WO2024037487A1 - 应用于车辆中的路径修正方法、装置及电子设备 - Google Patents

应用于车辆中的路径修正方法、装置及电子设备 Download PDF

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Publication number
WO2024037487A1
WO2024037487A1 PCT/CN2023/112860 CN2023112860W WO2024037487A1 WO 2024037487 A1 WO2024037487 A1 WO 2024037487A1 CN 2023112860 W CN2023112860 W CN 2023112860W WO 2024037487 A1 WO2024037487 A1 WO 2024037487A1
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Prior art keywords
information
path
path information
target
driving
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PCT/CN2023/112860
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English (en)
French (fr)
Inventor
孙连明
王超
崔茂源
刘洋
冷德龙
Original Assignee
中国第一汽车股份有限公司
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Publication of WO2024037487A1 publication Critical patent/WO2024037487A1/zh

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Classifications

    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • 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
    • B60W2556/40—High definition maps

Definitions

  • This application relates to the field of autonomous driving technology, for example, to a path correction method, device and electronic equipment used in vehicles.
  • autonomous driving technology With the popularization of autonomous driving technology, autonomous driving technology is gradually accepted by automobile manufacturers and drivers. Autonomous driving can not only minimize the danger of driving a car. It can also reduce the driver's heavy driving tasks. Therefore, autonomous driving is also a major trend in future automobile development.
  • users can only enter the starting point and destination point when using an autonomous vehicle, and use high-precision maps and positioning systems to select and drive roads.
  • This application provides a path correction method, device and electronic equipment used in vehicles to solve the problem of deviations and positioning errors in the path selected by the navigation and positioning system during vehicle driving.
  • a path correction method applied in a vehicle including:
  • the current positioning information and corresponding confidence of the target vehicle are obtained based on the high-precision positioning module;
  • At least two types of path information to be selected are Select the path information and the corresponding confidence level to be displayed on the display interface;
  • the target route information triggered on the display interface is used as the target driving route of the target vehicle
  • the target path information is the path information in the path information to be selected.
  • a path correction device used in a vehicle including:
  • the positioning acquisition module is configured to obtain the current positioning information and corresponding confidence of the target vehicle based on the high-precision positioning module while the target vehicle is driving in the autonomous driving mode,
  • a positioning determination module configured to determine whether the current positioning information includes at least two types of path information to be selected
  • a path display module configured to display the at least two types of path information to be selected and the corresponding confidence level on the display interface in response to the current positioning information including at least two types of path information to be selected;
  • the target path determination module is configured to use the target path information triggered on the display interface as the target driving path of the target vehicle, wherein the target path information is the path information in the path information to be selected.
  • an electronic device including:
  • the memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor, so that the at least one processor can execute the method described in any embodiment of the present application. Path correction methods applied in vehicles.
  • a computer-readable storage medium stores computer instructions, and the computer instructions are used to implement any of the embodiments of the present application when executed by a processor. Path correction method used in vehicles.
  • a computer program product includes a computer program.
  • the computer program When executed by a processor, the computer program implements the method applied in a vehicle described in any embodiment of the present application. Path correction method.
  • Figure 1 is a structural diagram of a path correction device applied in a vehicle according to an embodiment of the present application
  • Figure 2 is a flow chart of a path correction method applied in a vehicle provided according to Embodiment 1 of the present application;
  • Figure 3 is a flow chart of a path correction method applied in a vehicle provided according to Embodiment 2 of the present application;
  • Figure 4 is a schematic structural diagram of a path correction device applied in a vehicle that implements an embodiment of the present application
  • FIG. 5 is a schematic structural diagram of an electronic device that implements a path correction method applied in a vehicle according to an embodiment of the present application.
  • FIG. 1 is a structural diagram of a path correction device used in a vehicle according to the embodiment of the present application.
  • the structure includes error marking module 10, high-precision map data broadcast module 11, manual selection and confirmation module 12, high-precision positioning module 13, high-precision map and navigation map matching module 14 and navigation map module 15.
  • the error mark module 10 can be configured to determine the mark position information when detecting the error mark control triggered on the display interface, and send the mark position information to the high-precision map data broadcast module 11, and can also receive the high-precision map data broadcast module 11 The location signal, driving path and confidence information transmitted, etc.
  • the high-precision map data broadcast module 11 can be configured to transmit trigger operation information of the display interface, and can also be configured to transmit location information, path information, driving route, confidence information, mark location information, etc.
  • the location information, path information, driving route, and confidence information received by the high-precision map data broadcast module 11 can be the location information obtained by the high-precision positioning module 13, as well as the confidence information and errors corresponding to the location information.
  • the position information of the mark position information obtained by the marking module 10 and the confidence information corresponding to the mark position information can also be the matching driving path and the matching driving path obtained by the high-precision map and navigation map matching module 14. Corresponding confidence and other signals.
  • the high-precision map data broadcast module 11 can transmit the mark location information obtained by the error mark module 10 to the high-precision positioning module 13 and the high-precision map and navigation map matching module 14. It can also respond to triggering the error mark control in the display interface and send the mark location information to the error mark.
  • the High-precision map data broadcast module 11 transmits relevant road information such as relevant location signals, confidence information, matching driving path information, etc.
  • the high-precision map data broadcast module 11 transmits the information confirmed and/or selected in the manual selection and confirmation module 12 to the high-precision map and navigation map matching module 14 and/or the high-precision positioning module 13 .
  • the high-precision map data broadcast module 11 can receive information such as the manually confirmed and/or selected driving route sent by the navigation map module 15 .
  • the high-precision positioning module 13 can be configured to obtain the positioning information of the target vehicle and the corresponding confidence level, determine whether the current positioning information includes at least two types of path information to be selected, and can also be configured to receive the high-precision map data broadcast module 11. Display trigger operations and mark location information on the interface.
  • the navigation map module 15 can be configured to determine at least one driving path and send it to the high-precision map and navigation map matching module 14 when it detects that the starting position and the ending position are input on the display interface. It can also be configured to match the at least one driving path to the navigation map.
  • the path information is passed to the display interface and can also be set to receive
  • the trigger operation on the display interface can also be set to send the driving path corresponding to the trigger operation on the display interface to the high-precision map and navigation map matching module 14 and so on.
  • the high-precision map and navigation map matching module 14 can be configured to send the path confidence of at least one driving path to the high-precision map data broadcast module 11, and can also be configured to receive the navigation information of at least one driving path delivered by the navigation map module 15, And find the driving path that matches the navigation information in the high-precision map, and calculate the confidence of each driving path that matches the navigation information. It can also be set to receive the trigger operation of the display interface passed by the high-precision map data broadcast module 11 information and navigation information corresponding to the trigger operation, and is set to receive mark information location, etc.
  • the manual selection and confirmation module 12 can be configured to trigger the display interface, and can also be configured to pass the triggering operation to the navigation map module 15 and/or the high-precision map data broadcast module 11. It can also be configured to receive path information, and path information. Confidence information and location information corresponding to the information.
  • FIG. 2 is a flow chart of a path correction method applied to a vehicle provided in Embodiment 1 of the present application.
  • This embodiment can be applied to autonomous driving technology.
  • the navigation system considers that at least When there are two roads to be selected, manual confirmation can be carried out based on the confidence information and road information prompted by the display interface.
  • This method can be performed by a path correction device in a vehicle.
  • the path correction device in the vehicle can be Implemented in the form of hardware and/or software, the path correction device in the vehicle can be configured in the body of the autonomous vehicle or in a handheld device, and can be integrated in one location or dispersed in different locations, such as placed in the autonomous driving operation Panels, behind the front seats and other locations.
