CN111693059A

CN111693059A - Navigation method, device and equipment for roundabout and storage medium

Info

Publication number: CN111693059A
Application number: CN202010470906.5A
Authority: CN
Inventors: 李冰; 周志鹏
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Apollo Intelligent Connectivity Beijing Technology Co Ltd
Priority date: 2020-05-28
Filing date: 2020-05-28
Publication date: 2020-09-22
Anticipated expiration: 2040-05-28
Also published as: CN111693059B; JP7337121B2; KR102571331B1; KR20210071884A; JP2021131397A

Abstract

The application provides a navigation method, a navigation device, navigation equipment and a storage medium for a roundabout, which relate to the technical field of navigation, and the specific implementation scheme is as follows: obtaining the distance between the vehicle and the rotary island; when the distance between the vehicle and the rotary island is smaller than a preset threshold value, acquiring an image of the rotary island; segmenting the road surface characteristics of the rotary island from the images of the rotary island, and acquiring the distance between the vehicle and the road surface characteristics; and correcting the navigation positioning information according to the distance between the vehicle and the road surface characteristic. Therefore, the guide line can be accurately drawn and displayed by being attached to the road surface.

Description

Navigation method, device and equipment for roundabout and storage medium

Technical Field

The application relates to the technical field of vehicles, in particular to the technical field of navigation, and provides a navigation method, a navigation device, navigation equipment and a storage medium for a roundabout.

Background

AR (Augmented Reality) navigation combines AR technology with map navigation, and provides a more intuitive navigation guide for a user, such as drawing a guide line and displaying the guide line on a road ahead through an AR device, thereby achieving the effect of intuitive guide.

At present, when a vehicle carries out AR navigation in a roundabout scene, the problem that a guide line cannot be accurately attached to a road surface to display exists.

Disclosure of Invention

The present application is directed to solving, at least to some extent, one of the technical problems in the related art.

Therefore, the application provides a navigation method, a navigation device, navigation equipment and a storage medium for a roundabout.

An embodiment of a first aspect of the present application provides a navigation method for a roundabout, including:

obtaining the distance between the vehicle and the rotary island;

when the distance between the vehicle and the rotary island is smaller than a preset threshold value, acquiring an image of the rotary island;

segmenting the road surface characteristics of the rotary island from the images of the rotary island, and acquiring the distance between the vehicle and the road surface characteristics;

and correcting the navigation positioning information according to the distance between the vehicle and the road surface characteristic.

The second aspect of the present application provides a navigation device for roundabout, including:

the distance acquisition module is used for acquiring the distance between the vehicle and the rotary island;

the image acquisition module is used for acquiring an image of the rotary island when the distance between the vehicle and the rotary island is less than a preset threshold value;

the processing module is used for segmenting the road surface characteristics of the rotary island from the images of the rotary island and acquiring the distance between the vehicle and the road surface characteristics;

and the correcting module is used for correcting the navigation positioning information according to the distance between the vehicle and the road surface characteristic.

The embodiment of the third aspect of the present application provides an electronic device, which includes at least one processor, and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executable by the at least one processor to enable the at least one processor to perform the method for navigating a roundabout according to an embodiment of the first aspect.

A fourth aspect of the present application is directed to a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the method for navigating a roundabout according to the first aspect.

One embodiment in the above application has the following advantages or benefits: due to the fact that the distance between the vehicle and the rotary island is obtained, when the distance between the vehicle and the rotary island is smaller than a preset threshold value, the image of the rotary island is obtained. Further, the road surface feature of the rotary island is divided from the image of the rotary island, and the distance between the vehicle and the road surface feature is acquired. And correcting the navigation positioning information according to the distance between the vehicle and the road surface characteristic. Therefore, the guide line can be accurately drawn, and the accuracy of AR navigation is further improved.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present application, nor do they limit the scope of the present application. Other features of the present application will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:

fig. 1 is a schematic flowchart of a navigation method for a roundabout according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a process for obtaining a distance between a vehicle and a road surface feature according to an embodiment of the present disclosure;

fig. 3 is a schematic flowchart of another navigation method for a rotary island according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of a navigation device of a roundabout according to an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of another navigation device for rotary islands according to an embodiment of the present disclosure;

FIG. 6 illustrates a block diagram of an exemplary electronic device suitable for use in implementing embodiments of the present application.

Detailed Description

The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

Fig. 1 is a schematic flow chart of a navigation method for a roundabout according to an embodiment of the present application, and as shown in fig. 1, the method includes:

step 101, obtaining the distance between the vehicle and the rotary island.

