CN106323305B - Navigation method and device - Google Patents
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- CN106323305B CN106323305B CN201510367278.7A CN201510367278A CN106323305B CN 106323305 B CN106323305 B CN 106323305B CN 201510367278 A CN201510367278 A CN 201510367278A CN 106323305 B CN106323305 B CN 106323305B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
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Abstract
The invention provides a navigation method and a navigation device, wherein the method comprises the following steps: acquiring a starting point and an end point of a current user, and generating a planning path according to the starting point and the end point; acquiring vehicle parameters of a current user and lane parameters of each lane on a planned path, and determining a drivable lane of the current user; determining lane change points on a drivable lane, wherein the lane change points at least comprise points where the number of lanes in front changes and intersection bifurcation points; and generating an optimal path from the lane to the lane ahead at each lane change point before reaching the terminal point, and displaying each optimal path to the user. The invention leads the path to be accurate to the lane level, and provides more real and safe information for the user; the invention provides detailed lane guide information at the intersection, which is beneficial for users to pass the intersection quickly and safely; meanwhile, high-precision lane data can provide more safety guarantee for users, and accidents are reduced.
Description
Technical Field
The present invention relates to the field of navigation, and in particular, to a navigation method and apparatus.
Background
With the development of life, navigation becomes an important part when people go out, and great convenience is brought to people going out. However, most of the existing navigation is based on guidance between roads, and path planning can only be accurate to the roads and cannot be accurate to specific lanes; and the intersection has no detailed traffic information and traffic information among lanes, and cannot provide the maximum convenience for users under the condition that the road condition information is increasingly complicated.
Disclosure of Invention
The invention provides a navigation method and a navigation device, and aims to solve the problems that the existing navigation based on roads cannot be accurate to a specific lane, and detailed traffic information and traffic information among lanes do not exist at an intersection.
In order to achieve the above object, an embodiment of the present invention provides a navigation method, including:
acquiring a starting point and an end point of a current user, and generating a planning path according to the starting point and the end point;
acquiring vehicle parameters of a current user and lane parameters of each lane on a planned path, and determining a drivable lane of the current user;
determining lane change points on a drivable lane, wherein the lane change points at least comprise points where the number of lanes in front changes and intersection bifurcation points;
and generating an optimal path from the lane to the lane ahead at each lane change point before reaching the terminal point, and displaying each optimal path to the user.
Further, at each lane change point before reaching the end point, generating an optimal path from the lane to the lane ahead, and displaying each optimal path to the user, specifically comprising:
at each lane change point, determining at least one or more lanes in front of the lane which can pass according to the direction of the planned path, and generating a passing path from the lane to the lanes in front;
calculating the length of the passing path, determining the shortest one of the passing paths as an optimal path, and displaying the optimal path to a user;
and generating an optimal path of each lane change point according to the lane change point before reaching the terminal point, and displaying each optimal path to a user.
Further, before the step of obtaining the starting point and the ending point of the current user, the method further comprises:
obtaining lane parameters of each lane, wherein the lane parameters at least comprise: lane direction, lane type, lane width, lane height, and steering arrow.
Further, the lane type includes at least: normal lanes, acceleration lanes, deceleration lanes, compound lanes, and tidal lanes.
Further, in the step of displaying each optimal path to the user, the optimal path is displayed to the user when the user is a distance of a preset length from the lane change point.
And further, displaying the optimal path to the user, and simultaneously broadcasting the optimal path to the user by voice.
In order to achieve the above object, the present invention also provides a navigation device comprising:
the first acquisition module is used for acquiring a starting point and an end point of a current user and generating a planned path according to the starting point and the end point;
the second acquisition module is used for acquiring vehicle parameters of the current user and lane parameters of each lane on the planned path and determining a drivable lane of the current user;
the lane change point generating module is used for determining lane change points on a drivable lane, wherein the lane change points at least comprise points where the number of lanes in front changes and intersection bifurcation points;
and the display module is used for generating the optimal path from the lane to the lane ahead at each lane change point before reaching the terminal point, and displaying each optimal path to the user.
Further, the display module specifically includes:
the passing path generation submodule is used for determining at least one or more front lanes which can pass through the lane according to the direction of the planned path at each lane change point and generating a passing path from the lane to the front lanes;
the calculation submodule is used for calculating the length of the passing path, determining the shortest one of the passing paths as the optimal path and displaying the optimal path to a user;
and the path display submodule is used for generating an optimal path of each lane change point according to the lane change point before the destination is reached and displaying each optimal path to the user.