  • the method includes:
  • the target vehicle may be a driving vehicle with an autonomous driving function
  • the high-precision positioning module 13 may be a module that provides position information to the autonomous vehicle.
  • the product may generally be located in a vehicle navigation or handheld device.
  • High-precision positioning modules are commonly used to confirm the location of autonomous vehicles.
  • the information obtained can be fused through one or more methods such as satellite positioning, track estimation, and sensor matching positioning. information to confirm the vehicle's location.
  • the current positioning information may include the position of the positioning device and the position defined by the positioning device or information used to determine the position.
  • the current positioning information includes the current position signal of the vehicle while driving and other information that can be applied to the driving process of the autonomous vehicle, including but not limited to: longitude and latitude position, relative position, absolute position, geographical location, etc.
  • Confidence is the degree of trust in the position obtained by the tester during the road test before the actual vehicle is driven.
  • the confidence shows the degree to which the true value of this parameter has a certain probability to fall around the measured value. What is given is the measured parameter.
  • the corresponding confidence level may be the degree of credibility of the current positioning information obtained by the target vehicle. For example, when an autonomous vehicle is driving in the autonomous driving mode, the high-precision positioning module 13 can obtain the position of the driving vehicle and determine whether the vehicle is driving on a certain road in District XX of XX City. How accurate is this information? Sex is 90%.
  • Path information is the road information required when the vehicle is driving autonomously, as well as the information required for various driving processes such as driving routes. At least two types of path information to be selected are based on the high-precision positioning module when the autonomous vehicle is driving using the autonomous driving function. 13.
  • the obtained positioning information includes at least two types of driving routes and/or road information that can be selected for driving.
  • the at least two types of path information to be selected are driving routes and/or road information judged based on the obtained positioning information. For example, the at least two types of path information to be selected may be that the autonomous vehicle needs to select and/ or distinguish confirmed driving routes and/or road information.
  • determine whether the current positioning information includes at least two types of path information to be selected including:
  • the path information to be selected corresponding to each positioning to be selected
  • the path information to be selected corresponding to the at least two positioning to be selected is different, it is determined that the current positioning information is associated with at least two types of path information to be selected.
  • the positioning to be selected is at least one possible positioning information of the vehicle obtained by the high-precision positioning module.
  • the high-precision positioning module frequently encounters problems in identifying the positioning location.
  • the vehicle is driving on the left side of the road, but the positioning is marked on the right side of the road.
  • the path information required for each positioning information can be obtained.
  • the path information includes all the information required during the driving process of the vehicle.
  • Path information can be one or more types of information such as driving roads, path planning, decision control, and driving environment. For example: the environment during driving ahead, the number of traffic lights, congestion conditions, etc.
  • Confirming at least two types of path information to be selected associated with the current positioning information may include reading and receiving the at least two positioning-related position signals, driving paths and other information for driving. For example, when driving and encountering two roads, the main road and the auxiliary road, the positioning system believes that the vehicle may be on the main road or the auxiliary road. Two or more of these situations require selection and confirmation of positioning. , and the road ahead is inconsistent, then two path information to be selected will be obtained. For example, the confidence corresponding to the at least two positions to be selected is used as the confidence corresponding to the corresponding path information to be selected.
  • the corresponding confidence information is obtained according to the positioning to be selected. For example, during driving, the possibility of being on the left road is 70%, and the possibility of being on the right road is 30%.
  • the high-precision positioning module will Priority will be given to results with high confidence. If there is manual confirmation, manual confirmation results will be given priority. .
  • the current positioning information includes at least two types of path information to be selected, display the at least two types of path information to be selected and the corresponding confidence levels on the display interface.
  • the display interface can be in an electronic device integrated into the vehicle or in an integrated handheld device, such as a mobile phone, tablet computer, vehicle panel, etc. If step S220 determines that the current positioning information includes at least two types of path information to be selected, then at least two types of road information that need to be selected are popped up on the display interface in an eye-catching manner, including but not limited to: voice prompts, light flashing, etc. Prompt user for manual selection and/or confirmation.
  • the corresponding confidence level may include information such as the trust level obtained during the road test phase. For example, the text of the pop-up display interface may be "Please select/confirm. The probability that the location is a road above the bridge is 70%, and the probability that it is a road under the bridge is 30%.”
  • display at least two types of path information to be selected and corresponding confidence levels on the display interface including:
  • the at least two types of path information to be selected and the corresponding confidence levels are sent to the display device for display on the display interface of the display device.
  • the role of the high-precision map data broadcast module 11 is to transmit information, and has the function of playing and sending based on the obtained selected path information.
  • the high-precision map data broadcast module 11 can transmit the signal to the high-precision positioning module 13 according to the path information selected by the user, and can also transmit the corresponding position signal, confidence level, marker point signal and other information sent by the high-precision positioning module 13 to the display device.
  • the target path information is the path information in the path information to be selected.
  • Triggers can refer to instructions given by users in various ways, such as voice confirmation, click confirmation, etc.
  • the target driving route may be the current unique driving route for autonomous driving.
  • the user's selected and/or confirmed driving route is regarded as the route to be continued.
  • the user's selection and/or confirmation can be achieved through the manual selection and confirmation module 12 . For example, if the user chooses to confirm that the location they are about to face is on a bridge, the location and the road to continue driving will be directly determined according to the user's selection.
  • the target route information triggered on the display interface is used as the target driving route of the target vehicle, including:
  • the target vehicle continues to drive.
  • the path information solution selected by the user is sent to the high-precision map data broadcast module 11, and is transmitted to the high-precision positioning module 13 through the high-precision map data broadcast module 11 for comparison, output and adjustment, and then output
  • the only path information and other road information confirmed by the user are fed back to the high-precision map data broadcast module 11, and the vehicle continues driving according to the path information selected and/or confirmed by the user as the target driving path.
  • the path information to be selected with the highest confidence is used as the target path information.
  • the preset duration can be a custom duration set by the system, which refers to the period of time from when the window pops up on the display interface to passing the road node to be selected.
  • the trigger operation for not detecting the two types of path information to be selected may be that the high-precision map data broadcast module 11 does not receive manual selection and/or confirmation signals. For example, when it is necessary to confirm whether the location is on a bridge or under a bridge. , when the user has not made a selection for a long time, resulting in no definite target path for automatic driving on this road section, the confidence level passed by the high-precision map and navigation map matching module 14 to the high-precision map data broadcast module 11 is sorted, and the selected one is selected. The target path with the highest confidence is continued.
  • mark position information is determined.
  • the mark position information is sent to the high-precision positioning module 13, so that when the current position information is consistent with the mark position information, the to-be-selected item corresponding to the mark position information is displayed on the display interface. path information.
  • the error marking control may be one of the parts of the error marking module 10 and may be configured to mark high-precision map broadcast data errors for users. Marking locations can be an act of marking locations that the user thinks are inconsistent with high-precision navigation during driving.
  • the marker location information may be road information included in the marker point location.
  • the high-precision map data broadcast module 11 will pass the error mark to the high-precision positioning module 13 to compare the marked position information of the current point with the current position information. When the results are consistent, the high-precision positioning module 13 will mark the location area. . After obtaining the mark position information, it can be passed to the high-precision map data broadcast module 11, and the relevant information of the mark position, as well as the driving path and confidence level that may be required for the position can be displayed on the display interface.
  • the user can mark it, and the high-precision map data broadcast module 11 will pass the error mark to the high-precision positioning module 13, and the high-precision positioning module 13 will The location area is marked, and subsequent passes through the area will transmit the marking signal to the high-precision map data broadcast module 11, and then the location and driving route are determined through manual selection and confirmation.
