道，确定与所述道路导航路径对应的车道导航路径。
根据本公开的第四方面，提供了一种驾驶控制装置，包括：
道路导航路径确定模块用于基于输入信息确定道路导航路径；
生成模块，用于利用所述第一方面中任意一项所述的车道导航路径生成方法，确定所述道路导航路径对应的车道导航路径；
控制模块，用于基于所述车道导航路径对智能移动设备进行驾驶控制。
根据本公开的第五方面，提供了一种电子设备(计算机设备)，其包括：
处理器；
用于存储处理器可执行指令的存储器；
其中，所述处理器被配置为调用所述存储器存储的指令，以执行第一方面中任意一项所述的方法，或者执行第二方面所述的方法。
根据本公开的第六方面，提供了一种计算机可读存储介质，其上存储有计算机程序指令，所述计算机程序指令被处理器执行时实现第一方面中任意一项所述的方法，或者实现第 二方面所述的方法。
在本公开实施例中，可以利用获取的地图文件以及道路导航路径，确定道路导航路径对应的道路序列，并进一步结合地图文件中标注的车道之间的车道属性信息，选择出满足行驶规则的车道，并利用满足行驶规则的车道确定道路导航路径对应的车道导航路径。其中，不需要在地图文件中标注各车道之间的链接关系，减少了大量的标注成本，并且可以方便的根据道路导航路径得到相应的车道导航路径，可以方便驾驶控制。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，而非限制本公开。
根据下面参考附图对示例性实施例的详细说明，本公开的其它特征及方面将变得清楚。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，这些附图示出了符合本公开的实施例，并与说明书一起用于说明本公开的技术方案。
图1示出根据本公开实施例的一种车道导航路径生成方法的流程图；
图2示出根据本公开实施例的道路内车道的结构示意图；
图3示出根据本公开实施例的一种车道导航路径生成方法中步骤S20的流程图；
图4示出根据本公开实施例的一种车道导航路径生成方法中道路序列的示意图；
图5示出根据本公开实施例的一种车道导航路径生成方法中确定车道转向信息的示意图；
图6示出根据本公开实施例的一种车道导航路径生成方法中步骤S40的流程图；
图7示出根据本公开实施例的一种驾驶控制方法的流程图；
图8示出根据本公开实施例的一种车道导航路径生成装置的框图；
图9示出根据本公开实施例的一种电子设备800的框图；
图10示出根据本公开实施了的另一种电子设备1900的框图。
具体实施方式
以下将参考附图详细说明本公开的各种示例性实施例、特征和方面。附图中相同的附图标记表示功能相同或相似的元件。尽管在附图中示出了实施例的各种方面，但是除非特别指出，不必按比例绘制附图。
在这里专用的词“示例性”意为“用作例子、实施例或说明性”。这里作为“示例性”所说明的任何实施例不必解释为优于或好于其它实施例。
本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中术语“至少一种”表示多种中的任意一种或多种中的至少两种的任意组合，例如，包括A、B、C中的至少一种，可以表示包括从A、B和C构成的集合中选择的任意一个或多个元素。
另外，为了更好地说明本公开，在下文的具体实施方式中给出了众多的具体细节。本领域技术人员应当理解，没有某些具体细节，本公开同样可以实施。在一些实例中，对于本领域技术人员熟知的方法、手段、元件和电路未作详细描述，以便于凸显本公开的主旨。
本公开实施例的车道导航路径生成方法的执行主体可以是数据处理置，例如车道导航路径生成方法可以由终端设备或服务器或其它处理设备执行，其中，终端设备可以为用户设备(User Equipment，UE)、移动设备、用户终端、终端、蜂窝电话、无绳电话、个人数字处理(Personal Digital Assistant，PDA)、手持设备、计算设备、车载设备、可穿戴设备等。服务器可以为云服务器或者本地服务器。在一些可能的实现方式中，该车道导航路径生成方法可以通过处理器调用存储器中存储的计算机可读指令的方式来实 现。
图1示出根据本公开实施例的一种车道导航路径生成方法的流程图，如图1所示，所述车道导航路径生成方法包括：
S10：获取道路导航路径和包括有车道属性信息和道路属性信息的地图文件；
在一些可能的实施方式中，地图文件可以是预先配置在设备中的地图文件，或者也可以是本领域技术人员基于本公开实施例自主设计的地图文件。地图文件可以为任意能够实现道路级别的路径导航的地图文件，地图文件中也可以包括不同位置点的位置信息，同时，本公开实施例中的地图文件可以标注有道路属性信息和车道属性信息，其中道路属性信息包括道路的位置、道路名称(道路标识)、道路和道路之间的链接关系，车道属性信息包括车道的位置、车道的标识符号，以及标识值，其中标识符号用于表示车道的行驶方向，标识值用于区分不同车道的位置。图2示出根据本公开实施例的道路内车道的结构示意图。其中，道路包括两个行驶方向的车道，其中以中间的参考线(reference line)划分，上面的三条车道为向左行驶的车道，下面的三条车道为向右行驶的车道，其中向左行驶的车道标识为正数，向右行驶的车道标识为负数，例如上面的三条车道的标识符号可以为“+”，此处忽略未显示，下面的三条车道的标识符号为“-”，同时对应的标识值可以为例如上述“1”、“2”和“3”，其中与参考线越近，车道的标识值就越小。上述仅为示例性说明，针对地图文件中道路属性信息以及车道属性信息，本公开不作具体限定。在另一些实施例中，车道属性还可以包括车道间为实线或者虚线等车道线类型信息。
在一些可能的实施方式中，道路导航路径为道路级别的导航信息，可以表示两个位置之间的道路级别的行进路线(道路级别的导航路径)，即，道路导航路径可以为起点到终点之间的经过的道路信息，通过道路导航路径可以确定起到和终点之间的道路链接关系，例如A点到B点之间的道路导航路径可以为道路R1-R2-R3。另外，道路导航路径中可以包括多个导航点，该多个导航点构成了出发位置和终点位置之间的行进路线，该行进路线对应于道路导航路径。
在一些可能的实施方式中，获取道路导航路径的方式可以包括根据接收的起始位置和终点位置，利用所述地图文件生成起始位置和终点位置之间的导航路径。或者，也可以直接从其他设备接收生成的道路导航路径，本公开对此不作具体限定。
