WO2022205617A1 - 一种导航方法、装置、电子设备及存储介质 - Google Patents
一种导航方法、装置、电子设备及存储介质 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
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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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
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/25—Data precision
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
Definitions
- the present disclosure relates to the technical field of vehicle navigation, and in particular, to a navigation method, an apparatus, an electronic device, and a storage medium.
- a driverless car also called an autonomous car, refers to a car that can perceive the surrounding environment and drive autonomously without human participation.
- the driverless car usually needs to rely on a pre-built high-precision map to assist with positioning and navigation. How to efficiently determine the navigation route in real time based on high-precision maps has become an urgent problem to be solved.
- the embodiments of the present disclosure provide at least one navigation solution.
- an embodiment of the present disclosure provides a navigation method, including:
- the target guide line Based on the guide line, generating a target guide line for the target vehicle to reach the navigation destination from the current positioning position, and the target guide line is formed by splicing the guide lines of at least one of the lanes;
- the target vehicle is controlled to travel according to the target guideline.
- the navigation lines associated with each lane of the target vehicle can be pre-generated, so that the target vehicle can quickly determine the target from the current positioning position to the navigation destination according to the pre-generated navigation lines during the driving process. navigation lines to improve navigation efficiency.
- the navigation line includes a first navigation route for guiding the driving path of the vehicle in the lane;
- the generating, based on the navigation line, the target navigation line for the target vehicle to reach the navigation destination from the current positioning position including:
- the target navigation lines are obtained by splicing the first navigation routes corresponding to the first lane groups according to the sequence from the current positioning position to the navigation destination.
- the first navigation routes corresponding to at least one passing lane can be connected in sequence to quickly obtain the information for Indicates the target guideline for the target vehicle to reach the navigation destination from the current positioning position.
- the navigation line further includes a second navigation route corresponding to the intersection connected with the lane, and the second navigation route is used to guide the vehicle to travel from the first lane connected by the intersection to the second navigation route.
- the generating, based on the navigation line, the target navigation line for the target vehicle to reach the navigation destination from the current positioning position including:
- the first navigation route corresponding to the second lane group and the second navigation route corresponding to the intersection set respectively are spliced according to the sequence from the current positioning position to the navigation destination to obtain the target navigation line.
- the first navigation route corresponding to at least one lane and the second navigation corresponding to at least one intersection can be based on the passing through.
- the routes are connected in sequence, and the target navigation line used to instruct the target vehicle to reach the navigation destination from the current positioning position is quickly obtained.
- the generating of the target navigation line for the target vehicle to reach the navigation destination from the current positioning position based on the navigation line includes:
- the target sub-guidelines are spliced to obtain the target guideline.
- the road can be segmented according to the intersection information included in the road between the current positioning position and the navigation destination, and further, based on the target sub-navigation line of each road segment, the target sub-navigation line for indicating the target can be quickly obtained.
- the target navigation line of the vehicle from the current positioning position to the navigation destination.
- the navigation line includes a first navigation route for guiding the driving path of the vehicle in the lane and a second navigation route corresponding to the intersection connected with the lane, the second navigation route is used for guiding the vehicle to travel on a travel path from the first lane connected by the intersection to the second lane;
- the plurality of road segments include at least one first road segment, the first road segment passing through at least one intersection;
- the determining, based on the guidance line, a target sub-guidance line of at least one road segment in the plurality of road segments includes, for at least one first road segment:
- the first navigation route of the target lane and the second navigation route corresponding to at least one intersection in the second intersection set are spliced according to the travel sequence in the first road section, and the target sub-section of the first road section is obtained. navigation line.
- the second navigation route corresponding to each intersection included in the first road segment and the first road segment may be determined according to the second navigation route.
- the first navigation route indicated by the second navigation route in the included third lane group is quickly determined to guide the target vehicle through the target sub-navigation line in the first road segment.
- the plurality of road segments further include at least one second road segment, and the second road segment does not pass through an intersection;
- the determining, based on the guidance line, a target sub-guidance line of at least one road segment in the plurality of road segments includes, for at least one second road segment:
- the enlightenment in the second road segment in the process of determining the target sub-navigation line of each second road segment that does not pass through the intersection, can be determined according to the target sub-navigation line of the first road segment connected by the second road segment Lane and end lane, further according to the pre-stored lane connection relationship, the first navigation route of each lane from the start lane to the end lane in the second road segment can be spliced according to the travel sequence, and quickly determine and guide the target vehicle to pass through the first navigation route.
- the target sub-navigation line in the second segment in the process of determining the target sub-navigation line of each second road segment that does not pass through the intersection.
- the first navigation route is pre-generated according to the following steps:
- a first navigation route corresponding to the lane is determined based on the geographic positions of the plurality of center location points in the road scene.
- a plurality of position points are respectively extracted from the lane lines corresponding to the lane indicating the boundaries on both sides of the lane to form a plurality of position point pairs, including:
- the number of position points is determined by the length of the longer lane line among the two lane lines included in the lane, and a position point pair more matching the shape of the lane can be obtained, so as to obtain a center position with higher accuracy point.
- determining the geographic locations of multiple center location points of the lane in the road scene based on the respective geographic locations of the multiple location point pairs in the road scene include:
- the geographic location of the center location point of the line connecting the location point pair in the road scene is determined.
- the determining the first navigation route corresponding to the lane based on the geographic positions of the plurality of center location points in the road scene includes:
- curve fitting is performed on the plurality of center position points to obtain a first fitting curve
- the geographic locations of the points in the road scene extracted from the first fitting curve are used as the driving track of the first navigation route corresponding to the lane.
- the center line of the lane can be obtained by fitting several center points of the lane, and then a plurality of points are extracted on the center line, so as to accurately obtain the driving trajectory that guides the target vehicle to drive in the same lane .
- the lanes of different roads connected by the same intersection include a first lane and a second lane, and the second navigation route is generated according to the following steps:
- the first center position point passed when entering the intersection from the first lane, and the second center position point passing through when entering the second lane from the intersection;
- the first center position point is the the last center position point on the first lane, and the second center position point is the first center position point on the second lane;
- the starting point and the ending position of the target vehicle at the intersection are planned, the direction in which the target vehicle enters the intersection from the starting position, and the direction in which it drives from the intersection to the end point.
- the driving track of the second navigation route with higher accuracy is obtained.
- the driving track of the second navigation route at the intersection when entering the second lane including:
- a plurality of parameters for controlling the shape of the second navigation route are determined target control point;
- a driving trajectory of a second navigation route at the intersection is determined when entering the second lane from the first lane.
- the steering angle, the first center position point, the second center position point, the first direction vector, and the second direction can be driven through the first lane to the second lane first.
- the vector is used to determine multiple target control points that control the shape of the second navigation route, so as to obtain the driving track of the second navigation route with high accuracy.
- the determining based on the steering angle, the first center position point, the second center position point, the first direction vector and the second direction vector A plurality of target control points that control the shape of the second navigation route, including:
- the location points constitute the plurality of target control points.
- the first center position point, the second center position point, and the first direction vector and the second direction vector can be quickly determined. Take the second navigation route corresponding to the two lanes at the intersection.
- the determining based on the steering angle, the first center position point, the second center position point, the first direction vector and the second direction vector A plurality of target control points that control the shape of the second navigation route, including:
- the plurality of target control points are determined.
- the first safety avoidance point determines the multiple target control points, including:
- the third target point, the other plurality of target points determined, and the fourth target point constitute the plurality of target control points.