  • This application obtains the current positioning information and corresponding confidence level of the target vehicle based on the high-precision positioning module 13 while the target vehicle is driving in the autonomous driving mode; it determines whether the current positioning information contains Including at least two types of path information to be selected; if so, display at least two types of path information to be selected and the corresponding confidence level on the display interface; the target path information triggered on the display interface is used as the target driving path of the target vehicle; The target path information is the path information in the path information to be selected.
  • Embodiment 1 of the present application improves the accuracy of the navigation system during driving by introducing a display interface to provide user confirmation. That is, using manual confirmation to improve the accuracy of the navigation system effectively solves the problem of the navigation positioning system in the vehicle. There are problems with deviations and positioning errors in the path selected during driving, which improves the safety and usability of autonomous driving technology.
  • FIG 3 is a flow chart of a path correction method applied to vehicles provided in Embodiment 2 of the present application.
  • the application scenarios between this embodiment and the above-mentioned embodiments are consistent.
  • This embodiment is aimed at high-precision complex road nodes.
  • a path correction method applied to vehicles is proposed based on the difficulty of matching maps and navigation maps. As shown in Figure 3,
  • At least one driving path is determined based on the navigation map module 15.
  • the starting position can be the starting point that the user inputs and needs to be navigated
  • the end position can be the target position that the user needs to finally reach.
  • the navigation map module 15 is a functional module that can perform path calculation, and its function can be to output possible navigation data based on actual road information, where the navigation data includes location information, road selection and other information. For example, the user can choose a navigation path with few traffic lights and few major roads to drive. For example, the user selects from the starting position a to the ending position b, and one or several path choices appear in the navigation.
  • S320 Send at least one driving path to the high-precision map and navigation map matching module 14 to determine the path confidence of the at least one driving path and display it.
  • the navigation path is sent to the high-precision map and navigation map matching module 14, and the high-precision map and navigation map matching module 14 performs path confidence calculation.
  • the high-precision map and navigation map matching module 14 can send the matching road information and corresponding confidence information to the high-precision map data broadcast module 11 .
  • the high-precision map broadcast module 11 matches the high-precision map and the navigation map according to the high-precision positioning module 13 and the high-precision map
  • the calculation results of module 14 broadcast all possible high-precision map data for driving, and sort them according to the high-precision positioning and the matching confidence between the high-precision map and the navigation map.
  • relevant road information includes but is not limited to: road environment, number of traffic light intersections, and road congestion conditions.
  • the high-precision map data broadcasting module 11 can generally receive navigation information by broadcasting it after receiving a piece of navigation information, and then broadcasting another piece of navigation information after receiving another piece of navigation information. For example, it broadcasts 2 kilometers of road condition information and driving information each time. When , after traveling two kilometers, there is a node where the previous broadcast and the next broadcast alternate. This node is a node prone to errors. Such nodes are one of the difficulties in matching high-precision maps and navigation maps. Display the positioning information, confidence level and other related information of the node on the display interface. For example, if this node happens to appear at a fork in the road, the navigation map module 15 will send the result of the path calculation to the display interface, and the relevant matching path, confidence information, etc. of the node will be displayed on the user's display interface. On the mobile phone, the user can select and/or confirm the driving direction information and the driving target road.
  • S330 Use the selected driving path as the target driving path from the starting position to the end position.
  • the corresponding route selection is simultaneously triggered to the navigation map module 15 and the high-precision map data broadcast module 11 .
  • the user's selected and/or confirmed route is used as the target driving route.
  • the navigation map module 15 receives the user's selection and/confirmation, it can pass the confirmed navigation path information to the high-precision map and navigation map matching module 14, pass the manual confirmation signal to the high-precision map data broadcast module 11, and determine the unique Navigation path information, target path and other information.
  • the user selection and confirmation results can be directly transmitted to the high-precision map broadcast module 11 to reduce secondary confirmation.
  • the autonomous driving system will continue driving based on the path information with the highest confidence.
  • this application determines at least one driving path based on the navigation map module 15 when the start position and end position are detected on the display interface; and sends at least one driving path to the high-precision map and navigation map matching module 14 , to determine the path confidence of at least one driving path and display it; the selected driving path will be triggered as the target row traveling from the starting position to the end position.
  • the driving path ensures that the autonomous driving path is accurate. In the case of inaccurate high-precision navigation, the only driving path can be determined based on the navigation map route calculation results and the manual selection and confirmation module prompting the user to select and confirm.
  • This application can realize the direct transmission of user selection and confirmation results to the high-precision map broadcast module 11, reducing secondary confirmations, solving the problem of deviations in the driving routes of currently used high-precision maps and positioning systems, and improving the efficiency in the field of autonomous driving.
  • the accuracy of the navigation system and positioning system improves the safety and usability of autonomous driving.
  • Figure 4 is a schematic structural diagram of a path correction device applied in a vehicle according to an embodiment of the present application. As shown in Figure 4, the device includes:
  • the positioning acquisition module 41 is configured to obtain the current positioning information and corresponding confidence of the target vehicle based on the high-precision positioning module 13 when the target vehicle is traveling in the autonomous driving mode,
  • the positioning determination module 42 is configured to determine whether the current positioning information includes at least two types of path information to be selected;
  • the path display module 43 is configured to, in response to the current positioning information including at least two types of path information to be selected, display the at least two types of path information to be selected and the corresponding confidence levels on the display interface;
  • the target path determination module 44 is configured to use the target path information triggered on the display interface as the target driving path of the target vehicle, where the target path information is the path information in the path information to be selected.
  • a path correction device applied in a vehicle provided by an embodiment of the present application can execute a path correction method applied in a vehicle provided by any embodiment of the present application.
  • the positioning information obtained through the positioning acquisition module 41 and the corresponding Information such as path confidence information is passed to the positioning determination module 42.
  • the positioning determination module 42 confirms that the positioning information includes at least two types of path information to be selected
  • the positioning acquisition module 41 obtains the positioning information and the confidence of the corresponding path.
  • the information is transmitted to the path display module 43.
  • the path display module 43 can display the positioning information, confidence level and other information of the above-mentioned at least two path information to be selected on the display interface, providing the user with an operation platform for selection and/or confirmation.
  • the confirmation module 44 determines the route information selected and/or confirmed by the user as the only accurate driving route.
  • the embodiments of the present application can realize the above functions through the mutual cooperation between various modules.
  • the embodiments of this application realize the use of manual interaction functions in high-precision positioning of ambiguous road sections and complex road nodes, improve the usability and safety of autonomous driving, and solve the problem of inaccurate positioning of high-precision maps and positioning systems in related technologies. It is difficult to confirm the driving route.
  • FIG. 5 is a schematic structural diagram of an electronic device that implements a path correction method applied in a vehicle according to an embodiment of the present application.
  • Electronic devices are intended to refer to various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers.
  • Electronic devices may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (eg, helmets, glasses, watches, etc.), and other similar computing devices.
  • the components shown herein, their connections and relationships, and their functions are examples only and are not intended to limit the implementation of the present application as described and/or claimed herein.
  • the electronic device 50 includes at least one processor 51, and a memory communicatively connected to the at least one processor 51, such as a read-only memory (Read-Only Memory, ROM) 52, a random access memory (Random Access Memory, RAM) 53, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 51 can be loaded into the random access memory (RAM) according to the computer program stored in the read-only memory (ROM) 52 or from the storage unit 58.
  • Computer program in RAM) 53 to perform various appropriate actions and processes.
  • various programs and data required for the operation of the electronic device 50 can also be stored.
  • the processor 51, ROM 52 and RAM 53 are connected to each other through a bus 54.
  • An input/output (I/O) interface 55 is also connected to the bus 54 .