另外，本公开实施例的地图文件可以是高精地图，如包括有车道信息的面向设备可读的地图文件。
S20：基于所述地图文件的道路属性信息，确定所述道路导航路径对应的道路序列；
在一些可能的实施方式中，在得到道路导航路径的情况下，可以根据道路导航路径中一个或多个导航点在地图文件中的位置信息，确定该道路导航路径对应的道路，并形成与道路导航路径对应的车道序列，该道路序列可以表示道路导航路径中不同导航点对应的道路的有向序列。其中道路可以具有相应的道路标识，道路标识可以包括道路名称，或者其他能够唯一的关联该道路的标识信息，例如road-i，road-j等，但本公开对此不作具体限定。通过确定一个或多个导航点对应的道路标识可以形成上述道路序列。
在一些可能的实施方式中，在得到道路导航路径对应的车道序列的情况下，还可以进一步确定道路之间的转向信息，该转向信息可以包括直行、向左转向、向右转向、掉头中的至少一种。其中可以通过相邻两个道路之间的关系确定该两个相邻道路的转向信息。
S30：基于所述文件中的车道属性信息，确定所述道路序列中满足行驶规则的车道；
在一些可能的实施方式中，在不同的道路或者不同的地区具有不同的行驶规则，本公开实施例可以针对不同的位置信息配置对应的行驶规则。该行驶规则可以存储于服务器，或者其他设备端，通过发送位置信息可以请求获得相应的行驶规则，或者本公实施例的行驶规则也可以关联存储于地图文件中，在不同的位置范围内可以配置不同的行驶 规则，通过实时采集的位置信息可以得到对应于该位置信息的行驶规则。另外，本公开实施例的行驶规则可以包括交通规则，例如在左侧行驶或者右侧行驶的情况下，具有不同的交通规则。在另一些实施方式中，行驶规则还可以包括驾驶习惯信息，驾驶习惯信息可以为驾驶员驾驶车辆时的偏好、习惯、经验等信息，如可以包括偏好行驶的车速、车道等，上述驾驶习惯信息可以为通过输入接口接收的信息，或者也可以为通过实时采集的行驶数据(速度、路面图像等数据)学习得到的数据信息。在其他实施方式中，其他能够用于成为行驶参数的控制条件的规则信息都可以作为本公开实施例的行驶规则。
在获得行驶规则的情况下，可以对应的确定满足行驶规则的车道。
S40：利用满足行驶规则的车道，确定与所述道路导航路径对应的车道导航路径。
在一些可能的实施方式中，可以利用确定的道路序列中满足行驶规则的车道，形成车道导航路径。车道导航路径为车道级别的导航信息，其中包括用于控制智能移动设备的行驶车道的导航信息。例如，可以利用满足行驶规则的车道，确定车道之间的链接关系，进而形成车道导航路径。
基于上述配置，本公开实施例可以方便的利用道路导航路径和地图文件确定道路导航路径对应的道路序列，并可以根据行驶规则确定道路序列中的道路内满足行驶规则的车道，进一步的通过满足行驶规则的车道和车道属性信息，可以确定道路导航路径对应的车道导航路径，本公开实施例无需在地图文件中标注大量的车道之间的链接数据，能够方便且准确的确定车道级别的导航信息。
下面结合附图详细说明本公开实施例。本公开实施例在获得地图文件以及道路导航路径的情况下，可以确定道路导航路径在地图文件中对应的道路序列。其中，道路导航路径可以由多个导航点构成，该多个导航点分别对应于相应的道路。例如本公开实施例中的导航点可以按照位置信息的形式表示，或者也可以为导航点设置唯一的导航点标识，并且导航点标识可以与导航点对应的位置信息关联，从而可以方便的确定导航点对应位置。其中导航点标识可以如1、2、3…等标识，但不作为本公开的具体限定。
下面以导航点通过位置信息的方式表示为例进行示例性说明。其中位置坐标可以表示经度和纬度。例如，导航路径中的导航点可以为等间隔的GPS点序列。GPS点记录了导航线要经过的经度和维度。通过导航点的位置信息可以确定道路导航路径在地图文件中对应的道路，形成道路序列。
图3示出根据本公开实施例的一种车道导航路径生成方法中步骤S20的流程图。其中，所述基于所述地图文件的道路属性信息，确定所述道路导航路径对应的道路序列，可以包括：
S21：基于所述道路导航路径中的导航点在所述地图文件中的位置，以及所述地图文件中的道路属性信息，确定所述导航点对应的道路标识，所述道路属性信息包括位置信息对应的道路标识；
在一些可能的实施方式中，如上述实施例道路导航路径中的多个导航点可以具有相应的位置信息，如经度和纬度，本公开实施例通过根据该位置信息，可以确定导航点在地图文件中对应的道路，即导航点的位置所在的道路。其中，地图文件中的道路属性信息可以包括一个或多个位置信息对应的道路标识，该道路标识用于区分不同的道路，道路标识可以包括道路名称，或者其他能够确定道路路段的标识，本公开对此不作具体限定。对应的可以利用导航路径中的位置信息确定在道路属性信息中对应的道路标识。
在一个示例中，道路导航路径中可以包括导航点a1、a2、a3….a10，其中导航点可以关联有相应的位置信息。根据该位置信息，可以确定导航点在地图文件中道路属性信息内所对应的道路标识。例如，确定的道路标识依次可以为：road1、road1、road1、road2、road2、road3、road3、road3、road3、road3。这样就可以确定导航点对应的道路标识。
S22：基于确定的所述道路标识，获得所述道路导航路径对应的道路序列。
在一些可能的实施方式，在确定道路导航线中一个或多个导航点分别对应的道路标识的情况下，可以进一步确定与道路导航路径对应的道路序列。该道路序列可以表示导航线的前进方向上一个或多个道路标识形成的有向序列。其中可以在相邻的导航点对应的道路标识相同的情况下，合并该道路标识，最终得到道路序列。
如上述示例中，得到的道路序列可以表示为road1—road2—road3。其中得到的道路序列中的道路标识可以分别对应相应的导航点。
在一些可能的实施方式中，在道路导航路径中的导航点可能位于转向区域内，本公开实施例可以在确定道路序列的过程中，跳过这些转向区域内的导航点。本公开实施例可以首先确定道路导航路径中是否存在转向区域，并基于是否存在转向区域执行道路序列的确定。其中，转向区域包括转向路口和/或转向弯道，地图文件的道路属性信息中可以包括相邻道路标识之间是否存在转向区域的信息，同时还可以包括相应的转向区域的类型和标识，该标识用于唯一的确定一个转向区域。