- the determining, based on the multiple target control points, the driving trajectory of the second navigation route at the intersection when the first lane enters the second lane including:
- the geographic locations of the points in the road scene extracted from the second fitting curve are taken as the driving track of the second navigation route at the intersection when entering the second lane from the first lane .
- controlling the target vehicle to drive according to the target navigation line includes:
- the target guideline is adjusted based on the geographic location of the obstacle, so as to control the target vehicle to avoid the obstacle.
- the obstacle in the process of controlling the target vehicle to drive along the target navigation line, if a dynamic obstacle is detected, the obstacle can be avoided based on the geographic location of the dynamic obstacle in the road scene, thereby improving the driving safety.
- an embodiment of the present disclosure provides a navigation device, including:
- the acquisition module is used to acquire the current positioning position and navigation destination of the target vehicle and the navigation line associated with at least one lane on the road between the current positioning position and the navigation destination, wherein the navigation line is a predetermined Generated;
- a generating module configured to generate, based on the navigation line, a target navigation line for the target vehicle to reach the navigation destination from the current positioning position, and the target navigation line is formed by splicing the navigation lines of at least one of the lanes;
- the control module is configured to control the target vehicle to travel according to the target guideline.
- embodiments of the present disclosure provide an electronic device, including: a processor, a memory, and a bus, where the memory stores machine-readable instructions executable by the processor, and when the electronic device runs, the processing
- the processor communicates with the memory through a bus, and the machine-readable instructions execute the steps of the navigation method according to the first aspect when executed by the processor.
- an embodiment of the present disclosure provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is run by a processor, the steps of the navigation method according to the first aspect are executed .
- embodiments of the present disclosure provide a computer program product, including computer-readable codes, or a non-volatile computer-readable storage medium carrying computer-readable codes, when the computer-readable codes are stored in an electronic device
- the processor in the electronic device executes the steps of the navigation method according to the first aspect.
- FIG. 1 shows a flowchart of a navigation method provided by an embodiment of the present disclosure
- FIG. 2 shows a schematic diagram of an intersection in a road scene provided by an embodiment of the present disclosure
- FIG. 3 shows a flowchart of a method for determining a first navigation route corresponding to a lane provided by an embodiment of the present disclosure
- FIG. 4 shows a schematic diagram of a first navigation route corresponding to a lane provided by an embodiment of the present disclosure
- FIG. 5 shows a flowchart of a method for determining a second navigation route provided by an embodiment of the present disclosure
- FIG. 6 shows a flowchart of a specific method for determining a second navigation route provided by an embodiment of the present disclosure
- FIG. 7 shows a flowchart of a method for controlling the driving of a target vehicle provided by an embodiment of the present disclosure
- FIG. 8 shows a schematic structural diagram of a navigation device provided by an embodiment of the present disclosure
- FIG. 9 shows a schematic diagram of an electronic device provided by an embodiment of the present disclosure.
- the present disclosure provides a navigation method, which can pre-generate the navigation lines associated with each lane of the target vehicle, so that the target vehicle can quickly determine the location from the current location according to the pre-generated navigation lines during the driving process. Position to reach the target navigation line of the navigation destination, thereby improving navigation efficiency.
- the execution subject of the navigation method provided by the embodiment of the present disclosure is generally a computer device with a certain computing capability, such as a computer device.
- the terminal equipment can be user equipment (User Equipment, UE), mobile equipment, user terminal, terminal, computing equipment, vehicle equipment, wearable equipment and so on.
- the navigation method may be implemented by a processor invoking computer-readable instructions stored in a memory.
- the navigation method includes the following S101-S103:
- S101 Obtain the current positioning position and the navigation destination of the target vehicle, and the guidance lines associated with each lane on the road between the current positioning position and the navigation destination, where the guidance lines are pre-generated.
- the target vehicle may include an unmanned vehicle, and a variety of positioning sensors may be provided on the target vehicle, for example, an inertial measurement unit (Inertial measurement unit, IMU) and a global positioning system (Global Positioning System, GPS) may be installed on the vehicle.
- IMU Inertial measurement unit
- GPS Global Positioning System
- the integrated navigation device can determine the current positioning position of the target vehicle.
- the target vehicle may also be provided with a collection device, such as a monocular camera set on the target vehicle, which is used for shooting during the driving of the target vehicle, and the shooting direction can be preset based on the shooting method.
- the obtained road scene image can use the visual positioning technology to obtain the current positioning position of the target vehicle.
- the navigation line may be composed of a plurality of trajectory points for navigating the target vehicle, each trajectory point corresponds to a unique identification code and the geographic location information of the trajectory point in the road scene, and the target vehicle is in the road scene.
- S102 based on the guide line, generate a target guide line for the target vehicle to reach the navigation destination from the current positioning position, and the target guide line is formed by splicing the guide lines of at least one lane.
- the target navigation line for the target vehicle to reach the navigation destination from the current positioning position can be determined based on the pre-planned navigation line of the same lane;
- the target vehicle can be determined to reach the navigation destination from the current positioning position based on the pre-planned navigation lines corresponding to different lanes and the navigation lines connecting different lanes. target navigation line.
- the target navigation line may include the geographic locations of multiple track points in the road scene, and the target vehicle travels according to the geographic locations corresponding to the multiple track points in the target guide line, and can reach the destination from the current positioning position.
- the target vehicle is controlled to travel according to the target navigation line.
- the target vehicle can be controlled to travel according to the geographic location where each track point in the target navigation line is located until reaching the navigation destination.
- the navigation lines associated with each lane of the target vehicle can be pre-generated, so that the target vehicle can quickly determine the target from the current positioning position to the navigation destination according to the pre-generated navigation lines during the driving process. navigation lines to improve navigation efficiency.
- the navigation line includes a first navigation route for guiding the driving path of the vehicle in the lane; for the above S102, based on the navigation line, generate a target navigation for the target vehicle to reach the navigation destination from the current positioning position
- An optional implementation manner of the line including the following S1021-S1023:
- the lane connection relationship stored in the road scene map corresponding to the road scene includes the preceding lane and the succeeding lane of each lane, wherein the target vehicle can travel from the preceding lane to this lane, and there is this lane that drives to the succeeding lane. Therefore, based on the current lane, the target lane, and the lane connection relationship stored in the road scene map, the first lane group that the target vehicle needs to pass through to reach the navigation destination from the current positioning position can be determined.
- the lane where the current positioning position is located is the lane S1, the subsequent lane of the lane S1 includes the lane S2, and only the subsequent lane S3 of the lane S2 includes the navigation destination, so the target vehicle reaches the navigation destination from the current positioning position.
- the first lane group includes lane S1, lane S2 and lane S3.
- S1022 Extract a first navigation route corresponding to each lane in the first lane group.
- the pre-generated first navigation route of the lane may include N track points, and the N track points may be sequentially encoded according to the driving direction of the lane to obtain each track point.
- the unique identification code of the track point, and the identification code of the track point and the geographic location in the road scene are stored in association.
- the target vehicle driving in an east-west lane if the current positioning position of the target vehicle is the same as that in the lane One of the track points A is matched, and the target vehicle can be instructed how to start from the track point A according to the geographic location of each track point among the N track points included in the first navigation route of the lane and the sequence of the track points.
- the next track point of the track point A is the track point B
- the target vehicle's driving track in this lane is from the track point A to the track point B.