  • the I/O interface 55 includes: an input unit 56, such as a keyboard, a mouse, etc.; an output unit 57, such as various types of displays, speakers, etc.; a storage unit 58, such as a magnetic disk, an optical disk, etc. etc.; and communication unit 59, such as network card, modem, wireless communication transceiver, etc.
  • the communication unit 59 allows the electronic device 50 to exchange information/data with other devices through computer networks such as the Internet and/or various telecommunications networks.
  • Processor 51 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the processor 51 include, but are not limited to, a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU), various dedicated artificial intelligence (Artificial Intelligence, AI) computing chips, various running Machine learning model algorithm processor, digital signal processor (Digital Signal Process, DSP), and any appropriate processor, controller, microcontroller, etc.
  • the processor 51 performs various methods and processes described above, such as path correction methods applied in vehicles.
  • the path correction method applied in the vehicle may be implemented as a computer program, which is tangibly included in a computer-readable storage medium, such as the storage unit 58 .
  • part or all of the computer program may be loaded and/or installed onto the electronic device 50 via the ROM 52 and/or the communication unit 59.
  • the processor 51 may be configured in any other suitable manner (eg, by means of firmware) to perform the path correction method applied in the vehicle.
  • Various implementations of the systems and techniques described above may be implemented in digital electronic circuit systems, integrated circuit systems, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Parts (ASSP), System on Chip (SOC), Complex Programmable Logic Device (CPLD), computer hardware, firmware, software, and/or they realized in a combination.
  • FPGAs Field Programmable Gate Arrays
  • ASICs Application Specific Integrated Circuits
  • ASSP Application Specific Standard Parts
  • SOC System on Chip
  • CPLD Complex Programmable Logic Device
  • computer hardware firmware, software, and/or they realized in a combination.
  • These various embodiments may include implementation in at least one computer program executable and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or
  • a general-purpose programmable processor can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device
  • Computer programs for implementing the methods of the present application may employ any of one or more programming languages. written in combination. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that the computer program, when executed by the processor, causes the functions/operations specified in the flowcharts and/or block diagrams to be implemented.
  • a computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
  • a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device.
  • Computer-readable storage media may include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any suitable combination of the foregoing.
  • the computer-readable storage medium may be a machine-readable signal medium.
  • machine-readable storage media would include an electrical connection based on at least one wire, a portable computer disk, a hard disk, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (( Erasable Programmable Read-Only Memory (EPROM) or flash memory), optical fiber, portable compact disk read-only memory (Compact Disc Read-Only Memory, CD-ROM), optical storage device, magnetic storage device, or any of the above Suitable combination.
  • RAM random access memory
  • ROM read only memory
  • EPROM Erasable Programmable Read-Only Memory
  • CD-ROM Compact Disc Read-Only Memory
  • the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., CRT (Cathode Ray Tube, cathode ray tube) or LCD) for displaying information to the user (Liquid Crystal Display, LCD monitor); and a keyboard and pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device.
