CN110108291A - Turn-by-turn navigation modification method and device - Google Patents
Turn-by-turn navigation modification method and device Download PDFInfo
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- CN110108291A CN110108291A CN201910371213.8A CN201910371213A CN110108291A CN 110108291 A CN110108291 A CN 110108291A CN 201910371213 A CN201910371213 A CN 201910371213A CN 110108291 A CN110108291 A CN 110108291A
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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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- 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
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
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Abstract
This application discloses a kind of turn-by-turn navigation modification method and device, the turn-by-turn navigation modification method includes: to obtain the intersection information at next crossing based on navigation system, and the intersection information includes crossing distance and branch road angle；The crossing described in vehicle distances or when the solid line target range S of crossing, obtains the image of crossing information；If the angle in current lane and junction ahead branch road is greater than target angle, judge to need to turn around；Obtain the traffic information that turns around in path of turning around；To update navigation information compared with the navigation system；The model that turns around based on training in advance determines whether to meet the safety condition to turn around according to the traffic information that turns around of acquisition；If meeting the safety condition to turn around, sending turns around to indicate information.The above method can correct navigation system by obtaining the real time information at crossing, make more effective, more targeted prompt when close to branch road and outlet.
Description
Technical field
The application belongs to field of navigation technology, repairs in particular to a kind of turn-by-turn navigation modification method and turn-by-turn navigation
Equipment.
Background technique
Current road track is more and more, branch road and export it is also more and more, and have substantial portion of irregular road,
Unknown road, dead end highway etc., and vehicle mounted guidance is when carrying out branch road and outlets direct and traffic is reminded, it is difficult to worked as according to vehicle
Preceding real-time condition is prompted and is guided, and is provided solely for simple guidance information, such as " please travel close to right front ", " preceding
Side turns left ".That is, practical road surface is complicated and changeable and the simple prompt of navigation map is inaccurate.At this point, driver needs certainly
Row judge vehicle current lane, with the angle in branch road and outlet, and with the provided guidance information comparative analysis of navigation, be easy to make
Postpone at judgement, misses turn, turns around, the chance even generation meeting danger of outlet or high speed port, there are rooms for improvement.
Summary of the invention
The application aims to solve at least one of the technical problems existing in the prior art.
This application discloses a kind of turn-by-turn navigation modification methods, comprising: is based on navigation system, obtains the road at next crossing
Message breath, the intersection information includes crossing distance and branch road angle；The crossing described in vehicle distances or crossing solid line target away from
When from S, the image of crossing information is obtained；If the angle in current lane and junction ahead branch road is greater than target angle, judge to need
Head；Obtain the traffic information that turns around in path of turning around；To update navigation information compared with the navigation system；Based on training in advance
The model that turns around determines whether to meet the safety condition that turns around according to the traffic information that turns around of acquisition；If meeting the safe item to turn around
Part, sending turn around to indicate information.
The turn-by-turn navigation modification method that the above embodiments of the present application provide can be by obtaining when close to branch road and outlet
It takes the real time information at crossing to correct navigation system, makes more effective, more targeted prompt, judgement turns to or turns around in time
Opportunity avoids the occurrence of judgement delay, misses turns, turns around, the risk of outlet or high speed, reduces violating the regulations, reduction traffic accident.
The application also proposed a kind of turn-by-turn navigation correcting device, comprising: first acquisition unit is configured to based on navigation
System, obtains the intersection information at next crossing, and the intersection information includes crossing distance and branch road angle；Second obtains list
Member when being configured to the crossing described in vehicle distances or crossing solid line target range S, obtains the image of crossing information；First determines
Unit judges to need to turn around if the angle for being configured to current lane and junction ahead branch road is greater than target angle；Third obtains
Unit is configured to obtain the traffic information that turns around in path of turning around；First comparing unit is configured to and the navigation system ratio
Compared with to update navigation information；Second determination unit is configured to the model that turns around based on training in advance according to the road of turning around of acquisition
Condition information determines whether to meet the safety condition to turn around；First generating unit, if being configured to meet the safety condition to turn around, hair
It turns around to indicate information out.