- the target vehicle when the target vehicle is driving on the lane S1, the lane S2 and the lane S3, it can drive according to the driving paths indicated by the respective first navigation routes on the lane S1, the lane S2 and the lane S3, respectively, and follow the current positioning
- the sequence in which the positions reach the navigation destination can be spliced with these first navigation routes, and a target navigation line indicating that the target vehicle arrives at the navigation destination from the current positioning position can be obtained.
- the first navigation routes corresponding to at least one passing lane can be connected in sequence to quickly obtain the information for Indicates the target guideline for the target vehicle to reach the navigation destination from the current positioning position.
- the navigation line further includes a second navigation route corresponding to the intersection connected by the lane, and the second navigation route is used to guide the vehicle to travel from the first lane connected by the intersection to the driving route of the second lane; for
- an optional implementation manner of generating a target navigation line from the current positioning position of the target vehicle to the navigation destination based on the navigation line further includes the following S1024-S1026:
- the first intersection set, the second lane group includes at least two lanes, and the first intersection set includes at least one intersection.
- the target vehicle when the target vehicle is driving in the road scene, in many cases, it needs to pass through different roads, for example, it needs to drive from the first road to the second road, and the first road 1 and the second road need to pass through different roads. 2 are connected through the intersection as shown in Figure 2.
- the target vehicle When the target vehicle reaches the navigation destination and needs to travel from the lane 11 in the first road 1 to the lane 21 in the second road 2, it needs to cross the Since lane 11 and lane 21 are connected at the intersection, a second navigation route between lanes of different roads connected by the same intersection can be generated in advance, for example, the driving at the intersection when entering lane 21 from lane 11 as shown in FIG. 2 can be generated in advance.
- the second navigation route of the path here the lane entering the intersection can be called the first lane
- the lane entering from the intersection can be called the second lane, that is, the lane 11 here is called the first lane
- the lane 21 is called the second lane Lane.
- the second navigation route is similar to the first navigation route, and also includes multiple track points.
- the multiple track points can be encoded according to the driving sequence of the target vehicle between lanes of different roads to obtain
- Each track point in the second navigation route corresponds to a unique identification code and the geographic location information of the track point in the road scene.
- S1025 Extract a first navigation route corresponding to each lane in the second lane group, and a second navigation route corresponding to each intersection in the first intersection set.
- the intersection can be determined as shown in Figure 2 when driving from the current lane to the next lane.
- the driving track of the corresponding second navigation route if you do not need to switch intersections, such as the distance between the two lanes is very close, you can follow the last track point in the first navigation route of the current lane, and the first track point of the next lane. Switch lanes at the first track point in the navigation route.
- the first navigation route corresponding to at least one lane and the second navigation corresponding to at least one intersection can be based on the passing through.
- the routes are connected in sequence, and the target navigation line used to instruct the target vehicle to reach the navigation destination from the current positioning position is quickly obtained.
- an optional implementation manner of generating a target navigation line for the target vehicle to reach the navigation destination from the current positioning position based on the navigation line includes the following S1027-S1030:
- intersection information may include the number of intersections and the pre-stored ID of each intersection, which may be specifically determined according to the pre-stored lane connection relationship, for example, according to the pre-stored lane connection relationship, it is determined to reach the navigation destination from the current positioning position. Roads in between contain intersections.
- S1028 Divide the road into a plurality of road segments according to the intersection information.
- the road between the current positioning position and the navigation destination may be divided into multiple road segments, and among the divided multiple road segments There is a first road segment that contains an intersection and a second road segment that does not contain an intersection.
- the target sub-navigation line of each road segment can be determined according to the type of the road segment, such as the first road segment and the second road segment mentioned above, and the target sub-navigation line of each road segment is used to guide the vehicle to start from the road segment. move from the start position to the end position of the segment.
- the target guideline can be obtained by splicing according to the driving sequence.
- the road can be segmented according to the intersection information included in the road between the current positioning position and the navigation destination, and further, based on the target sub-navigation line of each road segment, the target sub-navigation line for indicating the target can be quickly obtained.
- the target navigation line of the vehicle from the current positioning position to the navigation destination.
- the navigation line includes a first navigation route for guiding the travel path of the vehicle in the lane and a second navigation route corresponding to the intersection connected with the lane, and the second navigation route is used for guiding the vehicle in the first lane connected by the intersection driving path to the second lane;
- the plurality of road segments include at least one first road segment, and the first road segment passes through at least one intersection;
- S10291 Determine a third lane group and a second intersection set in the first road segment, where the third lane group includes at least two lanes, and the second intersection set includes at least one intersection.
- S10292 Extract the second navigation route corresponding to each intersection of the second intersection set, and the first navigation route of the target lane indicated by the second navigation route in the third lane group.
- a pre-generated second navigation route corresponding to the intersection and a first navigation route of the target lane indicated by the second navigation route in the third lane group may be extracted.
- the second navigation route P1P2 that guides the vehicle from lane 11 to lane 21 in the intersection can be extracted, and the target lane 11 and the target lane 11 connected by the second navigation route P1P2 in the third lane group can be extracted.
- the first navigation routes (not shown in FIG. 2 ) corresponding to the target lanes 21 respectively.
- the traveling sequence refers to the traveling sequence of the first road segment in the process of the vehicle reaching the navigation destination from the current positioning position.
- the first navigation route is spliced with the second navigation route P1P2, and after the second navigation route P1P2 is spliced with the first navigation route corresponding to the target lane 21, the target sub-navigation route of the first road segment is obtained.
- the second navigation route corresponding to each intersection included in the first road segment and the first road segment may be determined according to the second navigation route.
- the first navigation route indicated by the second navigation route in the included third lane group is quickly determined to guide the target vehicle through the target sub-navigation line in the first road segment.
- the plurality of road segments further include at least one second road segment, and the second road segment does not pass through the intersection; determining the target sub-navigation line of each road segment in the plurality of road segments based on the navigation line, including for each second road segment:
- S10294 Determine a start lane and an end lane in the second road segment based on the target sub-navigation line of the first road segment connected to the second road segment.
- the lane where the end position of the target sub-navigation line of the previous first road segment connected by the second road segment is located can be used as the starting lane of the second road segment here, and the target of the next first road segment connected by the second road segment.
- the lane where the starting position of the sub-navigation line is located can be used as the ending lane of the second road segment here.
- the starting lane in the second road segment is specified by: The lane where the current positioning position is located is determined, and when the second road segment is the last segment of the plurality of road segments, the ending lane in the second road segment is specifically determined by the lane where the navigation destination is located.
- the enlightenment in the second road segment in the process of determining the target sub-navigation line of each second road segment that does not pass through the intersection, can be determined according to the target sub-navigation line of the first road segment connected by the second road segment Lane and end lane, further according to the pre-stored lane connection relationship, the first navigation route of each lane from the start lane to the end lane in the second road segment can be spliced according to the travel sequence, and quickly determine and guide the target vehicle to pass through the first navigation route.
- the target sub-navigation line in the second segment in the process of determining the target sub-navigation line of each second road segment that does not pass through the intersection.
- the first navigation route can be pre-generated according to the following steps, including S201-S203:
- the center line of the lane can be used as the first navigation route, the center line can be obtained by fitting a plurality of center position points, and the center position points can be obtained by a pair of lane lines on the borders on both sides of the lane. location to be determined.
- the lane contains two lane lines, and a plurality of position points can be extracted on the two lane lines of the lane respectively, so that two position points on different lane lines constitute a position point pair, such as a lane line.