  • a display device e.g., CRT (Cathode Ray Tube, cathode ray tube) or LCD
  • a keyboard and pointing device e.g., a mouse or a trackball
  • Other kinds of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and may be provided in any form, including Acoustic input, voice input or tactile input) to receive input from the user.
  • the systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., User computer with graphical user interface or web browser a computer through which a user may interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components middle.
  • the components of the system may be interconnected by any form or medium of digital data communication (eg, a communications network). Examples of communication networks include: Local Area Network (LAN), Wide Area Network (WAN), blockchain network, and the Internet.
  • Computing systems may include clients and servers.
  • Clients and servers are generally remote from each other and typically interact over a communications network.
  • the relationship of client and server is created by computer programs running on corresponding computers and having a client-server relationship with each other.
  • the server can be a cloud server, also known as cloud computing server or cloud host. It is a host product in the cloud computing service system to solve the problems that exist in traditional physical host and virtual private server (VPS) services. It has the disadvantages of difficult management and weak business scalability.
  • VPN virtual private server

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Abstract

本申请公开了一种应用于车辆中的路径修正方法、装置及电子设备。应用于车辆中的路径修正方法，包括在目标车辆基于自动驾驶模式行驶过程中，基于高精度定位模块获取目标车辆的当前定位信息以及相应的置信度；确定当前定位信息中是否包括至少两种待选择路径信息；响应于当前定位信息中包括至少两种待选择路径信息，将至少两种待选择路径信息以及相应的置信度显示至显示界面上；将于显示界面上触发的目标路径信息，作为目标车辆的目标行驶路径；其中，目标路径信息为待选择路径信息中的路径信息。

Description

应用于车辆中的路径修正方法、装置及电子设备
本申请要求在2022年8月18日提交中国专利局、申请号为202210991024.2的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及自动驾驶技术领域，例如涉及一种应用于车辆中的路径修正方法、装置及电子设备。
背景技术
随着自动驾驶技术的普及，自动驾驶技术逐渐被汽车厂家和驾驶员所接受。自动驾驶不仅能够将汽车行驶的危险性降到最低。而且能够减轻驾驶员繁重的驾驶任务，因此，自动驾驶也是未来汽车发展的一大趋势。
通常情况下在实际行驶的过程中，用户在使用自动驾驶的车辆的过程中只能输入出发地点和目的地点，利用高精度地图与定位系统进行道路选择和行驶。
但是目前所使用的导航系统准确性不够高，容易导致行驶存在偏差、定位错误等问题，从而引起自动驾驶实现困难的情况，自动驾驶技术的可用性和安全性都难以得到保障。
发明内容
本申请提供了一种应用于车辆中的路径修正方法、装置及电子设备，以解决导航定位系统在车辆行驶过程中选择的路径存在偏差、定位错误的问题。
根据本申请的一方面，提供了一种应用于车辆中的路径修正方法，包括：
在目标车辆基于自动驾驶模式行驶过程中，基于高精度定位模块获取目标车辆的当前定位信息以及相应的置信度；
确定当前定位信息中是否包括至少两种待选择路径信息；
响应于所述当前定位信息中包括至少两种待选择路径信息，将至少两种待 选择路径信息以及相应的置信度显示至显示界面上；
将于显示界面上触发的目标路径信息，作为目标车辆的目标行驶路径；
其中，目标路径信息为待选择路径信息中的路径信息。
根据本申请的另一方面，提供了一种应用于车辆中的路径修正装置，包括：
定位获取模块，设置为在目标车辆基于自动驾驶模式行驶过程中，基于高精度定位模块获取所述目标车辆的当前定位信息以及相应的置信度，
定位确定模块，设置为确定所述当前定位信息中是否包括至少两种待选择路径信息；
路径显示模块，设置为响应于所述当前定位信息中包括至少两种待选择路径信息，将所述至少两种待选择路径信息以及相应的置信度显示至显示界面上；
目标路径确定模块，设置为将于所述显示界面上触发的目标路径信息，作为所述目标车辆的目标行驶路径，其中，所述目标路径信息为所述待选择路径信息中的路径信息。
根据本申请的另一方面，提供了一种电子设备，所述电子设备包括：
至少一个处理器；以及
与所述至少一个处理器通信连接的存储器；其中，
所述存储器存储有可被所述至少一个处理器执行的计算机程序，所述计算机程序被所述至少一个处理器执行，以使所述至少一个处理器能够执行本申请任一实施例所述的应用于车辆中的路径修正方法。
根据本申请的另一方面，提供了一种计算机可读存储介质，所述计算机可读存储介质存储有计算机指令，所述计算机指令用于使处理器执行时实现本申请任一实施例所述的应用于车辆中的路径修正方法。
根据本申请的另一方面，提供了一种计算机程序产品，所述计算机程序产品包括计算机程序，所述计算机程序在被处理器执行时实现本申请任一实施例所述的应用于车辆中的路径修正方法。
附图说明
图1是本申请实施例的一种应用于车辆中的路径修正装置的结构构架图；
图2是根据本申请实施例一提供的一种应用于车辆中的路径修正方法的流程图；
图3是根据本申请实施例二提供的一种应用于车辆中的路径修正方法的流程图；
图4是实现本申请实施例的一种应用于车辆中的路径修正装置的结构示意图；
图5是实现本申请实施例的一种应用于车辆中的路径修正方法的电子设备的结构示意图。
具体实施方式
为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述。
需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“目标”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
为了方便本申请实施例的说明与理解，本实施例是在图1是本申请实施例的一种应用于车辆中的路径修正装置的结构构架图的基础上进行介绍本申请的实施例，结构框架中包括错误标记模块10、高精度地图数据播发模块11、人工选择与确认模块12、高精度定位模块13、高精度地图与导航地图匹配模块14 和导航地图模块15。
错误标记模块10，可以设置为当检测于显示界面上触发的错误标记控件时，确定标记位置信息，并发送所述标记位置信息至高精度地图数据播发模块11，还可以接收高精度地图数据播发模块11传递的位置信号、行驶路径和置信度信息等。
高精度地图数据播发模块11，可以设置为传递显示界面的触发操作信息，还可以设置为传递位置信息、路径信息、行驶路径、置信度信息以及标记位置信息等。
