CN113124860A - Navigation decision method, navigation decision system and computer readable storage medium - Google Patents

Navigation decision method, navigation decision system and computer readable storage medium Download PDF

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Publication number
CN113124860A
CN113124860A CN202010040491.8A CN202010040491A CN113124860A CN 113124860 A CN113124860 A CN 113124860A CN 202010040491 A CN202010040491 A CN 202010040491A CN 113124860 A CN113124860 A CN 113124860A
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navigation
detection
navigation decision
recognition result
identification result
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胡晓健
夏强
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Shanghai Xiandou Intelligent Robot Co ltd
Shanghai Xianta Intelligent Technology Co Ltd
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Shanghai Xiandou Intelligent Robot Co ltd
Shanghai Xianta Intelligent Technology Co Ltd
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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
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • 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
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/18—Stabilised platforms, e.g. by gyroscope
    • 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
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)

Abstract

The invention discloses a navigation decision method, a navigation decision system and a computer readable storage medium, wherein the navigation decision method applied to a processing end comprises the following steps: acquiring recognition results and confidence degrees of a plurality of detection ends; acquiring preset weights of the plurality of detection ends; arbitrating an identification result from the identification results returned from the plurality of detection ends according to the confidence degrees and the preset weights; and executing the navigation task according to the arbitration identification result. The navigation decision method, the navigation decision system and the computer readable storage medium provided by the invention can identify and pre-judge various information in the travelling lane in time so as to prompt a user in advance or re-navigate in time, thereby greatly improving the user experience.