- the position point K1 in L1 and the position point K1' in the lane line L2 form a position point pair
- the position point K2 in the lane line L1 and the position point K2' in the lane line L2 form a position point
- the center position point of the lane can be obtained.
- a plurality of position points are respectively extracted from the lane lines corresponding to the lane indicating the boundaries on both sides of the lane to form a plurality of position points.
- Time synchronization including the following S2011 ⁇ S2014:
- the lengths of the two lane lines contained in the lane in the road scene may be obtained from a road scene map constructed in advance for the road scene, for example, the lengths of the two lane lines contained in the lane are l1 and l2, respectively. .
- the length of the longest lane line among the two lane lines can be jointly determined in combination with the preset location point interval.
- the ratio of the length of the lane line to the preset position point interval is taken as the number of multiple position points, wherein the preset position point interval can be obtained according to experience.
- linear interpolation may be performed according to N on the two lane lines included in the lane to obtain N position points.
- the multiple position points of each lane line may be sorted according to the driving direction, and in the case that the lane does not have the preset driving direction
- the multiple position points of each lane line can be sorted according to the set driving direction, and then two position points with the same serial number in different lane lines can be formed into a position point pair.
- the number of position points is determined by the length of the longer lane line among the two lane lines included in the lane, and a position point pair more matching the shape of the lane can be obtained, so as to obtain the center position with higher accuracy point.
- S202 Determine the geographic locations of multiple center location points of the lane in the road scene based on the respective geographic locations of the multiple location point pairs in the road scene; each location point pair corresponds to a center location point.
- the geographic location of the center location point of the line connecting the location point pair in the road scene is determined.
- a world coordinate system may be constructed for the road scene in advance, and based on this, the world coordinate in the world coordinate system of each location point included on the lane line of the road may be used as the geographic location of the location point in the road scene. .
- the center position point of the line connecting the two position points can be determined in the world coordinate system.
- World coordinates the world coordinates of the center point of the line connecting the two position points can be obtained, which can represent the geographic location of the center point in the road scene.
- S203 Determine a first navigation route corresponding to the lane based on the geographic positions of the plurality of center location points in the road scene.
- S2031 to S2033 may be included:
- curve fitting may be performed on the multiple center position points by means of cubic spline curve fitting to obtain a first fitting curve, which is:
- the first fitted curve may represent the centerline of the lane.
- the preset interval can be determined by the distance traveled from when the target vehicle collects its current geographic location to when the next location point is determined based on the current geographic location, and is on the first fitting curve according to the preset interval. Perform interpolation, extract multiple points on the first fitting curve, and obtain the geographic positions of the multiple points in the road scene.
- the center line of the lane can be obtained by fitting several center points of the lane, and then a plurality of points are extracted on the center line, so as to accurately obtain the driving trajectory that guides the target vehicle to drive in the same lane .
- the lanes of different roads connected by the same intersection include a first lane and a second lane
- the second navigation route is generated according to the following steps, as shown in FIG. 5, which may include the following S301-S303:
- the first lane can be used as the exit lane
- the second lane can be used as the entry lane
- the second navigation route at the intersection when the first lane enters the second lane can be determined here.
- the first center position point that the first lane 11 passes through when entering the intersection may be determined during the process of determining the first navigation route of the first lane, and similarly, the second pass through the intersection when entering the second lane
- the center position point can be determined during the process of determining the first navigation route of the second lane. As shown in FIG.
- the first lane shown in the intersection can be lane 11, lane 12, and lane 13, and the first lane 11 corresponds to
- the second lane may include lane 21, lane 22 and lane 23, the second lane corresponding to the first lane 12 may include lane 31, lane 32 and lane 33, and the second lane corresponding to the first lane 13 may include lane 41, lane 42 and lane 43, wherein point P1 is the first center position point of each first lane, and point P2 is the second center position point of each second lane.
- S302 Determine, based on the respective geographic locations of two adjacent center position points including the first center position point on the first lane, a first direction vector used to represent entering the intersection from the first lane, and based on the first direction vector The geographic positions corresponding to two adjacent center position points including the second center position point on the second lane respectively are determined to represent the second direction vector for entering the second lane from the intersection.
- the first lane includes the previous center position point C1 adjacent to the first center position point P1 as the starting point of the first direction vector, and the first center position Point P1 is used as the end point of the first direction vector, and the first direction vector as shown in Figure 2 is obtained
- the second lane is the entry lane
- the second direction vector shown in Figure 2 is obtained
- the first center position point may represent the starting point of the target vehicle at the intersection
- the second center position point may represent the end point of the target vehicle at the intersection
- the first direction vector may indicate that the target vehicle enters the intersection from the first lane
- the second direction vector can represent the direction when the target vehicle enters the second lane from the intersection. Based on these parameter information, the target vehicle can plan the driving trajectory of the second navigation route that safely passes through the intersection.
- the starting point and the ending position of the target vehicle at the intersection are planned, the direction in which the target vehicle enters the intersection from the starting position, and the direction in which it drives from the intersection to the end point.
- the driving track of the second navigation route with higher accuracy is obtained.
- the angle between the first direction vector and the second direction vector may be used as the steering angle for driving from the first lane into the second lane, and in the case that the first lane is located on the opposite side of the second lane, As shown in Figure 2 above, when lane 11 is the first lane and lane 31 is the second lane, the steering angle is small; when the second lane is located on the right side of the first lane, lane 11 is the first lane in Figure 2 above. , when the lane 21 is the second lane, the steering angle is larger.
- a fourth-order Bezier curve can be introduced to represent the second navigation route.
- five target control points need to be determined, and these five target control points can be used to represent the fourth-order Bezier curve.
- a fourth-order Bezier curve can be determined based on the geographic locations of multiple target control points in the road scene, and further, the driving trajectory of the second navigation route at the intersection when entering the second lane from the first lane can be obtained. .
- the steering angle, the first center position point, the second center position point, the first direction vector, and the second direction can be driven through the first lane to the second lane first.
- the vector is used to determine multiple target control points that control the shape of the second navigation route, so as to obtain the driving track of the second navigation route with high accuracy.
- one of the plurality of target control points for controlling the shape of the second navigation route is determined based on the steering angle, the first center position point, the second center position point, the first direction vector, and the second direction vector.
- the following S4021-S4023 are included:
- multiple target control points are determined in the manner of determining straight-line Bessel control points, which can be based on the first center position point P1 and the second center position point P2 in the world
- the world coordinates under the coordinate system determine the world coordinates of the midpoint M1 of the line connecting the first center position point P1 and the second center position point P2 in the world coordinate system, and based on the first center position point P1 and the second center position point
- the world coordinates of P2 in the world coordinate system respectively determine the first distance D1 between the first center position point P1 and the second center position point P2.
- S4022 Acquire a first target point obtained by extending the first center position point by a preset multiple of the first distance in the direction indicated by the first direction vector.
- the first target point B1 can be obtained, where n represents a preset multiple, which can be set empirically according to the size of the intersection, and the value of n is greater than 0 and less than 1.
- the first central position point, the first target point, the midpoint of the line connecting the first central position point and the second central position point, the second target point and the second central position point constitute a plurality of target control points.
- the second target point B2 can be obtained.
- the first center position point P1, the first target point B1, the midpoint M1, the second target point B2, and the second center position point P2 of the line connecting the first center position point P1 and the second center position point obtained above are used as four.
- the first center position point, the second center position point, and the first direction vector and the second direction vector can be quickly determined. Take the second navigation route corresponding to the two lanes at the intersection.