其中，在确定出道路导航路径对应的道路标识之间不存在转向区域时，可以利用全部道路标识的去重结果，形成道路序列。另外，在确定出道路导航路径中存在转向区域的情况下，可以确定所述道路导航路径中位于所述转向区域内的第一导航点以及位于所述转向区域以外的第二导航点，利用所述第一导航点在所述地图文件中的位置，确定所述第一导航点对应的路口标识，以及利用所述第二导航点在所述地图文件中的位置，确定所述第二导航点对应的道路标识；基于所述第一导航点对应的路口标识以及所述第二导航点对应的道路标识的去重结果，确定所述道路导航路径对应的所述道路序列。
本公开实施例中可以将转向区域内的导航点称为第一导航点，转向区域以外的导航点称为第二导航点。其中，可以确定道路导航路径中的导航点属于第一导航点或者第二导航点，即可以确定哪些导航点为第一导航点，以及哪些导航点为第二导航点。
其中可以分别利用地图文件中的道路属性信息确定一个或多个导航点对应的道路标识以及转向区域标识。进而可以按照道路导航路径的行进方向，基于第一导航点对应的转向区域标识和第二导航点对应的道路标识的去重结果，形成道路序列。图4示出根据本公开实施例的一种车道导航路径生成方法中道路序列的示意图。其中，通过该道路序列可以清楚的获知导航点分别位于的道路和路口，方便后续处理。
在一些可能的实施方式中，在得到道路序列的情况下，可以根据道路序列中相邻道路之间的导航路径，确定相邻道路之间的转向信息。其中，道路序列中道路可以对应有导航线向量，如上述实施例所述，道路标识对应一条道路，道路标识可以对应于道路导航路径中的相应的导航点(至少两个导航点)，通过道路标识对应的导航点中的至少两个导航点，可以确定道路标识对应的导航线向量。
在一个示例中，可以从道路标识对应的导航点中选择出两个导航点，利用该两个导航点对应的位置信息之间形成的向量可以确定导航线向量。选择出的导航点可以是随机选择的，也可以是按照道路导航路径的行进方向，从最初的预设数量个导航点中选择出两个导航点，或者从最终的预设数量个导航点中选择出两个导航点，该预设数量大于或者等于2。上述方式不作为本公开实施例的限定。其中，通过上述方式可以简单方便的确定道路标识对应的导航线向量。
在另一个示例中，可以对道路标识对应的导航点执行线性拟合处理，利用一个或多个导航点的位置信息执行线性拟合，根据拟合结果可以确定导航线向量。其中线性拟合的方式可以包括最小二乘法，或者也可以采用其他方式，本公开对不作具体限定。通过该方式可以提高导航线向量的准确度。
在一些可能的实施方式中，在得到道路标识对应的导航线向量的情况下，可以进一步根据相邻的两个道路标识对应的导航线向量之间的关系，确定相邻道路之间的转向信息。其中，可以根据相邻的两个道路对应的导航线向量之间的夹角确定是否需要转向。
在一个示例中，可以分别获得道路序列中任意两个道路标识对应的导航线向量之间的夹角，如果该两个导航线向量之间的夹角小于角度阈值，可以确定该两个道路标识之间的转向信息为直行。其中，确定两个导航线向量之间的夹角的方式可以包括
Figure PCTCN2021078176-appb-000001
其中，θ表示导航线向量之间的夹角，a和b分别表示两个导航线向量。并且，角度阈值可以为预先设定的值，如可以小于30度的值，但本公开对此不作具体限定。
另外，在确定两个导航线向量之间的夹角大于或者等于角度阈值的情况下，可以根据该两个导航线向量进一步确定转向方向。其中，在相邻的两个道路分别对应的导航线向量之间的乘积大于乘积阈值，确定该两个相邻道路之间的转向信息为向第一方向转向；响应于所述两个相邻道路分别对应的导航线向量之间的乘积小于或者等于乘积阈值，确定所述两个相邻道路之间的转向信息为向第二方向转向。其中第一方向和第二方向为不同的方向。例如，第一方向为右侧，第二方向可以为左侧。图5示出根据本公开实施例的一种车道导航路径生成方法中确定车道转向信息的示意图。其中v1和v2分别表示两个相邻车道之间的导航线向量。通过v1和v2之间的乘积结果，可以确定转向信息。其中，乘积阈值可以为零，从而可以方便的通过乘积结果的正负值确定转向方向。
基于上述实施例，可以方便且准去得根据道路导航路径中一个或多个导航点在地图文件中的位置信息确定道路序列，以及道路序列中相邻道路之间的转向信息。
在得到道路序列中不同道路之间的转向信息的情况下，可以进一步确定道路中适用的车道以及车道之间的链接关系对应的车道导航路径。
其中，所述基于地图文件中的车道属性信息，确定道路序列中满足行驶规则的车道可以包括：利用地图文件中标注的车道对应的标识符号，确定道路序列中满足行驶规则的车道。
在一些可能的实施方式中，如上述实施例所述，在地图文件中可以为道路中的车道分配相应的车道标识，该车道标识可以包括标识符号和标识值，其中标识符合可以表示车道的行驶方向，标识值可以用于标识车道在道路中的位置。如图2所示，可以为参考线(reference line)两侧的车道分别分配不同的标识符号，如第一标识符号“+”和第二标识符号“-”，其中“+”忽略未显示。其中，本公开实施例
其中，由于现有的交通规则中，左侧行驶和右侧行驶对应的规则是不同的，因此，本公开实施例可以在执行步骤S30之前，首先确定行驶规则。例如在可以根据道路导航路径中一个或多个导航点的位置信息对应的位置区域，向服务器请求确定位置区域的行驶规则，例如该位置区域可以为要求满足左侧行驶或者右侧行驶的交通规则，在满足左侧行驶的交通规则时，确定所述行驶规则为第一行驶规则。在满足右侧行驶的交通规则时，确定所述行驶规则为第二行驶规则，所述第一行驶规则和第二行驶规则不同，并且第一行驶规则用于规定左侧行驶的规章信息，第二行驶规则用于规定右侧行驶的规章信息。
在确定行驶规则的情况下，可以确定道路导航路径对应的道路内车道中符合行驶规则的车道，其中，在左侧行驶的交通规则的情况下，可以将标识符号为第一标识的车道确定为满足第一行驶规则的车道，以及在右侧行驶的交通规则的情况下，可以将标识符号为第二标识的车道确定为满足第二行驶规则的车道。也就是说，本公开实施例可以利用地图文件中标注的车道的标识符号，确定道路序列的一个或多个道路中，满足行驶规则的车道。具有简单方便的特点。