The application also proposed a kind of computer readable storage medium, be stored with the computer program program by processor
Method as described above is realized when execution.
Described device, the computer readable storage medium and above-mentioned method compared with the existing technology possessed by advantage
Identical, details are not described herein.
The additional aspect and advantage of the application will be set forth in part in the description, and will partially become from the following description
It obtains obviously, or recognized by the practice of the application.
Detailed description of the invention
The above-mentioned and/or additional aspect and advantage of the application will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is the flow chart according to the turn-by-turn navigation modification method of the application one embodiment；
Fig. 2 is the flow chart according to the turn-by-turn navigation modification method of the application another embodiment；
Fig. 3 is the structural schematic diagram according to the turn-by-turn navigation correcting device of the application one embodiment；
Fig. 4 is the structural schematic diagram according to another embodiment turn-by-turn navigation correcting device of the application.
Appended drawing reference:
Device 100,
First acquisition unit 110, second acquisition unit 120, the first determination unit 130, third acquiring unit 140, first
Comparing unit 150, the second determination unit 160, the first generating unit 170；
Navigation information obtains module 10, and front camera obtains module 20, road condition analyzing module 30, and side camera obtains
Module 40, vehicle body radar range finding module 50, road conditions comparison module 60, voice cue module 70.
Specific embodiment
Embodiments herein is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the application, and should not be understood as the limitation to the application.
For complex road condition, navigation system is difficult to provide the instruction for meeting load conditions according to real-time condition, the application's
Turn-by-turn navigation modification method is mainly the actual conditions amendment navigation system current according to crossing according to the complex situations of complex crossing
The instruction of system.
Wherein, complex road condition includes but is not limited to:
1) dead end highway.
Direct dead end highway: thoroughly it is isolated with external world's molding road network, other traffic can not be driven into the vehicle in dead end highway
Route.
Indirect dead end highway: the section is incompatible with other networking sections in grade, or should lead directly to somewhere but around big
It is curved.
2) Entry to motorway, outlet, the vehicle mouth that converges.
3) path without mark, branch road, nonstandard quasi-regular section.
4) the unexpected lane change of front truck, brake or parking, or even blow out suddenly out of control etc..
As shown in Figure 1, the turn-by-turn navigation modification method according to the application one embodiment includes the following steps:
Step S100 is based on navigation system, obtains the intersection information at next crossing, intersection information include crossing distance and
Branch road angle.
It is understood that next crossing refers to the current guidance path and this vehicle given based on navigation system
Next crossing of current position, the crossing can be the branch road for needing to turn to.
As shown in Fig. 2, the intersection information at next crossing can be combined by vehicle-mounted navigation system in actual execution
Vehicle-mounted positioning system provides or the positioning system of the navigation system combination mobile terminal of mobile terminal provides.
Intersection information includes crossing distance and branch road angle.Crossing distance indicate the current position of vehicle to crossing away from
From branch road angle indicates the angle in the branch road and present road for obtaining from navigation system.
Step S200 obtains the image of crossing information at vehicle distances crossing or crossing solid line target range S.
It is understood that when vehicle distances crossing or crossing solid line are greater than target range S, vehicle distances entrance compared with
Far, can first normally travel, obtain real-time the image of crossing information without being also difficult to.
In actual execution, target range S can be determined according to current vehicle speed, current vehicle speed and target range S positive
It closes, in some embodiments, the current speed per hour of S (m)=1.5*, and the minimum 50m of S, such as when current speed per hour is 30Km/h, S=
50m；When current speed per hour is 60Km/h, S=90m.
When the distance of vehicle distances crossing or crossing solid line is target range S, just start to obtain the image of crossing information, this
Sample can save the energy and computing resource of vehicle.
As shown in Fig. 2, in actual execution module 20 can be obtained by being installed on the front camera of front of the car
Obtain the image of crossing information.
Step S300 judges to need to turn around if the angle in current lane and junction ahead branch road is greater than target angle.
It is understood that the angle in conventional branch road is typically small, if the angle mistake of current lane and junction ahead branch road
Greatly, for example target angle can be 90 °, it is possible to determine that the branch road is dead end highway, at this time it is contemplated that not according to from navigation system
The route of acquisition.