Description

Navigation decision method, navigation decision system and computer readable storage medium
Technical Field
The present invention relates to the field of navigation technologies, and in particular, to a navigation decision method, a navigation decision system, and a computer-readable storage medium.
Background
The map navigation product generally adopts a satellite positioning system as an engine for positioning, and performs correlation operation and calculation by receiving satellite signals, thereby acquiring position information. However, the satellite positioning system is a two-dimensional positioning system, and is easily affected by shielding, shading, multipath effects, etc., so that the positioning accuracy is deteriorated or even the positioning cannot be accurately performed. When the vehicle runs to a tunnel, an intersection, an indoor parking lot, a tree shadow, an urban canyon and other scenes, the current lane or the action of getting on or off the overhead can not be effectively identified. Only when the user obviously deviates from the route, the deviation information can be prompted to the user after the satellite signal is acquired again for positioning, and the user has to return to the original route by the aid of the known afterward navigation method, so that the experience is poor.
Disclosure of Invention
The invention aims to provide a navigation decision method, a navigation decision system and a computer readable storage medium, which can identify and pre-judge various information in a travelling lane in time and greatly improve user experience.
In a first aspect, the present invention first provides a navigation decision method applied to a processing end, and specifically, the navigation decision method includes: acquiring recognition results and confidence degrees of a plurality of detection ends; acquiring preset weights of the plurality of detection ends; arbitrating an identification result from the identification results returned from the plurality of detection ends according to the confidence degrees and the preset weights; and executing the navigation task according to the arbitration identification result.
Further, the step of arbitrating a recognition result from the recognition results returned from the plurality of detection terminals according to the confidence degrees and the preset weights includes arbitrating to select a recognition result with the highest reliability according to the calculation of the reliability degrees of the various recognition results; wherein, the reliability of the identification result is calculated according to the following formula:
Figure BDA0002366748550000021
wherein M is the reliability of the identification result, n is a positive integer, and k is the identification result of the current timeNumber of detection terminals, anConfidence of this recognition result made this time for the detection end, fnIs the preset weight of the detection end.
Further, the step of executing the navigation task according to an identification result of the arbitration may be followed by: when the current position has deviated from the navigation route, the preset weight is adjusted so that another recognition result of re-arbitration corresponds to the current position.
In a second aspect, the present invention further provides a navigation decision method applied to a detection end, specifically, the navigation decision method includes: acquiring current detection data; and calculating the current detection data and outputting the recognition result and the confidence coefficient to the processing end, so that the processing end arbitrates one recognition result and then executes a navigation task when acquiring the recognition results and the confidence coefficients output by the plurality of detection ends.
Further, the step of outputting the recognition result according to the current detection data includes: acquiring various road type data from a preset identification result database; respectively calculating the similarity between the current detection data and the road type data; and identifying the road type with the highest similarity as the identification result for outputting.
In a third aspect, the present invention also provides a navigation decision system, specifically, the navigation decision system includes: a plurality of detection terminals for performing the navigation decision method applied to the detection terminals as described above; and the processing terminal is connected with the plurality of detection terminals and is used for executing the navigation decision method applied to the processing terminal.
Further, the detection end is selected from a camera, a laser radar, a high-precision positioning system, a satellite positioning system, an ultrasonic radar, a millimeter wave radar and a gyroscope.
Further, the recognition result includes at least one of a lane, a lane line, a ramp, an overpass, and a camera type.
Further, the navigation task includes at least one of road prompting, trip planning, route recommendation, and lane display.
In a third aspect, the invention also provides a computer-readable storage medium, in particular having stored thereon a computer program, which when executed by a processor implements the steps of the navigation decision method as defined in any one of the above.
The navigation decision method, the navigation decision system and the computer readable storage medium provided by the invention can identify and pre-judge various information in the travelling lane in time so as to prompt a user in advance or re-navigate in time, thereby greatly improving the user experience.
Drawings
Fig. 1 is a flowchart of a navigation decision method of a processing end according to an embodiment of the present invention.
Fig. 2 is a flowchart of a navigation decision method of a detection end according to an embodiment of the present invention.
FIG. 3 is a block diagram of a navigation decision system according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In a first aspect, the present invention first provides a navigation decision method applied to a processing end, and fig. 1 is a flowchart of a navigation decision method of a processing end according to an embodiment of the present invention.
As shown in fig. 1, in an embodiment, a navigation decision method applied to a processing end includes:
s11: and acquiring the recognition results and the confidence degrees of the plurality of detection ends.
And the detection end detects the current environment and outputs a recognition result and a confidence coefficient. And the processing terminal acquires the recognition result and the confidence coefficient of the recognition result from the plurality of detection terminals.
And S12, acquiring preset weights of a plurality of detection terminals.
The preset weights may be pre-stored at the processing end. The preset weight can be adjusted at any time according to the situation.
And S13, arbitrating a recognition result from the recognition results returned from the plurality of detection terminals according to the confidence degrees and the preset weight.
And after obtaining the identification result, the confidence coefficient and the preset weight, the processing terminal performs comprehensive calculation and arbitrates to select one identification result as a final identification result. The arbitration calculation method can use various kinds of arbitration according to the needs, such as selecting the recognition result with the fastest return speed, the highest confidence coefficient and the highest preset weight; or comprehensively calculating through various function formulas, and finally selecting the optimal recognition result through the calculation result.
And S14, executing the navigation task according to one of the recognition results of the arbitration.
And the processing terminal performs various tasks required by navigation on the basis of the final recognition result.
In one embodiment, at execution S13: the step of arbitrating a recognition result from the recognition results returned from the plurality of detection terminals according to the confidence degrees and the preset weight includes arbitrating to select the recognition result with the highest reliability according to the calculation of the reliability degrees of various recognition results; wherein, the reliability of the identification result is calculated according to the following formula:
Figure BDA0002366748550000041
wherein M is the reliability of the identification result, n is a positive integer, k is the number of detection terminals which make the identification result at this time, and anConfidence of this recognition result made this time for the detection end, fnIs the preset weight of the detection end.
In one embodiment, after executing S14, the step of executing the navigation task according to one of the recognition results of the arbitration includes: when the current position has deviated from the navigation route, the preset weight is adjusted so that another recognition result of the re-arbitration corresponds to the current position.