And 102, acquiring an image of the roundabout when the distance between the vehicle and the roundabout is less than a preset threshold value.

The navigation method of the roundabout in the embodiment of the application can be applied to AR (Augmented Reality) navigation of a vehicle.

In this embodiment, the distance from the vehicle to the roundabout may be obtained first. Optionally, the position of the rotary island may be obtained in advance, the real-time position of the vehicle is obtained through the positioning system, and the distance between the vehicle and the rotary island is calculated according to the real-time position of the vehicle and the position of the rotary island.

In this embodiment, when the distance from the vehicle to the roundabout is smaller than the preset threshold, the image of the roundabout is acquired. The image of the roundabout can be obtained by shooting through an image acquisition device arranged on the vehicle, for example, the image of the roundabout is obtained by shooting the road environment around the vehicle through a vehicle-mounted camera.

As an example, the position of the roundabout is obtained in advance, the position of the vehicle is detected in real time in the driving process of the vehicle, the real-time distance between the vehicle and the roundabout is calculated according to the position information of the roundabout and the position of the vehicle, when the distance between the vehicle and the roundabout is smaller than a preset threshold value, the vehicle is determined to be driving to the roundabout, and at the moment, the image of the roundabout is obtained through the vehicle-mounted image acquisition device.

The preset threshold may be set as needed, or may be determined according to a large amount of experimental data, for example, the preset threshold is 20 meters.

And 103, segmenting the road surface characteristics of the rotary island from the images of the rotary island, and acquiring the distance between the vehicle and the road surface characteristics.

In this embodiment, after the image of the roundabout is acquired, the image of the roundabout may be subjected to semantic segmentation processing by a semantic segmentation technology, and the road surface feature of the roundabout is segmented from the image of the roundabout, so as to acquire the area of the road surface feature in the image of the roundabout. The road surface features include, for example, road edges, road surfaces, intersections, and the like.

As an example, a sample image of a roundabout road may be collected in advance, where the sample image includes a labeling area and a category of a road surface feature corresponding to the labeling area, for example, a road edge area, an intersection area, a road surface area, and the like are labeled in the sample image. Furthermore, the sample image can be input into a preset model to obtain a prediction result, and an image semantic segmentation model is trained according to the prediction result and the labeling result. Further, after the image of the roundabout is obtained, the image of the roundabout is subjected to semantic segmentation processing through an image semantic segmentation model, and road surface characteristics such as a road edge, a road surface and an intersection in the image of the roundabout are obtained.

In this embodiment, acquiring the distance between the vehicle and the road surface feature includes acquiring the distance between the vehicle and the intersection of the roundabout, and may further include acquiring the distance between the vehicle and the road edge of the roundabout.

And 104, correcting the navigation positioning information according to the distance between the vehicle and the road surface characteristic.

In this embodiment, the navigation positioning information is acquired by the positioning system, and the navigation positioning information is corrected according to the distance between the vehicle and the road surface feature. The Positioning System includes a Global Positioning System (GPS), and the navigation Positioning information is, for example, a GPS position. Because the GPS positioning usually has an error of 5-10 meters, the error of the navigation positioning information is corrected according to the actual distance of the vehicle from road surface characteristics such as a road edge/intersection and the like and the track of the current road, so that the accurate vehicle position is obtained.

As an example, after the navigation positioning information is obtained by the positioning system, the current road on which the vehicle is located may be determined according to the navigation positioning information and pre-stored map information, and then the actual position of the vehicle on the current road may be determined according to the distance between the vehicle and the road surface feature and the current road on which the vehicle is located, and the navigation positioning information is replaced with the actual position.

As another example, the current road of the vehicle may be determined according to the navigation positioning information and pre-stored map information, and then the actual position of the vehicle on the current road may be determined according to the distance between the vehicle and the road surface feature and the current road of the vehicle. And further comparing the error between the actual position and the navigation positioning information, and if the error is larger than a preset threshold value, correcting the navigation positioning information according to the actual position.

The rotary island belongs to a special type of road, and in the related technology, when a vehicle carries out AR (augmented reality) navigation in a rotary island scene, a drawn guide line is difficult to be attached to a road surface for display, so that the guide line is not on the road surface, and the AR navigation accuracy is influenced.