其中，高精度地图数据播发模块11接收到的位置信息、路径信息、行驶路径、置信度信息可以是由高精度定位模块13获取到的位置信息、以及与位置信息相对应的置信度信息以及错误标记模块10获取到的标记位置信息的位置信息、与标记位置信息相对应的置信度信息等信号，也可以是由高精度地图与导航地图匹配模块14获取到的匹配行驶路径、匹配行驶路径相对应的置信度等信号。高精度地图数据播发模块11可以将错误标记模块10获得的标记位置信息传递至高精度定位模块13、高精度地图与导航地图匹配模块14，也可以响应于触发显示界面中错误标记控件，向错误标记模块10传递相关的位置信号、置信度信息、匹配的行驶路径信息等相关的道路信息。高精度地图数据播发模块11将人工选择与确认模块12中确认和/或选择的信息传递至高精度地图与导航地图匹配模块14和/或高精度定位模块13。高精度地图数据播发模块11可以接收导航地图模块15发送的经过人工确认和/或选择的行驶路径等信息。
高精度定位模块13，可以设置为获得目标车辆的定位信息以及相应的置信度，确定当前定位信息中是否包括至少两种待选择路径信息，还可以设置为接收高精度地图数据播发模块11传递的显示界面上触发操作以及标记位置信息。
导航地图模块15，可以设置为当检测到于显示界面输入起始位置和终点位置时，确定至少一条行驶路径并发送至高精度地图与导航地图匹配模块14，还可以设置为将所述至少一条行驶路径信息传递至显示界面，还可以设置为接收 显示界面上触发操作，还可以设置为将显示界面上触发操作相对应的行驶路径发送至高精度地图与导航地图匹配模块14等。
高精度地图与导航地图匹配模块14，可以设置为将至少一条行驶路径的路径置信度发送至高精度地图数据播发模块11，还可以设置为接收导航地图模块15传递的至少一条行驶路径的导航信息，并在高精度地图中找到与导航信息相匹配的行驶路径，并计算每条与导航信息相匹配的行驶路径置信度，还可以设置为接收高精度地图数据播发模块11传递的显示界面的触发操作信息和与触发操作相对应的导航信息，并设置为接收标记信息位置等。
人工选择与确认模块12，可以设置为触发所述显示界面，还可以设置为将触发操作传递给导航地图模块15和/或高精度地图数据播发模块11，还可以设置为接收路径信息、与路径信息相对应的置信度信息以及位置信息等。
实施例一
图2是本申请实施例一提供的一种应用于车辆中的路径修正方法的流程图，本实施例可适用于自动驾驶技术中，当自动驾驶车辆在使用自动驾驶模式时被导航系统认为至少有两条待选择道路时，可以根据显示界面提示的置信度信息和道路信息进行人工确认的情况，该方法可以由一种车辆中的路径修正装置来执行，该车辆中的路径修正装置可以采用硬件和/或软件的形式实现，该车辆中的路径修正装置可配置于自动驾驶车辆机体内、手持设备中，可以集成在一个位置，也可以分散设置在不同的位置，例如放置在自动驾驶操作面板、前排座椅后方等各种位置。如图2所示，该方法包括：
S210、在目标车辆基于自动驾驶模式行驶过程中，基于高精度定位模块13获取目标车辆的当前定位信息以及相应的置信度。
其中，目标车辆可以为具有自动驾驶功能且正在行驶的车辆，高精度定位模块13可以是提供给自动驾驶车辆位置信息的模块产品一般可以位于车载导航、手持设备中。高精度定位模块常见的作用是用于确认自动驾驶车辆的位置。可以通过卫星定位、航迹推算、传感器匹配定位等一种或几种方式融合获得的信 息来确认车辆的位置。当前定位信息可以包括定位设备的位置和由定位设备定义的位置或用于确定位置的信息。例如，当前定位信息包括车辆行驶中当前的位置信号等多种可以应用在自动驾驶车辆行驶过程中的信息，包括但不限于：经纬度位置、相对位置、绝对位置、地理位置等。置信度是在实际车辆行驶之前测试人员路测阶段获得的对位置的信任程度，置信度展现的是这个参数的真实值有一定概率落在测量值的周围的程度，给出的是被测量参数测量值的可信程度的范围。相应的置信度可以是目标车辆获得的当前定位信息的可信程度。示例性的，自动驾驶车辆在使用自动驾驶模式进行行驶的过程中，高精度定位模块13可以获得行驶中的车辆的定位，判断车辆行驶在XX市XX区的某条道路上，这个信息的准确性为90％。
S220、确定当前定位信息中是否包括至少两种待选择路径信息。
路径信息是车辆进行自动驾驶行驶时需要的道路信息以及行驶路径等各类行驶过程需要的信息，至少两种待选择的路径信息是自动驾驶车辆在使用自动驾驶功能行驶时，基于高精度定位模块13获取到的定位信息包括至少两种可以选择行驶的行驶路线和/或道路信息，至少两种待选择路径信息是根据获得的定位信息判断的行驶路线和/或道路信息。示例性的，至少两种待选择路径信息可以是自动驾驶车辆行驶过程中即将面对主辅两条路、桥上桥下这样的可能导致定位不准确的复杂道路节点时，需要进行选择和/或区分确认的行驶路线和/或道路信息。
可选地，确定当前定位信息中是否包括至少两种待选择路径信息，包括：
若检测到当前定位信息中包括至少两个待选择定位，则分别确定每个待选择定位所对应的待选择路径信息；
若所述至少两个待选择定位对应的待选择路径信息不同，则确定当前定位信息关联有至少两种待选择路径信息。
由于高精度定位模块存在不准确的情况，可能会导致出现不止一个定位的状况，待选择定位是高精度定位模块获取到的车辆可能的至少一个定位信息。 示例性的，高精度定位模块频繁出现定位地点的识别出现问题的情况，车辆行驶在左侧道路行驶上，定位却标记在右侧的道路上。根据不同的定位信息可以获取到每个定位信息所需要的路径信息，该路径信息包括车辆行驶过程中所需要的所有信息。路径信息可以是行驶道路、路径规划、决策控制、行驶环境等一种或几种信息。例如：前方行驶过程中的环境、红绿灯数量、堵塞状况等。
确认与当前定位信息关联的至少两种待选择路径信息，可以是读取、接收该至少两种定位相关的位置信号、行驶路径等用于行驶的信息。示例性的，行驶时前方遇到主路、辅路两条路，定位系统认为车辆可能在主路道路上，也可能在辅路道路上，这样的两种或两种以上需要进行选择确认定位的状况，并且前方行驶的道路是不一致的，那么将获取两种待选择的路径信息。示例性地，将所述至少两个待选择定位所对应的置信度，作为相应待选择路径信息所对应的置信度。
根据待选择的定位获取到对应的置信度信息，示例性的，在行驶的过程中，位于左侧道路的可能性为70％，位于右侧道路的可能性为30％，高精度定位模块会优先选择置信度高的结果，如果有人工确认，会优先选择人工确认结果。。
S230、在当前定位信息中包括至少两种待选择路径信息的情况下，将至少两种待选择路径信息以及相应的置信度显示至显示界面上。
显示界面可以在车辆集成的电子设备中，也可以是集成的手持设备中，例如：手机、平板电脑、车载面板等。如果步骤S220确定当前定位信息中包括至少两种待选择路径信息，那么将至少两种需要进行选择的道路信息以醒目的方式弹出在显示界面上，包括但不限于：语音提示、灯光闪烁等方式提醒用户进行人工选择和/或确认。相应的置信度可以包括在路测阶段获取到的信任程度等信息。示例性的，弹出的显示界面的文字可以为“请选择/确认，所在位置为桥上道路的可能性为70％，为桥下道路的可能性为30％。”
可选地，将至少两种待选择路径信息以及相应的置信度显示至显示界面上，包括：
基于高精度地图数据播发模块11将所述至少两种待选择路径信息以及相应的置信度，发送至显示设备，以在所述显示设备的显示界面上进行显示。
高精度地图数据播发模块11的作用为传递信息，具有根据所获得的选择路径信息进行播放、发送的功能。高精度地图数据播发模块11可以根据用户选择的路径信息将信号传递给高精度定位模块13，也可以再将高精度定位模块13发送出来的相应的位置信号、置信度、标记点信号等信息传递到显示设备上。
S240、将于显示界面上触发的目标路径信息，作为目标车辆的目标行驶路径。
其中，目标路径信息为待选择路径信息中的路径信息。
触发可以指用户通过各种方式给予的指令，例如：语音确认、点击确认等。目标行驶路径可以是自动驾驶行驶的当前的唯一确定的行驶线路。将用户的选择和/或确认的行驶路径作为将要继续行驶的路径。用户的选择和/或确认可以通过人工选择与确认模块12实现。示例性的，用户选择确认即将面对的位置在桥上，将按照用户的选择直接判断所在位置及继续行驶的道路等。
可选地，将于显示界面上触发的目标路径信息，作为目标车辆的目标行驶路径，包括：
获取目标用户于显示界面上对所述至少两种待选择路径信息的触发操作，并将所述触发操作所对应的待选择路径信息作为所述目标路径信息，以基于所述目标路径信息控制所述目标车辆继续行驶。
通过用户触发的目标路径信息，将用户选择的的路径信息方案发送到高精度地图数据播发模块11，通过高精度地图数据播发模块11传输到高精度定位模块13进行对比、输出以及调整后，输出唯一经过用户确认的路径信息和其他道路信息反馈给高精度地图数据播发模块11，并按照用户选择和/或确认的路径信息作为目标行驶路径继续行驶。
可选地，若预设时长内未检测到对至少两种待选择路径信息的触发操作，则将置信度最高的待选择路径信息作为所述目标路径信息。
预设时长可以为系统设置的自定义时长，是指在显示界面弹出窗口到经过待选择的道路节点的一段时间。未检测到两种待选择路径信息的触发操作可以是高精度地图数据播发模块11没有接收到人工的选择和/或确认信号，示例性的，在需要确认所处位置在桥上还是桥下时，用户长时间没有进行选择，导致该路段的自动行驶没有确定的目标路径时，通过对高精度地图与导航地图匹配模块14传递给高精地图数据播发模块11的置信度高低进行排序，选择其中置信度最高的目标路径继续行驶。
可选地，包括：
当检测于显示界面上触发的错误标记控件时，确定标记位置信息。