When the current position is found to deviate from the navigation route, the identification result of the last arbitration is wrong. And adjusting the preset weight of each detection end in time according to the result. And taking the current positioning as a reference, properly increasing the preset weight of the detection end which sends back the correct identification result last time, and properly reducing the preset weight of the detection end which sends back the wrong identification result last time.
In a second aspect, the invention further provides a navigation decision method applied to the detection end. Fig. 2 is a flowchart of a navigation decision method of a detection end according to an embodiment of the present invention.
As shown in fig. 2, in an embodiment, the navigation decision method applied to the detection end includes:
s21: and acquiring current detection data.
The detection end can realize the detection function through a camera, a laser radar, a high-precision positioning system, a satellite positioning system, an ultrasonic radar, a millimeter wave radar and a gyroscope. Different detection ends acquire different detection data.
S22: and calculating current detection data and outputting the recognition result and the confidence coefficient to the processing end, so that the processing end arbitrates one recognition result and then executes a navigation task when acquiring the recognition results and the confidence coefficients output by the plurality of detection ends.
And after the detection data are calculated by the detection end, an identification result and confidence are generated and sent to the processing end. The multiple detecting terminals may generate different recognition results, and therefore, the processing terminal needs to arbitrate one recognition result among the different recognition results to perform the navigation task.
In one embodiment, at execution S22: the step of outputting the recognition result according to the current detection data comprises the following steps:
and acquiring multiple road type data from a preset identification result database, respectively calculating the similarity between the current detection data and the road type data, and identifying the road type with the highest similarity as the current identification result to output.
And the detection end determines the road type of the detected data through the calculation of the data similarity.
In a third aspect, the present invention also provides a navigation decision system. FIG. 3 is a block diagram of a navigation decision system according to an embodiment of the present invention.
As shown in fig. 3, in one embodiment, the navigation decision system includes a plurality of detecting terminals 1 and processing terminals 2.
The plurality of detection terminals 1 are used for executing the navigation decision method applied to the detection terminals 1 as described above. The processing terminal 2 is connected to the plurality of detecting terminals 1, and is configured to execute the navigation decision method applied to the processing terminal.
In one embodiment, the plurality of detection terminals 1 acquire current detection data, then calculate the current detection data, and output a recognition result and a confidence to the processing terminal 2. The processing terminal 2 obtains the recognition results and confidence degrees of the plurality of detection terminals, and obtains the preset weights of the plurality of detection terminals. Then the processing end 2 arbitrates an identification result from the identification results returned by the plurality of detection ends according to the confidence coefficient and the preset weight, and finally the processing end 2 executes a navigation task according to the arbitrated identification result.
In one embodiment, the detection end 1 is selected from a group consisting of a camera, a laser radar, a high precision positioning system, a satellite positioning system, an ultrasonic radar, a millimeter wave radar, and a gyroscope.
Through diversified detection equipment, can all-round monitoring vehicle road condition in the process of marcing, make and predict in advance to give appropriate countermeasure.
In one embodiment, the recognition result of the detection terminal 1 includes at least one of a lane, a lane line, a ramp, a viaduct, and a camera type.
By accurately identifying different driving environments, the vehicle can be accurately positioned to a specific lane and a specific position, so that advance judgment is made by combining map database information to give appropriate countermeasures.
In an embodiment, the navigation tasks that the processing end 2 needs to perform include at least one of road prompting, route planning, route recommendation and lane display.
In one embodiment, the navigation decision system has three detection terminals, namely a first detection terminal, a second detection terminal and a third detection terminal. The first detection end uses a camera to collect detection data. The first detection end outputs a recognition result that the current road is on the overhead and the confidence coefficient a is obtained by calculating the detection data1Is 0.8. The second detection uses a lidar to collect detection data. Second detection end passing detection dataCalculating and outputting a recognition result that the current road is on the overhead and the confidence coefficient a2Is 0.7. And the third detection end acquires monitoring data by using a gyroscope. The third detection end outputs a recognition result that the current road is on the ground and the confidence coefficient a is obtained through the calculation of the detection data3Is 0.5. At this time, the preset weight f of the first detection end1The preset weight f of the second detection end2And a preset weight f of the third detection terminal3Are all 1. According to a calculation formula of the reliability M:
Figure BDA0002366748550000071
in this case, the recognition result is that the overhead reliability M1 is 0.8 × 1+0.7 × 1 is 1.5, and the recognition result is that the ground reliability M2 is 0.5 × 1 is 0.5. M1 is larger than M2, so the result of the arbitration calculation is overhead, and the processing end executes the navigation task according to the route of the current road on the overhead.
During the execution process of the navigation task, if the vehicle is found to have a turning around or turning behavior by detection, the current road is not on the overhead but on the ground, so the result of the arbitration calculation is wrong. At the moment, the navigation decision system reduces the preset weight f of the first detection end1Is 0.5, the preset weight f of the second detection end is reduced2Is 0.5, the preset weight f of the third detection end is increased3Is 2. And recalculating the reliability formula, wherein the previous recognition result is the overhead reliability M1 of 0.8 × 0.5+0.7 × 0.5 of 0.75, the previous recognition result is the reliability of the ground M2 of 0.5 × 2 of 1, and since M2 is greater than M1, the result of the previous arbitration calculation is corrected to the ground, which is in line with the current road location, so as to ensure the accuracy of the next arbitration calculation.
In a third aspect, the invention also provides a computer-readable storage medium.
In an embodiment, a computer program is stored on a computer readable storage medium, which when executed by a processor implements the steps of the navigation decision method as described above. The processing procedure of the computer program is the same as the principle of the above embodiment, and is not described herein again.
The navigation decision method, the navigation decision system and the computer readable storage medium provided by the invention can identify and pre-judge various information in the travelling lane in time so as to prompt a user in advance or re-navigate in time, thereby greatly improving the user experience.
In this document, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms can be understood in a specific case to those of ordinary skill in the art.
As used herein, the ordinal adjectives "first", "second", etc., used to describe an element are merely to distinguish between similar elements and do not imply that the elements so described must be in a given sequence, either temporally, spatially, in ranking, or in any other manner.
As used herein, the meaning of "a plurality" or "a plurality" is two or more unless otherwise specified.
It will be understood by those skilled in the art that all or part of the steps of implementing the above method embodiments may be implemented by hardware associated with program instructions, and the program may be stored in a computer readable storage medium, and when executed, performs the steps including the above method embodiments. The foregoing storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
As used herein, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, including not only those elements listed, but also other elements not expressly listed.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto. Any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present disclosure, and all such changes or substitutions are included in the scope of the present disclosure. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (10)