According to the navigation method of the roundabout, the distance between the vehicle and the roundabout is obtained, and when the distance between the vehicle and the roundabout is smaller than the preset threshold value, the image of the roundabout is obtained. Further, the road surface feature of the rotary island is divided from the image of the rotary island, and the distance between the vehicle and the road surface feature is acquired. And correcting the navigation positioning information according to the distance between the vehicle and the road surface characteristic. Therefore, the navigation is carried out through the corrected navigation positioning information, the guide line can be accurately drawn to be attached to the road surface for displaying, the navigation positioning information is corrected through the distance between the vehicle and the road surface characteristic, the problem that the guide line is not attached to the road surface in the roundabout scene is solved, and the accuracy of AR navigation is further improved.

Based on the above-described embodiments, an implementation of acquiring the distance between the vehicle and the road surface feature is described below.

Fig. 2 is a schematic flowchart of a process for obtaining a distance between a vehicle and a road surface feature according to an embodiment of the present application, and as shown in fig. 2, obtaining the distance between the vehicle and the road surface feature includes:

step 201, obtaining pixel values of a plurality of pixel points corresponding to the road surface characteristics.

Step 202, depth estimation is performed on pixel values of a plurality of pixel points according to a deep learning algorithm to generate depth vector values of the plurality of pixel points relative to a camera of the vehicle.

In this embodiment, because the road surface features in the image of the roundabout are obtained by semantic segmentation, that is, the target area corresponding to the road surface features in the image is determined, and then the pixel values of a plurality of pixel points in the target area are obtained. Further, depth estimation is performed on pixel values of the plurality of pixel points according to a deep learning algorithm to generate depth vector values of the plurality of pixel points relative to a camera in the vehicle. The depth vector value corresponding to each pixel point is, for example, (0-1).

Step 203, the position of the camera in the vehicle is acquired.

In this embodiment, a camera is arranged in the vehicle, and the camera is used for acquiring an image of the roundabout. The camera may be disposed at any position in the vehicle, for example, the camera may be disposed at the front of the vehicle, and for example, the camera may be disposed at the rear of the vehicle, which is not particularly limited herein.

And 204, generating the distance between the road surface feature and the vehicle according to the position of the camera and the depth vector values of the multiple pixel points relative to the camera of the vehicle.

In this embodiment, the position of the camera in the vehicle may be acquired, and the internal reference and the external reference of the camera may be acquired, where the internal reference of the camera refers to parameters related to the characteristics of the camera itself, such as the focal length, the pixel size, and the like of the camera, and the external reference of the camera refers to parameters in the world coordinate system, such as the rotation direction of the camera. And then calculating to obtain an absolute depth according to the internal parameters and the external parameters of the camera and the depth vector values of the plurality of pixel points relative to the camera of the vehicle, and determining the distance between the road surface features and the vehicle according to the absolute depth.

In the embodiment of the application, the distance between the vehicle and the road surface feature is determined based on the depth estimation and the position of the camera, the distance between the vehicle and the road surface feature can be accurately obtained, the navigation positioning information is further corrected, and the accuracy of the navigation positioning information is improved.

Based on the above embodiment, after the navigation positioning information is corrected according to the distance between the vehicle and the road surface feature, the method further includes: and navigating according to the corrected navigation positioning information.

In one embodiment of the present application, navigating according to the corrected navigation positioning information includes: and acquiring route data of the roundabout, and acquiring a current route branch line according to the route data of the roundabout. And acquiring the track of the branch line of the current route, and generating a guide line according to the track and the corrected navigation positioning information. The method comprises the steps of obtaining route data of a rotary island according to prestored map information in related map application, obtaining a current route branch line where a vehicle is located from the route data of the rotary island, and generating a guide line according to the track of the current route branch line in the prestored map information and corrected navigation positioning information.

In one embodiment of the present application, navigating according to the corrected navigation positioning information includes: and acquiring route data of the roundabout, and acquiring a current route branch line according to the route data of the roundabout. And acquiring a fitting track according to the branch line of the current route, generating a guide line according to the fitting track, and adjusting the guide line according to the corrected navigation positioning information.

The following further describes navigating according to the corrected navigation positioning information.

Fig. 3 is a schematic flowchart of another navigation method for a roundabout according to an embodiment of the present application, and as shown in fig. 3, the method includes:

step 301, route data of the roundabout is acquired.

Step 302, obtaining the current route branch line according to the route data of the roundabout.

In this embodiment, route data of a roundabout in the pre-stored map information is obtained, where the route data of the roundabout includes, but is not limited to, a current route branch, a route branch node, and a route shape point.

Step 303, obtaining a fitting track according to the branch line of the current route.

In this embodiment, each route branch may correspond to one fitting trajectory.