Further, the device also comprises a control device,
a third obtaining module, configured to obtain lane parameters of each lane before the step of obtaining the starting point and the ending point of the current user by the first obtaining module, where the lane parameters at least include: lane direction, lane type, lane width, lane height, and steering arrow.
Further, the lane type includes at least: normal lanes, acceleration lanes, deceleration lanes, compound lanes, and tidal lanes.
Further, the display module displays the optimal path to the user when the user is a distance of a preset length from the lane change point.
Further, the display module displays the optimal path to the user and broadcasts the optimal path to the user through voice.
The scheme of the invention at least comprises the following beneficial effects:
the navigation method and the navigation device provided by the invention solve the problem of low data route planning precision in the existing navigation, and the route guidance is accurate to the lane level, so that more real and safe information is provided for users, and meanwhile, high-precision data is provided for automatic driving; the invention provides detailed lane guide information at the intersection, provides more traffic conditions among lanes for the user to turn at the intersection, and is beneficial to the user to quickly and safely pass through the intersection; meanwhile, high-precision lane data can provide more safety guarantee for users, and accidents are reduced.
Drawings
FIG. 1 is a flowchart illustrating steps of a navigation method according to an embodiment of the present invention;
FIG. 2 is a detailed flowchart of step 104 in FIG. 1;
FIG. 3 is a schematic structural diagram of a navigation device according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of the display module 204 in FIG. 3;
fig. 5 is a scene diagram of embodiment 1 of the present invention;
fig. 6 is a scene diagram of embodiment 2 of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, the present invention provides a navigation method, which aims at the existing problem, and comprises the following steps:
firstly, generating a planning path according to a starting point and an end point of a user; the planned path is road-based.
Further, before step 101, the method further comprises:
obtaining lane parameters of each lane, wherein the lane parameters at least comprise: lane direction, lane type, lane width, lane height, and steering arrow.
Further, the lane type includes at least: normal lanes, acceleration lanes, deceleration lanes, compound lanes, and tidal lanes.
102, acquiring vehicle parameters of a current user and lane parameters of each lane on a planned path, and determining a drivable lane of the current user;
here, a specific lane on which the user can travel is determined according to the user's vehicle parameters, body length, body width, vehicle type, and the like.
103, determining lane change points on a drivable lane, wherein the lane change points at least comprise points with changed number of lanes in front and intersection bifurcation points;
referring to fig. 5, in embodiment 1 of the present invention, N points are lane change points where the number of lanes is increased; the lane change points are set to remind a user of safety attention when the road condition changes; and if the driving direction is changed, the vehicle needs to enter a corresponding lane: if the driving direction of the user at the intersection on the planned path is a right turn, the user needs to enter a right turn lane in advance.
And 104, generating an optimal path from the lane to the lane ahead at each lane change point before reaching the end point, and displaying each optimal path to the user.
Further, in step 104, the optimal path is displayed to the user when the user is a distance of a preset length from the lane change point.
And further, displaying the optimal path to the user, and simultaneously broadcasting the optimal path to the user by voice.
Here, when a preset distance, such as 50 meters, needs to be kept from the lane change point, the optimal path is displayed to the user; in order to facilitate driving, the invention also sets the optimal path to be displayed and simultaneously broadcasts the optimal path to the user by voice.
The navigation method and the navigation device provided by the invention solve the problem of low data route planning precision in the existing navigation, and the route guidance is accurate to the lane level, so that more real and safe information is provided for users.
Referring to fig. 2, step 104 specifically includes:
and 1043, generating an optimal path of each lane change point according to the lane change points before reaching the end point, and displaying each optimal path to the user.
Referring to fig. 6, embodiment 2 of the present invention shows a multi-lane intersection scenario.
Taking lane No. 3 in the figure as an example, when the user is at point P with a preset distance from lane change point M in the figure, a passing path is generated according to the direction of the planned path.
If the user needs to go straight on the planned path, then:
determining lanes which can be passed by a user to be a lane No. 12 and a lane No. 13, and generating a first passing path of 3-12 and a second passing path of 3-13.
And calculating the lengths of the first path and the second path, determining the shorter one of the first path and the second path as an optimal path, displaying the optimal path to the user when the user reaches the point P, and broadcasting the optimal path to the user by voice.