Step S400 obtains the traffic information that turns around in path of turning around.
When judgement needs to turn around, is collided in order to prevent with the vehicle in path of turning around or barrier, need first to obtain and turn around
The traffic information that turns around in path.
In actual execution, above-mentioned steps S400 may include following sub-step:
Sub-step S410 obtains the image information for side of turning around to identify added turning lane information and information of vehicles in the same direction.
As shown in Fig. 2, can install side camera in actual execution in the side of vehicle and obtain module 40, such as
Fruit turns around to be turn left (such as Continental Area), captures road image by the camera in left side, identification lane information and in the same direction
Information of vehicles, the information can be used for judging whether have other vehicles, barrier, pedestrian etc. on added turning lane.
Sub-step S420 obtains the distance of vehicle and barrier in the same direction.
As shown in Fig. 2, the distance of vehicle includes the distance of this spacing front truck and the distance of this spacing rear car in the same direction, in reality
Execution in, side vehicle body radar can be used and obtain the distance of vehicle and barrier in the same direction, and correct navigation system prompt
Junction ahead distance.
Step S500, to update navigation information compared with navigation system.
As shown in Fig. 2, in actual execution, by the real time information currently obtained with navigation information module comparative analysis,
Optimal traveling behavior real-time update is analyzed by comparison module, is prompted by voice module, and turn around when satisfaction turns around condition.
Step S600, the model that turns around based on training in advance determines whether to meet according to the traffic information that turns around of acquisition to turn around
Safety condition.
The model that turns around is stored in the host of vehicle after can demarcating in advance.
In actual execution, above-mentioned steps S600 may include following sub-step:
Step S610, at the same time meet: a) on added turning lane in first object safe distance clear；B) with forward
Vehicle is other than the second targeted security distance；C) rear car in the same direction is other than third targeted security distance；When confirmation meet the peace that turns around
Full condition.
It is understood that condition a indicates lateral clear, condition b indicates to knock into the back with front truck when lane change, condition
It will not be by car rear-end when c expression lane change.
Wherein, first object safe distance, the second targeted security distance, third targeted security distance can be with certain certain
Subject to data area, such as 10 meters.Preposition vehicle body radar can measure current vehicle at a distance from front truck or opposed vehicle in real time,
The real-time speed in vehicle driving is especially got, is calculated in real time by vehicle body range finder module.
Step S700, if meeting the safety condition to turn around, sending turns around to indicate information.
After meeting the safety condition to turn around, show that the present existing demand to turn around has the possibility to turn around again.Actual
In execution, this turns around to indicate that information can propose by way of voice, for example vehicle-mounted loudspeaker can now can be with voice prompting
The similar informations such as turn around.
In some embodiments, can also include: after step S200
If the angle in current lane and junction ahead branch road is not more than target angle, judgement is transferred to branch road.
It is understood that the angle in conventional branch road is typically small, if the angle in current lane and junction ahead branch road is not
Greater than target angle, for example target angle can be 90 °, it is possible to determine that the branch road is normal importing, at this time it is contemplated that continuing
According to the route obtained from navigation system.
Obtain the branch road traffic information in branch road.
When judgement can be transferred to branch road, is collided in order to prevent with the vehicle in branch road or barrier, need first to obtain branch road
Traffic information.
In actual execution, above-mentioned steps may include sub-step:
The image of crossing information is obtained to identify lane information and opposed vehicle information.
As shown in Fig. 2, can further analyze the road image that front camera captures in actual execution, know
Other lane information and opposed vehicle information.
The distance of vehicle and barrier in the same direction is obtained, opposite lane spacing is obtained.
As shown in Fig. 2, preposition vehicle body radar can be used and obtain vehicle and barrier letter in the same direction in actual execution
Breath obtains opposite lane spacing, with the junction ahead distance for correcting navigation hint.
To update navigation information compared with navigation system.
As shown in Fig. 2, comparing with navigation information module, by comparison module real-time update speech prompt information, and meeting
Cornering conditions analyze optimal traveling behavior real-time update by comparison module, and are prompted when satisfaction turns around condition by voice module
When turn round.