In one embodiment of the present application, the fitted trajectory is obtained by:

the method comprises the steps of obtaining an external rectangle of the roundabout, obtaining a plurality of sample tracks of a plurality of sample vehicles entering the external rectangle, and fitting the sample tracks of the sample vehicles to generate a fitting track.

The circumscribed rectangle of the roundabout is used for covering all the areas of the roundabout, and can be specifically set according to needs, for example, the circumscribed rectangle is an n × n area. As an example, if the roundabout is a circular area with a diameter of 200m, a circumscribed rectangle of 200m x 200m is constructed so that the circumscribed rectangle can include the entire area of the roundabout.

In this embodiment, a plurality of sample vehicles enter the roundabout to travel, the sample trajectory refers to a trajectory traveled by the vehicle in the roundabout, and each sample vehicle may correspond to one sample trajectory. And counting a plurality of sample tracks of the plurality of sample vehicles, and fitting the plurality of sample tracks to generate a fitted track.

In one embodiment of the present application, fitting a plurality of sample trajectories of a plurality of sample vehicles to generate a fitted trajectory includes: clustering the plurality of sample trajectories to generate a plurality of travel categories; and fitting the sample track corresponding to each driving category to generate a fitted track corresponding to each driving category.

The driving category includes, for example, driving into a roundabout, driving out of a roundabout, and the like. As a possible implementation manner, the driving category may be determined according to the position, the heading angle and the topological shape of the driving track of each route shape point in the road network, and different positions, heading angles and topological shapes correspond to different categories.

In this embodiment, the travel category of each sample track is determined, and a plurality of sample tracks are clustered to generate a plurality of travel categories. And for each driving category, if the number of the sample tracks corresponding to the driving category reaches a preset number, fitting the sample tracks corresponding to the driving category to generate a fitted track.

The implementation mode of fitting the sample track corresponding to each driving category to generate the fitted track corresponding to each driving category can be selected as required, and as a possible implementation mode, the sample track corresponding to each driving category is fitted through a Bessel fitting algorithm to generate the fitted track corresponding to each driving category.

Therefore, the fitting track of the rotary island is generated based on the actual driving data of the vehicle, and further, the fitting track corresponding to the current route branch line in the fitting track of the rotary island can be obtained for the determined current route branch line.

And step 304, generating a guide line according to the fitting track.

And 305, adjusting the guide line according to the corrected navigation positioning information.

In this embodiment, the route data of the roundabout in the map is replaced by the fitting track, the guidance line is drawn according to the fitting track, and the guidance line is adjusted according to the corrected navigation positioning information. As an example, if the vehicle is determined to be running straight according to the fitted track and the corrected navigation positioning information, drawing a straight guide line; and determining that the vehicle is currently driven in a left turn according to the fitted track and the corrected navigation positioning information, and drawing a guide line turning to the left.

In one embodiment of the application, the distance between the vehicle and the road surface feature is acquired according to a preset period, and the navigation positioning information is corrected according to the distance between the vehicle and the road surface feature. As an example, an image of a roundabout is acquired every k seconds, and a road surface feature of the roundabout is segmented from among the images of the roundabout, where k is, for example, 1. And if the road surface characteristics are obtained, further obtaining the distance between the vehicle and the road surface characteristics, and correcting the navigation positioning information according to the distance. Furthermore, after the navigation positioning information is corrected each time, the guide line is adjusted according to the corrected navigation positioning information, so that the effect of centering the guide line can be achieved in the process of bending the rotary island.

In practical application, because the map route data of the roundabout is deviated from the actual driving route, in order to further improve the accuracy of the AR navigation, the navigation method of the roundabout of the embodiment of the application forms a fitting track by fitting the real vehicle driving track, and replaces the roundabout route data of the map by the fitting track, so that the problem of inaccurate map route data of the roundabout is solved, the drawn guide line can be ensured to be accurately attached to the road, and the accuracy of the AR navigation is further improved.

In order to implement the above embodiments, the present application further provides a navigation device for roundabout.

Fig. 4 is a schematic structural diagram of a navigation apparatus of a roundabout according to an embodiment of the present application, as shown in fig. 4, the navigation apparatus includes: a distance acquisition module 10, an image acquisition module 20, a processing module 30, and a correction module 40.

The distance obtaining module 10 is configured to obtain a distance from the vehicle to the roundabout.

The image acquisition module 20 is configured to acquire an image of the roundabout when a distance between the vehicle and the roundabout is smaller than a preset threshold.