And generating an optimal path of each lane change point according to the lane change point before reaching the terminal point, and displaying each optimal path to a user.
The invention provides detailed lane guide information at the intersection, provides more traffic conditions among lanes for the user to turn at the intersection, and is beneficial to the user to quickly and safely pass through the intersection; meanwhile, high-precision lane data can provide more safety guarantee for users, and accidents are reduced.
In order to achieve the above object, the present invention also provides a navigation device comprising:
a first obtaining module 201, configured to obtain a starting point and an ending point of a current user, and generate a planned path according to the starting point and the ending point;
the second obtaining module 202 is configured to obtain vehicle parameters of a current user and lane parameters of each lane on a planned path, and determine a drivable lane of the current user;
the lane change point generating module 203 is configured to determine lane change points on a drivable lane, where the lane change points at least include a point where the number of lanes in front changes and an intersection bifurcation point;
and the display module 204 is used for generating an optimal path from the lane to the lane ahead at each lane change point before reaching the end point, and displaying each optimal path to the user.
Further, the display module 204 specifically includes:
the passing path generation submodule 2041 is configured to determine, at each lane change point, at least one or more lanes ahead of the lane, which can pass through the lane, according to the direction of the planned path, and generate a passing path from the lane to the lane ahead;
the calculation sub-module 2042 is configured to calculate the length of the passing path, determine the shortest one of the passing paths, serve as an optimal path, and display the optimal path to the user;
the path display sub-module 2043 is configured to generate an optimal path for each lane change point according to the lane change point before the end point is reached, and display each optimal path to the user.
Further, the device also comprises a control device,
a third obtaining module, configured to obtain lane parameters of each lane before the step of obtaining the starting point and the ending point of the current user by the first obtaining module, where the lane parameters at least include: lane direction, lane type, lane width, lane height, and steering arrow.
Further, the lane type includes at least: normal lanes, acceleration lanes, deceleration lanes, compound lanes, and tidal lanes.
Further, the display module displays the optimal path to the user when the user is a distance of a preset length from the lane change point.
Further, the display module displays the optimal path to the user and broadcasts the optimal path to the user through voice.
It should be noted that the navigation device provided by the embodiment of the present invention is a device to which the above method is applied, that is, all embodiments of the above method are applicable to the device, and can achieve the same or similar beneficial effects.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A navigation method, comprising:
acquiring a starting point and an end point of a current user, and generating a planning path according to the starting point and the end point;
obtaining vehicle parameters of the current user and lane parameters of each lane on the planned path, and determining a drivable lane of the current user, wherein the vehicle parameters comprise vehicle body length, vehicle body width and vehicle type;
determining lane change points on the travelable lane, wherein the lane change points at least comprise points where the number of lanes in front changes and intersection bifurcation points;
generating an optimal path from the lane to a lane ahead at each lane change point before reaching the terminal point, and displaying each optimal path to a user;
the step of generating an optimal path from the lane to a lane ahead at each lane change point before reaching the end point and displaying each optimal path to a user specifically comprises:
at each lane change point, determining at least one or more lanes in front of the lane which can pass according to the direction of the planned path, and generating a passing path from the lane to the lanes in front;
calculating the length of the passing path, determining the shortest one of the passing paths as an optimal path, and displaying the optimal path to a user;
and generating an optimal path of each lane change point according to the lane change point before reaching the terminal point, and displaying each optimal path to a user.
2. The navigation method of claim 1, wherein prior to the step of obtaining the start point and the end point of the current user, the method further comprises:
obtaining lane parameters of each lane, wherein the lane parameters at least comprise: lane direction, lane type, lane width, lane height, and steering arrow.
3. The navigation method according to claim 2, characterized in that the lane type comprises at least: normal lanes, acceleration lanes, deceleration lanes, compound lanes, and tidal lanes.
4. The navigation method of claim 1, wherein the step of displaying each optimal path to the user displays the optimal path to the user when the user is a distance of a preset length from the lane change point.
5. The navigation method of claim 4, wherein the optimal path is displayed to the user while the optimal path is also being voice-broadcasted to the user.