将所述标记位置信息发送至所述高精度定位模块13，以在所述当前位置信息与所述标记位置信息相一致时，于所述显示界面上显示所述标记位置信息所对应的待选择路径信息。
错误标记控件可以是错误标记模块10的部分之一，可以设置为用户标记高精地图播发数据错误。标记位置可以是用户认为行驶过程中与高精度导航不一致的位置地点进行标记的行为。标记位置信息可以是标记点位置所包括的道路信息。高精度地图数据播发模块11会将错误标记传递到高精度定位模块13通过当前点的标记位置信息和当前的位置信息进行比对，其结果一致时，高精度定位模块13对该位置区域进行标记。获得标记位置信息后可以传递到高精度地图数据播发模块11，可以在显示界面显示标记位置的相关信息以及该位置可能需要的行驶路径及置信度等信息。示例性的，如果高精度地图数据播发模块11播发的数据存在错误，用户可以进行打点标记，高精度地图数据播发模块11会将错误标记传递到高精度定位模块13，高精度定位模块13对该位置区域进行标记，后续途径该区域，会将标记信号传递到高精度地图数据播发模块11，进而通过人工选择与确认以确定所在的位置和行驶路线等。
本申请在目标车辆基于自动驾驶模式行驶过程中，基于高精度定位模块13获取目标车辆的当前定位信息以及相应的置信度；确定当前定位信息中是否包 括至少两种待选择路径信息；若是，则将至少两种待选择路径信息以及相应的置信度显示至显示界面上；将于显示界面上触发的目标路径信息，作为目标车辆的目标行驶路径；其中，目标路径信息为所述待选择路径信息中的路径信息的方式。本申请实施例一通过引入显示界面的形式提供用户确认的方式提高了导航系统在行驶过程中的准确性，即使用人工确认的方式提高导航系统的准确性，有效的解决了导航定位系统在车辆行驶过程中选择的路径存在偏差、定位错误的问题，提高了自动驾驶技术的安全性和可用性。
实施例二
图3为本申请实施例二提供的一种应用于车辆中的路径修正方法的流程图，本实施例与上述实施例之间所应用的场景一致，本实施例是针对复杂的道路节点高精度地图与导航地图匹配难点提出的应用于车辆中的路径修正方法。如图3所示，
S310、当检测到于显示界面输入起始位置和终点位置时，基于导航地图模块15确定至少一条行驶路径。
起始位置可以是用户自行输入的需要进行导航行驶的起点位置，终点位置可以是用户需要最终到达的目标位置。导航地图模块15是可以进行路径计算的功能模块，其功能可以是根据实际的道路信息输出可能的导航数据，其中，导航数据包括位置信息和道路选择等信息。示例性的，用户可以选择红绿灯少、大路少等导航路径进行行驶。示例性的，用户选择从起始位置a到终点位置b，导航出现一种或几种路径选择。
S320、将至少一条行驶路径发送至高精度地图与导航地图匹配模块14，以确定所述至少一条行驶路径的路径置信度并显示。
向高精度地图与导航地图匹配模块14中发送导航路径，高精度地图与导航地图匹配模块14进行路径置信度计算。高精度地图与导航地图匹配模块14可以向高精度地图数据播发模块11发送匹配的道路信息以及相应的置信度信息。高精度地图播发模块11根据高精度定位模块13和高精度地图与导航地图匹配 模块14的计算结果，播发出所有可能进行行驶的高精度地图数据，并根据高精度定位和高精度地图与导航地图匹配置信度进行排序。其中，相关道路信息包括但不限于：道路环境、红绿灯路口数量、道路拥堵状况。
高精度地图数据播发模块11接收导航信息一般可以是接收完成一段导航信息后，进行播发，再接收另一段导航信息后播发另一段，示例性的，每次播发2公里的路况信息和驾驶行进信息时，在行驶两公里后存在上一个播发与下一个播发交替的节点，此节点为容易出现误差的节点。这样的节点就是高精度地图与导航地图匹配的难点之一。将该节点的定位信息、置信度等相关信息显示在显示界面上。示例性的，如果这个节点刚好在一个分叉路口时出现了，导航地图模块15会将路径计算的结果发送至显示界面，该节点的相关匹配路径、置信度信息等均显示在用户的显示界面上，可以由用户选择和/或确认行驶的方向信息和行驶目标道路。
S330、将触发选择的行驶路径，作为从所述起始位置行驶至终点位置的目标行驶路径。
根据用户的选择和/或确认，向导航地图模块15、和高精度地图数据播发模块11同时触发相对应的路径选择。将用户的选择和/或确认的路径作为目标行驶路径。导航地图模块15接收到用户的选择和/确认时，可以将确认的导航路径信息传递至高精度地图与导航地图匹配模块14，将人工确认信号传递到高精度地图数据播发模块11，并确定唯一的导航路径信息、目标路径等信息。用户选择与确认结果可以直接向高精度地图播发模块11进行传递，减少二次确认。
如果用户没有对显示界面选择确认或触发，那么自动驾驶系统将根据置信度最高的路径信息继续进行行驶。
本申请在自动驾驶过程中，通过当检测到于显示界面输入起始位置和终点位置时，基于导航地图模块15确定至少一条行驶路径；将至少一条行驶路径发送至高精度地图与导航地图匹配模块14，以确定至少一条行驶路径的路径置信度并显示；将触发选择的行驶路径，作为从起始位置行驶至终点位置的目标行 驶路径，保证了自动驾驶的行驶路径是准确的。在高精度导航不精确的状况下，可以根据导航地图算路结果以及人工选择与确认模块提示用户选择与确认的方式，确定唯一的行驶路径。本申请可实现用户选择与确认结果直接向高精度地图播发模块11的传递，减少了二次确认，解决了目前所使用的高精度地图与定位系统行驶路线存在偏差情况，提高了自动驾驶领域中导航系统与定位系统的准确度，提高了自动驾驶的安全性和可用性。
实施例三
图4是本申请实施例的一种应用于车辆中的路径修正装置的结构示意图。如图4所示，该装置包括：
定位获取模块41，设置为在目标车辆基于自动驾驶模式行驶过程中，基于高精度定位模块13获取所述目标车辆的当前定位信息以及相应的置信度，
定位确定模块42，设置为确定所述当前定位信息中是否包括至少两种待选择路径信息；
路径显示模块43，设置为响应于所述当前定位信息中包括至少两种待选择路径信息，将所述至少两种待选择路径信息以及相应的置信度显示至显示界面上；
目标路径确定模块44，设置为将于所述显示界面上触发的目标路径信息，作为所述目标车辆的目标行驶路径，其中，所述目标路径信息为所述待选择路径信息中的路径信息。
本申请实施例所提供的一种应用于车辆中的路径修正装置可执行本申请任意实施例所提供的一种应用于车辆中的路径修正方法，通过定位获取模块41获得到的定位信息以及相应路径的置信度信息等信息，传递给定位确定模块42，定位确定模块42确认定位信息中包括至少两种待选择路径信息后，定位获取模块41将所获得到的定位信息以及相应路径的置信度等信息传输给路径显示模块43，路径显示模块43可以将上述的至少两种待选择路径信息的定位信息、置信度等信息显示至显示界面上，给用户提供选择和/或确认的操作平台，目标路径 确认模块44将用户选择和/或确认的路径信息确定为唯一准确的行驶路径。本申请实施例通过各个模块之间的相互配合，可以实现上述功能。本申请实施例实现了在歧义路段高精度定位、复杂道路节点时，使用人工交互的功能，提高了自动驾驶的可用性与安全性，解决了相关技术中的高精度地图与定位系统定位不准确、行驶路线确认困难的情况。
实施例四
图5是实现本申请实施例的应用于车辆中的路径修正方法的电子设备的结构示意图。电子设备旨在表示各种形式的数字计算机，诸如，膝上型计算机、台式计算机、工作台、个人数字助理、服务器、刀片式服务器、大型计算机、和其它适合的计算机。电子设备还可以表示各种形式的移动装置，诸如，个人数字处理、蜂窝电话、智能电话、可穿戴设备(如头盔、眼镜、手表等)和其它类似的计算装置。本文所示的部件、它们的连接和关系、以及它们的功能仅仅作为示例，并且不意在限制本文中描述的和/或者要求的本申请的实现。
如图5所示，电子设备50包括至少一个处理器51，以及与至少一个处理器51通信连接的存储器，如只读存储器(Read-Only Memory，ROM)52、随机访问存储器(Random Access Memory，RAM)53等，其中，存储器存储有可被至少一个处理器执行的计算机程序，处理器51可以根据存储在只读存储器(ROM)52中的计算机程序或者从存储单元58加载到随机访问存储器(RAM)53中的计算机程序，来执行各种适当的动作和处理。在RAM 53中，还可存储电子设备50操作所需的各种程序和数据。处理器51、ROM 52以及RAM 53通过总线54彼此相连。输入/输出(Input/Output，I/O)接口55也连接至总线54。
电子设备50中的多个部件连接至I/O接口55，包括：输入单元56，例如键盘、鼠标等；输出单元57，例如各种类型的显示器、扬声器等；存储单元58，例如磁盘、光盘等；以及通信单元59，例如网卡、调制解调器、无线通信收发机等。通信单元59允许电子设备50通过诸如因特网的计算机网络和/或各种电信网络与其他设备交换信息/数据。
处理器51可以是各种具有处理和计算能力的通用和/或专用处理组件。处理器51的一些示例包括但不限于中央处理单元(Central Processing Unit，CPU)、图形处理单元(Graphics Processing Unit，GPU)、各种专用的人工智能(Artificial Intelligence，AI)计算芯片、各种运行机器学习模型算法的处理器、数字信号处理器(Digital Signal Process，DSP)、以及任何适当的处理器、控制器、微控制器等。处理器51执行上文所描述的各个方法和处理，例如应用于车辆中的路径修正方法。