另外，为了进一步减少处理信息的数据量，本公开实施还可以将非机动车道确定为不满足行驶规则的车道，由于在车道的两侧还可以具有非机动车道，在地图文件中的车道属性信息中还可以为非机动车道分配第三标识符号，通过排除该第三标识符号对应的 非机动车道，可以进一步减少车道满足行驶规则的车道信息，提高车道链接关系的精确度，同时提高驾驶控制的安全性。
在确定满足行驶规则的车道的情况下，可以执行步骤S40，利用满足行驶规则的车道确定道路导航路径对应的车道导航路径。图6示出根据本公开实施例的一种车道导航路径生成方法的步骤S40的流程图。其中，如上述实施例所述，本公开实施例在得到道路序列的情况下，还可以得到道路序列相邻道路之间的转向信息，本公开实施例可以根据满足行驶规则的车道以及转向信息确定车道导航路径。
如图6所示，所述利用满足行驶规则的车道以及所述转向信息，确定与所述道路导航路径对应的车道导航路径，包括：
S41：利用所述道路序列中相邻道路之间的转向信息，确定满足行驶规则的车道的优先级；
在一些可能的实施方式中，可以首先获取地图文件的车道属性信息中为满足行驶规则的车道标注的标识值，根据该标识值以及车道之间的转向信息，可以确定车道的优先级。
其中，在两个相邻道路之间的转向信息为向第一方向转向的情况下，按照所述两个相邻道路中车道标识值的正比例确定所述两个相邻道路中车道的优先级；在两个相邻道路之间的转向信息为向第二方向转向的情况下，按照所述两个相邻道路中车道标识值的反比例确定所述两个相邻道路中车道的优先级。也就是说，本公开实施例可以在相邻的两个车道之间的转向信息为向左转向时，车道的标识值越大，该车道的优先级就越小，相反的，在相邻的两个车道之间的转向信息为向右转向时，车道的标识值约大，该车道的优先级就越高。
S42：利用满足行驶规则的车道对应的优先级，确定与所述车道导航路径对应的车道导航路径。
在确定道路中车道的优先级顺序的情况下，可以将优先级最高的车道之间的链接关系，确定为车道导航路径对应的车道链接关系，从而基于确定的车道链接关系生成车道导航路径。
例如，在roadi和roadj为道路序列中的两个相邻的道路标识，其中道路对应的道路可以具有两个满足行驶规则的车道，车道标识值可以为1和2。如果roadi和roadj之间为向左转向，此时道路标识为1的车道的优先级就是最高的车道，如果roadi和roadj之间为向右转向，此时道路标识为2的车道的优先级就是最高的车道。
另外，如果两个道路之间的转向信息为直行，此时可以将该两个相邻道路的前一道路的优先级最高的车道，确定为该两个道路中优先级最高的车道。
通过上述实施例可以简单方便的确定导航点对应的道路序列、道路之间的转向信息以及对应的道路中车道之间的链接关系。
为了清楚的体现本公开实施例，下面举例说明本公开实施例的过程。本公开实施例在得到道路导航路径的情况下，可以利用配置的地图文件得到道路导航路径对应的道路序列。其中可以根据一个或多个导航点，查找该导航点在地图文件中所在的道路id，如果该导航点位于路口内，则可以跳过这些点。进而对查询得到的道路id进行合并，最终拿到Road_i->Road_j->Road_k的道路序列，同时保存一段或多段道路对应的导航点信息。如图4所示为得到的道路序列的示意图。其中，可以为道路以及路口分配相应的标识，例如Navigation line表示道路导航路径，road i,Road j，Road k可以表示道路的标识，Junction1和Jonction2可以表示路口标识。
在得到道路序列的情况下，可以进一步确定道路序列中相邻道路之间的转向信息。其中可以遍历道路序列中的道路，对一段道路，根据该道路在道路导航路径上对应的导航点，获取该道路的导航线向量，如图5中的v1和v2。继而可以判断两个向量之间的夹角， 如果夹角小于某一阈值(角度阈值)，则认为是直行，否则根据两向量的叉乘正负号判断左转还是右转。
在得到转向信息的情况下，还可以进一步确定满足行驶规则的车道以及得到车道链接关系形成的车道导航路径，其中，本公开实施例的地图文件中的车道属性信息中可以为的车道分配对应的标识符号以及标识值，结合图2，在参考线reference line的左侧车道标识符号为正，右侧车道标识符号为负，根据左行或右行的交通规则，对车道进行过滤，得到满足规则的车道。比如，在右行交通规则下，过滤掉标识符号为正id的车道，保留负id的车道。同时还可以过滤掉非机动车道。然后根据转向信息，对剩余车道进行排序。在右行交通规则下，如果是左转，选择绝对值最小的车道作为主车道(优先级最高的车道)，如果是右转选择绝对值最大的车道作为主车道。对一段或多段道路都进行上述操作，可以得到最终的整个车道链接关系表。表1示出根据本公开一个可能实施例得到的车道链接关系表，其中第一列表示道路标识(roadID)，第二列表示优先车道(Lane ID prior)，第三列可以表示其他车道(Lane ID others)，本公开实施例还可以提供备选车道，该备选车道的优先级可以按照得到的车道优先级顺序确定。如表1所示，根据道路导航路径得到的道路序列可以为：
road_5_2—road_5_1—road_1_1—road_1_2—road_2—road-3—road_4_1—road_4_2--road_5_3—road_5_2，对应的得到不同车道道路上的优选车道标识为：-2，-3，-1，-1，-1，-1，-1，-1，-1,-1。第三列中也列出了其他可以备选使用的车道。通过上述配置，可以利用道路中优选的车道方便的得到车道级别的导航路径。
表1
RoadID LaneID Prior Laned others
road_5_2 -2  
road_5_1 -3 -2
road_1_1 -1  
road_1_2 -1  
road_2 -1  
road_3 -1  
road_4_1 -1  
road_4_2 -1  
road_5_3 -2 -1
road_5_2 -2 -1
综上所述，本公开实施例可以利用获取的地图文件以及道路导航路径，确定道路导航路径对应的道路序列，并进一步利用行驶规则确定满足序列中一个或多个道路中满足行驶规则的车道，结合地图文件中标注的车道之间的属性信息以及满足行驶规则的车道，可以确定道路导航路径对应的车道导航路径。其中，不需要通过地图文件中标注车道之间的链接关系，减少了大量的标注成本，并且可以方便的根据道路级别的导航路径得到相应的车道级别的导航路径，方便驾驶控制。