6. A navigation device, comprising:
the first acquisition module is used for acquiring a starting point and an end point of a current user and generating a planned path according to the starting point and the end point;
the second obtaining module is used for obtaining vehicle parameters of the current user and lane parameters of each lane on the planned path, and determining a drivable lane of the current user, wherein the vehicle parameters comprise vehicle body length, vehicle body width and vehicle type;
the lane change point generating module is used for determining lane change points on the drivable lane, wherein the lane change points at least comprise points with changed number of lanes in front and intersection branch points;
the display module is used for generating an optimal path from the lane to a lane ahead at each lane change point before reaching the end point, and displaying each optimal path to a user;
the display module specifically includes:
the passing path generation submodule is used for determining at least one or more front lanes which can pass through the lane according to the direction of the planned path at each lane change point and generating a passing path from the lane to the front lanes;
the calculation sub-module is used for calculating the length of the passing path, determining the shortest one of the passing paths as an optimal path, and displaying the optimal path to a user;
and the path display submodule is used for generating an optimal path of each lane change point according to the lane change point before the destination is reached and displaying each optimal path to the user.
7. The navigation device of claim 6, wherein the device further comprises,
a third obtaining module, configured to obtain lane parameters of each lane before the step of obtaining the starting point and the ending point of the current user by the first obtaining module, where the lane parameters at least include: lane direction, lane type, lane width, lane height, and steering arrow.
8. The navigation device of claim 7, wherein the lane type includes at least: normal lanes, acceleration lanes, deceleration lanes, compound lanes, and tidal lanes.
9. The navigation device of claim 6, wherein the display module displays the optimal path to the user when the user is a distance of a preset length from the lane change point.
10. The navigation device of claim 9, wherein the display module displays the optimal path to a user and also voice broadcasts the optimal path to the user.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108663059A (en) * | 2017-03-29 | 2018-10-16 | 高德信息技术有限公司 | A kind of navigation path planning method and device |
| CN107389079B (en) * | 2017-07-04 | 2020-07-28 | 广州海格星航信息科技有限公司 | High-precision path planning method and system |
| CN110440817A (en) * | 2018-05-04 | 2019-11-12 | 沈阳美行科技有限公司 | A kind of course guiding method based on lane, device and relevant device |
| CN110361015B (en) * | 2018-09-30 | 2021-04-02 | 长城汽车股份有限公司 | Road feature point extraction method and system |
| CN110160552B (en) * | 2019-05-29 | 2021-05-04 | 百度在线网络技术（北京）有限公司 | Navigation information determination method, device, equipment and storage medium |
| CN112053552A (en) * | 2019-06-06 | 2020-12-08 | 阿里巴巴集团控股有限公司 | Road condition information prompting method and device, terminal and medium |
| CN110231049B (en) * | 2019-07-15 | 2023-03-21 | 腾讯科技（深圳）有限公司 | Navigation route display method, device, terminal and storage medium |
| CN110736480A (en) * | 2019-09-27 | 2020-01-31 | 西安天和防务技术股份有限公司 | Path planning method and device, computer equipment and storage medium |
| CN111854766B (en) * | 2020-01-13 | 2022-05-27 | 北京嘀嘀无限科技发展有限公司 | Road information determination method and device, electronic equipment and storage medium |
| CN113631885A (en) * | 2020-02-28 | 2021-11-09 | 华为技术有限公司 | Navigation method and device |
| CN111951586A (en) * | 2020-08-07 | 2020-11-17 | 武汉中海庭数据技术有限公司 | Lane selection method and device, electronic equipment and storage medium |
| CN116745581A (en) * | 2021-01-26 | 2023-09-12 | 深圳市大疆创新科技有限公司 | Control method and device for movable platform |
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| JP4770702B2 (en) * | 2006-10-31 | 2011-09-14 | アイシン・エィ・ダブリュ株式会社 | Route guidance system and route guidance method |
| JP2011154003A (en) * | 2010-01-28 | 2011-08-11 | Sony Corp | Navigation apparatus, navigation method and program |
| CN103245342A (en) * | 2012-02-06 | 2013-08-14 | 北京四维图新科技股份有限公司 | Navigation implementation method and navigation implementation apparatus |
| DE102012216144A1 (en) * | 2012-09-12 | 2014-05-28 | Bayerische Motoren Werke Aktiengesellschaft | Contact analog display, in particular of a lane change |
| CN104422457B (en) * | 2013-08-29 | 2018-09-21 | 高德软件有限公司 | A kind of air navigation aid and device |
| JP2015049221A (en) * | 2013-09-04 | 2015-03-16 | アイシン・エィ・ダブリュ株式会社 | Route guide display system, method, and program |
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