- the target control point determines a plurality of A possible implementation of the target control point includes the following S4024-S4026:
- multiple target control points are determined in the manner of determining the steering Bessel control points, and before the multiple target control points are determined, the size of the target vehicle may be first determined.
- the information and the obstacle area corresponding to the first lane are used to determine the first safe obstacle avoidance distance when the target vehicle enters the intersection from the first lane.
- the intersection includes obstacle area A, obstacle area B, obstacle area C and obstacle area D.
- the target vehicle consists of
- the distance that needs to be driven forward can be called the first safe obstacle avoidance distance, especially In the case where there is no obstacle area A, the first safe obstacle avoidance distance here may be 0.
- the first safe obstacle avoidance distance may be determined in the following manner:
- the obstacle search direction vector is used to determine the obstacle area associated with lane 13 and the obstacle area associated with lane 43.
- the obstacle area associated with lane 13 is A
- the obstacle area associated with lane 43 is D.
- the obstacle-sensitive direction vector is used to indicate the direction of the obstacle area that is likely to collide with the target vehicle.
- the length d i is used to filter out target boundary points that are likely to collide with the target vehicle if the target vehicle does not travel forward according to the first safe obstacle avoidance distance.
- the first preset range is greater than 0 and less than h, where h is related to the width of the vehicle body and may be equal to the width of the vehicle body, select a target that makes d i meet the preset range border point;
- the second preset range is greater than 0 and less than m, where m is pre-set based on the size of the obstacle area and is empirically set to indicate that the obstacle area belongs to the lane 13 The obstacle area on the side
- the N1 with the longest length that conforms to the second preset range is selected as the first safe obstacle avoidance distance, as shown in FIG. 2 .
- the obstacle search direction vector used in the process of determining the second safe obstacle avoidance distance is:
- the second lane is the lane 43 in the above-mentioned FIG. 2
- the size information of the target vehicle and the obstacle search direction vector the To determine the second safe obstacle avoidance distance N2 , as shown in FIG. 2
- the determination process is the same as the above-mentioned principle of determining the first safe obstacle avoidance distance N1 , which is not repeated here.
- S4026 Determine multiple target control points based on the first center position point, the second center position point, the intersection of the first direction vector and the second direction vector, the first safe obstacle avoidance distance and the second safe obstacle avoidance distance.
- one of the multiple target control points is determined based on the first center position point, the second center position point, the intersection of the first direction vector and the second direction vector, the first safe obstacle avoidance distance and the second safe obstacle avoidance distance
- Possible implementations include the following S40261 to S40263:
- S40261 Acquire a third target point obtained by extending the first safe obstacle avoidance distance from the first center position point in the direction indicated by the first direction vector.
- a third target point B3 can be obtained.
- S40262 Acquire a fourth target point obtained by extending the second safe obstacle avoidance distance from the second center position point in the direction indicated by the second direction vector.
- the fourth target point B4 can be obtained.
- the third target point, the other multiple determined target points, and the fourth target point constitute multiple target control points.
- the third target point can be used as the first target control point of the steering Bezier control points
- the fourth target point can be used as the fifth target control point among the steering Bezier control points
- the other multiple target control points The points can respectively contain the second target control point, the third target control point, and the fourth target control point among the steering Bezier control points.
- a possible implementation manner of determining, based on the third target point, the fourth target point, and the intersection point, other multiple target points than the third target point and the fourth target point includes:
- Target point B6 is used as the fourth target control point in the steering Bezier control points
- a possible embodiment of determining the driving trajectory of the second navigation route at the intersection when entering the second lane from the first lane based on multiple target control points may include the following S4031 ⁇ S4033:
- the geographic positions of the multiple target control points in the road scene may be input into the fourth-order Bezier curve function to obtain the second fitting curve.
- the preset interval may be determined by the distance traveled from when the target vehicle collects its current geographic location to when the next location point is determined based on the current geographic location, and is on the second fitting curve according to the preset interval. Perform interpolation, extract multiple points on the second fitting curve, and acquire the geographic positions of the multiple points in the road scene.
- the driving trajectories of three second navigation routes are shown, which are respectively the driving trajectories U1 of the second navigation route from lane 11 to lane 21 at the intersection, and the driving trajectories of lane 12 to lane 32 at the intersection.
- the obstacles here are dynamic obstacles, such as pedestrians, vehicles and the like.
- the road scene image can be acquired by a collection device installed on the target vehicle, such as a monocular camera, and based on the situation where a dynamic obstacle is detected in the road scene image, the image position of the obstacle in the road scene image can be obtained. , and the conversion relationship between the image coordinate system corresponding to the road scene image captured by the predetermined monocular camera and the vehicle body coordinate system corresponding to the target vehicle, to determine the coordinate position of the obstacle in the vehicle body coordinate system, and further based on the target vehicle.
- the location of the vehicle in the road scene determines the location of the obstacle in the road scene.
- the target vehicle when the target vehicle is traveling along the target navigation line, if it is detected that the obstacle is located in front of the target vehicle, the target vehicle can be controlled to stop, and the target vehicle can be controlled to stop after the obstacle is detected to leave the front of the target vehicle.
- the vehicle continues to drive according to the target navigation line, or, when an obstacle is detected in front of the target vehicle, the target vehicle can be controlled to transfer to the first navigation route corresponding to the adjacent lane to continue driving.
- control the target vehicle to drive to the initial lane and continue to drive according to the target guideline.
- the obstacle in the process of controlling the target vehicle to drive along the target navigation line, if a dynamic obstacle is detected, the obstacle can be avoided based on the geographic location of the dynamic obstacle in the road scene, thereby improving the driving safety.
- the writing order of each step does not mean a strict execution order but constitutes any limitation on the implementation process, and the specific execution order of each step should be based on its function and possible Internal logic is determined.
- the embodiment of the present disclosure also provides a navigation device corresponding to the navigation method. Since the principle of solving the problem of the device in the embodiment of the present disclosure is similar to the above-mentioned navigation method in the embodiment of the present disclosure, the implementation of the device can refer to the method implementation, and the repetition will not be repeated.
- the navigation device 600 includes:
- the obtaining module 601 is used to obtain the current positioning position and the navigation destination of the target vehicle and the navigation line associated with at least one lane on the road between the current positioning position and the navigation destination, wherein the navigation line is pre-generated; the generating module 602, used to generate a target guide line for the target vehicle to reach the navigation destination from the current positioning position based on the guide line, and the target guide line is formed by splicing the guide lines of at least one lane; the control module 603 is used to control the target vehicle to follow the target guide line. to drive.
- the navigation line includes a first navigation route used to guide the driving path of the vehicle in the lane; the generating module 602 is used to generate a navigation route for the target vehicle to reach the navigation destination from the current positioning position based on the navigation line.
- the target navigation line includes: based on the pre-stored lane connection relationship, when it is determined that the road from the current positioning position of the target vehicle to the navigation target destination does not pass through the intersection, obtaining the first time that the target vehicle passes from the current positioning position to the navigation destination.
- Lane group the first lane group includes at least one lane; extract the first navigation route corresponding to at least one lane in the first lane group; the first navigation route corresponding to the first lane group respectively arrives at the navigation destination according to the current positioning position splicing in order to obtain the target navigation line.