本领域技术人员可以理解，在具体实施方式的上述方法中，各步骤的撰写顺序并不意味着严格的执行顺序而对实施过程构成任何限定，各步骤的具体执行顺序应当以其功能和可能的内在逻辑确定。
可以理解，本公开提及的上述各个方法实施例，在不违背原理逻辑的情况下，均可以彼此相互结合形成结合后的实施例，限于篇幅，本公开不再赘述。
此外，本公开还提供了驾驶控制方法、道路导航路径生成装置、电子设备、计算机可读存储介质、程序，上述均可用来实现本公开提供的任一种车道导航路径生成方法， 相应技术方案和描述和参见方法部分的相应记载，不再赘述。
图7示出根据本公开实施例的一种驾驶控制方法的流程图，如图7所示，驾驶控制方法可以包括：
S100：基于输入信息确定道路导航路径；
在一些可能的实施方式中，驾驶控制方法可以应用在任意的可移动设备(智能移动设备)中，用于控制可移动设备的移动行驶。可移动设备可以是电动车辆、玩具车、智能机器人等，本公开对此不作具体限定。
在一些可能的实施方式中，可以在可移动设备上配置信息输入设备，如触控屏。通过信息输入设备接收起点和终点，地图文件根据该输入的信息可以确定起点和终点之间的道路导航路径。或者信息输入设备还可以接收其他设备传输的道路导航路径。本公开实施例对获取道路导航路径的方式不作具体限定。
S200：利用车道导航路径生成方法，确定道路导航路径对应的车道导航路径；
在一些可能的实施方式中，在得到道路导航路径的情况下，可以利用本公开实施例上述所述的车道导航路径生成方法，得到道路导航路径对应的车道导航路径。
S300：基于所述车道导航路径对智能移动设备进行驾驶控制。
在得到车道导航路径的情况下，可以按照车道导航路径执行对智能移动设备的控制，本公开实施例可以实施获取智能移动设备的定位信息，并根据定位信息以及车道导航路径确定智能移动设备当前应当行驶的车道，从而控制智能移动设备在确定的车道上行驶，同时还可以输出车道的提示信息。
另外，本公开实施例还提供了一种车道导航路径生成装置，图8示出根据本公开实施例的一种车道导航路径生成装置的框图，如图8所示，所述装置包括：
获取模块10，用于获取道路导航路径和包括有车道属性信息和道路属性信息的地图文件；
道路序列确定模块20，用于基于所述地图文件的道路属性信息，确定所述道路导航路径对应的道路序列；
车道确定模块30，用于基于所述地图文件中的车道属性信息，确定所述道路序列中满足行驶规则的车道；
车道导航路径生成模块40，用于利用满足行驶规则的车道，确定与所述道路导航路径对应的车道导航路径。
在一些可能的方式中，所述道路序列确定模块还用于：
基于所述道路导航路径中的导航点在所述地图文件中的位置，以及所述地图文件中的道路属性信息，确定所述导航点对应的道路标识，所述道路属性信息包括位置信息对应的道路标识；
基于确定的所述道路标识，确定所述道路导航路径对应的道路序列。
在一些可能的方式中，所述道路序列确定模块用于：
利用所述地图文件，确定所属道路导航路径中的转向区域，所述转向区域包括路口和/或转向弯道；
响应于所述道路导航路径中不存在所述转向区域，利用所述道路导航路径中一个或多个导航点对应的道路标识的去重结果确定所述道路序列。
在一些可能的方式中，所述道路序列确定模块还用于：
响应于所述道路导航路径中存在转向区域，确定所述道路导航路径中位于所述转向区域内的第一导航点以及位于所述转向区域以外的第二导航点，所述转向区域包括路口和/或转向弯道；
利用所述第一导航点在所述地图文件中的位置，确定所述第一导航点对应的转向区域标识，以及利用所述第二导航点在所述地图文件中的位置，确定所述第二导航点对应 的道路标识；
基于所述第一导航点对应的转向区域标识以及所述第二导航点对应的道路标识的去重结果，确定所述导航路径对应的所述道路序列。
在一些可能的方式中，所述车道确定模块还用于在所述基于所述地图文件中的车道属性信息，确定所述道路序列中满足行驶规则的车道之前，基于左侧行驶的交通规则，确定所述行驶规则为第一行驶规则；
基于右侧行驶的交通规则，确定所述行驶规则为第二行驶规则，所述第一行驶规则和第二行驶规则不同。
在一些可能的方式中，所述车道确定模块还用于：
利用所述地图文件中标注的车道对应的标识符号，确定所述道路序列中满足行驶规则的车道。
在一些可能的方式中，所述道路序列确定模块还用于：基于所述道路序列中的道路标识确定所述道路序列中相邻道路之间的转向信息；
所述车道导航路径生成模块还用于：利用满足行驶规则的车道以及所述转向信息，确定与所述道路导航路径对应的车道导航路径。
在一些可能的方式中，所述道路序列确定模块还用于：
基于所述道路序列中道路标识对应的导航点在所述地图文件中的位置，确定所述道路标识对应的导航线向量；
基于所述道路序列中相邻道路标识分别对应的导航线向量，确定所述相邻道路标识对应的相邻道路之间的转向信息。
在一些可能的方式中，所述道路序列确定模块还用于：
基于所述道路序列中所述道路标识对应的至少两个导航点在所述地图文件中的位置，确定所述道路标识对应的导航线向量。
在一些可能的方式中，所述道路序列确定模块还用于执行所述基于所述道路序列中相邻道路标识分别对应的导航线向量，确定所述相邻道路标识对应的相邻道路之间的转向信息，包括以下方式中的至少一种：
响应于所述相邻道路标识分别对应的导航线向量之间夹角小于角度阈值，确定所述相邻道路标识对应的相邻道路之间的转向信息为直行；
响应于所述相邻道路标识分别对应的导航线向量之间的乘积大于乘积阈值，确定所述相邻道路标识对应的相邻道路之间的转向信息为向第一方向转向；
响应于所述相邻道路标识分别对应的导航线向量之间的乘积小于或者等于乘积阈值，确定所述相邻道路标识对应的相邻道路之间的转向信息为向第二方向转向。
在一些可能的方式中，所述车道导航路径生成模块还用于：
利用所述道路序列中相邻道路之间的转向信息，确定满足行驶规则的车道的优先级；
利用满足行驶规则的车道对应的优先级，确定与所述道路导航路径对应的车道导航路径。
在一些可能的方式中，所述车道导航路径生成模块还用于：
基于所述地图文件中车道属性信息，确定满足行驶规则的车道的标识值；