And the processing module 30 is used for segmenting the road surface characteristics of the rotary island from the images of the rotary island and acquiring the distance between the vehicle and the road surface characteristics.

And the correcting module 40 is used for correcting the navigation positioning information according to the distance between the vehicle and the road surface characteristic.

On the basis of fig. 4, the navigation device of the rotary island shown in fig. 5 further includes: the navigation module 50, the track acquisition module 60 and the generation module 70.

The navigation module 50 is configured to navigate according to the corrected navigation positioning information.

In an embodiment of the present application, the navigation module 50 is specifically configured to: acquiring route data of the rotary island; acquiring a current route branch line according to the route data of the roundabout; obtaining a fitting track according to the branch line of the current route; generating a guide line according to the fitting track; and adjusting the guide line according to the corrected navigation positioning information. The track acquisition module 60 is configured to acquire a circumscribed rectangle of the roundabout; and acquiring a plurality of sample tracks of a plurality of sample vehicles entering the circumscribed rectangle.

A generating module 70 for fitting a plurality of sample trajectories of a plurality of sample vehicles to generate a fitted trajectory.

In one embodiment of the present application, the generation module 70 includes: a clustering unit for clustering the plurality of sample trajectories to generate a plurality of travel categories; and the generating unit is used for fitting the sample track corresponding to each driving category to generate a fitted track corresponding to each driving category.

Further, the generating unit is specifically configured to: and fitting the sample track corresponding to each driving category through a Bezier fitting algorithm to generate the fitted track corresponding to each driving category.

In an embodiment of the present application, the processing module 30 is specifically configured to: acquiring pixel values of a plurality of pixel points corresponding to the road surface characteristics; depth estimation is carried out on the pixel values of the pixel points according to a deep learning algorithm so as to generate depth vector values of the pixel points relative to a camera of the vehicle; acquiring a position of the camera at the vehicle; and generating the distance between the road surface feature and the vehicle according to the position of the camera and the depth vector values of the plurality of pixel points relative to the camera of the vehicle.

In one embodiment of the application, the distance between the vehicle and the road surface feature is acquired according to a preset period, and the navigation positioning information is corrected according to the distance between the vehicle and the road surface feature.

The explanation of the navigation method of the roundabout in the foregoing embodiment is also applicable to the navigation device of the roundabout in this embodiment, and is not repeated herein.

The navigation device of the rotary island obtains the image of the rotary island when the distance between the vehicle and the rotary island is smaller than the preset threshold value by obtaining the distance between the vehicle and the rotary island. Further, the road surface feature of the rotary island is divided from the image of the rotary island, and the distance between the vehicle and the road surface feature is acquired. And correcting the navigation positioning information according to the distance between the vehicle and the road surface characteristic, and navigating according to the corrected navigation positioning information. Therefore, the guide line can be accurately drawn to be attached to the road surface for display, the navigation positioning information is corrected through the distance between the vehicle and the road surface characteristic, the problem that the guide line is not attached to the road surface in the roundabout scene is solved, and the accuracy of AR navigation is further improved.

In order to implement the above embodiments, the present application also proposes a computer program product, wherein when the instructions in the computer program product are executed by a processor, the navigation method of the roundabout according to any one of the foregoing embodiments is implemented.

According to an embodiment of the present application, an electronic device and a readable storage medium are also provided.

Fig. 6 is a block diagram of an electronic device of a navigation method of a roundabout according to an embodiment of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.

As shown in fig. 6, the electronic apparatus includes: one or more processors 601, memory 602, and interfaces for connecting the various components, including a high-speed interface and a low-speed interface. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). In fig. 6, one processor 601 is taken as an example.

The memory 602 is a non-transitory computer readable storage medium as provided herein. Wherein the memory stores instructions executable by at least one processor to cause the at least one processor to perform the method of navigating a roundabout provided herein. The non-transitory computer readable storage medium of the present application stores computer instructions for causing a computer to perform the navigation method of the roundabout provided by the present application.

The memory 602 is a non-transitory computer readable storage medium, and can be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the navigation method of the roundabout in the embodiment of the present application (for example, the distance acquisition module 10, the image acquisition module 20, the processing module 30, the correction module 40, and the navigation module 50 shown in fig. 4). The processor 601 executes various functional applications of the server and data processing by running non-transitory software programs, instructions and modules stored in the memory 602, that is, implements the navigation method of the roundabout in the above method embodiments.