- the navigation line further includes a second navigation route corresponding to the intersection connected with the lane, and the second navigation route is used to guide the vehicle to travel from the intersection from the first lane connected to the second lane on the driving path
- the generation module 602 is used to generate the target navigation line for the target vehicle to reach the navigation destination from the current positioning position in the following manner: Based on the pre-stored lane connection relationship, it is determined that the road of the target vehicle from the current positioning position to the navigation target place passes through the intersection.
- the generating module 602 is configured to generate a target navigation line for the target vehicle to reach the navigation destination from the current positioning position in the following manner: obtain the road between the current positioning position and the navigation destination. According to the intersection information, the road is divided into a plurality of road sections; the target sub-navigation line of at least one section of the plurality of road sections is determined based on the navigation line; the target sub-navigation line is spliced, Get the target guideline.
- the navigation line includes a first navigation route for guiding the driving path of the vehicle in the lane and a second navigation route corresponding to the intersection connected with the lane, the second navigation route is used for guiding a vehicle to travel on a travel path from a first lane connected by the intersection to a second lane;
- the plurality of road segments includes at least one first road segment, and the first road segment passes through at least one intersection;
- the generating module 602 is configured for at least one road segment A first road segment, the target sub-navigation line of at least one road segment in the plurality of road segments is determined in the following manner: a third lane group and a second intersection set in the first road segment are determined, and the third lane group includes at least two lane, the second intersection set includes at least one intersection; extract a second navigation route corresponding to at least one intersection in the second intersection set, and a target connected by the second navigation route in the third lane group The first navigation route of the lane; the first navigation route of the target lane and the second navigation route
- the plurality of road segments further include at least one second road segment, and the second road segment does not pass through an intersection;
- the generating module 602 is configured to, for the at least one second road segment, determine a plurality of road segments in the following manner target sub-navigation line of at least one road segment: based on the target sub-navigation line of the first road segment connected to the second road segment, determine the start lane and the end lane in the second road segment; based on the pre-stored lane connection relationship , extract the first navigation route corresponding to at least one lane from the start lane to the end lane in the second road segment; for at least one lane from the start lane to the end lane in the second road segment
- the first navigation routes corresponding to one lane are spliced according to the traveling sequence in the second road section to obtain the target sub-navigation line of the second road section.
- the generating module 602 is configured to generate the first navigation route in advance according to the following steps: for any lane in the road scene, extract the corresponding lane lines from the lane lines indicating the boundaries on both sides of the lane corresponding to the lane. Multiple location points to form multiple location point pairs; based on the respective geographic locations of the multiple location point pairs in the road scene, determine the geographic locations of the multiple center location points of the lane in the road scene; each location point pair Corresponding to a central position point; based on the geographic positions of the plurality of central position points in the road scene, the first navigation route corresponding to the lane is determined.
- the generating module 602 is configured to extract a plurality of position points from the lane lines corresponding to the lane indicating the borders on both sides of the lane, respectively, to form a plurality of position point pairs in the following manner: obtain the lane The length of the two included lane lines in the road scene; based on the length of the longest lane line among the two lane lines included in the lane, determine the number of multiple location points; based on the number of multiple location points, respectively in the Extract multiple position points from the two lane lines included in the lane by interpolation; after sorting the multiple position points on at least one lane line included in the lane according to the driving direction of the lane, the same sequence number in different lane lines is sorted. Two position points constitute a position point pair.
- the generating module 602 is configured to determine the geographic positions of the multiple center position points of the lane in the road scene based on the respective geographic positions of the multiple position point pairs in the road scene as follows: For at least one location point pair, based on the geographic location of at least one location point in the location point pair in the road scene, the geographic location of the center location point of the line connecting the location point pair in the road scene is determined.
- the generating module 602 is used to determine the first navigation route corresponding to the lane based on the geographic positions of the multiple central location points in the road scene in the following manner: For the geographic location in the road scene, curve fitting is performed on multiple center points to obtain a first fitting curve; a plurality of points are extracted from the first fitting curve according to preset intervals, and obtained on the first fitting curve The geographic location of the extracted points in the road scene; the geographic location of the multiple points extracted on the first fitting curve in the road scene as the driving track of the first navigation route corresponding to the lane.
- the lanes of different roads connected to the same intersection include a first lane and a second lane
- the generating module 602 is configured to generate a second navigation route according to the following steps: respectively obtaining the first lane to enter the intersection.
- Direction vector based on the first center position point, the second center position point, the first direction vector, and the second direction vector, determine the driving track of the second navigation route at the intersection when the first lane enters the second lane.
- the generating module 602 is configured to determine, based on the first center position point, the second center position point, the first direction vector and the second direction vector, to enter the second lane from the first lane as follows The driving trajectory of the second navigation route at the intersection: based on the first direction vector and the second direction vector, determine the steering angle from the first lane to the second lane; based on the steering angle, the first center position point, the second The center position point, the first direction vector, and the second direction vector determine multiple target control points for controlling the shape of the second navigation route; The driving track of the second navigation route.
- the generating module 602 is configured to determine, based on the steering angle, the first center position point, the second center position point, the first direction vector, and the second direction vector, a method for controlling the second navigation in the following manner
- Multiple target control points of the route shape when the steering angle is smaller than the preset angle, determine the midpoint of the line connecting the first center position point and the second center position point, as well as the first center position point and the second center position point obtain the first target point obtained by extending the first center point by a preset multiple of the first distance in the direction indicated by the first direction vector; obtain the second center position point according to the reverse vector of the second direction vector The second target point obtained after the indicated direction is extended by a preset multiple of the first distance; wherein, the first center position point, the first target point, the midpoint of the line connecting the first center position point and the second center position point, the third The two target points and the second center position point constitute a plurality of target control points.
- the generating module 602 is configured to determine, based on the steering angle, the first center position point, the second center position point, the first direction vector, and the second direction vector, a method for controlling the second navigation in the following manner Multiple target control points of the route shape: when the steering angle is greater than or equal to the preset angle, based on the size information of the target vehicle and the obstacle area corresponding to the first lane, determine the time when the target vehicle enters the intersection from the first lane.
- the first safe obstacle avoidance distance based on the size information of the target vehicle and the obstacle area corresponding to the second lane, determine the second safe obstacle avoidance distance when the target vehicle enters the second lane from the intersection;
- the two center position points, the intersection of the first direction vector and the second direction vector, the first safe obstacle avoidance distance and the second safe obstacle avoidance distance determine a plurality of target control points.
- the generating module 602 is configured to, based on the first center position point, the second center position point, the intersection of the first direction vector and the second direction vector, the first safe obstacle avoidance distance and the second safe avoidance distance
- the obstacle distance is determined, and a plurality of target control points are determined in the following manner: obtaining the third target point obtained by extending the first safe obstacle avoidance distance from the first center position point in the direction indicated by the first direction vector; and obtaining the second center position point
- the fourth target point obtained by extending the second safe obstacle avoidance distance according to the direction indicated by the reverse vector of the second direction vector; A plurality of other target points other than the target point; wherein, the third target point, the other plurality of target points determined, and the fourth target point constitute a plurality of target control points.
- the generating module 602 is configured to, based on multiple target control points, determine the driving trajectory of the second navigation route at the intersection when the first lane enters the second lane in the following manner: based on multiple targets Control point, determine the second fitting curve at the intersection when the first lane enters the second lane; extract a plurality of points on the second fitting curve according to preset intervals, and obtain and extract on the second fitting curve
- the geographic location of the multiple points in the road scene; the geographic location of the multiple points extracted on the second fitting curve in the road scene is used as the second navigation at the intersection when the first lane enters the second lane The driving track of the route.