Can also include: after the branch road traffic information that step obtains branch road
Determined whether to meet the safe item turned according to the branch road traffic information of acquisition based on Turn Models trained in advance
Part.
The model that turns around is stored in the host of vehicle after can demarcating in advance.
In actual execution, above-mentioned steps may include following sub-step:
At the same time meet: a) on added turning lane in first object safe distance clear；B) front truck in the same direction is second
Other than targeted security distance；C) rear car in the same direction is other than third targeted security distance；When confirmation meet the safety condition that turns around.
It is understood that condition a indicates lateral clear, condition b indicates to knock into the back with front truck when lane change, condition
It will not be by car rear-end when c expression lane change.
Wherein, first object safe distance, the second targeted security distance, third targeted security distance can be with certain certain
Subject to data area, such as 10 meters.Preposition vehicle body radar can measure current vehicle at a distance from front truck or opposed vehicle in real time,
The real-time speed in vehicle driving is especially got, is calculated in real time by vehicle body range finder module.
If meeting the safety condition of turning, turning instruction information is issued.
After meeting the safety condition of turning, show that the demand of present existing turning has the possibility of turning again.Actual
In execution, turning instruction information can be proposed by way of voice, for example vehicle-mounted loudspeaker can now can be with voice prompting
The similar informations such as turning.
The turn-by-turn navigation modification method that the above embodiments of the present application provide can be by obtaining when close to branch road and outlet
It takes the real time information at crossing to correct navigation system, makes more effective, more targeted prompt, judgement turns to or turns around in time
Opportunity avoids the occurrence of judgement delay, misses turns, turns around, the risk of outlet or high speed, reduces violating the regulations, reduction traffic accident.
As shown in figure 3, this application provides a kind of amendments of turn-by-turn navigation as the realization to method shown in above-mentioned Fig. 1 and 2
One embodiment of device 100,100 embodiment of device is corresponding with embodiment of the method shown in fig. 1 or fig. 2, the device 100
It specifically can be applied in various electronic equipments.
As shown in figure 3, turn-by-turn navigation correcting device 100 includes: first acquisition unit 110, second acquisition unit 120,
One determination unit 130, third acquiring unit 140, the first comparing unit 150, the second determination unit 160, the first generating unit
170。
First acquisition unit 110 is configured to obtain the intersection information at next crossing, crossing letter based on navigation system
Breath includes crossing distance and branch road angle；Second acquisition unit 120 is configured in vehicle distances crossing or crossing solid line target
When distance S, the image of crossing information is obtained；First determination unit 130, if being configured to the angle of current lane Yu junction ahead branch road
Degree is greater than target angle, judges to need to turn around；Third acquiring unit 140 is configured to obtain the road conditions letter that turns around in path of turning around
Breath；First comparing unit 150 is configured to compared with navigation system to update navigation information；Second determination unit 160, configuration
Determined whether to meet the safety condition to turn around according to the traffic information that turns around of acquisition for the model that turns around based on training in advance；The
One generating unit 170, if being configured to meet the safety condition to turn around, sending turns around to indicate information.
In actual execution, as shown in figure 4, first acquisition unit 110 may include that navigation information obtains module 10, the
Two acquiring units 120 may include that front camera obtains module 20, and third acquiring unit 140 includes that side camera obtains mould
Block 40 and vehicle body radar range finding module 50, the first determination unit 130 and the second determination unit 160 can integrate setting, and first really
Order member 130 and the second determination unit 160 can be able to include road condition analyzing module 30, and the first comparing unit 150 may include
Road conditions comparison module 60, the first generating unit 170 may include voice cue module 70.
In the present embodiment, first acquisition unit 110, second acquisition unit 120, the first determination unit 130, third obtain
Unit 140, the first comparing unit 150, the second determination unit 160, the processing mode and technical effect of the first generating unit 170
The description of above-mentioned steps S100-S700 can be referred to, details are not described herein.
In some embodiments, third acquiring unit 140 is also configured to obtain the image information for side of turning around, obtain same
To the distance of vehicle and barrier.