按照所述道路序列中相邻道路之间的转向信息以及相应道路中车道的标识值，确定满足行驶规则的车道的优先级。
在一些可能的方式中，所述车道导航路径生成模块还用于：
响应于相邻道路之间的转向信息为向第一方向转向，按照所述两个相邻道路中车道标识值的反比例确定所述两个相邻道路中车道的优先级；
响应于相邻道路之间的转向信息为向第二方向转向，按照所述两个相邻道路中车道标识值的正比例确定所述两个相邻道路中车道的优先级；
响应于相邻道路之间的转向信息为直行，确定所述相邻道路中车道的优先级相同。
在一些可能的方式中，所述车道导航路径生成模块：
将所述满足行驶规则的车道中优先级最高的车道，确定为构成所述车道导航路径的车道。
根据本公开的第四方面，提供了一种驾驶控制装置，包括：
道路导航路径确定模块用于基于输入信息确定道路导航路径；
生成模块，用于利用所述第一方面中任意一项所述的车道导航路径生成方法，确定所述道路导航路径对应的车道导航路径；
控制模块，用于基于所述车道导航路径对智能移动设备进行驾驶控制。
根据本公开的第五方面，提供了一种电子设备，其包括：
处理器；
用于存储处理器可执行指令的存储器；
其中，所述处理器被配置为调用所述存储器存储的指令，以执行第一方面中任意一项所述的方法，或者执行第二方面所述的方法。
根据本公开的第六方面，提供了一种计算机可读存储介质，其上存储有计算机程序指令，所述计算机程序指令被处理器执行时实现第一方面中任意一项所述的方法，或者实现第二方面所述的方法。
在一些实施例中，本公开实施例提供的装置具有的功能或包含的模块可以用于执行上文方法实施例描述的方法，其具体实现可以参照上文方法实施例的描述，为了简洁，这里不再赘述。
本公开实施例还提出一种计算机可读存储介质，其上存储有计算机程序指令，所述计算机程序指令被处理器执行时实现上述方法。计算机可读存储介质可以是非易失性计算机可读存储介质。
本公开实施例还提出一种电子设备，包括：处理器；用于存储处理器可执行指令的存储器；其中，所述处理器被配置为上述方法。
电子设备可以被提供为终端、服务器或其它形态的设备。
图9示出根据本公开实施的一种电子设备800的框图。例如，电子设备800可以是移动电话，计算机，数字广播终端，消息收发设备，游戏控制台，平板设备，医疗设备，健身设备，个人数字助理等终端。
参照图9，电子设备800可以包括以下一个或多个组件：处理组件802，存储器804，电源组件806，多媒体组件808，音频组件810，输入/输出(I/O)的接口812，传感器组件814，以及通信组件816。
处理组件802通常控制电子设备800的整体操作，诸如与显示，电话呼叫，数据通信，相机操作和记录操作相关联的操作。处理组件802可以包括一个或多个处理器820来执行指令，以完成上述的方法的全部或部分步骤。此外，处理组件802可以包括一个或多个模块，便于处理组件802和其他组件之间的交互。例如，处理组件802可以包括多媒体模块，以方便多媒体组件808和处理组件802之间的交互。
存储器804被配置为存储各种类型的数据以支持在电子设备800的操作。这些数据的示例包括用于在电子设备800上操作的任何应用程序或方法的指令，联系人数据，电话簿数据，消息，图片，视频等。存储器804可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。
电源组件806为电子设备800的各种组件提供电力。电源组件806可以包括电源管理系统，一个或多个电源，及其他与为电子设备800生成、管理和分配电力相关联的组件。
多媒体组件808包括在所述电子设备800和用户之间的提供一个输出接口的屏幕。在一些实施例中，屏幕可以包括液晶显示器(LCD)和触摸面板(TP)。如果屏幕包括触摸面板，屏幕可以被实现为触摸屏，以接收来自用户的输入信号。触摸面板包括一个或多个触摸传感器以感测触摸、滑动和触摸面板上的手势。所述触摸传感器可以不仅感测触摸或滑动动作的边界，而且还检测与所述触摸或滑动操作相关的持续时间和压力。在一些实施例中，多媒体组件808包括一个前置摄像头和/或后置摄像头。当电子设备800处于操作模式，如拍摄模式或视频模式时，前置摄像头和/或后置摄像头可以接收外部的多媒体数据。每个前置摄像头和后置摄像头可以是一个固定的光学透镜系统或具有焦距和光学变焦能力。
音频组件810被配置为输出和/或输入音频信号。例如，音频组件810包括一个麦克风(MIC)，当电子设备800处于操作模式，如呼叫模式、记录模式和语音识别模式时，麦克风被配置为接收外部音频信号。所接收的音频信号可以被进一步存储在存储器804或经由通信组件816发送。在一些实施例中，音频组件810还包括一个扬声器，用于输出音频信号。
I/O接口812为处理组件802和外围接口模块之间提供接口，上述外围接口模块可以是键盘，点击轮，按钮等。这些按钮可包括但不限于：主页按钮、音量按钮、启动按钮和锁定按钮。
传感器组件814包括一个或多个传感器，用于为电子设备800提供各个方面的状态评估。例如，传感器组件814可以检测到电子设备800的打开/关闭状态，组件的相对定位，例如所述组件为电子设备800的显示器和小键盘，传感器组件814还可以检测电子设备800或电子设备800一个组件的位置改变，用户与电子设备800接触的存在或不存在，电子设备800方位或加速/减速和电子设备800的温度变化。传感器组件814可以包括接近传感器，被配置用来在没有任何的物理接触时检测附近物体的存在。传感器组件814还可以包括光传感器，如CMOS或CCD图像传感器，用于在成像应用中使用。在一些实施例中，该传感器组件814还可以包括加速度传感器，陀螺仪传感器，磁传感器，压力传感器或温度传感器。
通信组件816被配置为便于电子设备800和其他设备之间有线或无线方式的通信。电子设备800可以接入基于通信标准的无线网络，如WiFi，2G或3G，或它们的组合。在一个示例性实施例中，通信组件816经由广播信道接收来自外部广播管理系统的广播信号或广播相关信息。在一个示例性实施例中，所述通信组件816还包括近场通信(NFC)模块，以促进短程通信。例如，在NFC模块可基于射频识别(RFID)技术，红外数据协会(IrDA)技术，超宽带(UWB)技术，蓝牙(BT)技术和其他技术来实现。