在一些实施例中，应用于车辆中的路径修正方法可被实现为计算机程序，其被有形地包含于计算机可读存储介质，例如存储单元58。在一些实施例中，计算机程序的部分或者全部可以经由ROM 52和/或通信单元59而被载入和/或安装到电子设备50上。当计算机程序加载到RAM 53并由处理器51执行时，可以执行上文描述的应用于车辆中的路径修正方法的至少一个步骤。备选地，在其他实施例中，处理器51可以通过其他任何适当的方式(例如，借助于固件)而被配置为执行应用于车辆中的路径修正方法。
本文中以上描述的系统和技术的各种实施方式可以在数字电子电路系统、集成电路系统、场可编程门阵列(Field Programmable Gate Array，FPGA)、专用集成电路(Application Specific Integrated Circuit，ASIC)、专用标准产品(Application Specific Standard Parts，ASSP)、芯片上系统的系统(System on Chip，SOC)、负载可编程逻辑设备(Complex Programmable Logic Device，CPLD)、计算机硬件、固件、软件、和/或它们的组合中实现。这些各种实施方式可以包括：实施在至少一个计算机程序中，该至少一个计算机程序可在包括至少一个可编程处理器的可编程系统上执行和/或解释，该可编程处理器可以是专用或者通用可编程处理器，可以从存储系统、至少一个输入装置、和至少一个输出装置接收数据和指令，并且将数据和指令传输至该存储系统、该至少一个输入装置、和该至少一个输出装置。
用于实施本申请的方法的计算机程序可以采用一个或多个编程语言的任何 组合来编写。这些计算机程序可以提供给通用计算机、专用计算机或其他可编程数据处理装置的处理器，使得计算机程序当由处理器执行时使流程图和/或框图中所规定的功能/操作被实施。计算机程序可以完全在机器上执行、部分地在机器上执行，作为独立软件包部分地在机器上执行且部分地在远程机器上执行或完全在远程机器或服务器上执行。
在本申请的上下文中，计算机可读存储介质可以是有形的介质，其可以包含或存储以供指令执行系统、装置或设备使用或与指令执行系统、装置或设备结合地使用的计算机程序。计算机可读存储介质可以包括但不限于电子的、磁性的、光学的、电磁的、红外的、或半导体系统、装置或设备，或者上述内容的任何合适组合。备选地，计算机可读存储介质可以是机器可读信号介质。机器可读存储介质的更具体示例会包括基于至少一个线的电气连接、便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦除可编程只读存储器((Erasable Programmable Read-Only Memory，EPROM)或快闪存储器)、光纤、便捷式紧凑盘只读存储器(Compact Disc Read-Only Memory，CD-ROM)、光学储存设备、磁储存设备、或上述内容的任何合适组合。
为了提供与用户的交互，可以在电子设备上实施此处描述的系统和技术，该电子设备具有：用于向用户显示信息的显示装置(例如，CRT(Cathode Ray Tube，阴极射线管)或者LCD(Liquid Crystal Display，液晶显示器)监视器)；以及键盘和指向装置(例如，鼠标或者轨迹球)，用户可以通过该键盘和该指向装置来将输入提供给电子设备。其它种类的装置还可以用于提供与用户的交互；例如，提供给用户的反馈可以是任何形式的传感反馈(例如，视觉反馈、听觉反馈、或者触觉反馈)；并且可以用任何形式(包括声输入、语音输入或者、触觉输入)来接收来自用户的输入。
可以将此处描述的系统和技术实施在包括后台部件的计算系统(例如，作为数据服务器)、或者包括中间件部件的计算系统(例如，应用服务器)、或者包括前端部件的计算系统(例如，具有图形用户界面或者网络浏览器的用户计 算机，用户可以通过该图形用户界面或者该网络浏览器来与此处描述的系统和技术的实施方式交互)、或者包括这种后台部件、中间件部件、或者前端部件的任何组合的计算系统中。可以通过任何形式或者介质的数字数据通信(例如，通信网络)来将系统的部件相互连接。通信网络的示例包括：局域网(Local Area Network，LAN)、广域网(Wide Area Network，WAN)、区块链网络和互联网。
计算系统可以包括客户端和服务器。客户端和服务器一般远离彼此并且通常通过通信网络进行交互。通过在相应的计算机上运行并且彼此具有客户端-服务器关系的计算机程序来产生客户端和服务器的关系。服务器可以是云服务器，又称为云计算服务器或云主机，是云计算服务体系中的一项主机产品，以解决了传统物理主机与虚拟专用服务器(Virtual Private Server，VPS)服务中，存在的管理难度大，业务扩展性弱的缺陷。
应该理解，可以使用上面所示的各种形式的流程，重新排序、增加或删除步骤。例如，本申请中记载的各步骤可以并行地执行也可以顺序地执行也可以不同的次序执行，只要能够实现本申请的技术方案所期望的结果，本文在此不进行限制。
上述具体实施方式，并不构成对本申请保护范围的限制。本领域技术人员应该明白的是，根据设计要求和其他因素，可以进行各种修改、组合、子组合和替代。任何在本申请的精神和原则之内所作的修改、等同替换和改进等，均应包含在本申请保护范围之内。

Claims (10)

  1. 一种应用于车辆中的路径修正方法，包括：
    在目标车辆基于自动驾驶模式行驶过程中，基于高精度定位模块获取所述目标车辆的当前定位信息以及相应的置信度；
    确定所述当前定位信息中是否包括至少两种待选择路径信息；
    响应于所述当前定位信息中包括至少两种待选择路径信息，将所述至少两种待选择路径信息以及相应的置信度显示至显示界面上；
    将于所述显示界面上触发的目标路径信息，作为所述目标车辆的目标行驶路径；
    其中，所述目标路径信息为所述待选择路径信息中的路径信息。
  2. 根据权利要求1所述的方法，其中，所述确定所述当前定位信息中是否包括至少两种待选择路径信息，包括：
    响应于检测到所述当前定位信息中包括至少两个待选择定位，分别确定每个待选择定位所对应的待选择路径信息；
    响应于所述至少两个待选择定位对应的待选择路径信息不同，确定所述当前定位信息关联有所述至少两种待选择路径信息。
  3. 根据权利要求2所述的方法，还包括：
    将所述至少两个待选择定位所对应的置信度，作为相应待选择路径信息所对应的置信度。
  4. 根据权利要求1所述的方法，其中，所述将所述至少两种待选择路径信息以及相应的置信度显示至显示界面上，包括：
    基于高精度地图数据播发模块将所述至少两种待选择路径信息以及相应的置信度，发送至显示设备，以在所述显示设备的显示界面上进行显示。
  5. 根据权利要求1所述的方法，其中，所述将于所述显示界面上触发的目标路径信息，作为所述目标车辆的目标行驶路径，包括：
    获取目标用户于显示界面上对所述至少两种待选择路径信息的触发操作，并将所述触发操作所对应的待选择路径信息作为所述目标路径信息，以基于所 述目标路径信息控制所述目标车辆继续行驶。
  6. 根据权利要求4所述的方法，还包括：
    响应于预设时长内未检测到对所述至少两种待选择路径信息的触发操作，将置信度最高的待选择路径信息作为所述目标路径信息。
  7. 根据权利要求1所述的方法，还包括：
    响应于检测到于显示界面输入起始位置和终点位置，基于导航地图模块确定至少一条行驶路径；
    将所述至少一条行驶路径发送至高精度地图与导航地图匹配模块，以确定所述至少一条行驶路径的路径置信度并显示；
    将触发选择的行驶路径，作为从所述起始位置行驶至终点位置的目标行驶路径。
  8. 根据权利要求1所述的方法，还包括：
    响应于检测于显示界面上触发的错误标记控件，确定标记位置信息；
    将所述标记位置信息发送至所述高精度定位模块，以在所述当前位置信息与所述标记位置信息相一致时，于所述显示界面上显示所述标记位置信息所对应的待选择路径信息。
  9. 一种应用于车辆中的路径修正装置，包括：
    定位获取模块，设置为在目标车辆基于自动驾驶模式行驶过程中，基于高精度定位模块获取所述目标车辆的当前定位信息以及相应的置信度，
    定位确定模块，设置为确定所述当前定位信息中是否包括至少两种待选择路径信息；
    路径显示模块，设置为响应于所述当前定位信息中包括至少两种待选择路径信息，将所述至少两种待选择路径信息以及相应的置信度显示至显示界面上；
    目标路径确定模块，设置为将于所述显示界面上触发的目标路径信息，作为所述目标车辆的目标行驶路径，其中，所述目标路径信息为所述待选择路径信息中的路径信息。
  10. 一种电子设备，包括：
    至少一个处理器；以及
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有可被所述至少一个处理器执行的计算机程序，所述计算机程序被所述至少一个处理器执行，以使所述至少一个处理器能够执行权利要求1-8中任一项所述的应用于车辆中的路径修正方法。
PCT/CN2023/112860 2022-08-18 2023-08-14 应用于车辆中的路径修正方法、装置及电子设备 WO2024037487A1 (zh)

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