In actual execution, third acquiring unit 140 may include that side camera obtains module 40 and vehicle body radar
Range finder module 50.
In some embodiments, the second determination unit 160 is also configured to meet at the same time: first on added turning lane
Targeted security is apart from interior clear；Front truck in the same direction is other than the second targeted security distance；Rear car in the same direction is in third targeted security
Other than distance；When confirmation meet the safety condition that turns around.
In some embodiments, the first determination unit 130, if being configured to the angle of current lane Yu junction ahead branch road
No more than target angle, judgement is transferred to trouble.
In some embodiments, device 100 further include: the 4th acquiring unit, third determination unit, the second generating unit.
Wherein, the 4th acquiring unit is configured to obtain the branch road traffic information in branch road；Third determination unit, configuration are used
In the safety condition for being determined whether to meet turning according to the branch road traffic information of acquisition based on Turn Models trained in advance；Second
Generating unit issues turning instruction information if being configured to meet the safety condition of turning.
In actual execution, the 4th acquiring unit can be integrally disposed with second acquisition unit 120, third determination unit
Can be integrally disposed with the first determination unit 130, the second generating unit can be integrally disposed with the first generating unit 170.
As shown in figure 4, preposition, side (including left and right) camera, charge capture road ahead image and left and right side
Road conditions image；Navigation information system, for providing intersection information, including junction ahead distance and current lane angle；Road conditions point
Module 30 is analysed, the image information mainly obtained according to camera analyzes junction ahead distance and current lane angle, with
And in the same direction, opposed vehicle is at a distance from current lane and angle information；Body radar range finding module mainly carries thunder by vehicle body
Up to capture in the same direction or opposed vehicle distance；Road conditions comparison module 60 mainly compares camera, vehicle body radar information and then corrects
Navigation information；Cue module, the voice reminder that crossing turns round or turns around.
Disclosed herein as well is a kind of computer readable storage medium, which has computer
Program, the program realize the above method when being executed by processor.
The computer readable storage medium of the application includes but is not limited to electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor
System, server or device, or any above combination.
The more specific example of the computer readable storage medium of the application includes but is not limited to: leading with one or more
The electrical connection of line, portable computer diskette, hard disk, random access storage device (RAM), read-only memory (ROM), erasable type can
Program read-only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), light storage device,
Magnetic memory device or above-mentioned any appropriate combination.
In this application, computer readable storage medium can be any tangible medium for including or store program, the journey
Sequence can be commanded execution system, server or device use or in connection.And in this application, computer can
The signal media of reading may include in a base band or as the data-signal that carrier wave a part is propagated, wherein carrying computer
Readable program code.The data-signal of this propagation can take various forms, including but not limited to electromagnetic signal, optical signal
Or above-mentioned any appropriate combination.Computer-readable signal media can also be appointing other than computer readable storage medium
What computer-readable medium, the computer-readable medium can be sent, propagated or transmitted for by instruction execution system, service
Device or device use or program in connection.The program code for including on computer-readable medium can be with any
Medium transmission appropriate, including but not limited to: wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
Flow chart and block diagram in attached drawing are illustrated according to the system of the various embodiments of the application, method and computer journey
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
A part of one module, program segment or code of table, a part of the module, program segment or code include one or more use
The executable instruction of the logic function as defined in realizing.It should also be noted that in some implementations as replacements, being marked in box
The function of note can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are actually
It can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it to infuse
Meaning, the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart can be with holding
The dedicated hardware based system of functions or operations as defined in row is realized, or can use specialized hardware and computer instruction
Combination realize.
Being described in unit involved in the embodiment of the present application can be realized by way of software, can also be by hard
The mode of part is realized.Described unit also can be set in the processor.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. means specific features described in conjunction with this embodiment or example, knot
Structure, material or feature are contained at least one embodiment or example of the application.In the present specification, to above-mentioned term
Schematic representation may not refer to the same embodiment or example.Moreover, specific features, structure, material or the spy of description
Point can be combined in any suitable manner in any one or more of the embodiments or examples.
While there has been shown and described that embodiments herein, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle and objective of the application, this
The range of application is defined by the claims and their equivalents.