在示例性实施例中，电子设备800可以被一个或多个应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述方法。
在示例性实施例中，还提供了一种非易失性计算机可读存储介质，例如包括计算机程序指令的存储器804，上述计算机程序指令可由电子设备800的处理器820执行以完成上述方法。
图10示出根据本公开实施例的另一种电子设备1900的框图。例如，电子设备1900可以被提供为一服务器。参照图10，电子设备1900包括处理组件1922，其进一步包括一个或多个处理器，以及由存储器1932所代表的存储器资源，用于存储可由处理组件1922的执行的指令，例如应用程序。存储器1932中存储的应用程序可以包括一个或一个以上的每一个对应于一组指令的模块。此外，处理组件1922被配置为执行指令，以执行上述方法。
电子设备1900还可以包括一个电源组件1926被配置为执行电子设备1900的电源管理，一个有线或无线网络接口1950被配置为将电子设备1900连接到网络，和一个输入输出(I/O)接口1958。电子设备1900可以操作基于存储在存储器1932的操作系统，例如Windows ServerTM，Mac OS XTM，UnixTM,LinuxTM，FreeBSDTM或类似。
在示例性实施例中，还提供了一种非易失性计算机可读存储介质，例如包括计算机程序指令的存储器1932，上述计算机程序指令可由电子设备1900的处理组件1922执行以完成上述方法。
本公开可以是系统、方法和/或计算机程序产品。计算机程序产品可以包括计算机可读存储介质，其上载有用于使处理器实现本公开的各个方面的计算机可读程序指令。
计算机可读存储介质可以是可以保持和存储由指令执行设备使用的指令的有形设备。计算机可读存储介质例如可以是――但不限于――电存储设备、磁存储设备、光存储设备、电磁存储设备、半导体存储设备或者上述的任意合适的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、静态随机存取存储器(SRAM)、便携式压缩盘只读存储器(CD-ROM)、数字多功能盘(DVD)、记忆棒、软盘、机械编码设备、例如其上存储有指令的打孔卡或凹槽内凸起结构、以及上述的任意合适的组合。这里所使用的计算机可读存储介质不被解释为瞬时信号本身，诸如无线电波或者其他自由传播的电磁波、通过波导或其他传输媒介传播的电磁波(例如，通过光纤电缆的光脉冲)、或者通过电线传输的电信号。
这里所描述的计算机可读程序指令可以从计算机可读存储介质下载到各个计算/处理设备，或者通过网络、例如因特网、局域网、广域网和/或无线网下载到外部计算机或外部存储设备。网络可以包括铜传输电缆、光纤传输、无线传输、路由器、防火墙、交换机、网关计算机和/或边缘服务器。每个计算/处理设备中的网络适配卡或者网络接口从网络接收计算机可读程序指令，并转发该计算机可读程序指令，以供存储在各个计算/处理设备中的计算机可读存储介质中。
用于执行本公开操作的计算机程序指令可以是汇编指令、指令集架构(ISA)指令、机器指令、机器相关指令、微代码、固件指令、状态设置数据、或者以一种或多种编程语言的任意组合编写的源代码或目标代码，所述编程语言包括面向对象的编程语言—诸如Smalltalk、C++等，以及常规的过程式编程语言—诸如“C”语言或类似的编程语言。计算机可读程序指令可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络—包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。在一些实施例中，通过利用计算机可读程序指令的状态信息来个性化定制电子电路，例如可编程逻辑电路、现场可编程门阵列(FPGA)或可编程逻辑阵列(PLA)，该电子电路可以执行计算机可读程序指令，从而实现本公开的各个方面。
这里参照根据本公开实施例的方法、装置(系统)和计算机程序产品的流程图和/或框图描述了本公开的各个方面。应当理解，流程图和/或框图的每个方框以及流程图和/或框图中各方框的组合，都可以由计算机可读程序指令实现。
这些计算机可读程序指令可以提供给通用计算机、专用计算机或其它可编程数据处理装置的处理器，从而生产出一种机器，使得这些指令在通过计算机或其它可编程数据处理装置的处理器执行时，产生了实现流程图和/或框图中的一个或多个方框中规定的功能/动作的装置。也可以把这些计算机可读程序指令存储在计算机可读存储介质中，这些指令使得计算机、可编程数据处理装置和/或其他设备以特定方式工作，从而，存储有指 令的计算机可读介质则包括一个制造品，其包括实现流程图和/或框图中的一个或多个方框中规定的功能/动作的各个方面的指令。
也可以把计算机可读程序指令加载到计算机、其它可编程数据处理装置、或其它设备上，使得在计算机、其它可编程数据处理装置或其它设备上执行一系列操作步骤，以产生计算机实现的过程，从而使得在计算机、其它可编程数据处理装置、或其它设备上执行的指令实现流程图和/或框图中的一个或多个方框中规定的功能/动作。
附图中的流程图和框图显示了根据本公开的多个实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或指令的一部分，所述模块、程序段或指令的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
以上已经描述了本公开的各实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。本文中所用术语的选择，旨在最好地解释各实施例的原理、实际应用或对市场中的技术的技术改进，或者使本技术领域的其它普通技术人员能理解本文披露的各实施例。

Claims (15)

  1. 一种车道导航路径生成方法，其特征在于，包括：
    获取道路导航路径和包括有车道属性信息和道路属性信息的地图文件；
    基于所述地图文件的道路属性信息，确定所述道路导航路径对应的道路序列；
    基于所述地图文件中的车道属性信息，确定所述道路序列中满足行驶规则的车道；
    利用满足行驶规则的车道，确定与所述道路导航路径对应的车道导航路径。