The memory 602 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the electronic device, and the like. Further, the memory 602 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 602 optionally includes memory located remotely from the processor 601, which may be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The electronic device of the navigation method of the roundabout may further include: an input device 603 and an output device 604. The processor 601, the memory 602, the input device 603 and the output device 604 may be connected by a bus or other means, and fig. 6 illustrates the connection by a bus as an example.

The input device 603 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the electronic apparatus, such as a touch screen, keypad, mouse, track pad, touch pad, pointer stick, one or more mouse buttons, track ball, joystick, or other input device. The output devices 604 may include a display device, auxiliary lighting devices (e.g., LEDs), and tactile feedback devices (e.g., vibrating motors), among others. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.

Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, and the present invention is not limited thereto as long as the desired results of the technical solutions disclosed in the present application can be achieved.

The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A navigation method of a roundabout, comprising:

obtaining the distance between the vehicle and the rotary island;

2. The navigation method of a rotary island according to claim 1, further comprising:

and navigating according to the corrected navigation positioning information.

3. The navigation method of the roundabout according to claim 2, wherein the navigating according to the corrected navigation positioning information comprises:

acquiring route data of the rotary island;

acquiring a current route branch line according to the route data of the roundabout;

obtaining a fitting track according to the branch line of the current route;

generating a guide line according to the fitting track; and

and adjusting the guide line according to the corrected navigation positioning information.

4. The navigation method of a roundabout according to claim 3, wherein the fitting trajectory is obtained by:

acquiring a circumscribed rectangle of the rotary island;

obtaining a plurality of sample tracks of a plurality of sample vehicles entering the circumscribed rectangle; and

fitting a plurality of sample trajectories of the plurality of sample vehicles to generate the fitted trajectory.

5. The navigation method of the roundabout according to claim 4, wherein the fitting a plurality of sample trajectories of the plurality of sample vehicles to generate the fitted trajectory comprises:

clustering the plurality of sample trajectories to generate a plurality of travel categories; and

and fitting the sample track corresponding to each driving category to generate a fitted track corresponding to each driving category.

6. The navigation method for the roundabout according to claim 5, wherein the fitting the sample trajectory corresponding to each driving category to generate a fitted trajectory corresponding to each driving category comprises:

and fitting the sample track corresponding to each driving category through a Bezier fitting algorithm to generate the fitted track corresponding to each driving category.

7. The navigation method of a roundabout according to claim 1, wherein the acquiring a distance between the vehicle and the road surface feature comprises:

acquiring pixel values of a plurality of pixel points corresponding to the road surface characteristics;

depth estimation is carried out on the pixel values of the pixel points according to a deep learning algorithm so as to generate depth vector values of the pixel points relative to a camera of the vehicle;

acquiring a position of the camera at the vehicle; and

and generating the distance between the road surface feature and the vehicle according to the position of the camera and the depth vector values of the plurality of pixel points relative to the camera of the vehicle.

8. The roundabout navigation method according to claim 1, wherein a distance between the vehicle and the road surface feature is acquired according to a preset period, and the navigation positioning information is corrected according to the distance between the vehicle and the road surface feature.

9. A navigation device of a roundabout, comprising:

10. The navigation device of a roundabout according to claim 9, further comprising:

and the navigation module is used for navigating according to the corrected navigation positioning information.

11. The rotary island navigation device according to claim 10, wherein the navigation module is specifically configured to:

acquiring route data of the rotary island;

obtaining a fitting track according to the branch line of the current route;

generating a guide line according to the fitting track; and

12. The navigation device of a roundabout according to claim 11, further comprising:

the track acquisition module is used for acquiring a circumscribed rectangle of the rotary island;

a generating module to fit a plurality of sample trajectories of the plurality of sample vehicles to generate the fitted trajectory.

13. The navigation device of a roundabout according to claim 12, wherein the generating module comprises:

a clustering unit for clustering the plurality of sample trajectories to generate a plurality of travel categories; and

and the generating unit is used for fitting the sample track corresponding to each driving category to generate a fitted track corresponding to each driving category.

14. The navigation device of a roundabout according to claim 13, wherein the generating unit is specifically configured to:

15. The navigation device of a roundabout according to claim 9, wherein the processing module is specifically configured to:

acquiring a position of the camera at the vehicle; and

16. The rotary island navigation device according to claim 9, wherein the distance between the vehicle and the road surface feature is acquired at a preset period, and the navigation positioning information is corrected according to the distance between the vehicle and the road surface feature.

17. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of navigating a roundabout according to any one of claims 1-8.

18. A non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the method of navigating a roundabout according to any one of claims 1 to 8.