- control module 603 is configured to control the target vehicle to drive along the target guideline in the following manner: when it is detected that there is an obstacle in the process of the target vehicle traveling along the target guideline, obtain the obstacle The geographic location in the road scene; in the process of controlling the target vehicle to drive along the target guideline, the target guideline is adjusted based on the geographic location of the obstacle to control the target vehicle to avoid the obstacle.
- an embodiment of the present disclosure further provides an electronic device 700 .
- a schematic structural diagram of the electronic device 700 provided by the embodiment of the present disclosure includes:
- the processor 71 and the memory 72 communicate through the bus 73, so that the processor 71 executes the following instructions : Obtain the current positioning position and navigation destination of the target vehicle and the navigation lines associated with each lane on the road from the current positioning position to the navigation destination, where the navigation lines are pre-generated; based on the navigation lines, the target vehicle is generated by The current positioning position reaches the target guide line of the navigation destination, and the target guide line is formed by splicing the guide lines of at least one lane; the target vehicle is controlled to drive according to the target guide line.
- Embodiments of the present disclosure further provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is run by a processor, the steps of the navigation method in the above method embodiments are executed.
- the storage medium may be a volatile or non-volatile computer-readable storage medium.
- Embodiments of the present disclosure also provide a computer program product, including computer-readable codes, or a non-volatile computer-readable storage medium carrying computer-readable codes, when the computer-readable codes are executed in a processor of an electronic device At the time, the processor in the electronic device executes the steps of the navigation method described in the foregoing method embodiments. For details, reference may be made to the foregoing method embodiments, which will not be repeated here.
- the above-mentioned computer program product can be specifically implemented by means of hardware, software or a combination thereof.
- the computer program product is embodied as a computer storage medium, and in another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (Software Development Kit, SDK), etc. Wait.
- the units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
- each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
- the functions, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a processor-executable non-volatile computer-readable storage medium.
- the computer software products are stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present disclosure.
- the aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program codes .
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Abstract
Description
Claims (21)
- 一种导航方法,其特征在于,包括:获取目标车辆的当前定位位置和导航目的地以及由所述当前定位位置到达所述导航目的地之间的道路上的至少一条车道关联的导航线,其中所述导航线是预先生成的;基于所述导航线,生成所述目标车辆由当前定位位置到达导航目的地的目标导航线,所述目标导航线由至少一条所述车道的导航线拼接形成;控制所述目标车辆按照所述目标导航线进行行驶。
- 根据权利要求1所述的导航方法,其特征在于,所述导航线包括用于引导车辆在车道内的行驶路径的第一导航路线;所述基于所述导航线,生成所述目标车辆由当前定位位置到达导航目的地的目标导航线,包括:基于预先存储的车道连接关系,确定所述目标车辆由所述当前定位位置到达所述导航目标地的道路不经过路口的情况下,获取所述目标车辆由所述当前定位位置到达所述导航目的地经过的第一车道组,所述第一车道组中包含至少一条车道;提取所述第一车道组中至少一条车道对应的第一导航路线;对所述第一车道组分别对应的所述第一导航路线按照由所述当前定位位置到达所述导航目的地的顺序进行拼接,得到所述目标导航线。
- 根据权利要求2所述的导航方法,其特征在于,所述导航线还包括与车道连接的路口对应的第二导航路线,所述第二导航路线用于引导车辆在由所述路口连接的第一车道行驶至第二车道的行驶路径;所述基于所述导航线,生成所述目标车辆由当前定位位置到达导航目的地的目标导航线,包括:基于预先存储的车道连接关系,确定所述目标车辆由所述当前定位位置到达所述导航目标地的道路经过路口的情况下,获取所述目标车辆由所述当前定位位置到达所述导航目的地经过的第二车道组,以及经过的第一路口集,所述第二车道组包含至少两条车道,所述第一路口集包含至少一个路口;提取所述第二车道组中至少一条车道对应的第一导航路线,以及所述第一路口集中至少一个路口对应的第二导航路线;对所述第二车道组分别对应的所述第一导航路线以及所述路口集分别对应的第二导航路线按照由所述当前定位位置到达所述导航目的地的顺序进行拼接,得到所述目标导航线。
- 根据权利要求1所述的导航方法,其特征在于,所述基于所述导航线,生成所述目标车辆由当前定位位置到达导航目的地的目标导航线,包括:获取由当前定位位置到达导航目的地的之间的道路中的路口信息;根据所述路口信息将所述道路划分为多个路段;基于所述导航线确定所述多个路段中至少一个路段的目标子导航线;对所述目标子导航线进行拼接,得到所述目标导航线。