  2. 根据权利要求1所述的方法，其特征在于，所述基于所述地图文件的道路属性信息，确定所述道路导航路径对应的道路序列，包括：
    基于所述道路导航路径中的导航点在所述地图文件中的位置，以及所述地图文件中的道路属性信息，确定所述导航点对应的道路标识，所述道路属性信息包括位置信息对应的道路标识；
    基于确定的所述道路标识，确定所述道路导航路径对应的道路序列。
  3. 根据权利要求1或2所述的方法，其特征在于，所述基于所述地图文件的道路属性信息，确定所述道路导航路径对应的道路序列，包括：
    利用所述地图文件，确定所属道路导航路径中的转向区域，所述转向区域包括路口和/或转向弯道；
    响应于所述道路导航路径中不存在所述转向区域，利用所述道路导航路径中一个或多个导航点对应的道路标识的去重结果确定所述道路序列。
  4. 根据权利要求1-3中任意一项所述的方法，其特征在于，所述基于所述地图文件的道路属性信息，确定所述道路导航路径对应的道路序列，包括：
    响应于所述道路导航路径中存在转向区域，确定所述道路导航路径中位于所述转向区域内的第一导航点以及位于所述转向区域以外的第二导航点，所述转向区域包括路口和/或转向弯道；
    利用所述第一导航点在所述地图文件中的位置，确定所述第一导航点对应的转向区域标识，以及利用所述第二导航点在所述地图文件中的位置，确定所述第二导航点对应的道路标识；
    基于所述第一导航点对应的转向区域标识以及所述第二导航点对应的道路标识的去重结果，确定所述导航路径对应的所述道路序列。
  5. 根据权利要求1-4中任意一项所述的方法，其特征在于，
    在所述基于所述地图文件中的车道属性信息，确定所述道路序列中满足行驶规则的车道之前，所述方法还包括：
    响应于左侧行驶的交通规则，确定所述行驶规则为第一行驶规则；
    响应于右侧行驶的交通规则，确定所述行驶规则为第二行驶规则，所述第一行驶规则和第二行驶规则不同；
    和/或，
    所述基于所述地图文件中的车道属性信息，确定所述道路序列中满足行驶规则的车道，包括：
    利用所述地图文件中标注的车道对应的标识符号，确定所述道路序列中满足行驶规则的车道。
  6. 根据权利要求1-5中任意一项所述的方法，其特征在于，所述方法还包括：
    基于所述道路序列中的道路标识确定所述道路序列中相邻道路之间的转向信息；
    所述利用满足行驶规则的车道，确定与所述道路导航路径对应的车道导航路径，包括：利用满足行驶规则的车道以及所述转向信息，确定与所述道路导航路径对应的车道导航路径。
  7. 根据权利要求6所述的方法，其特征在于，所述基于所述道路序列中的道路标识确定所述道路序列中相邻道路之间的转向信息，包括：
    基于所述道路序列中道路标识对应的导航点在所述地图文件中的位置，确定所述道路标识对应的导航线向量；
    基于所述道路序列中相邻道路标识分别对应的导航线向量，确定所述相邻道路标识对应的相邻道路之间的转向信息。
  8. 根据权利要求7所述的方法，其特征在于，所述基于所述道路序列中相邻道路标识分别对应的导航线向量，确定所述相邻道路标识对应的相邻道路之间的转向信息，包括以下方式中的至少一种：
    响应于所述相邻道路标识分别对应的导航线向量之间夹角小于角度阈值，确定所述相邻道路标识对应的相邻道路之间的转向信息为直行；
    响应于所述相邻道路标识分别对应的导航线向量之间的乘积大于乘积阈值，确定所述相邻道路标识对应的相邻道路之间的转向信息为向第一方向转向；
    响应于所述相邻道路标识分别对应的导航线向量之间的乘积小于或者等于乘积阈值，确定所述相邻道路标识对应的相邻道路之间的转向信息为向第二方向转向。
  9. 根据权利要求7或8所述的方法，其特征在于，所述利用满足行驶规则的车道以及所述转向信息，确定与所述道路导航路径对应的车道导航路径，包括：
    利用所述道路序列中相邻道路之间的转向信息，确定满足行驶规则的车道的优先级；
    利用满足行驶规则的车道对应的优先级，确定与所述道路导航路径对应的车道导航路径。
  10. 一种驾驶控制方法，其特征在于，包括：
    基于输入信息确定道路导航路径；
    利用所述权利要求1-9中任意一项所述的车道导航路径生成方法，确定所述道路导航路径对应的车道导航路径；
    基于所述车道导航路径对智能移动设备进行驾驶控制。
  11. 一种车道导航路径生成装置，其特征在于，包括：
    获取模块，用于获取道路导航路径和包括有车道属性信息和道路属性信息的地图文件；
    道路序列确定模块，用于基于所述地图文件的道路属性信息，确定所述道路导航路径对应的道路序列；
    车道确定模块，用于基于所述地图文件中的车道属性信息，确定所述道路序列中满足行驶规则的车道；
    车道导航路径生成模块，用于利用满足行驶规则的车道，确定与所述道路导航路径对应的车道导航路径。
  12. 一种驾驶控制装置，其特征在于，包括：
    道路导航路径确定模块用于基于输入信息确定道路导航路径；
    生成模块，用于利用所述权利要求1-9中任意一项所述的车道导航路径生成方法，确定所述道路导航路径对应的车道导航路径；
    控制模块，用于基于所述车道导航路径对智能移动设备进行驾驶控制。
  13. 一种计算机设备，其特征在于，包括：处理器；
    用于存储处理器可执行指令的存储器；
    其中，所述处理器被配置为：执行权利要求1至9中任意一项所述的车道导航路径生成方法，或者，执行权利要求10所述的驾驶控制方法。
  14. 一种计算机可读存储介质，其上存储有计算机程序指令，其特征在于，所述计算机程序指令被处理器执行时实现权利要求1至9中任意一项所述的车道导航路径生成方法，或者，实现权利要求10所述的驾驶控制方法。
  15. 一种计算机程序，包括计算机可读代码，当所述计算机代码在电子设备中运行 时，所述电子设备中的处理器执行用于实现权利要求1至9中任一项所述的车道导航路径生成方法，或者，实现权利要求10所述的驾驶控制方法。
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