1. A navigation decision-making method is applied to a processing end and is characterized by comprising the following steps:
acquiring recognition results and confidence degrees of a plurality of detection ends;
acquiring preset weights of the plurality of detection ends;
arbitrating an identification result from the identification results returned from the plurality of detection ends according to the confidence degrees and the preset weights;
and executing the navigation task according to the arbitration identification result.
2. The navigation decision-making method according to claim 1, wherein the step of arbitrating a recognition result from the recognition results returned from the plurality of detection terminals based on the confidence degrees and the preset weights comprises arbitrating to select a recognition result with the highest reliability based on the calculation of the reliability degrees of the respective recognition results;
wherein, the reliability of the identification result is calculated according to the following formula:
Figure FDA0002366748540000011
wherein M is the reliability of the identification result, n is a positive integer, k is the number of detection terminals which make the identification result at this time, and anConfidence of this recognition result made this time for the detection end, fnIs the preset weight of the detection end.
3. The navigation decision method of claim 1, wherein the step of performing the navigation task based on the arbitrated one of the recognition results is followed by:
when the current position has deviated from the navigation route, the preset weight is adjusted so that another recognition result of re-arbitration corresponds to the current position.
4. A navigation decision-making method is applied to a detection end and is characterized by comprising the following steps:
acquiring current detection data;
and calculating the current detection data and outputting the recognition result and the confidence coefficient to the processing end, so that the processing end arbitrates one recognition result and then executes a navigation task when acquiring the recognition results and the confidence coefficients output by the plurality of detection ends.
5. The navigation decision-making method of claim 4, wherein the step of outputting the recognition result based on the current detection data comprises:
acquiring various road type data from a preset identification result database;
respectively calculating the similarity between the current detection data and the road type data;
and identifying the road type with the highest similarity as the identification result for outputting.
6. A navigation decision system, comprising:
a plurality of detection terminals for performing the navigation decision method according to claim 4 or 5;
a processing terminal connected to the plurality of detection terminals for performing the navigation decision method according to any one of claims 1-3.
7. The navigation decision system of claim 6, wherein the detection end is selected from the group consisting of a camera, a lidar, a high-precision positioning system, a satellite positioning system, an ultrasonic radar, a millimeter-wave radar, and a gyroscope.
8. The navigation decision system of claim 6, wherein the recognition result includes at least one of a lane, a lane line, a ramp, a viaduct, a camera type.
9. The navigation decision system of claim 6, wherein the navigation tasks include at least one of road prompting, trip planning, route recommendation, and lane presentation.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the navigation decision method according to any one of claims 1-5.
CN202010040491.8A 2020-01-14 2020-01-14 Navigation decision method, navigation decision system and computer readable storage medium Pending CN113124860A (en)

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Application publication date: 20210716