- 根据权利要求4所述的导航方法,其特征在于,所述导航线包括用于引导车辆在车道内的行驶路径的第一导航路线和与车道连接的路口对应的第二导航路线,所述第二导航路线用于引导车辆在由所述路口连接的第一车道行驶至第二车道的行驶路径;所述多个路段包括至少一个第一路段,所述第一路段经过至少一个路口;所述基于所述导航线确定所述多个路段中至少一个路段的目标子导航线,包括针对至少一个第一路段:确定所述第一路段内的第三车道组和第二路口集,所述第三车道组包含至少两条车道,所述第二路口集包括至少一个路口;提取所述第二路口集的至少一个路口对应的第二导航路线,以及所述第三车道组中由所述第二导航路线指示连接的目标车道的第一导航路线;将所述目标车道的第一导航路线与所述第二路口集中的至少一个路口对应的第二导航路线按照在所述第一路段内的行经顺序进行拼接,得到所述第一路段的目标子导航线。
- 根据权利要求5所述的导航方法,其特征在于,所述多个路段还包括至少一个第二路段,所述第二路段不经过路口;所述基于所述导航线确定所述多个路段中至少一个路段的目标子导航线,包括针对至少一个第二路段:基于与所述第二路段连接的第一路段的目标子导航线,确定所述第二路段内的起始车道和结束车道;基于预先存储的车道连接关系,提取所述第二路段内由所述起始车道到达所述结束车道的至少一条车道对应的第一导航路线;对所述第二路段内由所述起始车道到达所述结束车道的至少一条车道对应的第一导航路线按照在所述第二路段内的行经顺序进行拼接,得到所述第二路段的目标子导航线。
- 根据权利要求2-3、5-6中任一所述的导航方法,其特征在于,按照以下步骤预先生成所述第一导航路线:针对道路场景中的任一条车道,在该条车道对应的指示车道两侧边界的车道线中分别提取多个位置点,构成多个位置点对;基于所述多个位置点对分别在所述道路场景中的地理位置,确定该条车道的多个中心位置点在所述道路场景中的地理位置;每个位置点对对应一个中心位置点;基于所述多个中心位置点在所述道路场景中的地理位置,确定该条车道对应的第一导航路线。
- 根据权利要求7所述的导航方法,其特征在于,所述在该条车道对应的指示车道两侧边界的车道线中分别提取多个位置点,构成多个位置点对,包括:获取该条车道包含的两条车道线在所述道路场景中的长度;基于该条车道包含的两条车道线中长度最长的车道线的长度,确定所述多个位置点数量;基于所述多个位置点数量,分别在该条车道包含的两条车道线中按照插值方式提取所述多个位置点;在对该条车道包含的至少一条车道线上的多个位置点按照车道行驶方向排序后,将不同车道线中序号相同的两个位置点构成一个位置点对。
- 根据权利要求7或8所述的导航方法,其特征在于,所述基于所述多个位置点对分别在所述道路场景中的地理位置,确定该条车道的多个中心位置点在所述道路场景中的地理位置,包括:针对至少一个位置点对,基于该位置点对中至少一个位置点在所述道路场景中的地理位置,确定该位置点对连线的中心位置点在所述道路场景中的地理位置。
- 根据权利要求7-9任一所述的导航方法,其特征在于,所述基于所述多个中心位置点在所述道路场景中的地理位置,确定该条车道对应的第一导航路线,包括:基于所述多个中心位置点在所述道路场景中的地理位置,对所述多个中心位置点进行曲线拟合,得到第一拟合曲线;按照预设间隔在所述第一拟合曲线上提取多个点,并获取在所述第一拟合曲线上提取的多个点在所述道路场景中的地理位置;将在所述第一拟合曲线上提取的多个点在道路场景中的地理位置,作为该条车道对应的第一导航路线的行驶轨迹。
- 根据权利要求3、5-6中任一所述的导航方法,其特征在于,按照以下步骤生成所述第二导航路线:分别获取由所述第一车道驶入该路口时经过的第一中心位置点,以及由该路口驶入所述第二车道时经过的第二中心位置点;所述第一中心位置点为所述第一车道上的最后一个中心位置点,所述第二中心位置点为所述第二车道上的第一个中心位置点;基于所述第一车道上包含所述第一中心位置点在内的相邻两个中心位置点分别对应的地理位置,确定用于表征由所述第一车道驶入该路口的第一方向向量,以及基于所述第二车道上包含所述第二中心位置点在内的相邻两个中心位置点分别对应的地理位置,确定用于表征由该路口驶入所述第二车道的第二方向向量;基于所述第一中心位置点、所述第二中心位置点、所述第一方向向量和所述第二方向向量,确定由所述第一车道驶入所述第二车道时在所述路口的第二导航路线的行驶轨迹。
- 根据权利要求11所述的导航方法,其特征在于,所述基于所述第一中心位置点、所述第二中心位置点、所述第一方向向量和所述第二方向向量,确定由所述第一车道驶入所述第二车道时在所述路口的第二导航路线的行驶轨迹,包括:基于所述第一方向向量和所述第二方向向量,确定由所述第一车道驶入所述第二车道驶的转向角;基于所述转向角、所述第一中心位置点、所述第二中心位置点、所述第一方向向量和所述第二方向向量,确定用于控制所述第二导航路线形状的多个目标控制点;基于所述多个目标控制点,确定由所述第一车道驶入所述第二车道时在所述路口的第二导航路线的行驶轨迹。
- 根据权利要求12所述的导航方法,其特征在于,所述基于所述转向角、所述第一中心位置点、所述第二中心位置点、所述第一方向向量和所述第二方向向量,确定用于控制所述第二导航路线形状的多个目标控制点,包括:在所述转向角小于预设角度的情况下,确定所述第一中心位置点和所述第二中心位置点连线的中点,以及所述第一中心位置点和所述第二中心位置点的第一距离;获取所述第一中心位置点按照所述第一方向向量指示的方向延长所述第一距离的预设倍数后得到的第一目标点;获取所述第二中心位置点按照所述第二方向向量的相反向量指示的方向延长所述第一距离的预设倍数后得到的第二目标点;其中,所述第一中心位置点、所述第一目标点、所述第一中心位置点和所述第二中心位置点连线的中点、所述第二目标点以及所述第二中心位置点构成所述多个目标控制点。
- 根据权利要求12所述的导航方法,其特征在于,所述基于所述转向角、所述第一中心位置点、所述第二中心位置点、所述第一方向向量和所述第二方向向量,确定用于控制所述第二导航路线形状的多个目标控制点,包括:在所述转向角大于或等于预设角度的情况下,基于所述目标车辆的尺寸信息和所述第一车道对应的障碍区域,确定所述目标车辆由所述第一车道驶入该路口时的第一安全避障距离;基于所述目标车辆的尺寸信息和所述第二车道对应的障碍区域,确定所述目标车辆由该路口驶入所述第二车道时的第二安全避障距离;基于所述第一中心位置点、所述第二中心位置点、所述第一方向向量和所述第二方向向量的交点、所述第一安全避障距离和所述第二安全避障距离确定所述多个目标控制点。
- 根据权利要求14所述的导航方法,其特征在于,所述基于所述第一中心位置点、所述第二中心位置点、所述第一方向向量和所述第二方向向量的交点、所述第一安全避障距离和所述第二安全避障距离确定所述多个目标控制点,包括:获取所述第一中心位置点按照所述第一方向向量指示的方向延长所述第一安全避障距离后得到的第三目标点;以及,获取所述第二中心位置点按照所述第二方向向量的相反向量指示的方向延长所述第二安全避障距离后得到的第四目标点;基于所述第三目标点、所述第四目标点、以及所述交点,确定除所述第三目标点和第四目标点之外的其它多个目标点;其中,所述第三目标点、确定的所述其它多个目标点、和所述第四目标点构成所述多个目标控制点。
- 根据权利要求12-15任一所述的导航方法,其特征在于,所述基于所述多个目标控制点,确定由所述第一车道驶入所述第二车道时在所述路口的第二导航路线的行驶轨迹,包括:基于所述多个目标控制点,确定由所述第一车道驶入所述第二车道时在该路口的第二拟合曲线;按照预设间隔在所述第二拟合曲线上提取多个点,并获取在所述第二拟合曲线上提取的多个点在道路场景中的地理位置;将在所述第二拟合曲线上提取的多个点在道路场景中的地理位置,作为由所述第一车道驶入所述第二车道时在所述路口的第二导航路线的行驶轨迹。
- 根据权利要求1-16任一所述的导航方法,其特征在于,所述控制所述目标车辆按照所述目标导航线进行行驶,包括:在检测到所述目标车辆按照所述目标导航线行驶过程中存在障碍物的情况下,获取所述障碍物在道路场景中的地理位置;在控制所述目标车辆按照所述目标导航线进行行驶的过程中,基于所述障碍物的地理位置调整所述目标导航线,以控制所述目标车辆绕开所述障碍物。
- 一种导航装置,其特征在于,包括:获取模块,用于获取目标车辆的当前定位位置和导航目的地以及由所述当前定位位置到所述导航目的地之间的道路上的至少一条车道关联的导航线,其中所述导航线是预先生成的;生成模块,用于基于所述导航线,生成所述目标车辆由当前定位位置到达导航目的地的目标导航线,所述目标导航线由至少一条所述车道的导航线拼接形成;控制模块,用于控制所述目标车辆按照所述目标导航线进行行驶。
- 一种电子设备,其特征在于,包括:处理器、存储器和总线,所述存储器存储有所述处理器可执行的机器可读指令,当电子设备运行时,所述处理器与所述存储器之间通过总线通信,所述机器可读指令被所述处理器执行时执行如权利要求1-17任一所述的导航方法的步骤。
- 一种计算机可读存储介质,其特征在于,该计算机可读存储介质上存储有计算机程序,该计算机程序被处理器运行时执行如权利要求1-17任一所述的导航方法的步骤。
- 一种计算机程序产品,包括计算机可读代码,或者承载有计算机可读代码的非易失性计算机可读存储介质,当所述计算机可读代码在电子设备的处理器中运行时,所述电子设备中的处理器执行用于实现权利要求1-17中的任一权利要求所述的方法。
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