Claims (10)
1. a kind of turn-by-turn navigation modification method characterized by comprising
Based on navigation system, the intersection information at next crossing is obtained, the intersection information includes crossing distance and branch road angle；
The crossing described in vehicle distances or when the solid line target range S of crossing, obtains the image of crossing information；
If the angle in current lane and junction ahead branch road is greater than target angle, judge to need to turn around；
Obtain the traffic information that turns around in path of turning around；
To update navigation information compared with the navigation system；
The model that turns around based on training in advance determines whether to meet the safety condition to turn around according to the traffic information that turns around of acquisition；
If meeting the safety condition to turn around, sending turns around to indicate information.
2. the traffic information that turns around in path the method according to claim 1, wherein the acquisition is turned around, comprising:
The image information for side of turning around is obtained to identify added turning lane information and information of vehicles in the same direction；
Obtain the distance of vehicle and barrier in the same direction.
3. according to the method described in claim 2, it is characterized in that, the model that turns around based on training in advance is according to acquisition
The traffic information that turns around determines whether to meet the safety condition that turns around, including, meet at the same time:
On added turning lane in first object safe distance clear；
Front truck in the same direction is other than the second targeted security distance；
Rear car in the same direction is other than third targeted security distance；
When confirmation meet the safety condition that turns around.
4. the method according to claim 1, wherein further include:
If the angle in current lane and junction ahead branch road is not more than target angle, judgement is transferred to the branch road；
Obtain the branch road traffic information in the branch road；
To update navigation information compared with the navigation system；
Determined whether to meet the safety condition turned according to the branch road traffic information of acquisition based on Turn Models trained in advance；
If meeting the safety condition of turning, turning instruction information is issued.
5. according to the method described in claim 4, it is characterized in that, the branch road traffic information for obtaining the branch road, comprising:
The image of crossing information is obtained to identify lane information and opposed vehicle information；
The distance of vehicle and barrier in the same direction is obtained, opposite lane spacing is obtained.
6. a kind of turn-by-turn navigation correcting device characterized by comprising
First acquisition unit is configured to obtain the intersection information at next crossing, the intersection information packet based on navigation system
Include crossing distance and branch road angle；
Second acquisition unit when being configured to the crossing described in vehicle distances or crossing solid line target range S, obtains the image of crossing
Information；
First determination unit judges to need if the angle for being configured to current lane and junction ahead branch road is greater than target angle
It turns around；
Third acquiring unit is configured to obtain the traffic information that turns around in path of turning around；
First comparing unit is configured to compared with the navigation system to update navigation information；
Second determination unit is configured to be determined whether based on the model that turns around of training in advance according to the traffic information that turns around of acquisition
Meet the safety condition to turn around；
First generating unit, if being configured to meet the safety condition to turn around, sending turns around to indicate information.
7. device according to claim 6, which is characterized in that the third acquiring unit is also configured to obtain and turn around
The image information of side obtains the distance of vehicle and barrier in the same direction.
8. device according to claim 7, which is characterized in that second determination unit is also configured to full at the same time
Foot:
On added turning lane in first object safe distance clear；
Front truck in the same direction is other than the second targeted security distance；
Rear car in the same direction is other than third targeted security distance；
When confirmation meet the safety condition that turns around.
9. device according to claim 6, which is characterized in that first determination unit, if being configured to current lane
It is not more than target angle with the angle in junction ahead branch road, judgement is transferred to the branch road；
Described device further include:
4th acquiring unit is configured to obtain the branch road traffic information in the branch road；
Third determination unit is configured to be determined whether based on Turn Models trained in advance according to the branch road traffic information of acquisition
Meet the safety condition of turning；
Second generating unit issues turning instruction information if being configured to meet the safety condition of turning.
10. a kind of computer readable storage medium, is stored with computer program, which is characterized in that the program is held by processor
Method according to any one of claims 1 to 5 is realized when row.
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| CN201910371213.8A CN110108291A (en) | 2019-05-06 | 2019-05-06 | Turn-by-turn navigation modification method and device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| TWI770511B (en) * | 2020-05-20 | 2022-07-11 | 國立臺灣科技大學 | An image recognition and navigation device |
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